简洁实用的时间片调度法操作系统，献给大家 (amobbs.com 阿莫电子技术论坛) -

zhudlmax 发表于 2006-12-5 20:01:35

简洁实用的时间片调度法操作系统，献给大家

在OURAVR潜水有段时间了，学到不少东西，参考一些资料，我写了一个简洁实用的时间片调度法操作系统，在我的一些产品中已经应用，非常稳定，在再献给大家

// RTOS HEAD FILE

#ifndef _RTOS_T0_H

#define _RTOS_T0_H

// 防止C编译器调用以下寄存器（可参考GCC说明），减少任务调度代码所占用的时间

register unsigned char tempR4asm("r4");

register unsigned char tempR5asm("r5");

register unsigned char tempR6asm("r6");

register unsigned char tempR7asm("r7");

register unsigned char tempR8asm("r8");

register unsigned char tempR9asm("r9");

register unsigned char tempR10 asm("r10");

register unsigned char tempR11 asm("r11");

register unsigned char tempR12 asm("r12");

register unsigned char tempR13 asm("r13");

register unsigned char tempR14 asm("r14");

register unsigned char tempR15 asm("r15");

register unsigned char tempR16 asm("r16");

register unsigned char tempR16 asm("r17");

#define PUSH_ALL() \

asm volatile( \

"PUSH R2" "
\t" \

"PUSH R3" "
\t" \

"PUSH R18" "
\t" \

"PUSH R19" "
\t" \

"PUSH R20" "
\t" \

"PUSH R21" "
\t" \

"PUSH R22" "
\t" \

"PUSH R23" "
\t" \

"PUSH R24" "
\t" \

"PUSH R25" "
\t" \

"PUSH R26" "
\t" \

"PUSH R27" "
\t" \

"PUSH R28" "
\t" \

"PUSH R29" "
\t" \

"PUSH R30" "
\t" \

"PUSH R31" "
\t" \

) \

#define POP_ALL() \

asm volatile( \

"POP R31" "
\t" \

"POP R30" "
\t" \

"POP R29" "
\t" \

"POP R28" "
\t" \

"POP R27" "
\t" \

"POP R26" "
\t" \

"POP R25" "
\t" \

"POP R24" "
\t" \

"POP R23" "
\t" \

"POP R22" "
\t" \

"POP R21" "
\t" \

"POP R20" "
\t" \

"POP R19" "
\t" \

"POP R18" "
\t" \

"POP R3" "
\t" \

"POP R2" "
\t" \

"POP R0" "
\t" \

"OUT 0x3F,R0" "
\t" \

"POP R0" "
\t" \

"POP R1" "
\t" \

) \

#define Total_Task_Num 8

#define Task_Stack_Size 50

#define Total_Stack_Size Total_Task_Num * Task_Stack_Size

unsigned char uTaskStack;

unsigned char uCurrentTaskID;

unsigned char uTotalTaskNum;

unsigned char uCurrentProperty;

unsigned int uTaskEntry; // 任务入口

void OS_Start(void); // 开启系统：0号任务开始

void OS_ScheduleTask(void); // 任务调度：处理任务调用属性

void OS_CreateTask( void (*pTaskEntry)(void), unsigned char *pTaskStack);

void OS_Timer0Init(void); // 定时中断：调度任务

void OS_CallNext(void);

#endif

// RTOS.C

#include <avr/io.h>

#include <avr/interrupt.h>

#include "RTOS_T0.h"

void OS_Timer0Init(void)

{

TCNT0 = 0x00;

OCR0 = 95;

TCCR0 = (1<<CS01); // ti = F_CPU(15360000) / OCR0(95+1) / n(8) / 2= 0.1ms

TIMSK |= (1<<OCIE0);

}

SIGNAL(SIG_OUTPUT_COMPARE0)

{

asm("JMP OS_ScheduleTask");

}

void OS_CreateTask( void (*pTaskEntry)(void), unsigned char *pTaskStack)

{

*pTaskStack-- = (unsigned int)pTaskEntry;

*pTaskStack-- = (unsigned int)pTaskEntry>>8;

uTaskEntry = (unsigned int)pTaskStack;

}

void OS_Start(void)

{

SP = uTaskEntry;

TCNT0 = 0x00;

asm("reti");

}

// 提前调度下一任务，节约时间片资源

void OS_CallNext(void)

{

TCNT0 = OCR0-1;

asm("nop");

asm("nop");

asm("nop");

asm("nop");

asm("nop");

asm("nop");

asm("nop");

asm("nop");

asm("nop");

}

// 优化设置：-0s，其他形式下需要改变入栈与出栈代码

void OS_ScheduleTask(void)

{

PUSH_ALL();

uTaskEntry = SP+19;

if(uCurrentTaskID >= uTotalTaskNum) uCurrentTaskID = 0;

SP =uTaskEntry-19;

POP_ALL();

TCNT0 = 0x00;

asm("reti");

}

zhudlmax 发表于 2006-12-5 20:12:51

应用如下,程序仅参考，我的系统功能如下：

芯片：mega16-16AU

A：采用PS/2键盘输入，设置设备参数

B：采用20X02LCD显示

C：扩展了32路数字输入32路数字输出（DC24V）

D：控制一套伺服

E：制三个交流感应电机

F：温度控制

#include <avr/io.h>

#include <util/delay.h>

#include <avr/interrupt.h>

#include <avr/eeprom.h>

#include <avr/pgmspace.h>

#include "RTOS_T0.h"

void Task_ScanExPort(void)

{

......

TaskStart:

......

OS_CallNext();

goto TaskStart;

}

void Task_Keyboard(void)

{

......

TaskStart:

......

OS_CallNext();

goto TaskStart;

}

void Task_System(void)

{

TaskStart:

......

OS_CallNext();

goto TaskStart;

}

void Task_Load(void)

{

......

TaskStart:

......

OS_CallNext();

goto TaskStart;

}

void Task_Unload(void)

{

......

TaskStart:

......

OS_CallNext();

goto TaskStart;

}

void Task_LED(void)

{

......

TaskStart:

......

OS_CallNext();

goto TaskStart;

}

void Task_CamDisc(void)

{

......

TaskStart:

......

OS_CallNext();

goto TaskStart;

}

void Task_Miss_Extra(void)

{

......

TaskStart:

delay_ms(100);

OS_CallNext();

goto TaskStart;

}

int main(void)

{

uTotalTaskNum = 0;

uCurrentTaskID = 0;

OS_Timer0Init();

OS_CreateTask(Task_ScanExPort, &uTaskStack);

OS_CreateTask(Task_Keyboard, &uTaskStack);

OS_CreateTask(Task_System, &uTaskStack);

OS_CreateTask(Task_Load, &uTaskStack);

OS_CreateTask(Task_Unload, &uTaskStack);

OS_CreateTask(Task_LED, &uTaskStack);

OS_CreateTask(Task_CamDisc, &uTaskStack);

OS_CreateTask(Task_Miss_Extra, &uTaskStack);

OS_Start();

return(0);

}

zhudlmax 发表于 2006-12-5 20:14:39

OS_CallNext(); 可以根据实际需要而删除不用

my_avr 发表于 2006-12-5 21:03:26

好！顶一下，可以试试！

my_avr 发表于 2006-12-5 21:59:11

楼主用什么编译器？用Winavr好象不能编译过去！

tywood 发表于 2006-12-5 22:35:15

楼主厉害啊:)

AVR_AFA 发表于 2006-12-5 22:46:49

好利害，我都是用的“时间触发调度系统”方式，感觉也挺好的。

zhudlmax 发表于 2006-12-6 09:30:25

AVR Studio 4.12 SP2 Build 472 + WinAVR 2006-0421，开发很方便，直接在AVR Studio中利用WinAVR的GCC进行开发

biansf2001 发表于 2006-12-6 11:00:37

huangdongle 发表于 2006-12-6 11:13:20

多谢楼主的贡献精神!

zhudlmax 发表于 2006-12-6 12:05:34

输入贻误，谢谢指正

my_avr 发表于 2006-12-6 17:13:19

菜鸟请楼主指点一下：

uTaskEntry = SP+19;

if(uCurrentTaskID >= uTotalTaskNum) uCurrentTaskID = 0;

SP =uTaskEntry-19;

是什么意思啊，为什么要加19，后面又要减19呢？

zhudlmax 发表于 2006-12-6 17:58:31

在-0s优化中，GCC将Timer0的比较中断汇编为：

@000000EE: __vector_19

22:    {

+000000EE: 921F    PUSH R1             Push register on stack

+000000EF: 920F    PUSH R0             Push register on stack

+000000F0: B60F    IN    R0,0x3F       In from I/O location

+000000F1: 920F    PUSH R0             Push register on stack

+000000F2: 2411    CLR R1             Clear Register

23:    asm("JMP OS_ScheduleTask");

+000000F3: 940C0124 JMP 0x00000124    Jump

+000000F5: 900F    POP R0             Pop register from stack

+000000F6: BE0F    OUT 0x3F,R0       Out to I/O location

+000000F7: 900F    POP R0             Pop register from stack

+000000F8: 901F    POP R1             Pop register from stack

+000000F9: 9518    RETI                   Interrupt return

执行asm("JMP OS_ScheduleTask");后进入函数OS_ScheduleTask，汇编为：

@00000124: OS_ScheduleTask

57:    {

+00000124: 922F    PUSH R2             Push register on stack

+00000125: 923F    PUSH R3             Push register on stack

+00000126: 932F    PUSH R18          Push register on stack

+00000127: 933F    PUSH R19          Push register on stack

+00000128: 934F    PUSH R20          Push register on stack

+00000129: 935F    PUSH R21          Push register on stack

+0000012A: 936F    PUSH R22          Push register on stack

+0000012B: 937F    PUSH R23          Push register on stack

+0000012C: 938F    PUSH R24          Push register on stack

+0000012D: 939F    PUSH R25          Push register on stack

+0000012E: 93AF    PUSH R26          Push register on stack

+0000012F: 93BF    PUSH R27          Push register on stack

+00000130: 93CF    PUSH R28          Push register on stack

+00000131: 93DF    PUSH R29          Push register on stack

+00000132: 93EF    PUSH R30          Push register on stack

+00000133: 93FF    PUSH R31          Push register on stack

60:    uTaskEntry = SP+19;

