3.4

#include "includes.h"
// Stack sizes
#define TASK1_STK_SIZE 128
#define TASK1_PRIO 5 #define TASK2_PRIO 6 #define TASK3_PRIO 7
// Stacks
OS_STK Task1Stk[TASK1_STK_SIZE]; OS_STK Task2Stk[TASK1_STK_SIZE]; OS_STK Task3Stk[TASK1_STK_SIZE];
void Task1(void *data); void Task2(void *data); void Task3(void *data);
INT16U volatile adc_value; OS_EVENT *sem;
int main (void) {
ADC_init(ADC_OPTO, ADC_SINGLE);
LCD_init();
stdout = &LCD_stdout;
/* Initializing inner OS variables, creating idle task, ... */
OSInit();
/* Create LCD backlight controlling task */
OSTaskCreate(Task1, NULL, &Task1Stk[TASK1_STK_SIZE - 1], TASK1_PRIO); /* Create semaphore for event signaling */
sem = OSSemCreate(1);
/* Start multitasking. ( OSStart() never returns! ) */ OSStart();
return 0; }
void Task1(void *data) { OS_ENTER_CRITICAL();
TCCR0=0x07; /* Set TIMER0 prescaler to CLK/1024 */
TIMSK=_BV(TOIE0); /* Enable TIMER0 overflow interrupt */ TCNT0=256-(CPU_CLOCK_HZ/OS_TICKS_PER_SEC/1024); /* Set the counter initial value */
OS_EXIT_CRITICAL();
/* Create other tasks */
OSTaskCreate(Task2, NULL, &Task2Stk[TASK1_STK_SIZE - 1], TASK2_PRIO); //Task2 lÈtrehoz·sa OSTaskCreate(Task3, NULL, &Task3Stk[TASK1_STK_SIZE - 1], TASK3_PRIO); //Task3 lÈtrehoz·sa /* Delete current task (single-shot task architecture) */
OSTaskDel(OS_PRIO_SELF); //taszk tˆrlÈse }
void Task2(void *data) {
DDRC = 255; PORTC = 1; while(1){
if(PORTC == 128)
PORTC = 1; else
PORTC <<= 1;
OSTimeDlyHMSM(0,0,1,0); }
}
void Task3(void *data) {
while(1){ ADC_start();
OSSemPend(sem, 0, NULL);
LCD_light((unsigned char)(adc_value>>2)); }
}
UCOSISR(ADC_vect) { PushRS();
OSIntEnter();
if (OSIntNesting == 1)
OSTCBCur->OSTCBStkPtr = (OS_STK *)SP; /* Begin of application specific code */
adc_value = ADC_read(); OSSemPost(sem);
OSIntExit();
PopRS(); }