自学教程：C++ FRTOS1_vTaskDelay函数代码示例

static portTASK_FUNCTION(AppTask, pvParameters) {  (void)pvParameters; /* not used */  RTC1_TTIME time;  RTC1_TDATE date;  if (RTC1_GetRTCTimeDate(&time, &date)==ERR_OK) {    TmDt1_SetDate((uint16_t)date.year+2000, date.month, date.day);    TmDt1_SetTime(time.hour, time.min, time.sec, 0);  } else {    for(;;) {} /* error */  }  (void)NEO_ClearAllPixel();  (void)NEO_TransferPixels();#if HAS_CLOCK  (void)NEOL_PixelTrail(0x00, 0x00, 0xFF, NEO_PIXEL_FIRST, NEO_PIXEL_LAST,  8, 25, 20);  (void)NEOL_PixelTrail(0x00, 0xff, 0x00, NEO_PIXEL_FIRST, NEO_PIXEL_LAST,  16, 25, 15);  (void)NEOL_PixelTrail(0x00, 0x50, 0xff, NEO_PIXEL_FIRST, NEO_PIXEL_LAST,  16, 25, 10);  CLOCK_Init();#endif  for(;;) {#if HAS_ELEVATOR    Elevator();    FRTOS1_vTaskDelay(1000/portTICK_RATE_MS);#else    CLOCK_Update();    FRTOS1_vTaskDelay(50/portTICK_RATE_MS);#endif  } /* for */}

static portTASK_FUNCTION(RNetTask, pvParameters) {  uint32_t cntr;  uint8_t msgCntr;  (void)pvParameters; /* not used */  if (RAPP_SetThisNodeAddr(RNWK_ADDR_BROADCAST)!=ERR_OK) { /* set a default address */    for(;;); /* "ERR: Failed setting node address" */  }  cntr = 0; /* initialize LED counter */  msgCntr = 0; /* initialize message counter */  appState = RNETA_INITIAL; /* initialize state machine state */  for(;;) {    Process(); /* process state machine */    cntr++;    if (cntr==100) { /* with an RTOS 10 ms/100 Hz tick rate, this is every second */      LED3_On(); /* blink blue LED for 20 ms */      RAPP_SendPayloadDataBlock(&msgCntr, sizeof(msgCntr), RAPP_MSG_TYPE_PING, RNWK_ADDR_BROADCAST, RPHY_PACKET_FLAGS_NONE);      msgCntr++;      cntr = 0;      FRTOS1_vTaskDelay(20/portTICK_RATE_MS);      LED3_Off(); /* blink blue LED */    }    FRTOS1_vTaskDelay(10/portTICK_RATE_MS);  } /* for */}

static portTASK_FUNCTION(TraceTask, pvParameters) {  static unsigned char buf[128]; /* global buffer, to reduce stack size. We want to send things in one piece */  (void)pvParameters;  for(;;) {    if (traceChannel==TRACE_TO_NONE) {      FRTOS1_vTaskDelay(1000/portTICK_RATE_MS);    } else if (traceChannel==TRACE_TO_SHELL) {      buf[0] = '/0';      UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" => ");      if (traceAccel) {        int16_t x, y, z;        ACCEL_GetValues(&x, &y, &z);        UTIL1_strcat(buf, sizeof(buf), (unsigned char*)" X:");        UTIL1_strcatNum16sFormatted(buf, sizeof(buf), x, ' ', 6);        UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"; Y:");        UTIL1_strcatNum16sFormatted(buf, sizeof(buf), y, ' ', 6);        UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"; Z:");        UTIL1_strcatNum16sFormatted(buf, sizeof(buf), z, ' ', 6);        UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"/r/n");        CLS1_SendStr(&buf[0], CLS1_GetStdio()->stdOut);        FRTOS1_vTaskDelay(100/portTICK_RATE_MS);      }      FRTOS1_vTaskDelay(25/portTICK_RATE_MS);    }  }}