+00000134: 91200106 LDS R18,0x0106    Load direct from data space

+00000136: 2FE2    MOV R30,R18       Copy register

+00000137: 27FF    CLR R31          Clear Register

+00000138: 0FEE    LSL R30          Logical Shift Left

+00000139: 1FFF    ROL R31          Rotate Left Through Carry

+0000013A: 50E0    SUBI R30,0x00       Subtract immediate

+0000013B: 4FFF    SBCI R31,0xFF       Subtract immediate with carry

+0000013C: B78D    IN    R24,0x3D       In from I/O location

+0000013D: B79E    IN    R25,0x3E       In from I/O location

+0000013E: 9643    ADIW R24,0x13       Add immediate to word

+0000013F: 8391    STD Z+1,R25       Store indirect with displacement

+00000140: 8380    STD Z+0,R24       Store indirect with displacement

+00000141: 5F2F    SUBI R18,0xFF       Subtract immediate

+00000142: 93200106 STS 0x0106,R18    Store direct to data space

61:    if(uCurrentTaskID >= uTotalTaskNum) uCurrentTaskID = 0;

+00000144: 91800107 LDS R24,0x0107    Load direct from data space

+00000146: 1728    CP    R18,R24       Compare

+00000147: F010    BRCS PC+0x03       Branch if carry set

+00000148: 92100106 STS 0x0106,R1    Store direct to data space

62:    SP =uTaskEntry-19;

+0000014A: 91800106 LDS R24,0x0106    Load direct from data space

+0000014C: 2FE8    MOV R30,R24       Copy register

+0000014D: 27FF    CLR R31          Clear Register

+0000014E: 0FEE    LSL R30          Logical Shift Left

+0000014F: 1FFF    ROL R31          Rotate Left Through Carry

+00000150: 50E0    SUBI R30,0x00       Subtract immediate

+00000151: 4FFF    SBCI R31,0xFF       Subtract immediate with carry

+00000152: 8180    LDD R24,Z+0       Load indirect with displacement

+00000153: 8191    LDD R25,Z+1       Load indirect with displacement

+00000154: 9743    SBIW R24,0x13       Subtract immediate from word

+00000155: BF9E    OUT 0x3E,R25       Out to I/O location

+00000156: BF8D    OUT 0x3D,R24       Out to I/O location

64:    POP_ALL();

+00000157: 91FF    POP R31          Pop register from stack

+00000158: 91EF    POP R30          Pop register from stack

+00000159: 91DF    POP R29          Pop register from stack

+0000015A: 91CF    POP R28          Pop register from stack

+0000015B: 91BF    POP R27          Pop register from stack

+0000015C: 91AF    POP R26          Pop register from stack

+0000015D: 919F    POP R25          Pop register from stack

+0000015E: 918F    POP R24          Pop register from stack

+0000015F: 917F    POP R23          Pop register from stack

+00000160: 916F    POP R22          Pop register from stack

+00000161: 915F    POP R21          Pop register from stack

+00000162: 914F    POP R20          Pop register from stack

+00000163: 913F    POP R19          Pop register from stack

+00000164: 912F    POP R18          Pop register from stack

+00000165: 903F    POP R3             Pop register from stack

+00000166: 902F    POP R2             Pop register from stack

+00000167: 900F    POP R0             Pop register from stack

+00000168: BE0F    OUT 0x3F,R0       Out to I/O location

+00000169: 900F    POP R0             Pop register from stack

+0000016A: 901F    POP R1             Pop register from stack

66:    TCNT0 = 0x00;

+0000016B: BE12    OUT 0x32,R1       Out to I/O location

67:    asm("reti");

+0000016C: 9518    RETI                   Interrupt return

+0000016D: 9508    RET                   Subroutine return

中断函数出口处，需要将入栈的寄存器出栈，在出栈前更改堆栈指针SP，出栈后运行至asm("reti");后不会返回至Timer0的比较中断函数，而是直接运行至SP所指的位置，也就是每个任务在释放CPU控制权后保存的SP

zhudlmax 发表于 2006-12-6 18:15:02

uTaskEntry = SP+19;

保存中断前一个任务的SP

if(uCurrentTaskID >= uTotalTaskNum) uCurrentTaskID = 0;

如果每个任务已经执行了，重新从0号任务开始执行

SP =uTaskEntry-19;

获取即将执行的任务的SP

因为每个任务所处的环境不同，所以实际就是在进行任务切换前先保存刚刚执行过的任务环境，再取得已保存的下一个任务的环境，形成一个循环，这样的好处是很多的，比如说本任务处于一个等待状态，因为定时器的中断，将不会阻碍其他任务的执行，在工业控制中非常实用，而且工业控制中的实时性要求并不是很高，比如说I/O信号处理，间隔1ms采集一次远远足够。

各任务间的数据共享可以定义成全局变量如： volatile unsigned char ucCount;

volatile 不可少，至于作用，可以参考本站的许多帖子。

AVR系列在此的优势非常明显：大容量的RAM，这关系到任务数量

my_avr 发表于 2006-12-6 19:40:12

多谢楼主指点，不过我在#define PUSH_ALL() 和#define POP_ALL() 这两个宏的编译不能通过，语法错误，不知道什么问题。

zhudlmax 发表于 2006-12-6 20:15:25

什么错误？有可能是你在“\”后有空格符号，我遇到这样的情况

my_avr 发表于 2006-12-6 20:21:57

果然是空格多了，谢谢楼主，楼主大好人啊！

gdf78 发表于 2006-12-7 01:14:41

支持好贴！

morris 发表于 2006-12-7 02:49:04

樓主您好！想問問Inter Process Communication/Synchronization 在您的應用中怎樣實現？

yjbin 发表于 2006-12-7 10:25:58

盼望搂住给一个完整的应用程序啊，谢谢啊1

zhudlmax 发表于 2006-12-7 11:23:21

下面是我一台设备的程序（第二版本，第一台已经用于生产），程序完成量80%

功能：PS/2键盘输入，键F1设置设备的几个参数（需要密码，密码可以更改），键F2设备生产中需要改变的数据，有操作人员修改，其他的就是一些I/O信号的处理

// main

#include <avr/io.h>

#include <util/delay.h>

#include <avr/interrupt.h>

#include <avr/eeprom.h>

#include <avr/pgmspace.h>

#include "RTOS_T0.h"

#include "1602LCD.h"

#include "Head.h"

void Task_ScanExPort(void)

{

DDR_CS = 0x3F;

PORT_CS = 0x00;

DisplayString(0,0,9, ucMachineInfo0);

DisplayString(15,1,4, ucMachineInfo1);

delay_ms(500);

LCD_Clean_Screen();

DisplayString(0,0,10, ucMasterInfo0);

DisplayString(10,1,10, ucMasterInfo1);

delay_ms(500);

sbi(PORT_CS, EP_LE);

sbi(ucSystemFlag, SF_BE_LOG);

unsigned char ucExPort_Temp;

unsigned char ucExPort_Index;

unsigned char ucExPort_PortValue;

TaskStart:

for(ucExPort_Index = 0; ucExPort_Index < 8; ucExPort_Index++)

{

PORT_CS &= 0xF0;

PORT_CS |= ucExPort_Index;

if(ucExPort_Index >= 4)

{

DDR_EP = 0xFF;

PORT_EP = ucEP_OUT;

}

sbi(PORT_CS, CS_OE);

asm("nop"); // can not be ignore

if(ucExPort_Index < 4)

{

DDR_EP = 0x00;

PORT_EP = 0xFF;

asm("nop");

ucExPort_PortValue =~PIN_EP;

ucExPort_Temp = ucExPort_PortValue ^ ucEP_IN.ucPV;

ucEP_IN.ucBD = ucExPort_Temp & ucEP_IN.ucPV;

ucEP_IN.ucBA = ucExPort_Temp & ucExPort_PortValue;

ucEP_IN.ucPV = ucExPort_PortValue;

}

}

OS_CallNext();

goto TaskStart;

}

void Task_Keyboard(void)

{

loop_until_bit_is_set(ucSystemFlag, SF_BE_LOG);

DDRD &= 0xF3;

PORTD |= 0x0C;

MCUCR = (1<<ISC01); // INT0 下降沿触发

GICR |= (1<<INT0);

ucKeyPulse = 10;

TaskStart:

if( ucKeyCode == F2 ) // Menu Select

{

if( ucCurrentMenu == MENU_PROD ) // Prod

{

sbi(ucSystemFlag, SF_BE_SET);

delay_ms(10);

LCD_Clean_Screen();

DisplayString(0,0,12, ucProdMenu);

DisplayString(0,1,5, ucSetFlag);

LCD_DisplayNum(16,1, uiProdQty);

ucCurrentMenu = MENU_TAIL;

MenuUpdate(MENU_PROD);

}

else if( ucCurrentMenu == MENU_TAIL ) // Tail

{

LCD_Clean_Screen();

DisplayString(0,0,9, ucTailMenu);

DisplayString(0,1,5, ucSetFlag);

LCD_DisplayNum(16,1, uiTailQty);

ucCurrentMenu = MENU_LEAD;

MenuUpdate(MENU_TAIL);

}

else if( ucCurrentMenu == MENU_LEAD ) // Lead

{

LCD_Clean_Screen();

DisplayString(0,0,9, ucLeadMenu);

DisplayString(0,1,5, ucSetFlag);

LCD_DisplayNum(16,1, uiLeadQty);

ucCurrentMenu = MENU_USET;

MenuUpdate(MENU_LEAD);

}

else if( ucCurrentMenu == MENU_USET ) // Return

{

ucKeyCode = 0;

ucCurrentMenu = 0;

PrimalScreen();

cbi(ucSystemFlag, SF_BE_SET);

}

}

else if(ucKeyCode == F1)

{

if( ucCurrentMenu == MENU_PW ) // Password

{

sbi(ucSystemFlag, SF_BE_SET);

delay_ms(10);

LCD_Clean_Screen();

DisplayString(0,0,9, ucPassword);

DisplayString(0,1,5, ucSetFlag);

DisplayString(16,1,4, ucPWS);

ucCurrentMenu = MENU_HD;

SetParameters(MENU_PW);

}

else if( ucCurrentMenu == MENU_HD ) // Heat delay time

{

LCD_Clean_Screen();

DisplayString(0,0,14, ucHeat);

DisplayString(0,1,5, ucSetFlag);

LCD_DisplayNum(16,1, uiHeatDly);

ucCurrentMenu = MENU_LD;

SetParameters(MENU_HD);

}

else if( ucCurrentMenu == MENU_LD ) // load delay time

{

LCD_Clean_Screen();

DisplayString(0,0,14, ucLoad);

DisplayString(0,1,5, ucSetFlag);

LCD_DisplayNum(16,1, uiLoadDly);

ucCurrentMenu = MENU_UD;

SetParameters(MENU_LD);

}

else if( ucCurrentMenu == MENU_UD ) // unload delay time

{

LCD_Clean_Screen();

DisplayString(0,0,15, ucUnload);

DisplayString(0,1,5, ucSetFlag);

LCD_DisplayNum(16,1, uiUnloadDly);

ucCurrentMenu = MENU_NP;

SetParameters(MENU_UD);

