My background for this review is a university course in embedded systems using MicroC and this question. Now my program appears to run ok, but I'd like to know what you think can be improved or if the solution I've done so far is not acceptable for some reason?
#include <stdio.h>
#include "system.h"
#include "includes.h"
#include "altera_avalon_pio_regs.h"
#include "sys/alt_irq.h"
#include "sys/alt_alarm.h"
#define DEBUG 1
#define HW_TIMER_PERIOD 100 /* 100ms */
/* Button Patterns */
#define GAS_PEDAL_FLAG 0x08
#define BRAKE_PEDAL_FLAG 0x04
#define CRUISE_CONTROL_FLAG 0x02
/* Switch Patterns */
#define TOP_GEAR_FLAG 0x00000002
#define ENGINE_FLAG 0x00000001
/* LED Patterns */
#define LED_RED_0 0x00000001 // Engine
#define LED_RED_1 0x00000002 // Top Gear
#define LED_GREEN_0 0x0001 // Cruise Control activated
#define LED_GREEN_2 0x0002 // Cruise Control Button
#define LED_GREEN_4 0x0010 // Brake Pedal
#define LED_GREEN_6 0x0040 // Gas Pedal
/*
* Definition of Tasks
*/
#define TASK_STACKSIZE 2048
OS_STK StartTask_Stack[TASK_STACKSIZE];
OS_STK ControlTask_Stack[TASK_STACKSIZE];
OS_STK VehicleTask_Stack[TASK_STACKSIZE];
// Task Priorities
#define STARTTASK_PRIO 5
#define VEHICLETASK_PRIO 10
#define CONTROLTASK_PRIO 12
// Task Periods
#define CONTROL_PERIOD 300
#define VEHICLE_PERIOD 300
/*
* Definition of Kernel Objects
*/
// Mailboxes
OS_EVENT *Mbox_Throttle;
OS_EVENT *Mbox_Velocity;
// Semaphores
OS_EVENT *aSemaphore;
OS_EVENT *aSemaphore2;
// SW-Timer
OS_TMR *SWTimer;
OS_TMR *SWTimer1;
BOOLEAN status;
/*
* Types
*/
enum active {on, off};
enum active gas_pedal = off;
enum active brake_pedal = off;
enum active top_gear = off;
enum active engine = off;
enum active cruise_control = off;
/*
* Global variables
*/
int delay; // Delay of HW-timer
INT16U led_green = 0; // Green LEDs
INT32U led_red = 0; // Red LEDs
int sharedMemory=1;
void TimerCallback(params)
{
// Post to the semaphore to signal that it's time to run the task.
OSSemPost(aSemaphore); // Releasing the key
}
void ContextSwitch()
{
printf("ContextSwitch!\n");
sharedMemory=sharedMemory*-1;
}
int buttons_pressed(void)
{
return ~IORD_ALTERA_AVALON_PIO_DATA(DE2_PIO_KEYS4_BASE);
}
int switches_pressed(void)
{
return IORD_ALTERA_AVALON_PIO_DATA(DE2_PIO_TOGGLES18_BASE);
}
/*
* ISR for HW Timer
*/
alt_u32 alarm_handler(void* context)
{
OSTmrSignal(); /* Signals a 'tick' to the SW timers */
return delay;
}
void release()
{
OSSemPost(aSemaphore2);
}
static int b2sLUT[] = {0x40, //0
0x79, //1
0x24, //2
0x30, //3
0x19, //4
0x12, //5
0x02, //6
0x78, //7
0x00, //8
0x18, //9
0x3F, //-
};
/*
* convert int to seven segment display format
*/
int int2seven(int inval){
return b2sLUT[inval];
}
/*
* output current velocity on the seven segement display
*/
void show_velocity_on_sevenseg(INT8S velocity){
int tmp = velocity;
int out;
INT8U out_high = 0;
INT8U out_low = 0;
INT8U out_sign = 0;
if(velocity < 0){
out_sign = int2seven(10);
tmp *= -1;
}else{
out_sign = int2seven(0);
}
out_high = int2seven(tmp / 10);
out_low = int2seven(tmp - (tmp/10) * 10);
out = int2seven(0) << 21 |
out_sign << 14 |
out_high << 7 |
out_low;
IOWR_ALTERA_AVALON_PIO_DATA(DE2_PIO_HEX_LOW28_BASE,out);
}
/*
* shows the target velocity on the seven segment display (HEX5, HEX4)
* when the cruise control is activated (0 otherwise)
*/
void show_target_velocity(INT8U target_vel)
{
}
/*
* indicates the position of the vehicle on the track with the four leftmost red LEDs
* LEDR17: [0m, 400m)
* LEDR16: [400m, 800m)
* LEDR15: [800m, 1200m)
* LEDR14: [1200m, 1600m)
* LEDR13: [1600m, 2000m)
* LEDR12: [2000m, 2400m]
*/
void show_position(INT16U position)
{
}
/*
* The function 'adjust_position()' adjusts the position depending on the
* acceleration and velocity.
