zynq + ucos

简单实验

在开始任务中创建优先级不同的多个任务

int main()
{
    UCOSStartup(MainTask);
    return 0;
}

void  MainTask (void *p_arg)
{
    OS_ERR       os_err;
    UCOS_Print ("Hello world from the main task\r\n");
    OSTaskCreate(&AppTask1_TCB,
				  "AppTask1",
				  AppTask1,
				  (void *)0,
				  3,
				 &AppTask1_Stk[0],
				  0,
				  1024,
				  0,
				  0,
				  DEF_NULL,
				 (OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
				 &os_err);

    OSTaskCreate(&AppTask2_TCB,
   				  "AppTask2",
   				  AppTask2,
   				  (void *)0,
   				  10,
   				 &AppTask2_Stk[0],
   				  0,
   				  1024,
   				  0,
   				  0,
   				  DEF_NULL,
   				 (OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
   				 &os_err);

    while (DEF_TRUE) {
        OSTimeDlyHMSM(0, 0, 10, 0, OS_OPT_TIME_HMSM_STRICT, &os_err);
        UCOS_Print("MainTask,prio is 5\r\n");
    }
}

static void  AppTask1 (void *p_arg)
{
	OS_ERR       os_err;
	p_arg = p_arg;
	while(DEF_TRUE)
	{
		UCOS_Print ("AppTask1,prio is 3\r\n");
		OSTimeDlyHMSM(0, 0, 0, 100, OS_OPT_TIME_HMSM_STRICT, &os_err);
	}
}

static void  AppTask2 (void *p_arg)
{
	OS_ERR       os_err;
	p_arg = p_arg;
	while(DEF_TRUE)
	{
		UCOS_Print ("AppTask2,prio is 10\r\n");
		OSTimeDlyHMSM(0, 0, 0, 100, OS_OPT_TIME_HMSM_STRICT, &os_err);
	}
}

可以看出，优先级数值越小，优先级越高（最先运行）。

使用信号量进行同步

void  MainTask (void *p_arg)
{
    OS_ERR       os_err;

    g_uiTimeCnt = 0;

    OSSemCreate(&g_timer_sem,"g_timer_sem",(OS_SEM_CTR)0,&os_err);
    OSSemCreate(&g_task1_sem,"g_task1_sem",(OS_SEM_CTR)0,&os_err);
    OSSemCreate(&g_task2_sem,"g_task2_sem",(OS_SEM_CTR)0,&os_err);

    OSTaskCreate(&TimerTask_TCB,"TimerTask",TimerTask,(void *)NULL,10,&TimerTask_Stk[0],
    				  0,1024,0,0,DEF_NULL,(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),&os_err);

    OSTaskCreate(&AppTask1_TCB,"AppTask1",AppTask1,(void *)NULL,20,&AppTask1_Stk[0],
				  0,1024,0,0,DEF_NULL,(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),&os_err);

    OSTaskCreate(&AppTask2_TCB,"AppTask2",AppTask2,(void *)NULL,30,&AppTask2_Stk[0],
    				  0,1024,0,0,DEF_NULL,(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),&os_err);

    while (DEF_TRUE) {
        OSTimeDlyHMSM(0, 0, 10, 0, OS_OPT_TIME_HMSM_STRICT, &os_err);
    }
}

static void  TimerTask (void *p_arg)
{
	OS_ERR       os_err;
	static u32 s_dataRead_pre;
	static u32 s_dataRead;
	static u32 s_cnt = 0;

	p_arg = p_arg;
	while(DEF_TRUE)
	{
		g_uiTimeCnt++;

		s_dataRead_pre = s_dataRead;
		s_dataRead = EmcRead(0x0004,DSP_CE);
		g_uiTimeSubAy[s_cnt] = s_dataRead - s_dataRead_pre;
		s_cnt++;
		if(s_cnt>=1024)
		{
			s_cnt = 0;
		}

		OSSemPost(&g_timer_sem,OS_OPT_POST_1,&os_err);
		OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &os_err);
	}
}

static void  AppTask1 (void *p_arg)
{
	OS_ERR os_err;
	CPU_TS ts;
	u32    uiData;

	p_arg = p_arg;
	while(DEF_TRUE)
	{
		OSSemPend(&g_timer_sem,0,OS_OPT_PEND_BLOCKING,&ts,&os_err);
		uiData = EmcRead(0xFFFF,DSP_CE);
		OSSemPost(&g_task1_sem,OS_OPT_POST_1,&os_err);
		OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &os_err);
	}
}

static void  AppTask2 (void *p_arg)
{
	OS_ERR os_err;
	CPU_TS ts;
	p_arg = p_arg;
	while(DEF_TRUE)
	{
		OSSemPend(&g_task1_sem,0,OS_OPT_PEND_BLOCKING,&ts,&os_err);
		EmcWrite(0xFFFF,0x12345678,DSP_CE);
//		OSSemPost(&g_task2_sem,OS_OPT_POST_1,&os_err);
		OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &os_err);
	}
}

UCOS 硬件实现

《实时操作系统任务调度算法的硬件实现》

任务管理

任务调度