}

else if( ucCurrentMenu == MENU_NP ) // New password

{

LCD_Clean_Screen();

DisplayString(0,0,13, ucNewPWD);

DisplayString(0,1,5, ucSetFlag);

DisplayString(16,1,4, ucPWS);

ucCurrentMenu = MENU_USET;

SetParameters(MENU_NP);

}

else if( ucCurrentMenu == MENU_USET ) // Return

{

ucKeyCode = 0;

ucCurrentMenu = 0;

PrimalScreen();

cbi(ucSystemFlag, SF_BE_SET);

}

}

else if(ucKeyCode == F3 && ucErrorCode == 0)

{

if( bit_is_clear(ucSystemFlag, SF_BE_LEAD) )

{

ucKeyCode = 0;

sbi(ucSystemFlag, SF_BE_LEAD);

delay_ms(10);

ShowLead();

while(true)

{

DisplayString(16,1,4, ucSpace);

LCD_DisplayNum(16,1, uiLeadResidual);

delay_ms(2500);

if(ucKeyCode == ESC || uiLeadResidual == 0)

{

ucKeyCode = 0;

uiLeadResidual = uiLeadQty;

break;

}

if(ucErrorCode) break;

uiLeadResidual -= 3;

}

cbi(ucSystemFlag, SF_BE_LEAD);

PrimalScreen();

delay_ms(10);

cbi(ucSystemFlag, SF_BE_ERR);

}

}

OS_CallNext();

goto TaskStart;

}

void Task_System(void)

{

loop_until_bit_is_set(ucSystemFlag, SF_BE_LOG);

TaskStart:

if( bit_is_set(ucEP_IN.ucPV, IN_UNLOAD) ) sbi(ucEP_OUT, OUT_ENABLE_UNLOAD_MOTOR);

if( bit_is_set(ucEP_IN.ucPV, IN_LOAD) ) sbi(ucEP_OUT, OUT_ENABLE_LOAD_MOTOR);

OS_CallNext();

goto TaskStart;

}

void Task_Load(void)

{

loop_until_bit_is_set(ucSystemFlag, SF_BE_LOG);

TaskStart:

if( bit_is_clear(ucEP_IN.ucPV, IN_LOAD) )

{

if( bit_is_set(ucEP_OUT, OUT_ENABLE_LOAD_MOTOR) )

{

delay_ms(uiLoadDly);

cbi(ucEP_OUT, OUT_ENABLE_LOAD_MOTOR);

}

}

OS_CallNext();

goto TaskStart;

}

void Task_Unload(void)

{

loop_until_bit_is_set(ucSystemFlag, SF_BE_LOG);

TaskStart:

if( bit_is_clear(ucEP_IN.ucPV, IN_UNLOAD) )

{

if( bit_is_set(ucEP_OUT, OUT_ENABLE_UNLOAD_MOTOR) )

{

delay_ms(uiUnloadDly);

cbi(ucEP_OUT, OUT_ENABLE_UNLOAD_MOTOR);

}

}

OS_CallNext();

goto TaskStart;

}

void Task_SystemStatus(void)

{

loop_until_bit_is_set(ucSystemFlag, SF_BE_LOG);

unsigned char ucIndex;

TaskStart:

if( bit_is_clear(ucEP_IN.ucPV, IN_SVO_IS_ON) ) sbi(ucErrorCode, EC_SVO); else {cbi(ucErrorCode, EC_SVO);cbi(ucErrorFlag, EC_SVO);}

if( bit_is_clear(ucEP_IN.ucPV, IN_HOST_READY) ) sbi(ucErrorCode, EC_HRD); else {cbi(ucErrorCode, EC_HRD);cbi(ucErrorFlag, EC_HRD);}

if( bit_is_set(ucEP_IN.ucPV, IN_NOT_AT_T_ALARM) ) sbi(ucErrorCode, EC_NAT); else {cbi(ucErrorCode, EC_NAT);cbi(ucErrorFlag, EC_NAT);}

if( bit_is_set(ucEP_IN.ucPV, IN_LOW_COVER_TAPE_ALARM) ) sbi(ucErrorCode, EC_LCT); else {cbi(ucErrorCode, EC_LCT);cbi(ucErrorFlag, EC_LCT);}

if( bit_is_set(ucEP_IN.ucPV, IN_PART_UP_IN_TAPE_ALARM) ) sbi(ucErrorCode, EC_PIT); else {cbi(ucErrorCode, EC_PIT);cbi(ucErrorFlag, EC_PIT);}

if( ucErrorCode )

{

if( bit_is_set(ucErrorCode, EC_MIS) ) // Missing

{

ucEP_OUT &= 0xF8;

ucEP_OUT |= 0x01;

}

else if( bit_is_set(ucErrorCode, EC_EXT) ) // Extra

{

ucEP_OUT &= 0xF8;

ucEP_OUT |= 0x02;

}

else if( bit_is_set(ucErrorCode, EC_PIT) ) // Part up

{

ucEP_OUT &= 0xF8;

ucEP_OUT |= 0x03;

}

else if( bit_is_set(ucErrorCode, EC_LCT) ) // Low cover tape

{

ucEP_OUT &= 0xF8;

ucEP_OUT |= 0x06;

}

else if( bit_is_set(ucErrorCode, EC_NAT) ) // Not at temperature

{

ucEP_OUT &= 0xF8;

ucEP_OUT |= 0x04;

}

else

{

ucEP_OUT &= 0xF8;

}

for(ucIndex=0; ucIndex<7; ucIndex++)

{

if( bit_is_set(ucErrorCode, ucIndex) )

{

ShowError(ucIndex);

break;

}

}

for(++ucIndex; ucIndex<7; ucIndex++)

{

cbi(ucErrorFlag, ucIndex);

}

eoi(ucEP_OUT, OUT_SYSTEM_LED);

delay_ms(250);

cbi(ucSystemFlag, SF_BE_ERR);

}

else

{

sbi(ucEP_OUT, OUT_SYSTEM_LED);

if( bit_is_clear(ucSystemFlag, SF_BE_ERR) && bit_is_clear(ucSystemFlag, SF_BE_SET) )

{

PrimalScreen();

sbi(ucSystemFlag, SF_BE_ERR);

}

if( bit_is_clear(ucSystemFlag, SF_BE_SET) )

{

if( bit_is_clear(ucSystemFlag, SF_BE_LEAD) && bit_is_clear(ucSystemFlag, SF_BE_TAIL) ) ShowProdResidual();

}

}

OS_CallNext();

goto TaskStart;

}

void Task_CamDisc(void)

{

loop_until_bit_is_set(ucSystemFlag, SF_BE_LOG);

TaskStart:

// Test code

if( bit_is_set(ucEP_IN.ucBD, 7) )

{

uiProdResidual -= 3;

if(uiProdResidual == 0) uiProdResidual = uiProdQty;

}

OS_CallNext();

goto TaskStart;

}

void Task_Miss_Extra(void)

{

loop_until_bit_is_set(ucSystemFlag, SF_BE_LOG);

TaskStart:

// Test code

eoi(ucEP_OUT,0);

delay_ms(100);

OS_CallNext();

goto TaskStart;

}

int main(void)

{

LCD_Init();

uiHeatDly = eeprom_read_word(0);

uiLoadDly = eeprom_read_word(2);

uiUnloadDly = eeprom_read_word(4);

uiProdQty = uiProdResidual = eeprom_read_word(6);

uiTailQty = uiTailResidual = eeprom_read_word(8);

uiLeadQty = uiLeadResidual = eeprom_read_word(10);

ucPWD = eeprom_read_byte(12);

ucPWD = eeprom_read_byte(13);

ucPWD = eeprom_read_byte(14);

ucPWD = eeprom_read_byte(15);

if(ucPWD == 0xFF) ucPWD = '1';

if(ucPWD == 0xFF) ucPWD = '2';

if(ucPWD == 0xFF) ucPWD = '3';

if(ucPWD == 0xFF) ucPWD = '4';

uTotalTaskNum = 0;

uCurrentTaskID = 0;

OS_Timer0Init();

OS_CreateTask(Task_ScanExPort, &uTaskStack);

OS_CreateTask(Task_Keyboard, &uTaskStack);

OS_CreateTask(Task_System, &uTaskStack);

OS_CreateTask(Task_Load, &uTaskStack);

OS_CreateTask(Task_Unload, &uTaskStack);

OS_CreateTask(Task_SystemStatus, &uTaskStack);

OS_CreateTask(Task_CamDisc, &uTaskStack);

OS_CreateTask(Task_Miss_Extra, &uTaskStack);

OS_Start();

return(0);

}

// Head.h

#ifndef _HEAD_H

#define _HEAD_H

#define DDR_CS DDRA

#define PORT_CS PORTA

#define PIN_CS PINA

#define DDR_EP DDRB

#define PORT_EP PORTB

#define PIN_EP PINB

#define CS_OE 3

#define EP_LE 4

// PORTA

// 6,7: NC

// 5: A/B

// 4: OUT_E

// 3: OE1 138

// A2-A0 addr

volatile struct PORT_EX_I

{

unsigned char ucPV;

unsigned char ucBA; // Ascend

unsigned char ucBD; // Descend

}

ucEP_IN;

volatile unsigned char ucEP_OUT;

const unsigned char ucSetFlag PROGMEM = "";

const unsigned char ucErrFlag PROGMEM = "";

const unsigned char ucSucFlag PROGMEM = "";

const unsigned char ucMasterInfo0 PROGMEM = "Rising Sun";

const unsigned char ucMasterInfo1 PROGMEM = "Automation";

const unsigned char ucMachineInfo0 PROGMEM = "TAPE REEL";

const unsigned char ucMachineInfo1 PROGMEM = "V1.1";

const unsigned char ucProdMenu PROGMEM = "Product QTY:";

const unsigned char ucTailMenu PROGMEM = "Tail QTY:";

const unsigned char ucLeadMenu PROGMEM = "Lead QTY:";

const unsigned char ucPWS PROGMEM = "____";

const unsigned char ucPassword PROGMEM = "PASSWORD:";

const unsigned char ucHeat PROGMEM = "HEATER DELAY:";

const unsigned char ucLoad PROGMEM = "LOADER DELAY:";

const unsigned char ucUnload PROGMEM = "UNLOADER DELAY:";

const unsigned char ucNewPWD PROGMEM = "NEW PASSWORD:";

const unsigned char ucErr PROGMEM = "ERROR:";

const unsigned char ucErr_Code[] PROGMEM = {"SERVO OFF","HOST IS NOT READY","NOT AT TEMPERATURE","LOW COVER TAPE","PART UP IN TAPE","EXTRA PART","MISSING PART"};

const unsigned char ucErr_Leng = {9,17,18,14,15,10,12};

const unsigned char ucSpace PROGMEM = "                ";

unsigned char ucStrTemp;

volatile unsigned char ucPWD;

volatile unsigned int uiHeatDly;

volatile unsigned int uiLoadDly;

volatile unsigned int uiUnloadDly;

volatile unsigned int uiProdQty;

volatile unsigned int uiProdResidual;

volatile unsigned int uiProdTemp;

volatile unsigned int uiTailQty;

volatile unsigned int uiTailResidual;

volatile unsigned int uiLeadQty;

volatile unsigned int uiLeadResidual;

volatile unsigned char ucKeyPulse;

volatile unsigned char ucKeyCode;

volatile unsigned char ucKeyFlag;

volatile unsigned char ucKeyTemp;

volatile unsigned char ucErrorFlag;

#define EF_BE_SVO 0

#define EF_BE_HRD 1

#define EF_BE_NAT 2

#define EF_BE_LCT 3

#define EF_BE_PIT 4

#define EF_BE_EXT 5

#define EF_BE_MIS 6

// 0: is svo on ?