*/
INT16U adjust_position(INT16U position, INT16S velocity,
INT8S acceleration, INT16U time_interval)
{
INT16S new_position = position + velocity * time_interval / 1000
+ acceleration / 2 * (time_interval / 1000) * (time_interval / 1000);
if (new_position > 24000) {
new_position -= 24000;
} else if (new_position < 0){
new_position += 24000;
}
show_position(new_position);
return new_position;
}
/*
* The function 'adjust_velocity()' adjusts the velocity depending on the
* acceleration.
*/
INT16S adjust_velocity(INT16S velocity, INT8S acceleration,
enum active brake_pedal, INT16U time_interval)
{
INT16S new_velocity;
INT8U brake_retardation = 200;
if (brake_pedal == off)
new_velocity = velocity + (float) (acceleration * time_interval) / 1000.0;
else {
if (brake_retardation * time_interval / 1000 > velocity)
new_velocity = 0;
else
new_velocity = velocity - brake_retardation * time_interval / 1000;
}
return new_velocity;
}
/*
* The task 'VehicleTask' updates the current velocity of the vehicle
*/
void VehicleTask(void* pdata)
{
INT8U err;
void* msg;
INT8U* throttle;
INT8S acceleration; /* Value between 40 and -20 (4.0 m/s^2 and -2.0 m/s^2) */
INT8S retardation; /* Value between 20 and -10 (2.0 m/s^2 and -1.0 m/s^2) */
INT16U position = 0; /* Value between 0 and 20000 (0.0 m and 2000.0 m) */
INT16S velocity = 0; /* Value between -200 and 700 (-20.0 m/s amd 70.0 m/s) */
INT16S wind_factor; /* Value between -10 and 20 (2.0 m/s^2 and -1.0 m/s^2) */
printf("Vehicle task created!\n");
// Create a periodic software timer which calls TimerCallback()
// when it expires.
SWTimer1 = OSTmrCreate(0,
CONTROL_PERIOD/(4*OS_TMR_CFG_TICKS_PER_SEC),
OS_TMR_OPT_PERIODIC,
TimerCallback,
NULL,
NULL,
&err);
if (err == OS_ERR_NONE) {
/* Timer was created but NOT started */
printf("SWTimer1 was created but NOT started \n");
}
status = OSTmrStart(SWTimer1,
&err);
if (err == OS_ERR_NONE) {
/* Timer was started */
printf("SWTimer1 was started!\n");
}
while(1)
{
OSSemPend(aSemaphore, 0, &err); // Trying to access the key
err = OSMboxPost(Mbox_Velocity, (void *) &velocity);
//OSTimeDlyHMSM(0,0,0,VEHICLE_PERIOD);
/* Non-blocking read of mailbox:
- message in mailbox: update throttle
- no message: use old throttle
*/
msg = OSMboxPend(Mbox_Throttle, 1, &err);
if (err == OS_NO_ERR)
throttle = (INT8U*) msg;
/* Retardation : Factor of Terrain and Wind Resistance */
if (velocity > 0)
wind_factor = velocity * velocity / 10000 + 1;
else
wind_factor = (-1) * velocity * velocity / 10000 + 1;
if (position < 4000)
retardation = wind_factor; // even ground
else if (position < 8000)
retardation = wind_factor + 15; // traveling uphill
else if (position < 12000)
retardation = wind_factor + 25; // traveling steep uphill
else if (position < 16000)
retardation = wind_factor; // even ground
else if (position < 20000)
retardation = wind_factor - 10; //traveling downhill
else
retardation = wind_factor - 5 ; // traveling steep downhill
acceleration = *throttle / 2 - retardation;
position = adjust_position(position, velocity, acceleration, 300);
velocity = adjust_velocity(velocity, acceleration, brake_pedal, 300);
printf("Position: %dm\n", position / 10);
printf("Velocity: %4.1fm/s\n", velocity /10.0);
printf("Throttle: %dV\n", *throttle / 10);
show_velocity_on_sevenseg((INT8S) (velocity / 10));
//OSSemPost(aSemaphore); // Releasing the key
}
}
/*
* The task 'ControlTask' is the main task of the application. It reacts
* on sensors and generates responses.
