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/*
Written by : Bebo
DATE : 7/2/2019
AUTOSAR Version : 4.3.1
DOC Name : AUTOSAR_SWS_OS.pdf
Target : ARM TIVA_C TM4C123GH6PM
*/
#include "..\OS\Os_Headers\OsInterface_Headers\Os.h"
/* set pending bit of PendSv exception and set stack pointer to MSP */
/* set priority of dispatcher to be lowest */
#define PEND_SV_PRIORITY *( ( volatile P2VAR( uint32, AUTOMATIC, REGSPACE ) ) 0xE000ED20 ) |= ( 0x07u << 21 )
#define SYS_TICK_PRIORITY *( ( volatile P2VAR( uint32, AUTOMATIC, REGSPACE ) ) 0xE000ED20 ) |= ( 0x01u << 29 )
#define DELAY 200000
#define delay i= DELAY ;\
while(i--)
#define SW_1 * ( ( volatile unsigned long * ) (0x4005D000 + (1<<6) ))
#define SW_2 * ( ( volatile unsigned long * ) (0x4005D000 + (1<<2) ))
#define LED_R * ( ( volatile unsigned long * ) (0x4005D000 + (1<<3) ))
#define LED_B * ( ( volatile unsigned long * ) (0x4005D000 + (1<<4) ))
#define LED_G * ( ( volatile unsigned long * ) (0x4005D000 + (1<<5) ))
unsigned long i = 0 ;
void TaskRedOn (void) ;
void TaskGreenOn (void) ;
void TaskBlueOn (void) ;
void TaskYellowOn (void) ;
void TaskBurbuleOn (void) ;
void TaskAquaOn (void) ;
void TaskWhiteOn (void) ;
void TaskRedOff (void) ;
void TaskGreenOff (void) ;
void TaskBlueOff (void) ;
void TaskYellowOff (void) ;
void TaskBurbuleOff (void) ;
void TaskAquaOff (void) ;
void TaskWhiteOff (void) ;
CONSTP2FUNC( void, OS_CONFIG_DATA, OsTasksNames_Array [TASKS_NUMBER] ) (void) =
{
TaskRedOn
,TaskGreenOn
,TaskBlueOn
,TaskYellowOn
,TaskBurbuleOn
,TaskAquaOn
,TaskWhiteOn
,TaskRedOff
,TaskGreenOff
,TaskBlueOff
,TaskYellowOff
,TaskBurbuleOff
,TaskAquaOff
,TaskWhiteOff
};
int main(void)
{
PEND_SV_PRIORITY ;
SYS_TICK_PRIORITY ;
/* set MSP to address 0x20008000 */
__asm ( " MOV R10, #0x8000 " ) ;
__asm ( " MOVT R10, #0x2000 " ) ;
__asm ( " MSR MSP, R10 " ) ;
/* assign stack pointer to PSP */
__asm ( " MRS R10, CONTROL " ) ;
__asm ( " ORR R10, R10, #0x02 " ) ;
__asm ( " MSR CONTROL, R10 " ) ;
/* set PSP address to 0x20007000 */
__asm ( " MOV R10, #0x7000 " ) ;
__asm ( " MOVT R10, #0x2000 " ) ;
__asm ( " MSR PSP, R10 " ) ;
/* assign non privilege level */
__asm ( " MRS R10, CONTROL " ) ;
__asm ( " ORR R10, R10, #0x01 " ) ;
__asm ( " MSR CONTROL, R10 " ) ;
/* initialize portf */
* ( ( volatile unsigned long * ) ( 0x400FE000 + 0x608 ) ) |= 0X3F ; /* enable clock */
* ( ( volatile unsigned long * ) ( 0x400FE000 + 0x06C ) ) |= (1<<5) ; /* enble AHB for port F */
* ( ( volatile unsigned long * ) ( 0x4005D000 + 0x520 ) ) |= 0x4C4F434B ; /* unlock GPIOCR */
* ( ( volatile unsigned long * ) ( 0x4005D000 + 0x524 ) ) |= 0b01 ; /* unlock PF0 */