// 1: is host ready ?

// 2: is not at temperatue ?

// 3: is low cover tape ?

// 4: is part up in tape ?

// 5: is extra part in tape ?

// 6: is missing part in tape

volatile unsigned char ucErrorCode;

#define EC_SVO 0

#define EC_HRD 1

#define EC_NAT 2

#define EC_LCT 3

#define EC_PIT 4

#define EC_EXT 5

#define EC_MIS 6

// 0: is servo on ?

// 1: is host ready ?

// 2: is not at temperature ?

// 3: is low cover tape ?

// 4: is part up in tape ?

// 5: is extra part in tape ?

// 6: is missing part in tape

volatile unsigned char ucSystemFlag;

#define SF_BE_LOG 0

#define SF_BE_SET 1

#define SF_BE_ERR 2

#define SF_BE_PROD 3

#define SF_BE_TAIL 4

#define SF_BE_LEAD 5

// 0: is finished to login ?

// 1: is in setting ?

// 2: is an error in system ?

// 3: is run porduct ?

// 4: is run tail ?

// 5: is run lead ?

volatile unsigned char ucCurrentMenu;

#define MENU_PROD 0

#define MENU_TAIL 1

#define MENU_LEAD 2

#define MENU_USET 0xFF

#define MENU_PW 0

#define MENU_HD 1

#define MENU_LD 2

#define MENU_UD 3

#define MENU_NP 4

#define true 1

#define false 0

#define KB_CLK 2

#define KB_DAT 3

#define F1 0xF1 //0x05

#define F2 0x06

#define F3 0x04

#define F4 0x0C

#define F5 0x03

#define F6 0x0B

#define N0 0x30 //0x70

#define N1 0x31 //0x69

#define N2 0x32 //0x72

#define N3 0x33 //0x7A

#define N4 0x34 //0x6B

#define N5 0x35 //0x73

#define N6 0x36 //0x74

#define N7 0x37 //0x6C

#define N8 0x38 //0x75

#define N9 0x39 //0x7D

#define ESC 0x76

#define ENTER 0x5A

#define POINT 0x71

#define CLEAR 0x66

// Input Channel 0

#define IN_LOAD 0 // 上料传感器 OMRON EE-SX670A

#define IN_UNLOAD 1 // 下料传感器 OMRON EE-SX670A

#define IN_CAM_HIGH 2 // 凸轮高位    OMRON EE-SX670A

#define IN_CAM_LOW 3 // 凸轮低位    OMRON EE-SX670A

#define IN_NOT_AT_T_ALARM 4 // 稳控器报警 OMRON E5GN

#define IN_LOW_COVER_TAPE_ALARM 5 // 光纤传感器 KEYENCE FS-V12

#define IN_MISS_EXTRA_PART_ALARM 6 // 光纤传感器 KEYENCE FS-V12

#define IN_PART_UP_IN_TAPE_ALARM 7 // 光纤传感器 KEYENCE FS-V12

// Input Channel 1

#define IN_HOST_READY 0 // 主机就绪

#define IN_HOST_NEXT_STEP 1 // 主机通知步进一步

#define IN_HOST_RESET_SIGNAL 2 // 主机复位信号

#define IN_SVO_IS_READY 3 // SVO 就绪

#define IN_SVO_IS_ON 4 // SVO ON

#define IN_SVO_IS_TPOS 5 // SVO 目标位置到达

#define IN_SVO_IS_ALARM 6 // SVO 报警

// Output Channel 3

#define OUT_ENABLE_LOAD_MOTOR 7 // 上料电机使能

#define OUT_ENABLE_UNLOAD_MOTOR 6 // 下料电机使能

#define OUT_ENABLE_CAM_MOTOR 5 // 凸轮电机使能

#define OUT_SYSTEM_LED 4 // 系统状态指示灯

#define OUT_ELEC_VALVE_PUSH 3 // 汽缸电磁阀下推

#define OUT_ELEC_VALVE_PULL 2 // 汽缸电磁阀上拉

#define OUT_SVO_CTRG 1 // SVO 步进触发

#define OUT_SVO_RESET 0 // SVO 错误复位

// Output Channel 2

#define OUT_HOST_WAIT_FOR_TAIL 5 // HOST 701

#define OUT_HOST_WAIT_FOR_NEXT_PART 4 // HOST 702

#define OUT_HOST_WAIT_FOR_NEXT_LOT 3 // HOST 703

#define OUT_HOST_ALARM_BIT6 2 // HOST 704

#define OUT_HOST_ALARM_BIT5 1 // HOST 705

#define OUT_HOST_ALARM_BIT4 0 // HOST 706

// 4 5 6

// 1 0 0 1 : Missing part in Tape

// 2 0 1 0 : Extra part in tape

// 3 0 1 1 : Part up in tape

// 4 1 0 0 : Not at temperature

// 5 1 0 1 : Tape Index Failure

// 6 1 1 0 : Low cover tape

void DisplayString(unsigned char X, unsigned char Y, unsigned char ucLen, const prog_uchar* ucString)

{

unsigned char n;

for(n=0;n<20;n++) ucStrTemp = 0;

memcpy_P(ucStrTemp, ucString, ucLen);

LCD_DisplayString(X,Y, ucStrTemp);

}

void ShowProd(void)

{

LCD_Clean_Screen();

DisplayString(0,0,12, ucProdMenu);

LCD_DisplayNum(0,1, uiProdQty);

LCD_DisplayNum(16,1, uiProdResidual);

}

void ShowTail(void)

{

LCD_Clean_Screen();

DisplayString(0,0,9, ucTailMenu);

LCD_DisplayNum(0,1, uiTailQty);

LCD_DisplayNum(16,1, uiTailResidual);

}

void ShowLead(void)

{

LCD_Clean_Screen();

DisplayString(0,0,9, ucLeadMenu);

LCD_DisplayNum(0,1, uiLeadQty);

LCD_DisplayNum(16,1, uiLeadResidual);

}

void ShowProdResidual(void)

{

if(uiProdTemp != uiProdResidual)

{

DisplayString(16,1,4, ucSpace);

LCD_DisplayNum(16,1, uiProdResidual);

uiProdTemp = uiProdResidual;

}

}

void PrimalScreen(void)

{

if(ucErrorCode)

{

ucErrorFlag = 0; // reset error flag that show error

}

else

{

if( bit_is_clear(ucSystemFlag, SF_BE_LEAD) && bit_is_clear(ucSystemFlag, SF_BE_TAIL) ) ShowProd();

}

}

void EscMenu(void)

{

ucCurrentMenu = 0;

PrimalScreen();

cbi(ucSystemFlag, SF_BE_SET);

}

void SetERR(void)

{

DisplayString(0,1,5, ucErrFlag);

delay_ms(500);

DisplayString(0,1,5, ucSetFlag);

}

void SetSUC(void)

{

DisplayString(0,1,5, ucSucFlag);

delay_ms(500);

}

void SetParameters(unsigned char ucParaIndex)

{

unsigned char ucPos = 0;

unsigned int ucTemp = 0;

unsigned char ucIndex = 0;

unsigned char ucInput;

while(true)

{

ucKeyCode = 0;

while(!ucKeyCode); // wait_until_key_is_pressed

if(ucKeyCode >= N0 && ucKeyCode <= N9 && ucPos < 4)

{

if(ucParaIndex == MENU_PW || ucParaIndex == MENU_NP)

{

if(ucKeyCode >= N0 && ucKeyCode <= N9 && ucPos < 4)

{

LCD_Set_XY(16+ucPos, 1);

LCD_Send_Command('*', 1);

ucInput = ucKeyCode;

}

}

else

{

if(ucPos)

{

LCD_Set_XY(16+ucPos, 1);

LCD_Send_Command(ucKeyCode, 1);

ucInput = ucKeyCode-0x30;

}

else if(!ucPos && ucKeyCode != N0)

{

DisplayString(16,1,4, ucSpace);

LCD_Set_XY(16+ucPos, 1);

LCD_Send_Command(ucKeyCode, 1);

ucInput = ucKeyCode-0x30;

}

}

}

else if(ucKeyCode == ENTER)

{

if(ucParaIndex == MENU_PW)

{

for(ucIndex = 0; ucIndex < ucPos; ucIndex++)

{

if(ucPWD != ucInput)

{

SetERR();

DisplayString(16,1,4, ucPWS);

break;

}

ucInput = 0;

}

ucPos = 0;

if(ucIndex == 4)

{

SetSUC();

ucKeyCode = F1;

break;

}

}

else if(ucParaIndex == MENU_NP)

{

if(ucPos < 4)

{

SetERR();

DisplayString(16,1,4, ucPWS);

ucPos = 0;

}

else

{

eeprom_write_byte(12, ucInput);

eeprom_write_byte(13, ucInput);

eeprom_write_byte(14, ucInput);

eeprom_write_byte(15, ucInput);

ucPWD = ucInput;

ucPWD = ucInput;

ucPWD = ucInput;

ucPWD = ucInput;

SetSUC();

ucKeyCode = F1;

break;

}

for(ucIndex = 0; ucIndex < 4; ucIndex++) ucInput = 0;

}

else

{

ucTemp = 0;

for(ucIndex = 0; ucIndex < ucPos; ucIndex++)

{

ucTemp = ucTemp*10 + ucInput;

ucInput = 0;

}

if( ucTemp < 50)

{

SetERR();

if(ucParaIndex == MENU_HD) LCD_DisplayNum(16,1, uiHeatDly);

else if(ucParaIndex == MENU_LD) LCD_DisplayNum(16,1, uiLoadDly);

else if(ucParaIndex == MENU_UD) LCD_DisplayNum(16,1, uiUnloadDly);

ucPos = 0;

ucTemp = 0;

}

else

{

if(ucParaIndex == MENU_HD)