*/
void ControlTask(void* pdata)
{
INT8U err;
INT8U throttle = 40; /* Value between 0 and 80, which is interpreted as between 0.0V and 8.0V */
void* msg;
INT16S* current_velocity;
printf("Control Task created!\n");
while(1)
{
OSSemPend(aSemaphore2, 0, &err); // Trying to access the key
msg = OSMboxPend(Mbox_Velocity, 0, &err);
current_velocity = (INT16S*) msg;
printf("Control Task!\n");
err = OSMboxPost(Mbox_Throttle, (void *) &throttle);
}
}
/*
* The task 'StartTask' creates all other tasks kernel objects and
* deletes itself afterwards.
*/
void StartTask(void* pdata)
{
INT8U err;
void* context;
static alt_alarm alarm; /* Is needed for timer ISR function */
/* Base resolution for SW timer : HW_TIMER_PERIOD ms */
delay = alt_ticks_per_second() * HW_TIMER_PERIOD / 1000;
printf("delay in ticks %d\n", delay);
/*
* Create Hardware Timer with a period of 'delay'
*/
if (alt_alarm_start (&alarm,
delay,
alarm_handler,
context) < 0)
{
printf("No system clock available!n");
}
/*
* Create and start Software Timer
*/
SWTimer = OSTmrCreate(0,
CONTROL_PERIOD/(4*OS_TMR_CFG_TICKS_PER_SEC),
OS_TMR_OPT_PERIODIC,
release,
NULL,
NULL,
&err);
if (err == OS_ERR_NONE) {
/* Timer was created but NOT started */
printf("SWTimer was created but NOT started \n");
}
status = OSTmrStart(SWTimer,
&err);
if (err == OS_ERR_NONE) {
/* Timer was started */
printf("SWTimer was started!\n");
}
/*
* Creation of Kernel Objects
*/
// Mailboxes
Mbox_Throttle = OSMboxCreate((void*) 0); /* Empty Mailbox - Throttle */
Mbox_Velocity = OSMboxCreate((void*) 0); /* Empty Mailbox - Velocity */
/*
* Create statistics task
*/
OSStatInit();
/*
* Creating Tasks in the system
*/
err = OSTaskCreateExt(
ControlTask, // Pointer to task code
NULL, // Pointer to argument that is
// passed to task
&ControlTask_Stack[TASK_STACKSIZE-1], // Pointer to top
// of task stack
CONTROLTASK_PRIO,
CONTROLTASK_PRIO,
(void *)&ControlTask_Stack[0],
TASK_STACKSIZE,
(void *) 0,
OS_TASK_OPT_STK_CHK);
err = OSTaskCreateExt(
VehicleTask, // Pointer to task code
NULL, // Pointer to argument that is
// passed to task
&VehicleTask_Stack[TASK_STACKSIZE-1], // Pointer to top
// of task stack
VEHICLETASK_PRIO,
VEHICLETASK_PRIO,
(void *)&VehicleTask_Stack[0],
TASK_STACKSIZE,
(void *) 0,
OS_TASK_OPT_STK_CHK);
printf("All Tasks and Kernel Objects generated!\n");
/* Task deletes itself */
OSTaskDel(OS_PRIO_SELF);
}
/*
*
* The function 'main' creates only a single task 'StartTask' and starts
* the OS. All other tasks are started from the task 'StartTask'.