* ( ( volatile unsigned long * ) ( 0x4005D000 + 0x400 ) ) &= ~(0b10001) ; /* define input in port f */
* ( ( volatile unsigned long * ) ( 0x4005D000 + 0x400 ) ) |= (0b01110) ; /* define output in port f */
* ( ( volatile unsigned long * ) ( 0x4005D000 + 0x420 ) ) &= ~(0b11111) ; /* configure port f as gpio pin */
* ( ( volatile unsigned long * ) ( 0x4005D000 + 0x508 ) ) |= (0b11111) ; /* drive port f with 8-ma */
* ( ( volatile unsigned long * ) ( 0x4005D000 + 0x510 ) ) |= (0b10001) ; /* put pull up resistor for port f 0,4 */
* ( ( volatile unsigned long * ) ( 0x4005D000 + 0x51C ) ) |= (0b11111) ; /* enable port f as dio */
* ( ( volatile unsigned long * ) ( 0x4005D000 + 0x404 ) ) &= ~(0b11111) ;
* ( ( volatile unsigned long * ) ( 0x4005D000 + 0x408 ) ) &= ~(0b11111) ;
* ( ( volatile unsigned long * ) ( 0x4005D000 + 0x40C ) ) &= ~(0b11111) ;
* ( ( volatile unsigned long * ) ( 0x4005D000 + 0x41C ) ) |= (0b11111) ;
* ( ( volatile unsigned long * ) ( 0x4005D000 + 0x410 ) ) &= ~(0b11111) ;
* ( ( volatile unsigned long * ) ( 0x4005D000 + 0x410 ) ) |= (0b00001) ;
ActivateTask( TASK_RED_ON ) ;
UART_GPIO_init();
sendStringPA1("hamo\r\n");
//delay;
Init_Systick();
StartScheduleTableRel( 0, 1 );
NextScheduleTable( SCHEDULE_TABLE_1 , SCHEDULE_TABLE_2 );
while (1)
{
}
}
void TaskRedOn (void)
{
EventMaskType mask = 0x55555555 ;
EventMaskRefType mask_ptr = &mask ;
EventMaskRefType * mask_ptr1 = &mask_ptr;
EventMaskRefType * mask_ptr2 = mask_ptr1 ;
EventMaskRefType * mask_ptr3 = mask_ptr2 ;
EventMaskRefType * mask_ptr4 = mask_ptr3 ;
mask_ptr3 = mask_ptr4 ;
mask_ptr2 = mask_ptr1 ;
LED_G = 0 ;
LED_R = 0 ;
LED_B = 0 ;
LED_R = 2 ;
delay ;
GetResource(RESORCE_4) ;
GetResource(RESORCE_3) ;
GetResource(RESORCE_2) ;
/*
GetResource(RESORCE_1) ;
DISPATCHER_CALL ;
ReleaseResource (RESORCE_1) ;
*/
ActivateTask( TASK_GREEN_ON ) ;
ActivateTask( TASK_GREEN_ON ) ;
ActivateTask( TASK_BLUE_ON ) ;
ActivateTask( TASK_YELLOW_ON ) ;
ActivateTask( TASK_BURBULE_ON ) ;
ActivateTask( TASK_AQUA_ON ) ;
ActivateTask( TASK_WHITE_ON ) ;
ActivateTask( TASK_RED_OFF ) ;
ActivateTask( TASK_GREEN_OFF ) ;
ActivateTask( TASK_BLUE_OFF ) ;
ActivateTask( TASK_YELLOW_OFF ) ;
ActivateTask( TASK_BURBULE_OFF ) ;
ActivateTask( TASK_AQUA_OFF ) ;
ActivateTask( TASK_WHITE_OFF ) ;
SetEvent (TASK_RED_OFF, OS_EVENT_MASK_1 ) ;
ReleaseResource (RESORCE_3) ;
ReleaseResource (RESORCE_2) ;
ReleaseResource (RESORCE_3) ;
ReleaseResource (RESORCE_4) ;
Schedule () ;
ChainTask(TASK_RED_ON) ;
return ;
}
void TaskGreenOn (void)
{
EventMaskType mask = 0x55555555 ;
EventMaskRefType mask_ptr = &mask ;
EventMaskRefType * mask_ptr1 = &mask_ptr;