{

uiHeatDly = ucTemp;

eeprom_write_word(0, ucTemp);

}

else if(ucParaIndex == MENU_LD)

{

uiLoadDly = ucTemp;

eeprom_write_word(2, ucTemp);

}

else if(ucParaIndex == MENU_UD)

{

uiUnloadDly = ucTemp;

eeprom_write_word(4, ucTemp);

}

SetSUC();

ucKeyCode = F1;

break;

}

}

}

else if(ucKeyCode == ESC)

{

delay_ms(10);

EscMenu();

break;

}

else if(ucKeyCode == CLEAR)

{

if(ucParaIndex == MENU_PW || ucParaIndex == MENU_NP)

{

if(ucPos)

{

--ucPos;

LCD_Set_XY(16+ucPos, 1);

LCD_Send_Command('_', 1);

ucInput = 0;

}

}

else

{

DisplayString(16,1,4, ucSpace);

ucTemp = 0;

for(ucIndex = 0; ucIndex < ucPos-1; ucIndex++)

{

ucTemp = ucTemp*10 + ucInput;

}

if(ucPos) ucPos--;

ucInput = 0;

LCD_DisplayNum(16,1, ucTemp);

}

}

else if(ucKeyCode == F1 && ucPos == 0 && ucParaIndex != MENU_PW)

{

ucKeyCode = F1;

break;

}

}

}

void MenuUpdate(unsigned char ucMenuIndex)

{

unsigned char ucPos = 0;

unsigned int ucTemp = 0;

unsigned char ucIndex = 0;

unsigned char ucInput;

while(true)

{

ucKeyCode = 0;

while(!ucKeyCode); // wait_until_key_is_pressed

if(ucKeyCode >= N0 && ucKeyCode <= N9 && ucPos < 4)

{

if(ucPos)

{

LCD_Set_XY(16+ucPos, 1);

LCD_Send_Command(ucKeyCode, 1);

ucInput = ucKeyCode-0x30;

}

else

if(!ucPos && ucKeyCode != N0)

{

DisplayString(16,1,4, ucSpace);

LCD_Set_XY(16+ucPos, 1);

LCD_Send_Command(ucKeyCode, 1);

ucInput = ucKeyCode-0x30;

}

}

else if(ucKeyCode == ENTER)

{

ucTemp = 0;

for(ucIndex = 0; ucIndex < ucPos; ucIndex++)

{

ucTemp = ucTemp*10 + ucInput;

ucInput = 0;

}

if( ucTemp%3 || ucTemp==0)

{

SetERR();

if(ucMenuIndex == MENU_PROD) LCD_DisplayNum(16,1, uiProdQty);

else if(ucMenuIndex == MENU_TAIL) LCD_DisplayNum(16,1, uiTailQty);

else if(ucMenuIndex == MENU_LEAD) LCD_DisplayNum(16,1, uiLeadQty);

ucPos = 0;

ucTemp = 0;

}

else

{

if(ucMenuIndex == MENU_PROD)

{

uiProdQty = uiProdResidual = ucTemp;

eeprom_write_word(6, ucTemp);

}

else if(ucMenuIndex == MENU_TAIL)

{

uiTailQty = uiTailResidual = ucTemp;

eeprom_write_word(8, ucTemp);

}

else if(ucMenuIndex == MENU_LEAD)

{

uiLeadQty = uiLeadResidual = ucTemp;

eeprom_write_word(10, ucTemp);

}

SetSUC();

ucKeyCode = F2;

break;

}

}

else if(ucKeyCode == ESC)

{

delay_ms(10);

EscMenu();

break;

}

else if(ucKeyCode == CLEAR)

{

DisplayString(16,1,4, ucSpace);

ucTemp = 0;

for(ucIndex = 0; ucIndex < ucPos-1; ucIndex++)

{

ucTemp = ucTemp*10 + ucInput;

}

if(ucPos) ucPos--;

ucInput = 0;

LCD_DisplayNum(16,1, ucTemp);

}

else if(ucKeyCode == F2 && ucPos == 0)

{

ucKeyCode = F2;

break;

}

}

}

void ShowError(unsigned char ucCode)

{

if( bit_is_clear(ucErrorFlag, ucCode) && bit_is_clear(ucSystemFlag, SF_BE_SET) )

{

LCD_Clean_Screen();

DisplayString(0,0,6, ucErr);

DisplayString(20-ucErr_Leng,1,ucErr_Leng, ucErr_Code);

sbi(ucErrorFlag, ucCode);

}

}

SIGNAL(SIG_INTERRUPT0)

{

if( ucKeyPulse < 8 ) // Data

{

if( bit_is_set(PIND, KB_DAT) ) sbi(ucKeyTemp, ucKeyPulse);

else cbi(ucKeyTemp, ucKeyPulse);

++ucKeyPulse;

}

else

if( ucKeyPulse == 8) // Parity

{

++ucKeyPulse;

}

else

if( ucKeyPulse == 9) // Stopbit

{

if( bit_is_set(PIND, KB_DAT) )

{

if( ucKeyTemp == 0xE0 )

{

ucKeyFlag = 1;

}

else if( ucKeyTemp == 0xF0 )

{

ucKeyFlag = 2;

}

else

{

if(ucKeyFlag)

{

if(ucKeyFlag == 2)

{

if(ucKeyTemp == ENTER) ucKeyCode = ENTER;

}

ucKeyFlag = 0;

}

else

{

if(ucKeyTemp == 0x70) ucKeyCode = N0;

else if(ucKeyTemp == 0x69) ucKeyCode = N1;

else if(ucKeyTemp == 0x72) ucKeyCode = N2;

else if(ucKeyTemp == 0x7A) ucKeyCode = N3;

else if(ucKeyTemp == 0x6B) ucKeyCode = N4;

else if(ucKeyTemp == 0x73) ucKeyCode = N5;

else if(ucKeyTemp == 0x74) ucKeyCode = N6;

else if(ucKeyTemp == 0x6C) ucKeyCode = N7;

else if(ucKeyTemp == 0x75) ucKeyCode = N8;

else if(ucKeyTemp == 0x7D) ucKeyCode = N9;

else if(ucKeyTemp == 0x05) ucKeyCode = F1;

else    ucKeyCode = ucKeyTemp;

}

}

}

++ucKeyPulse;

}

else

if( ucKeyPulse == 10) // Startbit

{

if( bit_is_clear(PIND, KB_DAT) )ucKeyPulse = 0;

}

}

#endif

// 1602LCD_H

#ifndef _1602LCD_H

#define _1602LCD_H

// PORTD

// 1: E read(1->0); write(1);

//

// 0: RS 0: read( p->address counter )

// write( p->command register)

// 1: p->data register

// 4-7: DATA

#define LCD_PORT PORTD

#define LCD_DDR DDRD

#define LCD_E 1

#define LCD_RS 0

#define NumL 4

#define LCD_DELAY_TIME 2

extern void LCD_Init();

extern void LCD_DisplayString(unsigned char X, unsigned char Y, unsigned char* uString);

extern void LCD_DisplayNum(unsigned char X, unsigned char Y, unsigned int ulNum);

void LCD_Clean_Screen();

void LCD_Set_XY(unsigned char X, unsigned char Y);

void LCD_Send_Command(unsigned char udata, unsigned char uCode);

#define sbi(Port, Bit) (Port |= (1<<Bit))

#define cbi(Port, Bit) (Port &= ~(1<<Bit))

#define eoi(Port, Bit) (Port ^= (1<<Bit))

#define IsTrue(Pin, Bit) (Pin & (1<<Bit) )

#endif

// 1602LCD.c

// ************************************ 1602 LCD Drive ************************************

#include <avr/io.h>

#include <util/delay.h>

#include <avr/interrupt.h>

#include "1602LCD.h"

#include "RTOS_T0.h"

// uCode = 0: Send Command

// uCode = 1: Send Data

void LCD_Send_Command(unsigned char udata, unsigned char uCode)

{

if(uCode) sbi(LCD_PORT, LCD_RS);

else cbi(LCD_PORT, LCD_RS);

LCD_PORT &= 0x0F; // HIGH

LCD_PORT |= (udata & 0xF0);

sbi(LCD_PORT, LCD_E);

cbi(LCD_PORT, LCD_E);

LCD_PORT &= 0x0F; // LOW

LCD_PORT |= (udata << 4);

sbi(LCD_PORT, LCD_E);

cbi(LCD_PORT, LCD_E);

cbi(LCD_PORT, LCD_RS);

delay_ms(LCD_DELAY_TIME);

}

void LCD_Clean_Screen()

{

LCD_Send_Command(0x01, 0);

}

void LCD_Set_XY(unsigned char X, unsigned char Y)

{

if( Y ) X = 0xc0 + X;

else X = 0x80 + X;

LCD_Send_Command(X, 0);

}

void LCD_DisplayString(unsigned char X, unsigned char Y, unsigned char* uString)

{

LCD_Set_XY(X, Y);

while( *uString )

{

LCD_Send_Command(*uString, 1);

*uString++;

}

}

void LCD_DisplayNum(unsigned char X, unsigned char Y, unsigned int ulNum)

{

LCD_Set_XY(X, Y);

unsigned char i;

unsigned char charNum;

for(i=0; i < NumL; i++)

{

charNum = 0x30 + ulNum%10;

ulNum = ulNum/10;

}

for(i = 0; i < NumL-1; i++)

{

if(charNum != 0x30) break;

}

for(; i < NumL; i++)

{

LCD_Send_Command(charNum, 1);

}

}

void LCD_Init()

{

LCD_DDR = 0b11110011;

delay_ms(500);

LCD_Send_Command(0x33, 0);

LCD_Send_Command(0x32, 0);

LCD_Send_Command(0x28, 0);

LCD_Send_Command(0x0C, 0);

LCD_Clean_Screen();

}

// ************************************ LCD Drive End ************************************

RTOS部分就是前面提到的那些了，仅参考

badboy7903 发表于 2006-12-7 11:24:57

zhudlmax 发表于 2006-12-7 11:31:36

不正确，前面说过了，应该是：

register unsigned char ---tempR16--- asm("r16");

register unsigned char ---tempR17--- asm("r17");

avr-qq 发表于 2006-12-8 14:44:03

jackiezeng 发表于 2006-12-8 21:22:29

TOzhudlmax

好人啊，这个例子好，DOWN下来好好研究 ~！

另外，我也有个设备是用 PC 键盘控制的，PS2 键盘做好了，但是现在要兼容 AT，XT ， VT 键盘，你有没有 XT， VT键盘的资料或者是键盘实体呢？

yjbin 发表于 2006-12-8 22:59:01

楼主啊，谢谢啊！能不能提供打包下载啊？不好意思了！

archeng504 发表于 2006-12-8 23:41:42

高手！！作个标记，有空来看看！！

zhudlmax 发表于 2006-12-9 02:33:58

TO：jackiezeng，键盘协议见附件

TO：yjbin，所以代码以在上列出，你可以复制过去的

因现在工作比较忙，相机也被朋友借走了，等几天，上传点实际的东东给大伙瞧瞧，在此谢谢大家的支持

点击此处打开armok01137597.pdf

shusheng 发表于 2006-12-9 11:11:58

有几个问题请楼主指点一下

#define Task_Stack_Size 50 为什么要定义为50呢?这个数是怎么样计算得到的?