static portTASK_FUNCTION(Button, pvParameters) {  CLS1_ConstStdIOType *io = CLS1_GetStdio();  (void)pvParameters; /* parameter not used */  for(;;) {    /* check push button switch: turns on/off cooling immediately */    if (SW2_GetVal()==0) { /* button pressed */      FRTOS1_vTaskDelay(10/portTICK_RATE_MS); /* debounce */      if (SW2_GetVal()==0) { /* still pressed */        while(SW2_GetVal()==0) {          /* wait until released */          FRTOS1_vTaskDelay(10/portTICK_RATE_MS); /* debounce */        }        DisableScheduler(io);        if (isPumpOn) { /* pump is on, toggle it */          SetCooling(FALSE, io); /* turn cooling off */          mySchedule.isSchedulerOn = TRUE; /* turn scheduler on again */        } else {          SetCooling(TRUE, io); /* turn cooling on */        }      }    }    FRTOS1_vTaskDelay(50/portTICK_RATE_MS);  } /* for */}

static void CheckButton(void) {  uint32_t timeTicks; /* time in ticks */  #define BUTTON_CNT_MS  100  /* iteration count for button */  bool autoCalibrate = FALSE;  if (SW1_GetVal()==0) { /* button pressed */    /* short press (1 beep): start or stop line following if calibrated      * 1 s press   (2 beep): calibrate manually     * 2 s press   (3 beep): calibrate with auto-move     * 3 s press   (4 beep or more): clear path     * */    FRTOS1_vTaskDelay(50/portTICK_RATE_MS); /* simple debounce */    if (SW1_GetVal()==0) { /* still pressed */      LEDG_On();      timeTicks = 0;      while(SW1_GetVal()==0 && timeTicks<=6000/BUTTON_CNT_MS) {         FRTOS1_vTaskDelay(BUTTON_CNT_MS/portTICK_RATE_MS);        if ((timeTicks%(1000/BUTTON_CNT_MS))==0) {#if PL_HAS_BUZZER          BUZ_Beep(300, 200);#endif        }        timeTicks++;      } /* wait until released */      autoCalibrate = FALSE;      if (timeTicks<1000/BUTTON_CNT_MS) { /* less than 1 second */        CLS1_SendStr((unsigned char*)"button press./r/n", CLS1_GetStdio()->stdOut);        StateMachine(TRUE); /* <1 s, short button press, according to state machine */      } else if (timeTicks>=(1000/BUTTON_CNT_MS) && timeTicks<(2000/BUTTON_CNT_MS)) {        CLS1_SendStr((unsigned char*)"calibrate./r/n", CLS1_GetStdio()->stdOut);        APP_StateStartCalibrate(); /* 1-2 s: start calibration by hand */      } else if (timeTicks>=(2000/BUTTON_CNT_MS) && timeTicks<(3000/BUTTON_CNT_MS)) {        CLS1_SendStr((unsigned char*)"auto calibrate./r/n", CLS1_GetStdio()->stdOut);        APP_StateStartCalibrate(); /* 2-3 s: start auto calibration */        autoCalibrate = TRUE;      } else if (timeTicks>=(3000/BUTTON_CNT_MS)) {        CLS1_SendStr((unsigned char*)"delete solution./r/n", CLS1_GetStdio()->stdOut);        MAZE_ClearSolution();      }       while (SW1_GetVal()==0) { /* wait until button is released */        FRTOS1_vTaskDelay(BUTTON_CNT_MS/portTICK_RATE_MS);      }      if (autoCalibrate) {        CLS1_SendStr((unsigned char*)"start auto-calibration.../r/n", CLS1_GetStdio()->stdOut);        /* perform automatic calibration */        WAIT1_WaitOSms(1500); /* wait some time */        TURN_Turn(TURN_LEFT90);        TURN_Turn(TURN_RIGHT90);        TURN_Turn(TURN_RIGHT90);        TURN_Turn(TURN_LEFT90);        TURN_Turn(TURN_STOP);        APP_StateStopCalibrate();        CLS1_SendStr((unsigned char*)"auto-calibration finished./r/n", CLS1_GetStdio()->stdOut);      }    }  } /* if */}

