(原創) 如何傳參數到每個task? (SOC) (Nios II) (μC/OS-II) (DE2-70)

最新推荐文章于 2024-11-10 22:52:20 发布

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最新推荐文章于 2024-11-10 22:52:20 发布

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文章标签： c/c++

Abstract
當我們在μC/OS-II使用Multi Thread時，會將程式包在task內，但要如何將參數傳到task內呢?

Introduction
使用環境：Quartus II 8.1 + Nios II EDS 8.1 + DE2-70(Cyclone II EP2C35F627C6)

當我們想利用μC/OS-II的Multi Thread功能時，我們會使用Nios II EDS內建的Hello MicroC/OS-II project template

task01

他會產生如下的code

hello_ucosii.c / C

1 #include < stdio.h >
2 #include " includes.h "
3
4 /* Definition of Task Stacks */
5 #define    TASK_STACKSIZE       2048
6 OS_STK    task1_stk[TASK_STACKSIZE];
7 OS_STK    task2_stk[TASK_STACKSIZE];
8
9 /* Definition of Task Priorities */
10
11 #define TASK1_PRIORITY      1
12 #define TASK2_PRIORITY      2
13
14 /* Prints "Hello World" and sleeps for three seconds */
15 void task1( void * pdata)
16 {
17 while ( 1 )
18 {
19     printf( " Hello from task1\n " );
20     OSTimeDlyHMSM( 0 , 0 , 3 , 0 );
21 }
22 }
23 /* Prints "Hello World" and sleeps for three seconds */
24 void task2( void * pdata)
25 {
26 while ( 1 )
27 {
28     printf( " Hello from task2\n " );
29     OSTimeDlyHMSM( 0 , 0 , 3 , 0 );
30 }
31 }
32 /* The main function creates two task and starts multi-tasking */
33 int main( void )
34 {
35
36 OSTaskCreateExt(task1,
37                   NULL,
38                   ( void * ) & task1_stk[TASK_STACKSIZE - 1 ],
39                   TASK1_PRIORITY,
40                   TASK1_PRIORITY,
41                   task1_stk,
42                   TASK_STACKSIZE,
43                   NULL,
44                   0 );
45
46
47 OSTaskCreateExt(task2,
48                   NULL,
49                   ( void * ) & task2_stk[TASK_STACKSIZE - 1 ],
50                   TASK2_PRIORITY,
51                   TASK2_PRIORITY,
52                   task2_stk,
53                   TASK_STACKSIZE,
54                   NULL,
55                   0 );
56 OSStart();
57 return 0 ;
58 }

假如我們想從main()傳參數到task1或task2，你可能會發現不知道該怎麼傳，主要task1與task2是個callback，是由μC/OS-II所呼叫，並不是由main()去呼叫，就算你自己替task1增加1個參數如下

void task1( void * pdata, int i)
{
while ( 1 )
{
printf( " Hello from task1\n " );
OSTimeDlyHMSM( 0 , 0 , 3 , 0 );
}
}

還是會發現這個int i不知道要怎麼傳進去…。

Solution
你可能有發現 void *pdata這個參數，對!!這就是μC/OS-II所留下的後門。

根據http://www.rabbit.com/documentation/docs/modules/ucos2/ModUcos49.htm

OSTaskCreateExt()這個API的定義如下

INT8U OSTaskCreateExt (void (*task)(), void *pdata, INT8U prio, INT16U id, INT16U stk_size, void *pext, INT16U opt);

Description

Creates a task to be managed by µC/OS-II. Tasks can either be created prior to the start of multitasking or by a running task. A task cannot be created by an ISR. This function is similar to OSTaskCreate() except that it allows additional information about a task to be specified.