// 防止C编译器调用以下寄存器（可参考GCC说明），减少任务调度代码所占用的时间

register unsigned char tempR4asm("r4");

register unsigned char tempR5asm("r5");

register unsigned char tempR6asm("r6");

register unsigned char tempR7asm("r7");

register unsigned char tempR8asm("r8");

register unsigned char tempR9asm("r9");

register unsigned char tempR10 asm("r10");

register unsigned char tempR11 asm("r11");

register unsigned char tempR12 asm("r12");

register unsigned char tempR13 asm("r13");

register unsigned char tempR14 asm("r14");

register unsigned char tempR15 asm("r15");

register unsigned char tempR16 asm("r16");

register unsigned char tempR16 asm("r17");

为什么要禁用这些寄存器呢,而不是其他?

zhb2000 发表于 2006-12-9 12:38:20

我以前也写过类似的贴子，为什么就没被站长评为＂酷＂呢？　

OS学习初探 --- 时间片轮转调度 (GCC)

http://www.ouravr.com/bbs/bbs_content.jsp?bbs_sn=663028&bbs_page_no=1&bbs_id=1000

呵呵，开个玩笑．　：）

前段我也在研究这个，现在好久没搞了．希望楼主继续下去．

zhudlmax 发表于 2006-12-9 19:13:55

我参考的是：《建立一个属于自己的AVR的RTOS》

点击此处下载armok01137640.htm

TO：shusheng 书生

#define Task_Stack_Size 50

每个任务中因OS_ScheduleTask()会占用固定数量的RAM，再加上每个任务自己独立需要占有的RAM，其实具体到底占有多少我没研究过，但假如Task_Stack_Size设置过低，系统程序就无法运行，按照我上面公布的程序，给每个任务分配了相同的RAM，因任务占有的RAM不一定一样，所以对RAM资源的利用有一定的浪费，不过假如系统RAM资源很丰富，也没必要去斤斤计较，OS_ScheduleTask更安全的代码可以写成如下方式：

void OS_ScheduleTask(void)

{

asm("PUSH R2
\t");

asm("PUSH R3
\t");

asm("PUSH R4
\t");

asm("PUSH R5
\t");

asm("PUSH R6
\t");

asm("PUSH R7
\t");

asm("PUSH R8
\t");

asm("PUSH R9
\t");

asm("PUSH R10
\t");

asm("PUSH R11
\t");

asm("PUSH R12
\t");

asm("PUSH R13
\t");

asm("PUSH R14
\t");

asm("PUSH R15
\t");

asm("PUSH R16
\t");

asm("PUSH R17
\t");

asm("PUSH R18
\t");

asm("PUSH R19
\t");

asm("PUSH R20
\t");

asm("PUSH R21
\t");

asm("PUSH R22
\t");

asm("PUSH R23
\t");

asm("PUSH R24
\t");

asm("PUSH R25
\t");

asm("PUSH R26
\t");

asm("PUSH R27
\t");

asm("PUSH R28
\t");

asm("PUSH R29
\t");

asm("PUSH R30
\t");

asm("PUSH R31
\t");

TaskCtrlBlock.uTaskStackEntry = SP+33;

if(uCurrentTask >= uValidTaskIndex-1) uCurrentTask=0;

else uCurrentTask++;

SP = TaskCtrlBlock.uTaskStackEntry;

SP -= 33;

asm("POP R31
\t");

asm("POP R30
\t");

asm("POP R29
\t");

asm("POP R28
\t");

asm("POP R27
\t");

asm("POP R26
\t");

asm("POP R25
\t");

asm("POP R24
\t");

asm("POP R23
\t");

asm("POP R22
\t");

asm("POP R21
\t");

asm("POP R20
\t");

asm("POP R19
\t");

asm("POP R18
\t");

asm("POP R17
\t");

asm("POP R16
\t");

asm("POP R15
\t");

asm("POP R14
\t");

asm("POP R13
\t");

asm("POP R12
\t");

asm("POP R11
\t");

asm("POP R10
\t");

asm("POP R9
\t");

asm("POP R8
\t");

asm("POP R7
\t");

asm("POP R6
\t");

asm("POP R5
\t");

asm("POP R4
\t");

asm("POP R3
\t");

asm("POP R2
\t");

asm("POP R0
\t");

asm("OUT 0x3F,R0
\t");

asm("POP R0
\t");

asm("POP R1
\t");

TCNT0 = 0;

asm("reti
\t");

}

在此希望大家多多参与，优化、强大此系统，在应用中，一个好的稳定简洁的系统对于开发来说更为重要，想得更远，某天，MS倒闭...，呵呵~~~~也不是不可能啊，不过那得靠团队精神，好象对于中国人，很现实的说法是：一个中国人是条龙，一群中国人是一堆虫，扯远了，无意冒犯，别扔鸡蛋...呵呵

zhudlmax 发表于 2006-12-9 19:17:46

To: zhb2000

OS思路跟您的一模一样，我参考的是《建立一个属于自己的AVR的RTOS》作者是不是armok啊？

shusheng 发表于 2006-12-10 13:11:54

谢谢先

还有个问题 "每个任务自己独立需要占有的RAM" 是不是指在那个任务里面定义的局部变量?还是指其他变量?

jackiezeng 发表于 2006-12-11 13:59:38

楼主大哥，

您能不能打个包，传上来呢？我编译出现很多的警告，我的水平低啊 ~！

还有就是你上传的那个是 PS/2 的资料，你有没有 XT ， VT 键盘的资料呢？

my_avr 发表于 2006-12-11 15:21:08

楼主指导一下：

uTaskEntry = SP+19;

后面的系数19是怎么算出来的，我弄了半天都没弄明白。谢谢！

zhudlmax 发表于 2006-12-11 20:20:37

看了大家的一些问题，我仔细找了一些资料，将关键代码更改如下：

.....

register unsigned char tempR2asm("r2");

register unsigned char tempR3asm("r3");

register unsigned char tempR4asm("r4");

register unsigned char tempR5asm("r5");

register unsigned char tempR6asm("r6");

register unsigned char tempR7asm("r7");

register unsigned char tempR8asm("r8");

register unsigned char tempR9asm("r9");

register unsigned char tempR10 asm("r10");

register unsigned char tempR11 asm("r11");

register unsigned char tempR12 asm("r12");

register unsigned char tempR13 asm("r13");

register unsigned char tempR14 asm("r14");

register unsigned char tempR15 asm("r15");

register unsigned char tempR16 asm("r16");

register unsigned char tempR17 asm("r17");

register unsigned int tempRY asm("r28");

#define PUSH_ALL() \

asm volatile( \

"PUSH R18" "
\t" \

"PUSH R19" "
\t" \

"PUSH R20" "
\t" \

"PUSH R21" "
\t" \

"PUSH R22" "
\t" \

"PUSH R23" "
\t" \

"PUSH R24" "
\t" \

"PUSH R25" "
\t" \

"PUSH R26" "
\t" \

"PUSH R27" "
\t" \

"PUSH R30" "
\t" \

"PUSH R31" "
\t" \

) \

#define POP_ALL() \

asm volatile( \

"POP R31" "
\t" \

"POP R30" "
\t" \

"POP R27" "
\t" \

"POP R26" "
\t" \

"POP R25" "
\t" \

"POP R24" "
\t" \

"POP R23" "
\t" \

"POP R22" "
\t" \

"POP R21 " "
\t" \

"POP R20" "
\t" \

"POP R19" "
\t" \

"POP R18" "
\t" \

"POP R0" "
\t" \

"OUT 0x3F,R0" "
\t" \

"POP R0" "
\t" \

"POP R1" "
\t" \

)

.......

void OS_ScheduleTask(void)

{

PUSH_ALL();

uTaskEntry = SP+15;

if(uCurrentTaskID >= uTotalTaskNum) uCurrentTaskID = 0;

SP =uTaskEntry-15;

POP_ALL();

TCNT0 = 0x00;

asm("reti");

}

.....

在AVR GCC中对寄存器的描述是这样的：

r0    可用做暂时寄存器。如果用户汇编代码使用了r0，且要调用C代码，则在调用之前必须保存r0。C中断例程会自动保存和恢复r0。

r1    C编译器假定此寄存器内容为“0”。如果用户使用了此寄存器，则在汇编代码返回之前须将其清零。C中断例程会自动保存和恢复r1。

r2-r17，r28，r29       C编译器使用这些寄存器。如果用户汇编代码需要使用这些寄存器，则必须保存并恢复这些寄存器。

R18-r27，r30，r31 如果用户汇编代码不调用C代码则无需保存和恢复这些寄存器。如果用户要调用C代码，则在调用之前须保存。

uTaskEntry = SP+15;

加减15的原因：先看GCC编译的汇编

SIGNAL(SIG_OUTPUT_COMPARE0)

{

asm("JMP OS_ScheduleTask");

}

@000002B0: __vector_19

22:    {

+000002B0: 921F    PUSH R1             Push register on stack

+000002B1: 920F    PUSH R0             Push register on stack

+000002B2: B60F    IN    R0,0x3F       In from I/O location

+000002B3: 920F    PUSH R0             Push register on stack

+000002B4: 2411    CLR R1             Clear Register

23:    asm("JMP OS_ScheduleTask");

+000002B5: 940C02E6 JMP 0x000002E6    Jump

+000002B7: 900F    POP R0             Pop register from stack

+000002B8: BE0F    OUT 0x3F,R0       Out to I/O location

+000002B9: 900F    POP R0             Pop register from stack

+000002BA: 901F    POP R1             Pop register from stack

+000002BB: 9518    RETI                   Interrupt return

....

void OS_ScheduleTask(void)

{

PUSH_ALL();

uTaskEntry = SP+15;

if(uCurrentTaskID >= uTotalTaskNum) uCurrentTaskID = 0;

SP =uTaskEntry-15;

POP_ALL();

TCNT0 = 0x00;

asm("reti");