static portTASK_FUNCTION(Fight_modus, pvParameters) {#if PL_HAS_DRIVE	  DRV_EnableDisable(FALSE);	  DRV_EnableDisablePos(FALSE);#endif  fight_state = FIND_ENEMY;  FRTOS1_vTaskDelay(100/TRG_TICKS_MS);  for(;;) {	  FRTOS1_vTaskDelay(10/TRG_TICKS_MS);	  FightmodusV2();  }}

/**  * /brief FreeRTOS task */static portTASK_FUNCTION(MyTask, pvParameters) {  (void)pvParameters; /* parameter not used */  for(;;) {    LED1_Neg();    FRTOS1_vTaskDelay(100/portTICK_RATE_MS);    LED2_Neg();    FRTOS1_vTaskDelay(100/portTICK_RATE_MS);    LED3_Neg();    FRTOS1_vTaskDelay(100/portTICK_RATE_MS);    LED4_Neg();    FRTOS1_vTaskDelay(100/portTICK_RATE_MS);  } /* for */}

static portTASK_FUNCTION(SoundTask, pvParameters) {  (void)pvParameters; /* avoid compiler warning */  for(;;) {    SOUND_SetFreqHz(freqSounder);    SOUND_Enable();    FRTOS1_vTaskDelay(80/portTICK_RATE_MS);    SOUND_Disable();    FRTOS1_vTaskDelay(80/portTICK_RATE_MS);    SOUND_Enable();    FRTOS1_vTaskDelay(80/portTICK_RATE_MS);    SOUND_Disable();    FRTOS1_vTaskSuspend(NULL); /* put itself to sleep */  }}

static portTASK_FUNCTION(LineTask, pvParameters) {  (void)pvParameters; /* not used */  for(;;) {    if (LF_stopIt) {      ChangeState(STATE_STOP);      LF_stopIt = FALSE;    }    StateMachine();    if (LF_IsFollowing()) {      FRTOS1_vTaskDelay(5/portTICK_RATE_MS);    } else {      FRTOS1_vTaskDelay(100/portTICK_RATE_MS);    }  }}

static void PlayMIDI(void) {  int instrument, note;  VS1_MIDI_SetBank(0, 0);  for(instrument=0; instrument<127; instrument++) {    VS1_MIDI_SetInstrument(0, instrument);    for(note=30; note<40; note++) {      VS1_MIDI_NoteOn(0, note, 127);      FRTOS1_vTaskDelay(200/portTICK_RATE_MS);      VS1_MIDI_NoteOff(0, note, 127);      FRTOS1_vTaskDelay(50/portTICK_RATE_MS);    }    FRTOS1_vTaskDelay(100/portTICK_RATE_MS);  }}

static void AppTask(void *pvParameters) {  (void)pvParameters; /* parameter not used */  for(;;) {    LED1_Neg();    FRTOS1_vTaskDelay(100/portTICK_RATE_MS);  }}

static portTASK_FUNCTION(ShellTask, pvParameters) {#if PL_HAS_SD_CARD  bool cardMounted = FALSE;  static FAT1_FATFS fileSystemObject;#endif  unsigned char buf[48];  (void)pvParameters; /* not used */  buf[0] = '/0';  (void)CLS1_ParseWithCommandTable((unsigned char*)CLS1_CMD_HELP, CLS1_GetStdio(), CmdParserTable);  for(;;) {#if PL_HAS_SD_CARD    (void)FAT1_CheckCardPresence(&cardMounted,        0 /* volume */, &fileSystemObject, CLS1_GetStdio());    if (cardMounted) {      //SD_GreenLed_On();      //SD_RedLed_Off();    } else {      //SD_GreenLed_Off();      //SD_RedLed_On();    }#endif    (void)CLS1_ReadAndParseWithCommandTable(buf, sizeof(buf), CLS1_GetStdio(), CmdParserTable);    FRTOS1_vTaskDelay(50/portTICK_RATE_MS);    LEDG_Neg();  }}

