移植到STM8上的协同式操作系统

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holts1 回答时间：2015-1-13 16:03:26

jeromeRo 发表于 2015-1-13 14:050 A; H& k1 |# z; Q$ V
裸奔的，到现在我还是二货，只会裸奔

贴个参考别人的例子改的，带操作系统的代码，给XD参考下，提提意见。

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#include "ptask.h"; ?0 e4 q5 g) M+ i. n" o7 U
#include "stm8s.h"
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/* Private typedef ---------------------------------------------*/9 \ R3 D0 A# p" ^8 e
/* Private define ----------------------------------------------*/
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#define LED_GPIO_PORT (GPIOA)5 _9 F- A$ E* l! h3 P4 T9 x
#define LED_GPIO_PINS (GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3): Y8 A9 J4 d7 `& `% \
#define SW_4 GPIO_PIN_1: N3 S- Y& H2 Y; Z
#define SW_5 GPIO_PIN_27 x! n, \& l9 [6 B% A
#define LED_RUN_OR_WAIT GPIO_PIN_33 V" G7 g y! }+ ^# N
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#define LED_GPIO_PORT2 (GPIOC)
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#define LED_GPIO_PINS2 (GPIO_PIN_5 | GPIO_PIN_6) 1 v& Z) b) v: B- k: n4 c" h
#define LED_WAIT GPIO_PIN_56 ~+ x8 R" h$ [' Q3 z6 S' x
#define LED_RUN3 GPIO_PIN_6
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#define LED_GPIO_PORT3 (GPIOD)* b/ D% G. _+ P9 {2 z& s* z
#define LED_GPIO_PINS3 (GPIO_PIN_6)
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#define LED_RUN GPIO_PIN_6
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#define KEY_GPIO_PORT (GPIOD) W/ m, |1 |5 d" I. m' U; Z* A6 w
#define KEY_GPIO_PINS (GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 ): t2 v" X+ I |
#define KEY_POWER GPIO_PIN_1
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#define KEY_REDUCE GPIO_PIN_2; }6 \, r% |% [, F. H% u# p* C
#define KEY_PLUS GPIO_PIN_3
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#define KEY_MODE_PINS (GPIO_PIN_4)
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#define KEY_MODE GPIO_PIN_4
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#define KEY_TRIGGER_PINS (GPIO_PIN_5)
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#define KEY_TRIGGER GPIO_PIN_5* u) Z( ]2 e Y& H: X& N) b) Q, t
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#define KEY_GPIO_PORT2 (GPIOC)
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#define KEY_SW_PINS (GPIO_PIN_7): Q: M* h! c) }4 y9 G0 x& |; v+ e
#define KEY_SW GPIO_PIN_7
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#define MilliSec 1
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#define Sec 1000
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#define STEP 5 //约5%/ g! y8 E" Q: T6 b/ v8 ~. h: O8 u7 C
#define MAX 70 //100%+ p M$ g. O% ?+ x4 |% {! q
#define MIN 15 //约21%
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#define OFF 0
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#define ON 1
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#define RUN 28 N( }+ V" [7 R9 H2 B/ y
#define WAIT 3) Y9 L' U+ b2 P
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#define TIM4_PERIOD 124 //1ms定时
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/* Private macro -----------------------------------------------*/2 ?& @5 Y) p2 t
/* Private variables -------------------------------------------*/
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/* Private function prototypes ---------------------------------*/
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void GPIO_Configuration(void);
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void TIM4_Config(void);
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void task0(void);5 x% a8 @' M* }/ j, k2 D% b& ]. {
void task1(void);
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/* Private functions -------------------------------------------*/
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/* Global variables --------------------------------------------*/2 z6 @% N+ ` }
volatile unsigned char timers[MAXTASKS]={0};3 W9 L: b7 e E( H1 S' U' W. x, i3 u
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unsigned char Trg;
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unsigned char Cont;0 ^, s4 C# H& j" m% g