}

@0000030D: OS_ScheduleTask

57:    {

+0000030D: 932F    PUSH R18          Push register on stack

+0000030E: 933F    PUSH R19          Push register on stack

+0000030F: 934F    PUSH R20          Push register on stack

+00000310: 935F    PUSH R21          Push register on stack

+00000311: 936F    PUSH R22          Push register on stack

+00000312: 937F    PUSH R23          Push register on stack

+00000313: 938F    PUSH R24          Push register on stack

+00000314: 939F    PUSH R25          Push register on stack

+00000315: 93AF    PUSH R26          Push register on stack

+00000316: 93BF    PUSH R27          Push register on stack

+00000317: 93EF    PUSH R30          Push register on stack

+00000318: 93FF    PUSH R31          Push register on stack

60:    uTaskEntry = SP+15;

+00000319: 912002F1 LDS R18,0x02F1    Load direct from data space

+0000031B: 2FE2    MOV R30,R18       Copy register

+0000031C: 27FF    CLR R31          Clear Register

+0000031D: 0FEE    LSL R30          Logical Shift Left

+0000031E: 1FFF    ROL R31          Rotate Left Through Carry

+0000031F: 51EF    SUBI R30,0x1F       Subtract immediate

+00000320: 4FFD    SBCI R31,0xFD       Subtract immediate with carry

+00000321: B78D    IN    R24,0x3D       In from I/O location

+00000322: B79E    IN    R25,0x3E       In from I/O location

+00000323: 960F    ADIW R24,0x0F       Add immediate to word

+00000324: 8391    STD Z+1,R25       Store indirect with displacement

+00000325: 8380    STD Z+0,R24       Store indirect with displacement

+00000326: 5F2F    SUBI R18,0xFF       Subtract immediate

+00000327: 932002F1 STS 0x02F1,R18    Store direct to data space

61:    if(uCurrentTaskID >= uTotalTaskNum) uCurrentTaskID = 0;

+00000329: 918002F3 LDS R24,0x02F3    Load direct from data space

+0000032B: 1728    CP    R18,R24       Compare

+0000032C: F010    BRCS PC+0x03       Branch if carry set

+0000032D: 921002F1 STS 0x02F1,R1    Store direct to data space

62:    SP =uTaskEntry-15;

+0000032F: 918002F1 LDS R24,0x02F1    Load direct from data space

+00000331: 2FE8    MOV R30,R24       Copy register

+00000332: 27FF    CLR R31          Clear Register

+00000333: 0FEE    LSL R30          Logical Shift Left

+00000334: 1FFF    ROL R31          Rotate Left Through Carry

+00000335: 51EF    SUBI R30,0x1F       Subtract immediate

+00000336: 4FFD    SBCI R31,0xFD       Subtract immediate with carry

+00000337: 8180    LDD R24,Z+0       Load indirect with displacement

+00000338: 8191    LDD R25,Z+1       Load indirect with displacement

+00000339: 970F    SBIW R24,0x0F       Subtract immediate from word

+0000033A: BF9E    OUT 0x3E,R25       Out to I/O location

+0000033B: BF8D    OUT 0x3D,R24       Out to I/O location

64:    POP_ALL();

+0000033C: 91FF    POP R31          Pop register from stack

+0000033D: 91EF    POP R30          Pop register from stack

+0000033E: 91BF    POP R27          Pop register from stack

+0000033F: 91AF    POP R26          Pop register from stack

+00000340: 919F    POP R25          Pop register from stack

+00000341: 918F    POP R24          Pop register from stack

+00000342: 917F    POP R23          Pop register from stack

+00000343: 916F    POP R22          Pop register from stack

+00000344: 915F    POP R21          Pop register from stack

+00000345: 914F    POP R20          Pop register from stack

+00000346: 913F    POP R19          Pop register from stack

+00000347: 912F    POP R18          Pop register from stack

+00000348: 900F    POP R0             Pop register from stack

+00000349: BE0F    OUT 0x3F,R0       Out to I/O location

+0000034A: 900F    POP R0             Pop register from stack

+0000034B: 901F    POP R1             Pop register from stack

66:    TCNT0 = 0x00;

+0000034C: BE12    OUT 0x32,R1       Out to I/O location

67:    asm("reti");

+0000034D: 9518    RETI                   Interrupt return

+0000034E: 9508    RET                   Subroutine return

....

执行PUSH后 SP+1，执行POP后 SP-1，中断处理中最明显的特征就是保存与恢复现场环境。

zhudlmax 发表于 2006-12-11 20:41:35

看了大家的一些问题，我仔细找了一些资料，将关键代码更改如下：

.....

register unsigned char tempR2asm("r2");

register unsigned char tempR3asm("r3");

register unsigned char tempR4asm("r4");

register unsigned char tempR5asm("r5");

register unsigned char tempR6asm("r6");

register unsigned char tempR7asm("r7");

register unsigned char tempR8asm("r8");

register unsigned char tempR9asm("r9");

register unsigned char tempR10 asm("r10");

register unsigned char tempR11 asm("r11");

register unsigned char tempR12 asm("r12");

register unsigned char tempR13 asm("r13");

register unsigned char tempR14 asm("r14");

register unsigned char tempR15 asm("r15");

register unsigned char tempR16 asm("r16");

register unsigned char tempR17 asm("r17");

register unsigned int tempRY asm("r28");

#define PUSH_ALL() \

asm volatile( \

"PUSH R18" "
\t" \

"PUSH R19" "
\t" \

"PUSH R20" "
\t" \

"PUSH R21" "
\t" \

"PUSH R22" "
\t" \

"PUSH R23" "
\t" \

"PUSH R24" "
\t" \

"PUSH R25" "
\t" \

"PUSH R26" "
\t" \

"PUSH R27" "
\t" \

"PUSH R30" "
\t" \

"PUSH R31" "
\t" \

) \

#define POP_ALL() \

asm volatile( \

"POP R31" "
\t" \

"POP R30" "
\t" \

"POP R27" "
\t" \

"POP R26" "
\t" \

"POP R25" "
\t" \

"POP R24" "
\t" \

"POP R23" "
\t" \

"POP R22" "
\t" \

"POP R21 " "
\t" \

"POP R20" "
\t" \

"POP R19" "
\t" \

"POP R18" "
\t" \

"POP R0" "
\t" \

"OUT 0x3F,R0" "
\t" \

"POP R0" "
\t" \

"POP R1" "
\t" \

)

.......

void OS_ScheduleTask(void)

{

PUSH_ALL();

uTaskEntry = SP+15;

if(uCurrentTaskID >= uTotalTaskNum) uCurrentTaskID = 0;

SP =uTaskEntry-15;

POP_ALL();

TCNT0 = 0x00;

asm("reti");

}

.....

在AVR GCC中对寄存器的描述是这样的：

r0    可用做暂时寄存器。如果用户汇编代码使用了r0，且要调用C代码，则在调用之前必须保存r0。C中断例程会自动保存和恢复r0。

r1    C编译器假定此寄存器内容为“0”。如果用户使用了此寄存器，则在汇编代码返回之前须将其清零。C中断例程会自动保存和恢复r1。

r2-r17，r28，r29       C编译器使用这些寄存器。如果用户汇编代码需要使用这些寄存器，则必须保存并恢复这些寄存器。

R18-r27，r30，r31 如果用户汇编代码不调用C代码则无需保存和恢复这些寄存器。如果用户要调用C代码，则在调用之前须保存。

uTaskEntry = SP+15;

加减15的原因：先看GCC编译的汇编

SIGNAL(SIG_OUTPUT_COMPARE0)

{

asm("JMP OS_ScheduleTask");

}

@000002B0: __vector_19

22:    {

+000002B0: 921F    PUSH R1             Push register on stack

+000002B1: 920F    PUSH R0             Push register on stack

+000002B2: B60F    IN    R0,0x3F       In from I/O location

+000002B3: 920F    PUSH R0             Push register on stack

+000002B4: 2411    CLR R1             Clear Register

23:    asm("JMP OS_ScheduleTask");

+000002B5: 940C02E6 JMP 0x000002E6    Jump

+000002B7: 900F    POP R0             Pop register from stack

+000002B8: BE0F    OUT 0x3F,R0       Out to I/O location

+000002B9: 900F    POP R0             Pop register from stack

+000002BA: 901F    POP R1             Pop register from stack

+000002BB: 9518    RETI                   Interrupt return

....

void OS_ScheduleTask(void)

{

PUSH_ALL();

uTaskEntry = SP+15;

if(uCurrentTaskID >= uTotalTaskNum) uCurrentTaskID = 0;

SP =uTaskEntry-15;

POP_ALL();

TCNT0 = 0x00;

asm("reti");

}

@0000030D: OS_ScheduleTask

57:    {

+0000030D: 932F    PUSH R18          Push register on stack

+0000030E: 933F    PUSH R19          Push register on stack

+0000030F: 934F    PUSH R20          Push register on stack

+00000310: 935F    PUSH R21          Push register on stack

+00000311: 936F    PUSH R22          Push register on stack

+00000312: 937F    PUSH R23          Push register on stack

+00000313: 938F    PUSH R24          Push register on stack

+00000314: 939F    PUSH R25          Push register on stack

+00000315: 93AF    PUSH R26          Push register on stack

+00000316: 93BF    PUSH R27          Push register on stack

+00000317: 93EF    PUSH R30          Push register on stack

+00000318: 93FF    PUSH R31          Push register on stack

60:    uTaskEntry = SP+15;

+00000319: 912002F1 LDS R18,0x02F1    Load direct from data space

+0000031B: 2FE2    MOV R30,R18       Copy register

+0000031C: 27FF    CLR R31          Clear Register

+0000031D: 0FEE    LSL R30          Logical Shift Left

+0000031E: 1FFF    ROL R31          Rotate Left Through Carry

+0000031F: 51EF    SUBI R30,0x1F       Subtract immediate

+00000320: 4FFD    SBCI R31,0xFD       Subtract immediate with carry

+00000321: B78D    IN    R24,0x3D       In from I/O location

+00000322: B79E    IN    R25,0x3E       In from I/O location

+00000323: 960F    ADIW R24,0x0F       Add immediate to word

+00000324: 8391    STD Z+1,R25       Store indirect with displacement

+00000325: 8380    STD Z+0,R24       Store indirect with displacement

+00000326: 5F2F    SUBI R18,0xFF       Subtract immediate

+00000327: 932002F1 STS 0x02F1,R18    Store direct to data space

61:    if(uCurrentTaskID >= uTotalTaskNum) uCurrentTaskID = 0;

+00000329: 918002F3 LDS R24,0x02F3    Load direct from data space

+0000032B: 1728    CP    R18,R24       Compare

+0000032C: F010    BRCS PC+0x03       Branch if carry set

+0000032D: 921002F1 STS 0x02F1,R1    Store direct to data space

62:    SP =uTaskEntry-15;