static portTASK_FUNCTION(RoboTask, pvParameters) {  uint16_t cm;    (void)pvParameters; /* not used */  for(;;) {    cm = MeasureCm();    LEDR_Neg();    if (runIt && cm != 0) {      if (cm<10) { /* back up! */        MOT_SetSpeedPercent(MOT_GetMotorA(), -40);        MOT_SetSpeedPercent(MOT_GetMotorB(), -40);      } else if (cm>=10 && cm<=15) {        /* stand still */        MOT_SetSpeedPercent(MOT_GetMotorA(), 0);        MOT_SetSpeedPercent(MOT_GetMotorB(), 0);      } else if (cm>15 && cm<=40) {        MOT_SetSpeedPercent(MOT_GetMotorA(), 50);        MOT_SetSpeedPercent(MOT_GetMotorB(), 50);      } else if (cm>40 && cm<80) {        MOT_SetSpeedPercent(MOT_GetMotorA(), 80);        MOT_SetSpeedPercent(MOT_GetMotorB(), 80);      } else { /* nothing in range */        MOT_SetSpeedPercent(MOT_GetMotorA(), 0);        MOT_SetSpeedPercent(MOT_GetMotorB(), 0);      }    }    FRTOS1_vTaskDelay(50/portTICK_RATE_MS);  }}

static portTASK_FUNCTION(Task4, pvParameters) {  (void)pvParameters; /* parameter not used */  for(;;) {    LED4_Neg();    FRTOS1_vTaskDelay(800/portTICK_RATE_MS);  }}

static portTASK_FUNCTION(TaskRunner, pvParameters) {  RUNNER_WindowDesc *ui = (RUNNER_WindowDesc*)pvParameters;  char_t buf[I2C_RUNNER_I2C_MSG_SIZE];  uint8_t cnt;  bool errorCond;  appWp = ui;#if PL_APP_MODE_I2C_LCD  I2C_ClearBuffers();#endif  ResetRunnerDisplayList();  RUNNER_listLastRecords = TRUE; /* request getting runners */  cnt = 0;  for (;;) {    I2C_SendCmd();    errorCond = FALSE;    while (I2C_GetRunnerMessage(buf, sizeof(buf))==ERR_OK) { /* message received, process as many and as fast as possible */      if (ParseNewRunnerMsg(buf)!=ERR_OK) {        errorCond = TRUE; /* flag error */      }    } /* while */    DisplayRunners(ui);    if (errorCond) {      UI1_DrawFilledBox(&appWp->window, 120, 8, 5, 5, UI1_COLOR_RED);    } else {      UI1_DrawFilledBox(&appWp->window, 120, 8, 5, 5, UI1_COLOR_BLUE);    }    FRTOS1_vTaskDelay(100/portTICK_RATE_MS);    cnt++;    UI1_DrawFilledBox(&appWp->window, 110, 8, 5, 5, cnt<10?UI1_COLOR_BLUE:UI1_COLOR_GREEN);    if (cnt==20) {      cnt=0;    }  } /* for */}

static portTASK_FUNCTION(StateMachineTask, pvParameters) {  (void)pvParameters; /* not used */  for(;;) {    StateMachine_Run();    FRTOS1_vTaskDelay(10/portTICK_RATE_MS);  }}

static portTASK_FUNCTION(MainTask, pvParameters) {	uint16_t msCnt;	(void) pvParameters; /* parameter not used */#if PL_HAS_ACCEL  ACCEL_LowLevelInit();#endif	for (;;) {		EVNT_HandleEvent(APP_EvntHandler);#if PL_HAS_KEYS && !PL_HAS_KBI		KEY_Scan(); /* poll keys */#endif				FRTOS1_vTaskDelay(20/portTICK_RATE_MS);		msCnt += 20;		if (msCnt > 280) {			#if PL_HAS_ULTRASONIC				(void)US_Measure_us(); /* Measure distance */			#endif			msCnt = 0;						}	}}