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unsigned char BlinkOfNumber = 0;% ]; \0 n, }% E- j) J8 m0 Y
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unsigned char DutyCycle;" [( |# w6 I. m
unsigned char Mode;: _* E4 |9 [4 r8 t
unsigned char ChangeFlag = 1;
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unsigned char SaveFlag;- Q7 h k( H3 \
unsigned int SaveDelay;' ?* V+ S7 }- C$ Y( q3 {/ H
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unsigned char RunF;# l, L5 k* B/ G$ }4 y+ e9 P- c
unsigned char WaitF;* A; F) y) [1 }* y+ g. F
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unsigned char SwF;
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/**2 a$ ?+ H1 L( s2 C6 ~ j
***************************************************************. r+ J8 V" D) U, h
* @brief Configures GPIOs j# R* ]1 Q4 C, Y# ]: J2 i
* @par Parameters: None5 H2 @3 r+ @5 C: L, r: O$ `8 `
* @retval void None, o5 R/ }* L/ l/ v- j/ z! [% p3 y/ J
* @par Required preconditions: None
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***************************************************************; ?" {" d) L9 d. P
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void GPIO_Configuration(void)0 @* e8 P B1 r2 }# b& d" E
{
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/* GPIOD reset */
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GPIO_DeInit(LED_GPIO_PORT);$ ]$ q. J- m+ o. {* b& Y# o
GPIO_DeInit(LED_GPIO_PORT2);' @4 }1 i* V+ @! `( Z% ^2 X) n/ Z# [
GPIO_DeInit(KEY_GPIO_PORT);6 \: _8 t. o- S0 c2 X6 j6 r1 y
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GPIO_Init(LED_GPIO_PORT, (GPIO_Pin_TypeDef)LED_GPIO_PINS,GPIO_MODE_OUT_PP_LOW_FAST);7 {0 ~! y1 A) C# n* t
GPIO_Init(LED_GPIO_PORT2, (GPIO_Pin_TypeDef)LED_GPIO_PINS2,GPIO_MODE_OUT_PP_LOW_FAST);
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GPIO_Init(LED_GPIO_PORT3, (GPIO_Pin_TypeDef)LED_GPIO_PINS3,GPIO_MODE_OUT_PP_LOW_FAST); " O9 @5 l; C( `7 p! d/ p
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GPIO_Init(KEY_GPIO_PORT, (GPIO_Pin_TypeDef)KEY_GPIO_PINS,GPIO_MODE_IN_PU_NO_IT);5 b- w( L o3 r8 e& p" _9 Y
GPIO_Init(KEY_GPIO_PORT, (GPIO_Pin_TypeDef)KEY_TRIGGER_PINS,GPIO_MODE_IN_PU_NO_IT);
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GPIO_Init(KEY_GPIO_PORT, (GPIO_Pin_TypeDef)KEY_MODE_PINS,GPIO_MODE_IN_PU_NO_IT);
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GPIO_Init(KEY_GPIO_PORT2, (GPIO_Pin_TypeDef)KEY_SW_PINS,GPIO_MODE_IN_PU_NO_IT);
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/**2 U3 H- {* h, u
*****************************************************************
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* @brief Configure TIM4 to generate an update interrupt each 1ms
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* @param None
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* @retval None
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　*****************************************************************
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*// u+ c" e1 [, K. |" O7 z, G
static void TIM4_Config(void)0 W9 S2 g; R& G. L" `/ }* d
{
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/* TIM4 configuration:3 A! e: ]$ A. Z2 V4 O
- TIM4CLK is set to 16 MHz, the TIM4 Prescaler is equal to 128 so the TIM1 counter% y/ E) H, g2 q! J1 P) Q
clock used is 16 MHz / 128 = 125 000 Hz) e. k( `- t( o" [
- With 125 000 Hz we can generate time base:
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max time base is 2.048 ms if TIM4_PERIOD = 255 --> (255 + 1) / 125000 = 2.048 ms$ |* h) c* |: U! u$ h& A
min time base is 0.016 ms if TIM4_PERIOD = 1 --> ( 1 + 1) / 125000 = 0.016 ms2 ~# K+ s' m9 p: n d, m. e
- In this example we need to generate a time base equal to 1 ms5 W* m& Q/ s8 A( E. t6 Y
so TIM4_PERIOD = (0.001 * 125000 - 1) = 124 */" x: g* U, w& ~ L8 g% }
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/* Time base configuration */
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TIM4_TimeBaseInit(TIM4_PRESCALER_128, TIM4_PERIOD);
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/* Clear TIM4 update flag */
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TIM4_ClearFlag(TIM4_FLAG_UPDATE);