*
*/
int main(void) {
printf("Cruise Control 2014\n");
aSemaphore = OSSemCreate(1); // binary semaphore (1 key)
aSemaphore2 = OSSemCreate(0); // binary semaphore (1 key)
OSTaskCreateExt(
StartTask, // Pointer to task code
NULL, // Pointer to argument that is
// passed to task
(void *)&StartTask_Stack[TASK_STACKSIZE-1], // Pointer to top
// of task stack
STARTTASK_PRIO,
STARTTASK_PRIO,
(void *)&StartTask_Stack[0],
TASK_STACKSIZE,
(void *) 0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
OSStart();
return 0;
}
The output appears to switch using the timers:
Cruise Control 2014 delay in ticks 100 SWTimer was created but NOT started SWTimer was started! All Tasks and Kernel Objects generated! Vehicle task created! SWTimer1 was created but NOT started SWTimer1 was started! Control Task created! Position: 0m Velocity: 0.4m/s Throttle: 3V Control Task! Position: 0m Velocity: 0.9m/s Throttle: 4V Control Task! Position: 0m Velocity: 1.4m/s Throttle: 4V Control Task! Position: 0m Velocity: 1.9m/s Throttle: 4V Control Task! Position: 1m Velocity: 2.4m/s Throttle: 4V Control Task! Position: 1m Velocity: 2.9m/s Throttle: 4V Control Task! Position: 2m Velocity: 3.4m/s Throttle: 4V Control Task! Position: 3m Velocity: 3.9m/s Throttle: 4V Control Task! Position: 4m Velocity: 4.4m/s Throttle: 4V Control Task! Position: 6m Velocity: 4.9m/s Throttle: 4V Control Task! Position: 7m Velocity: 5.4m/s Throttle: 4V Control Task! Position: 9m
Modified program version 2 using 1 semaphore + 1 timer
The modified program also can switch tasks and now uses 1 semaphore and 1 timer.
#include <stdio.h>
#include "system.h"
#include "includes.h"
#include "altera_avalon_pio_regs.h"
#include "sys/alt_irq.h"
#include "sys/alt_alarm.h"
#define DEBUG 1
#define HW_TIMER_PERIOD 100 /* 100ms */
/* Button Patterns */
#define GAS_PEDAL_FLAG 0x08
#define BRAKE_PEDAL_FLAG 0x04
#define CRUISE_CONTROL_FLAG 0x02
/* Switch Patterns */
#define TOP_GEAR_FLAG 0x00000002
#define ENGINE_FLAG 0x00000001
/* LED Patterns */
#define LED_RED_0 0x00000001 // Engine
#define LED_RED_1 0x00000002 // Top Gear
#define LED_GREEN_0 0x0001 // Cruise Control activated
#define LED_GREEN_2 0x0002 // Cruise Control Button
#define LED_GREEN_4 0x0010 // Brake Pedal
#define LED_GREEN_6 0x0040 // Gas Pedal
#define TASK_STACKSIZE 2048
OS_STK StartTask_Stack[TASK_STACKSIZE];
OS_STK ControlTask_Stack[TASK_STACKSIZE];
OS_STK VehicleTask_Stack[TASK_STACKSIZE];
// Task Priorities
#define STARTTASK_PRIO 5
#define VEHICLETASK_PRIO 10
#define CONTROLTASK_PRIO 12
// Task Periods
#define CONTROL_PERIOD 300
#define VEHICLE_PERIOD 300
/*
* Definition of Kernel Objects
*/
// Mailboxes
OS_EVENT *Mbox_Throttle;
OS_EVENT *Mbox_Velocity;
// Semaphores
OS_EVENT *aSemaphore;
// SW-Timer
OS_TMR *SWTimer;
/*
* Types
*/
enum active {on, off};
enum active gas_pedal = off;
enum active brake_pedal = off;
enum active top_gear = off;
enum active engine = off;
enum active cruise_control = off;
/*
* Global variables
*/
int delay; // Delay of HW-timer
INT16U led_green = 0; // Green LEDs
INT32U led_red = 0; // Red LEDs
void TimerCallback(params)
{
// Post to the semaphore to signal that it's time to run the task.
