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Chapter 3
static
void
AppTaskStart (void *p_arg)
(1)
{
OS_ERR
err;
p_arg = p_arg;
BSP_Init();
CPU_Init();
BSP_Cfg_Tick();
BSP_LED_Off(0);
while (1) {
BSP_LED_Toggle(0);
OSTimeDlyHMSM((CPU_INT16U) 0,
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(CPU_INT16U) 0,
(CPU_INT16U) 0,
(CPU_INT32U)100,
(OS_OPT )OS_OPT_TIME_HMSM_STRICT,
(OS_ERR *)&err);
/* Check for ‘err’ */
}
}
Listing 3-3 APP.C (3rd Part)
L3-3(1)
As previously mentioned, a task looks like any other C function. The argument
“ p_arg ” is passed to AppTaskStart() by OSTaskCreate() , as discussed in the
previous listing description.
L3-3(2)
BSP_Init() is a Board Support Package (BSP) function that is responsible for
initializing the hardware on an evaluation or target board. The evaluation
board might have General Purpose Input Output (GPIO) lines that might
need to be configured, relays, sensors and more. This function is found in a
file called BSP.C .
L3-3(3)
CPU_Init() initializes the μC/CPU services. μC/CPU provides services to measure
interrupt latency, receive time stamps, and provides emulation of the count leading
zeros instruction if the processor used does not have that instruction and more.
L3-3(4)
BSP_Cfg_Tick() sets up the μC/OS-III tick interrupt. For this, the function
needs to initialize one of the hardware timers to interrupt the CPU at a rate of:
58
OSCfg_TickRate_Hz , which is defined in
OS_CFG_TICK_RATE_HZ ).
OS_CFG_APP.H
(See
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