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/* Enable update interrupt */9 ~- a* e( C& D: h! D7 z! L
TIM4_ITConfig(TIM4_IT_UPDATE, ENABLE);/ f8 o. P0 o' i9 [& f
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/* Enable TIM4 */
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TIM4_Cmd(ENABLE);3 V& y# F% ~, Z8 D q
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/**
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********************************************************
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* @brief Decrements the TimingDelay variable.
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* @param None1 P' X+ z% I, m4 F
* @retval None- p" e3 w5 f; `; \( e) h
　********************************************************
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*/
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void TimingDelay_Decrement(void)9 y8 w2 K7 J+ Z6 u6 C2 ^* Z
{% L4 n0 q! Y9 E" E- g/ N
if (TimingDelay != 0x00) { TimingDelay--; }
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if (BlinkDelay != 0x00) { BlinkDelay--; }
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if (SaveDelay != 0x00) { SaveDelay--;}1 S) r* |* n$ l
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/*******************************
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task0
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*******************************/
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void task0(void)
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_BEGIN
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while(1)& Z5 }9 e0 |. e q. C+ p
{
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WaitX(100);& `9 U( _+ T/ F' \- Y9 i
GPIO_WriteHigh(LED_GPIO_PORT, SW_4);* K: R5 n) ^1 z- h
WaitX(200);1 B2 ^9 V2 H$ H: @7 f1 e& U
GPIO_WriteLow(LED_GPIO_PORT, SW_4);6 P: h. O( A, Y5 C# }& {, A0 O
}
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_END# W9 @9 e" v* A6 r$ f5 c3 x
}
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/*******************************9 h$ p" q* U+ _6 G0 y7 `5 H# M
task1
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*******************************/9 E o/ a/ E% Z# ~8 S u( r
void task1(void)" O, }$ F, Y& s+ w
{
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_BEGIN) Q: W% S: o/ d7 r+ k
while(1)
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GPIO_WriteHigh(LED_GPIO_PORT, SW_5);
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WaitX(50);8 ]3 \, n( Y9 z$ b
GPIO_WriteLow(LED_GPIO_PORT, SW_5);
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WaitX(50); d1 {$ P: w4 }/ ]4 c
}
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_END
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}
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/**% z. t) \# u T3 f
****************************************************************
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* @brief Main function.( C# w2 k. `# B( a
* @par Parameters: None+ B6 |8 O: F/ ^9 b
* @retval void None. C; G. G% F5 m8 S* y
* @par Required preconditions: None: O" C6 U& z N+ H
****************************************************************% ~( ^' H4 a" U8 f' S9 D
*/" h: A. K2 U3 B; l0 P' ~3 S
int main(void)
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/* Configures clocks Fmaster = 16MHz */
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CLK_HSIPrescalerConfig(CLK_PRESCALER_HSIDIV1);
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/* Configures GPIOs */
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GPIO_Configuration();8 A8 I9 u6 P& ?8 U+ I9 G
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/* TIM4 configuration *// e, b0 @2 E) P% M
TIM4_Config();
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/* enable interrupts */. f: U% X6 U( C/ G5 s$ ]
enableInterrupts();
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while(1)
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RunTask(task0,Task0_ID);) V2 {- D, V5 }& R; M; @9 r! D& Y
RunTask(task1,Task1_ID);
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}! i7 d, u/ O) s- O9 L& s/ ]
}
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holts1 回答时间：2015-1-14 08:00:15