+0000032F: 918002F1 LDS R24,0x02F1    Load direct from data space

+00000331: 2FE8    MOV R30,R24       Copy register

+00000332: 27FF    CLR R31          Clear Register

+00000333: 0FEE    LSL R30          Logical Shift Left

+00000334: 1FFF    ROL R31          Rotate Left Through Carry

+00000335: 51EF    SUBI R30,0x1F       Subtract immediate

+00000336: 4FFD    SBCI R31,0xFD       Subtract immediate with carry

+00000337: 8180    LDD R24,Z+0       Load indirect with displacement

+00000338: 8191    LDD R25,Z+1       Load indirect with displacement

+00000339: 970F    SBIW R24,0x0F       Subtract immediate from word

+0000033A: BF9E    OUT 0x3E,R25       Out to I/O location

+0000033B: BF8D    OUT 0x3D,R24       Out to I/O location

64:    POP_ALL();

+0000033C: 91FF    POP R31          Pop register from stack

+0000033D: 91EF    POP R30          Pop register from stack

+0000033E: 91BF    POP R27          Pop register from stack

+0000033F: 91AF    POP R26          Pop register from stack

+00000340: 919F    POP R25          Pop register from stack

+00000341: 918F    POP R24          Pop register from stack

+00000342: 917F    POP R23          Pop register from stack

+00000343: 916F    POP R22          Pop register from stack

+00000344: 915F    POP R21          Pop register from stack

+00000345: 914F    POP R20          Pop register from stack

+00000346: 913F    POP R19          Pop register from stack

+00000347: 912F    POP R18          Pop register from stack

+00000348: 900F    POP R0             Pop register from stack

+00000349: BE0F    OUT 0x3F,R0       Out to I/O location

+0000034A: 900F    POP R0             Pop register from stack

+0000034B: 901F    POP R1             Pop register from stack

66:    TCNT0 = 0x00;

+0000034C: BE12    OUT 0x32,R1       Out to I/O location

67:    asm("reti");

+0000034D: 9518    RETI                   Interrupt return

+0000034E: 9508    RET                   Subroutine return

....

PUSH以上的寄存器是保存刚释放CPU控制权的任务的环境，而执行PSUH后SP逐加1，在恢复下一个任务的环境时开始执行POP，POP语句SP逐减1。

TASK -> JMP(OR RJMP) -> PUSH [ SP-2-N_push] -> POP -> RET(OR RETI)

PUSH 与 POP 是相反过程，JMP、RJMP、RET、RETI是与SP专门打交道的指令，加减多少是根据你编译后实际的汇编代码确定的

zhudlmax 发表于 2006-12-11 20:50:25

【35楼】的本想放弃的，“提交”误点，赶忙取消，我以为OK，没想到我这网速这么快，呵呵，阿莫，帮我删掉吧，谢谢先

TO jackiezeng：XT，VT键盘资料我没有，你上网搜索就是了，网络是个好东东，可以很好利用的，按你的要求，先打包上传

点击此处下载armok01137758.rar

air23feng 发表于 2006-12-11 20:51:36

楼主厉害,佩服啊~

my_avr 发表于 2006-12-11 22:32:33

多谢楼主！

jackiezeng 发表于 2006-12-11 22:41:10

楼主大哥，

我在网络上找了很久，只有一点点协议，协议比 PS/2 的更简单， VT ， XT 键盘都是单向通信的，只有键盘发送信息给PC 。

但是我找不到东西来测试，不知道自己的程序能不能工作啊，

谢谢您打包的资料，我请教个问题，.elf是什么文件？

为什么一定要打开它才能编译呢？

我不会用GCC ，我的理解是只要有 .c 和 .h文件，和 makefale文件就可以编译了，对么？

但是为什么要.elf 呢？

zhudlmax 发表于 2006-12-11 23:17:20

叫兄弟就成，大哥不敢当，呵呵

makefile 我用AVR STUDIO内带的，只改了频率、优化两项，我用的是MEGA16，程序编译通过，是我正在进行中的一个项目，只刚刚写了一点点，给一家实验室控制水流用的，本周四得交货，现在急啊，我也不太清楚ELF，你再看看开发环境与我的有何不同？

jackiezeng 发表于 2006-12-12 00:22:45

zhudlmax 兄：

我现在大概弄明白这个 WINAVR 了，现在晚了，明天找个板子也学着写两个任务来运行一下~！

THANK YOU

my_avr 发表于 2006-12-19 11:28:53

楼主支招啊,我的系统怎么不能调度?仿真的时候是能正常调度的,下载到单片机里就只运行一圈之后就不知道跑那里去了,不调度任务了,

zhudlmax 发表于 2006-12-19 11:59:04

上传你的代码看看，一般是由于分配的RAM过小造成的，将Task_Stack_Size改大点看看

#define Total_Task_Num 8

#define Task_Stack_Size 50

#define Total_Stack_Size Total_Task_Num * Task_Stack_Size

my_avr 发表于 2006-12-19 12:04:49

好的,我试试看把Task_Stack_Size改大一点,不过问一下zhudlmax大侠:Task_Stack_Size与Task里的什么东西有关,也就是说任务里的变量还是其他什么东西需要用到Task_Stack?

my_avr 发表于 2006-12-19 12:28:14

现在我的程序在没有开始任务调度之前的系统初始化中,一旦调用子程序就会提示在调用的地方堆栈溢出

my_avr 发表于 2006-12-19 12:35:09

仿真进入了任务调度之后就不出现堆栈溢出的问题了

guantingwei 发表于 2006-12-19 12:54:41

全局变量存取冲突的控制呢？

my_avr 发表于 2006-12-20 10:07:55

代码已经贴出,麻烦楼主大哥帮我看一下.程序是四个单刀双掷开关控制四个电机的上升和下降,驱动电机继电器的是芯片是2803.PB口驱动电机,PC口为按键口,芯片为M16

点击此处下载armok01138397.rar

my_avr 发表于 2006-12-20 21:34:58

打错了,是四个双刀双掷按键控制四个电机

my_avr 发表于 2006-12-26 10:36:50

问题解决了,谢谢楼主大哥!

lionliu 发表于 2008-6-4 10:04:09

cool

glbest 发表于 2008-6-4 15:01:36

学习学习～～

ztxfhl 发表于 2008-6-4 16:02:15

楼主厉害

haerbintcl 发表于 2008-6-4 17:49:57

很强大

sunbody1986 发表于 2008-6-4 19:25:35

谢谢共享！

lxx_sea_sky 发表于 2008-6-28 11:35:10

标记，谢谢楼主！

cyq001 发表于 2008-6-28 12:21:11

zhudlmax和my_avr 大哥能不能帮小弟看一下程序，怎么不行，我程序中最简单的就创建了两个任务，POTRB和PORTC两个口取反一下，程序执行结果是两个任务都只执行一次，就一直进入SIGNAL(SIG_OUTPUT_COMPARE0)中断程序了，一直在重复的执行，搞了两天，郁闷了两天点击此处下载 ourdev_329742.rar(文件大小:44K) (原文件名:AVR时间片法调度.rar)

lin28 发表于 2008-7-4 08:51:29

记号

taishandadi 发表于 2008-7-4 20:15:25

mark。

eaglelpx 发表于 2008-8-8 12:15:30

能看懂以后在看

coole 发表于 2008-10-6 22:54:50

楼主厉害，跟着学习！

liang503 发表于 2008-10-9 17:12:35

楼主写得非常详细，谢谢分享

kelvin9926 发表于 2008-10-21 14:03:46

不错,写得非常详细，,有机会自己也用一用.太感谢了!

mfkqqw 发表于 2008-10-24 12:48:37

记下

Totry 发表于 2008-10-24 14:01:45

mark!

shanlei300 发表于 2008-10-24 14:40:06

mark! 

caixiong 发表于 2008-10-24 14:50:01

学习

huike_h 发表于 2008-10-30 16:37:40

ucOS好像没有此功能...不过仍然不失为一个优秀的嵌入式操作系统

letyoufly 发表于 2008-12-28 17:42:06

mark

thriller 发表于 2008-12-28 18:32:45

强帖留名

zcllom 发表于 2008-12-28 18:51:53

嘿，这里的宝藏真多啊，继续呆几天，挖完收工歇息。

Junker 发表于 2008-12-29 16:58:17

ybs777 发表于 2009-3-1 01:09:03

收藏，学习。

shushikuan 发表于 2009-5-12 05:10:20

顶一下!

lionliu 发表于 2009-5-12 15:35:24

mxh0506 发表于 2009-5-14 23:37:41

不错，这个坛子里讨论问题的气氛比较好

evilangell 发表于 2009-5-18 08:02:50

// 防止C编译器调用以下寄存器（可参考GCC说明），减少任务调度代码所占用的时间
register unsigned char tempR4asm("r4");
register unsigned char tempR5asm("r5");
register unsigned char tempR6asm("r6");
register unsigned char tempR7asm("r7");
register unsigned char tempR8asm("r8");
register unsigned char tempR9asm("r9");
register unsigned char tempR10 asm("r10");
register unsigned char tempR11 asm("r11");
register unsigned char tempR12 asm("r12");
register unsigned char tempR13 asm("r13");
register unsigned char tempR14 asm("r14");
register unsigned char tempR15 asm("r15");
register unsigned char tempR16 asm("r16");
register unsigned char tempR16 asm("r17");

这个怎么移植到ICC编译器上？

touch_mcu 发表于 2009-7-12 20:49:45

很有价值的贴呀

sange 发表于 2009-7-16 17:10:39

强贴留名

mengyubianyuan 发表于 2009-8-29 14:51:50

牛啊啊就是都不会啊

anxiangbo 发表于 2009-8-29 15:21:18

强贴留名

w860316 发表于 2009-9-12 15:55:40

mark

hxjsini 发表于 2009-9-12 23:53:45

强帖记下。

farmer 发表于 2009-9-28 09:15:38

mark

czxf 发表于 2009-9-28 10:09:23

good

zzwuyu 发表于 2009-9-28 10:48:23

mark

ch2003_23 发表于 2009-9-29 10:41:54

mark

cana11225 发表于 2009-11-12 09:59:39

good!

songzi2018 发表于 2009-11-17 16:55:40

好

gdmfq 发表于 2009-12-9 16:48:24

顶

astudent 发表于 2009-12-9 17:49:37

好贴，要顶。

silvanesw 发表于 2009-12-9 17:51:01

打标。

mountaintop 发表于 2009-12-9 18:10:27

不错，比较简洁也很实用。

taishandadi 发表于 2009-12-9 22:37:05

好用。谢谢lz

yunhuisong 发表于 2009-12-16 19:37:40

mark

ddcour 发表于 2009-12-25 22:02:40

好！谢谢！

astudent 发表于 2009-12-30 19:57:49

mark

Adrian 发表于 2009-12-30 23:09:40

cool..

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简洁实用的时间片调度法操作系统，献给大家