OSSemPost(aSemaphore); // Releasing the key
}
int buttons_pressed(void)
{
return ~IORD_ALTERA_AVALON_PIO_DATA(DE2_PIO_KEYS4_BASE);
}
int switches_pressed(void)
{
return IORD_ALTERA_AVALON_PIO_DATA(DE2_PIO_TOGGLES18_BASE);
}
/*
* ISR for HW Timer
*/
alt_u32 alarm_handler(void* context)
{
OSTmrSignal(); /* Signals a 'tick' to the SW timers */
return delay;
}
void release()
{
OSSemPost(aSemaphore);
}
static int b2sLUT[] = {0x40, //0
0x79, //1
0x24, //2
0x30, //3
0x19, //4
0x12, //5
0x02, //6
0x78, //7
0x00, //8
0x18, //9
0x3F, //-
};
/*
* convert int to seven segment display format
*/
int int2seven(int inval){
return b2sLUT[inval];
}
/*
* output current velocity on the seven segement display
*/
void show_velocity_on_sevenseg(INT8S velocity){
int tmp = velocity;
int out;
INT8U out_high = 0;
INT8U out_low = 0;
INT8U out_sign = 0;
if(velocity < 0){
out_sign = int2seven(10);
tmp *= -1;
}else{
out_sign = int2seven(0);
}
out_high = int2seven(tmp / 10);
out_low = int2seven(tmp - (tmp/10) * 10);
out = int2seven(0) << 21 |
out_sign << 14 |
out_high << 7 |
out_low;
IOWR_ALTERA_AVALON_PIO_DATA(DE2_PIO_HEX_LOW28_BASE,out);
}
/*
* shows the target velocity on the seven segment display (HEX5, HEX4)
* when the cruise control is activated (0 otherwise)
*/
void show_target_velocity(INT8U target_vel)
{
}
/*
* indicates the position of the vehicle on the track with the four leftmost red LEDs
* LEDR17: [0m, 400m)
* LEDR16: [400m, 800m)
* LEDR15: [800m, 1200m)
* LEDR14: [1200m, 1600m)
* LEDR13: [1600m, 2000m)
* LEDR12: [2000m, 2400m]
*/
void show_position(INT16U position)
{
}
/*
* The function 'adjust_position()' adjusts the position depending on the
* acceleration and velocity.
*/
INT16U adjust_position(INT16U position, INT16S velocity,
INT8S acceleration, INT16U time_interval)
{
INT16S new_position = position + velocity * time_interval / 1000
+ acceleration / 2 * (time_interval / 1000) * (time_interval / 1000);
if (new_position > 24000) {
new_position -= 24000;
} else if (new_position < 0){
new_position += 24000;
}
show_position(new_position);
return new_position;
}
//The task SwitchIO creates the signals ENGINE
//8
//and TOP_GEAR, while the task ButtonIO creates the signals CRUISE_CONTROL,
//GAS_PEDAL and BRAKE_PEDAL. Use the red LEDs to indicate that a switch is active
//and the green LEDs to indicate that a button is active, as specified in Table
//1.
/*
* The function 'adjust_velocity()' adjusts the velocity depending on the
* acceleration.
*/
INT16S adjust_velocity(INT16S velocity, INT8S acceleration,
enum active brake_pedal, INT16U time_interval)
{
INT16S new_velocity;
INT8U brake_retardation = 200;
if (brake_pedal == off)
new_velocity = velocity + (float) (acceleration * time_interval) / 1000.0;
else {
if (brake_retardation * time_interval / 1000 > velocity)
new_velocity = 0;
else
new_velocity = velocity - brake_retardation * time_interval / 1000;
}
return new_velocity;
}
void ButtonIO()
{
}
void SwitchIO()
{
engine = on;
top_gear = on;
}
/*
* The task 'VehicleTask' updates the current velocity of the vehicle
*/
void VehicleTask(void* pdata)
{
INT8U err;
void* msg;
INT8U* throttle;
INT8S acceleration; /* Value between 40 and -20 (4.0 m/s^2 and -2.0 m/s^2) */
INT8S retardation; /* Value between 20 and -10 (2.0 m/s^2 and -1.0 m/s^2) */
INT16U position = 0; /* Value between 0 and 20000 (0.0 m and 2000.0 m) */
INT16S velocity = 0; /* Value between -200 and 700 (-20.0 m/s amd 70.0 m/s) */
INT16S wind_factor; /* Value between -10 and 20 (2.0 m/s^2 and -1.0 m/s^2) */
printf("Vehicle task created!\n");
while(1)
{
OSSemPend(aSemaphore, 0, &err); // Trying to access the key
err = OSMboxPost(Mbox_Velocity, (void *) &velocity);
/* Non-blocking read of mailbox:
- message in mailbox: update throttle
- no message: use old throttle
*/
msg = OSMboxPend(Mbox_Throttle, 1, &err);
if (err == OS_NO_ERR)
throttle = (INT8U*) msg;
/* Retardation : Factor of Terrain and Wind Resistance */
if (velocity > 0)
wind_factor = velocity * velocity / 10000 + 1;
else
wind_factor = (-1) * velocity * velocity / 10000 + 1;
if (position < 4000)
retardation = wind_factor; // even ground
else if (position < 8000)
retardation = wind_factor + 15; // traveling uphill
else if (position < 12000)
retardation = wind_factor + 25; // traveling steep uphill
else if (position < 16000)
retardation = wind_factor; // even ground
else if (position < 20000)
retardation = wind_factor - 10; //traveling downhill
else
retardation = wind_factor - 5 ; // traveling steep downhill
acceleration = *throttle / 2 - retardation;
position = adjust_position(position, velocity, acceleration, 300);
velocity = adjust_velocity(velocity, acceleration, brake_pedal, 300);
printf("Position: %dm\n", position / 10);
printf("Velocity: %4.1fm/s\n", velocity /10.0);
printf("Throttle: %dV\n", *throttle / 10);
show_velocity_on_sevenseg((INT8S) (velocity / 10));
}
}
/*
* The task 'ControlTask' is the main task of the application. It reacts
* on sensors and generates responses.