以下是中断代码

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/**
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******************************************************************************
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* @file stm8s_it.c
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* @author MCD Application Team
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* @version V2.1.0) s5 B8 `, z7 `- T; V# v
* @date 18-November-20111 Y# v* t( _6 Q& ]' Y
* @brief Main Interrupt Service Routines.
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* This file provides template for all peripherals interrupt service
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* routine.! L0 w& ~. u$ b/ \* T
******************************************************************************
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* @attention4 w9 @, r% p! P+ l4 ~! e- ?/ G
*
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* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS7 Z' E% Q* D. t) v1 n
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE( {- q& W1 C t5 O% ^ y
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
- ~' M- K$ e, h9 }; [1 a) ~2 p0 A+ i
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING8 g" q5 g# x1 D# E( a" W4 T4 O
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
; s0 b2 {* M" S% [
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
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*
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* <h2><center>© COPYRIGHT 2011 STMicroelectronics</center></h2>5 x# O' p, ~2 S
******************************************************************************
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*/ ) `& F% _2 S, z& S! ?# ?+ g& Y; p
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/* Includes ------------------------------------------------------------------*/
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#include "stm8s_it.h"8 U% p1 P! P! u9 _ _
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/** @addtogroup Template_Project
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* @{9 o) m0 ~0 K( \1 d6 Z
*/
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/* Private typedef -----------------------------------------------------------*/* C3 K# q. p# l; g1 {& C
/* Private define ------------------------------------------------------------*/9 R9 R" X$ G& j, \: @" E: E% I" Q
/* Private macro -------------------------------------------------------------*/ g2 x9 y( ?& i- t0 t. y8 N' b
/* Private variables ---------------------------------------------------------*/3 u/ y4 g; ?; r2 j1 ?2 t9 r2 }
/* Private function prototypes -----------------------------------------------*/
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extern void TimingDelay_Decrement(void);6 U+ N; V( g: B! b! {, V& s$ C
//extern volatile unsigned char timers[MAXTASKS];4 [% L0 U/ q3 S2 A+ e; m- L) E
/* Private functions ---------------------------------------------------------*/
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/* Public functions ----------------------------------------------------------*/4 Q9 ?1 e) \5 ?' Y x
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#ifdef _COSMIC_" F5 p {) T: v o5 c# l
/**! a6 D' N. I+ ]) }. w
* @brief Dummy Interrupt routine% \1 C+ W4 u; E1 D
* @par Parameters:" b$ X( f6 S: t: G: z5 f
* None' K5 W8 m6 G8 H7 ]: _
* @retval% {# L% v, M+ D6 e9 J
* None
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*/
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INTERRUPT_HANDLER(NonHandledInterrupt, 25)
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{
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/* In order to detect unexpected events during development,
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it is recommended to set a breakpoint on the following instruction.
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*/
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#endif /*_COSMIC_*/
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/**
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* @brief TRAP Interrupt routine5 u2 S7 I9 b: S3 ~4 Y
* @param None' s" s" |# W3 p+ l$ T
* @retval None/ `* w( B. N! ^9 Z- x; p
*/
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INTERRUPT_HANDLER_TRAP(TRAP_IRQHandler)
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{
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/* In order to detect unexpected events during development,
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it is recommended to set a breakpoint on the following instruction.! Z: |7 t& f# V- R, g
*/
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/**8 n6 d5 W% y- G2 y. e8 z' `. W$ Q
* @brief Top Level Interrupt routine.
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* @param None
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* @retval None
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*/
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INTERRUPT_HANDLER(TLI_IRQHandler, 0)
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{
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/* In order to detect unexpected events during development,/ t8 Z- f& e+ s4 [
it is recommended to set a breakpoint on the following instruction.8 q; ~+ \ ?& V4 ?
*/
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/**
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* @brief Auto Wake Up Interrupt routine.
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* @param None
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* @retval None