EventMaskRefType * mask_ptr2 = mask_ptr1 ;
EventMaskRefType * mask_ptr3 = mask_ptr2 ;
EventMaskRefType * mask_ptr4 = mask_ptr3 ;
mask_ptr3 = mask_ptr4 ;
mask_ptr2 = mask_ptr1 ;
LED_G = 0 ;
LED_R = 0 ;
LED_B = 0 ;
LED_G = 8 ;
delay ;
TerminateTask() ;
return ;
}
void TaskBlueOn (void)
{
EventMaskType mask = 0x55555555 ;
EventMaskRefType mask_ptr = &mask ;
EventMaskRefType * mask_ptr1 = &mask_ptr;
EventMaskRefType * mask_ptr2 = mask_ptr1 ;
EventMaskRefType * mask_ptr3 = mask_ptr2 ;
EventMaskRefType * mask_ptr4 = mask_ptr3 ;
mask_ptr3 = mask_ptr4 ;
mask_ptr2 = mask_ptr1 ;
LED_G = 0 ;
LED_R = 0 ;
LED_B = 0 ;
LED_B = 4 ;
delay ;
TerminateTask() ;
return ;
}
void TaskYellowOn (void)
{
EventMaskType mask = 0x55555555 ;
EventMaskRefType mask_ptr = &mask ;
EventMaskRefType * mask_ptr1 = &mask_ptr;
EventMaskRefType * mask_ptr2 = mask_ptr1 ;
EventMaskRefType * mask_ptr3 = mask_ptr2 ;
EventMaskRefType * mask_ptr4 = mask_ptr3 ;
mask_ptr3 = mask_ptr4 ;
mask_ptr2 = mask_ptr1 ;
LED_G = 0 ;
LED_R = 0 ;
LED_B = 0 ;
LED_G = 8 ;
LED_R = 2 ;
delay ;
TerminateTask() ;
return ;
}
void TaskBurbuleOn (void)
{
EventMaskType mask = 0x55555555 ;
EventMaskRefType mask_ptr = &mask ;
EventMaskRefType * mask_ptr1 = &mask_ptr;
EventMaskRefType * mask_ptr2 = mask_ptr1 ;
EventMaskRefType * mask_ptr3 = mask_ptr2 ;
EventMaskRefType * mask_ptr4 = mask_ptr3 ;
mask_ptr3 = mask_ptr4 ;
mask_ptr2 = mask_ptr1 ;
LED_G = 0 ;
LED_R = 0 ;
LED_B = 0 ;
LED_B = 4 ;
LED_R = 2 ;
delay ;
TerminateTask() ;
return ;
}
void TaskAquaOn (void)
{
EventMaskType mask = 0x55555555 ;
EventMaskRefType mask_ptr = &mask ;
EventMaskRefType * mask_ptr1 = &mask_ptr;
EventMaskRefType * mask_ptr2 = mask_ptr1 ;
EventMaskRefType * mask_ptr3 = mask_ptr2 ;
EventMaskRefType * mask_ptr4 = mask_ptr3 ;
mask_ptr3 = mask_ptr4 ;
mask_ptr2 = mask_ptr1 ;
LED_G = 0 ;
LED_R = 0 ;
LED_B = 0 ;
LED_G = 8 ;
LED_B = 4 ;
delay ;
TerminateTask() ;
return ;
}
void TaskWhiteOn (void)
{
EventMaskType mask = 0x55555555 ;
EventMaskRefType mask_ptr = &mask ;
EventMaskRefType * mask_ptr1 = &mask_ptr;
EventMaskRefType * mask_ptr2 = mask_ptr1 ;
EventMaskRefType * mask_ptr3 = mask_ptr2 ;
EventMaskRefType * mask_ptr4 = mask_ptr3 ;
mask_ptr3 = mask_ptr4 ;
mask_ptr2 = mask_ptr1 ;
LED_G = 0 ;
LED_R = 0 ;
LED_B = 0 ;
LED_G = 8 ;
LED_B = 4 ;
LED_R = 2 ;
delay ;
ChainTask(TASK_RED_OFF) ;
return ;
}
void TaskRedOff (void)
{
EventMaskType mask = 0x55555555 ;
EventMaskRefType mask_ptr = &mask ;
EventMaskRefType * mask_ptr1 = &mask_ptr;
EventMaskRefType * mask_ptr2 = mask_ptr1 ;
EventMaskRefType * mask_ptr3 = mask_ptr2 ;
EventMaskRefType * mask_ptr4 = mask_ptr3 ;
mask_ptr3 = mask_ptr4 ;