*/
void ControlTask(void* pdata)
{
INT8U err;
INT8U throttle = 40; /* Value between 0 and 80, which is interpreted as between 0.0V and 8.0V */
void* msg;
INT16S* current_velocity;
printf("Control Task created!\n");
while(1)
{
OSSemPend(aSemaphore, 1, &err); // Trying to access the key
msg = OSMboxPend(Mbox_Velocity, 0, &err);
current_velocity = (INT16S*) msg;
printf("Control Task!\n");
err = OSMboxPost(Mbox_Throttle, (void *) &throttle);
}
}
/*
* The task 'StartTask' creates all other tasks kernel objects and
* deletes itself afterwards.
*/
void StartTask(void* pdata)
{
INT8U err;
void* context;
static alt_alarm alarm; /* Is needed for timer ISR function */
/* Base resolution for SW timer : HW_TIMER_PERIOD ms */
delay = alt_ticks_per_second() * HW_TIMER_PERIOD / 1000;
printf("delay in ticks %d\n", delay);
/*
* Create Hardware Timer with a period of 'delay'
*/
if (alt_alarm_start (&alarm,
delay,
alarm_handler,
context) < 0)
{
printf("No system clock available!n");
}
/*
* Create and start Software Timer
*/
SWTimer = OSTmrCreate(0,
CONTROL_PERIOD/(4*OS_TMR_CFG_TICKS_PER_SEC),
OS_TMR_OPT_PERIODIC,
release,
NULL,
NULL,
&err);
if (err == OS_ERR_NONE) {
/* Timer was created but NOT started */
printf("SWTimer was created but NOT started \n");
}
BOOLEAN status = OSTmrStart(SWTimer,
&err);
if (status > 0 && err == OS_ERR_NONE) {
/* Timer was started */
printf("SWTimer was started!\n");
}
/*
* Creation of Kernel Objects
*/
// Mailboxes
Mbox_Throttle = OSMboxCreate((void*) 0); /* Empty Mailbox - Throttle */
Mbox_Velocity = OSMboxCreate((void*) 0); /* Empty Mailbox - Velocity */
/*
* Create statistics task
*/
OSStatInit();
/*
* Creating Tasks in the system
*/
err = OSTaskCreateExt(
ControlTask, // Pointer to task code
NULL, // Pointer to argument that is
// passed to task
&ControlTask_Stack[TASK_STACKSIZE-1], // Pointer to top
// of task stack
CONTROLTASK_PRIO,
CONTROLTASK_PRIO,
(void *)&ControlTask_Stack[0],
TASK_STACKSIZE,
(void *) 0,
OS_TASK_OPT_STK_CHK);
err = OSTaskCreateExt(
VehicleTask, // Pointer to task code
NULL, // Pointer to argument that is
// passed to task
&VehicleTask_Stack[TASK_STACKSIZE-1], // Pointer to top
// of task stack
VEHICLETASK_PRIO,
VEHICLETASK_PRIO,
(void *)&VehicleTask_Stack[0],
TASK_STACKSIZE,
(void *) 0,
OS_TASK_OPT_STK_CHK);
printf("All Tasks and Kernel Objects generated!\n");
/* Task deletes itself */
OSTaskDel(OS_PRIO_SELF);
}
int main(void) {
printf("Cruise Control 20141010\n");
aSemaphore = OSSemCreate(1); // binary semaphore (1 key)
OSTaskCreateExt(
StartTask, // Pointer to task code
NULL, // Pointer to argument that is
// passed to task
(void *)&StartTask_Stack[TASK_STACKSIZE-1], // Pointer to top
// of task stack
STARTTASK_PRIO,
STARTTASK_PRIO,
(void *)&StartTask_Stack[0],
TASK_STACKSIZE,
(void *) 0,
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
OSStart();
return 0;
}