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*// ?+ u6 T0 [3 h7 p' r& R
INTERRUPT_HANDLER(AWU_IRQHandler, 1). o" I/ s; O& O8 j4 g( {9 u2 T. |
{
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/* In order to detect unexpected events during development,2 [8 @! F; F X+ P O+ [& S# K6 |
it is recommended to set a breakpoint on the following instruction.# w4 U+ ^% C$ T& i8 G5 V
*// D* j: u$ m. l/ A4 ^" l/ B9 w0 J# |
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/**
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* @brief Clock Controller Interrupt routine.' i6 ^+ [/ n* ^- F. x& k* e
* @param None
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* @retval None
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*/
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INTERRUPT_HANDLER(CLK_IRQHandler, 2)8 h* P% s1 x7 R/ I
{
# I/ ^! Z! O* Z, K0 w% R( T$ p
/* In order to detect unexpected events during development,3 ~2 g$ r$ D% ]5 i6 r# P1 S. X
it is recommended to set a breakpoint on the following instruction.
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*// N+ g1 N8 Z* `9 b. J1 T# ]
}
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/**% `1 Y! ]1 p' p+ P# w- Z3 `
* @brief External Interrupt PORTA Interrupt routine.0 E3 e* _2 s$ x( ?, v* T, n
* @param None! W8 K+ k6 o6 P
* @retval None
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*// F8 e; K, Z- p) \$ c
INTERRUPT_HANDLER(EXTI_PORTA_IRQHandler, 3)
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{
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/* In order to detect unexpected events during development,3 U! ^( Q2 A/ A2 W. \- h6 \
it is recommended to set a breakpoint on the following instruction.
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*/. U2 l& M J: l) @9 N, }2 D
}; T" ~5 R. L m3 K
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/**
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* @brief External Interrupt PORTB Interrupt routine.
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* @param None7 T1 s( X9 D7 m+ b4 M( a; j: b
* @retval None6 G( S. }9 F6 S" _5 U! V$ U2 ^
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INTERRUPT_HANDLER(EXTI_PORTB_IRQHandler, 4)
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{
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/* In order to detect unexpected events during development,
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it is recommended to set a breakpoint on the following instruction.
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*/
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}
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/**
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* @brief External Interrupt PORTC Interrupt routine.
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* @param None
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* @retval None) Z4 `( ~" S1 ^! E- M2 [2 N
*/7 w( k- B, y$ z T4 ?* U8 \
INTERRUPT_HANDLER(EXTI_PORTC_IRQHandler, 5)
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{
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/* In order to detect unexpected events during development,
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it is recommended to set a breakpoint on the following instruction.
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*/* D2 H$ y: C0 X
}; S) @; [ \6 y. N) d! l
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/**
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* @brief External Interrupt PORTD Interrupt routine.$ @; @) k6 a3 x
* @param None0 ^" [( C2 S9 o- Q* `7 \8 w
* @retval None
# a' {& c' K) U
*/
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INTERRUPT_HANDLER(EXTI_PORTD_IRQHandler, 6)& c' m# i: Y+ D$ o+ V# w
{
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/* In order to detect unexpected events during development,
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it is recommended to set a breakpoint on the following instruction.; _2 q+ L9 |% B2 u, ]. w' t
*/: w! K& C7 B$ U" C1 D' ? A
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& S5 u" `% ?) x
/**
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* @brief External Interrupt PORTE Interrupt routine.
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* @param None
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* @retval None- K d. ?( v; U4 h& G4 @
*/
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INTERRUPT_HANDLER(EXTI_PORTE_IRQHandler, 7)
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{1 i* T' x" l- Y6 W. C! X3 }
/* In order to detect unexpected events during development,6 v2 R; K4 A8 Q9 D: E' R4 u
it is recommended to set a breakpoint on the following instruction.
9 u9 {0 H) T' Q0 I! A9 x
*/5 w' H/ Y. F7 S
}4 A3 o, F3 e/ T0 |! D$ a) ~
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#ifdef STM8S903
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/**
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* @brief External Interrupt PORTF Interrupt routine.
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* @param None& L1 \% A* K8 G* l- C3 n, `# C
* @retval None- C7 Y1 E9 I' y# N& j( t
*/
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INTERRUPT_HANDLER(EXTI_PORTF_IRQHandler, 8). x5 U6 r+ I( l9 F( U
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/* In order to detect unexpected events during development,
* Z s& A+ I; f U
it is recommended to set a breakpoint on the following instruction.
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*/
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holts1 回答时间：2015-1-13 19:12:35