mask_ptr2 = mask_ptr1 ;
WaitEvent( OS_EVENT_MASK_1 | OS_EVENT_MASK_2 | OS_EVENT_MASK_3 ) ;
GetEvent( TASK_RED_OFF, mask_ptr ) ;
ClearEvent ( *mask_ptr ) ;
WaitEvent( OS_EVENT_MASK_1 | OS_EVENT_MASK_2 | OS_EVENT_MASK_3 ) ;
LED_R = 0 ;
delay ;
TerminateTask() ;
return ;
}
void TaskGreenOff (void)
{
EventMaskType mask = 0x55555555 ;
EventMaskRefType mask_ptr = &mask ;
EventMaskRefType * mask_ptr1 = &mask_ptr;
EventMaskRefType * mask_ptr2 = mask_ptr1 ;
EventMaskRefType * mask_ptr3 = mask_ptr2 ;
EventMaskRefType * mask_ptr4 = mask_ptr3 ;
mask_ptr3 = mask_ptr4 ;
mask_ptr2 = mask_ptr1 ;
SetEvent (TASK_RED_OFF, OS_EVENT_MASK_4 ) ;
SetEvent (TASK_RED_OFF, OS_EVENT_MASK_1 ) ;
LED_G = 0 ;
delay ;
TerminateTask() ;
return ;
}
void TaskBlueOff (void)
{
EventMaskType mask = 0x55555555 ;
EventMaskRefType mask_ptr = &mask ;
EventMaskRefType * mask_ptr1 = &mask_ptr;
EventMaskRefType * mask_ptr2 = mask_ptr1 ;
EventMaskRefType * mask_ptr3 = mask_ptr2 ;
EventMaskRefType * mask_ptr4 = mask_ptr3 ;
mask_ptr3 = mask_ptr4 ;
mask_ptr2 = mask_ptr1 ;
LED_B = 0 ;
delay ;
TerminateTask() ;
return ;
}
void TaskYellowOff (void)
{
EventMaskType mask = 0x55555555 ;
EventMaskRefType mask_ptr = &mask ;
EventMaskRefType * mask_ptr1 = &mask_ptr;
EventMaskRefType * mask_ptr2 = mask_ptr1 ;
EventMaskRefType * mask_ptr3 = mask_ptr2 ;
EventMaskRefType * mask_ptr4 = mask_ptr3 ;
mask_ptr3 = mask_ptr4 ;
mask_ptr2 = mask_ptr1 ;
LED_G = 0 ;
LED_R = 0 ;
delay ;
TerminateTask() ;
return ;
}
void TaskBurbuleOff (void)
{
EventMaskType mask = 0x55555555 ;
EventMaskRefType mask_ptr = &mask ;
EventMaskRefType * mask_ptr1 = &mask_ptr;
EventMaskRefType * mask_ptr2 = mask_ptr1 ;
EventMaskRefType * mask_ptr3 = mask_ptr2 ;
EventMaskRefType * mask_ptr4 = mask_ptr3 ;
mask_ptr3 = mask_ptr4 ;
mask_ptr2 = mask_ptr1 ;
LED_R = 0 ;
LED_B = 0 ;
delay ;
TerminateTask() ;
return ;
}
void TaskAquaOff (void)
{
EventMaskType mask = 0x55555555 ;
EventMaskRefType mask_ptr = &mask ;
EventMaskRefType * mask_ptr1 = &mask_ptr;
EventMaskRefType * mask_ptr2 = mask_ptr1 ;
EventMaskRefType * mask_ptr3 = mask_ptr2 ;
EventMaskRefType * mask_ptr4 = mask_ptr3 ;
mask_ptr3 = mask_ptr4 ;
mask_ptr2 = mask_ptr1 ;
LED_B = 0 ;
LED_G = 0 ;
delay ;
TerminateTask() ;
return ;
}
void TaskWhiteOff (void)
{
EventMaskType mask = 0x55555555 ;
EventMaskRefType mask_ptr = &mask ;
EventMaskRefType * mask_ptr1 = &mask_ptr;
EventMaskRefType * mask_ptr2 = mask_ptr1 ;
EventMaskRefType * mask_ptr3 = mask_ptr2 ;
EventMaskRefType * mask_ptr4 = mask_ptr3 ;
mask_ptr3 = mask_ptr4 ;
mask_ptr2 = mask_ptr1 ;
LED_G = 0 ;
LED_R = 0 ;
LED_B = 0 ;
delay ;
TerminateTask() ;
return ;
}