Parameters

task

Pointer to task's code.
pdata

Pointer to optional data area; used to pass parameters to the task at start of execution.
prio

The task's unique priority number; the lower the number the higher the priority.
id

The task's identification number (0...65535).
stk_size

Size of the stack in number of elements. If OS_STK is set to INT8U, stk_size corresponds to the number of bytes available. If OS_STK is set to INT16U, stk_size contains the number of 16-bit entries available. Finally, if OS_STK is set to INT32U, stk_size contains the number of 32-bit entries available on the stack.
pext

Pointer to a user-supplied Task Control Block (TCB) extension.
opt

The lower 8 bits are reserved by µC/OS-II. The upper 8 bits control application-specific options. Select an option by setting the corresponding bit(s).

Return value

OS_NO_ERR

The call was successful.
OS_PRIO_EXIT

Task priority already exists (each task MUST have a unique priority).
OS_PRIO_INVALID

The priority specified is higher than the maximum allowed (i.e., ≥ OS_LOWEST_PRIO).

Library

OS_TASK.C

第二個參數是個void *，讓你可以傳各種參數的pointer進去，但也由於是void *，所以在使用時，必須自己轉型回來。

以下的範例實際傳入int, char *與struct *，示範怎麼將值傳進task內。

hello_ucosii.c / C

1 #include < stdio.h >
2 #include < string .h >
3 #include " includes.h "
4
5 /* Definition of Task Stacks */
6 #define    TASK_STACKSIZE       2048
7 OS_STK    task1_stk[TASK_STACKSIZE];
8 OS_STK    task2_stk[TASK_STACKSIZE];
9 OS_STK    task3_stk[TASK_STACKSIZE];
10
11 /* Definition of Task Priorities */
12
13 #define TASK1_PRIORITY      1
14 #define TASK2_PRIORITY      2
15 #define TASK3_PRIORITY      3
16
17 typedef struct people {
18 int no;
19 char name[ 20 ];
20 } student, * pstudent;
21
22 /* Prints "Hello World" and sleeps for three seconds */
23 void task1( void * pdata)
24 {
25 while ( 1 )
26 {
27     printf( " task1 is %s\n " , ( char * )pdata);
28     OSTimeDlyHMSM( 0 , 0 , 3 , 0 );
29 }
30 }
31 /* Prints "Hello World" and sleeps for three seconds */
32 void task2( void * pdata)
33 {
34 while ( 1 )
35 {
36     printf( " task2 is %d\n " , * (( int * )pdata));
37     OSTimeDlyHMSM( 0 , 0 , 3 , 0 );
38 }
39 }
40
41 /* Prints "Hello World" and sleeps for three seconds */
42 void task3( void * pdata)
43 {
44 while ( 1 )
45 {
46     printf( " task3 is %d\n " , ((pstudent)pdata) -> no);
47     printf( " task3 is %s\n " , ((pstudent)pdata) -> name);
48     OSTimeDlyHMSM( 0 , 0 , 3 , 0 );
49 }
50 }
51 /* The main function creates two task and starts multi-tasking */
52 int main( void )
53 {
54 char str[] = " Hello World " ;
55 int i = 10 ;
56 student p;
57 p.no = 1 ;
58 strcpy(p.name, " oomusou " );
59
60
61 OSTaskCreateExt(task1,
62                   str,
63                   ( void * ) & task1_stk[TASK_STACKSIZE - 1 ],
64                   TASK1_PRIORITY,
65                   TASK1_PRIORITY,
66                   task1_stk,
67                   TASK_STACKSIZE,
68                   NULL,
69                   0 );
70
71
72 OSTaskCreateExt(task2,
73                   & i,
74                   ( void * ) & task2_stk[TASK_STACKSIZE - 1 ],
75                   TASK2_PRIORITY,
76                   TASK2_PRIORITY,
77                   task2_stk,
78                   TASK_STACKSIZE,
79                   NULL,
80                   0 );
81
82
83 OSTaskCreateExt(task3,
84                   & p,
85                   ( void * ) & task3_stk[TASK_STACKSIZE - 1 ],
86                   TASK3_PRIORITY,
87                   TASK3_PRIORITY,
88                   task3_stk,
89                   TASK_STACKSIZE,
90                   NULL,
91                   0 );
92 OSStart();
93 return 0 ;
94 }

執行結果

task02