本帖最后由 holts1 于 2015-1-13 19:13 编辑

那片清茶发表于 2015-1-13 17:53* Y/ w9 R9 x) |+ P6 o
你的程序，没有贴全吧。

还有头文件部份

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#ifndef PTASK_H
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#define PTASK_H, g, v3 F% m3 K6 Y
#define MAXTASKS 3
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//volatile unsigned char timers[MAXTASKS];2 ]6 G1 _( l, \4 p% J
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// task constant define
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#define Task0_ID 0
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#define Task1_ID 1
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#define Task2_ID 2# X9 }" I- u: t. h) i+ }
#define Task3_ID 3
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#define Task4_ID 4% f2 [# d# [+ \9 ?
#define Task5_ID 5" i+ D) @9 p! t6 p% T0 p
#define Task6_ID 6
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#define Task7_ID 7
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#define Task8_ID 8
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#define _BEGIN static unsigned char _lc; switch(_lc){default:
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#define _END ;}; _lc=0; return 255;
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#define WaitX(tickets) do {_lc=__LINE__; return tickets ;} while(0); case __LINE__:
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#define RunTask(TaskName,TaskID) do { if (timers[TaskID]==0) timers[TaskID]=TaskName(); } while(0); 7 s# Y+ |5 W' b: }" D' Y
#define RunTaskA(TaskName,TaskID) { if (timers[TaskID]==0) {timers[TaskID]=TaskName(); continue;} } //前面的任务优先保证执行1 A* L- u! F% y: q6 W
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#define CallSub(SubTaskName) do {unsigned char currdt; _lc=__LINE__; return 0; case __LINE__: currdt=SubTaskName(); if(currdt!=255) return currdt;} while(0);" y# F3 B9 f+ p- l2 @
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#define UpdateTimers() {unsigned char i; for(i=MAXTASKS;i>0 ;i--){if((timers[i-1]!=0)&&(timers[i-1]!=255)) timers[i-1]--;}}
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#define SEM unsigned int
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//初始化信号量1 ~, z! I( [6 K, z7 ?* ^. q9 O
#define InitSem(sem) sem=0;0 w* g& ?- @8 f5 [* Z; t
//等待信号量6 y9 w1 u" E" O1 M6 L' @
#define WaitSem(sem) do{ sem=1; WaitX(0); if (sem>0) return 1;} while(0);
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//等待信号量或定时器溢出，定时器tickets 最大为0xFFFE
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#define WaitSemX(sem,tickets) do { sem=tickets+1; WaitX(0); if(sem>1){ sem--; return 1;} } while(0);
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//发送信号量
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#define SendSem(sem) do {sem=0;} while(0);
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#endif$ x/ p, y9 j( H/ Y7 e$ e
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jeromeRo 回答时间：2015-1-13 14:05:52

裸奔的，到现在我还是二货，只会裸奔

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那片清茶回答时间：2015-1-13 17:53:23

你的程序，没有贴全吧。

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我是东哥回答时间：2015-1-14 14:43:48

这里的协同式操作系统应该说是协同库吧，如果不是楼主自创，应该是参照的protothreads，可以参照这个网站http://dunkels.com/adam/pt。在ANSI C的情况下利用的switch case实现的，很巧妙，可以学习一下。

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holts1 回答时间：2015-1-14 19:03:48

我是东哥发表于 2015-1-14 14:43: W/ X( f% e% D0 U( e' R
这里的协同式操作系统应该说是协同库吧，如果不是楼主自创，应该是参照的protothreads，可以参照这个网站ht ...

不是我自创，是移值高手的，的确是参照protothreads, 我认为它是个操作系统，一个近似于裸奔的操作系统

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MouseCat 回答时间：2015-2-14 10:15:33

文字讲解一下哈

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holts1 回答时间：2015-2-17 13:19:57

MouseCat 发表于 2015-2-14 10:15% r" S2 B! b4 L, u" V+ H2 C
文字讲解一下哈

先看懂代码

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holts1 回答时间：2015-2-17 13:20:23

这才是关键

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wyxy163@126.com 回答时间：2015-2-19 22:02:42

提示: 作者被禁止或删除内容自动屏蔽

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holts1 回答时间：2015-3-5 13:03:51

提提意见？

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MouseCat 回答时间：2015-3-6 11:38:49

简述下主要思想啊，关键点是任务是怎么样调度的

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anny 回答时间：2015-3-17 08:21:49

太长了。。。。。

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