void I2C_StoreCmd(void) {#if PL_HAS_UI    unsigned char buf[32];    uint8_t strSize;#if PL_HAS_RUNNER    buf[0] = '@';    buf[1] = '/0';    RUNNER_GetCmdString(buf, sizeof(buf));#elif PL_HAS_SLIDER    SLIDER_GetCmdString(buf, sizeof(buf));#else    buf[0] = '/0';#endif    if (buf[0]!='/0') {      uint8_t cnt=3;      while(cnt>0 && memDevice.u.data.cmdLength!=0) { /* poll cmdLength: this will be set to zero by the master if it is ok to place the string */        FRTOS1_vTaskDelay(50/portTICK_RATE_MS); /* give master some time to clear the flasg */        cnt--;      }      if (cnt==0) { /* timeout. Will loose that command. Not ideal, but simple :-) */        return; /* get out here */      }      strSize = (uint8_t)(UTIL1_strlen(buf)+1); /* size of string including zero byte */      if (strSize>sizeof(memDevice.u.data.cmd)) {        strSize = sizeof(memDevice.u.data.cmd);      }      EnterCritical();      memDevice.u.data.cmdLength = strSize;      UTIL1_strcpy(memDevice.u.data.cmd, sizeof(memDevice.u.data.cmd), buf);      ExitCritical();    }#endif /* PL_HAS_UI */}

static portTASK_FUNCTION(MainTask, pvParameters) {  (void)pvParameters;  for(;;) {    LED1_Neg();    FRTOS1_vTaskDelay(100/portTICK_RATE_MS);  }}

void GetConnection(void) {	typedef enum {		GetCon1, Passed, Error	} GetConState_Type;	GetConState_Type GetConState = GetCon1;	while (GetConState != Passed) {		switch (GetConState) {		case GetCon1:			SendSim900("AT+GetConnection/r/n");			if (CompareString(buffer, "ok", 2)) {	//are the same				FRTOS1_xSemaphoreGive(SuccessLedMutex);				GetConState = Passed;			}			break;		default:			GetConState = Error;			break;		}		FRTOS1_vTaskDelay(				GET_CONNECTION_STATEMACHINE_DELAY_MS/portTICK_PERIOD_MS);	}}

static portTASK_FUNCTION(AppTask, pvParameters) {  (void)pvParameters; /* not used */  for(;;) {    LED1_Neg();    FRTOS1_vTaskDelay(500/portTICK_RATE_MS);  } /* for */}

static portTASK_FUNCTION(DriveTask, pvParameters) {  (void)pvParameters; /* parameter not used */  bool prevOn;  //traceLabel usrEvent;  prevOn = DRV_SpeedOn;#if PL_HAS_RTOS_TRACE  //usrEvent = xTraceOpenLabel("drive");#endif  for(;;) {#if PL_HAS_RTOS_TRACE    //RTOSTRC1_vTraceUserEvent(usrEvent);#endif    /*! /todo extend this for your own needs and with a position PID */    TACHO_CalcSpeed();    if (prevOn && !DRV_SpeedOn) { /* turned off */      MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_LEFT), 0);      MOT_SetSpeedPercent(MOT_GetMotorHandle(MOT_MOTOR_RIGHT), 0);      PID_Start(); /* reset values */    } else if (DRV_SpeedOn) {      PID_Speed(TACHO_GetSpeed(TRUE), DRV_SpeedLeft, TRUE); /* left */      PID_Speed(TACHO_GetSpeed(FALSE), DRV_SpeedRight, FALSE); /* right */    }    prevOn = DRV_SpeedOn;    FRTOS1_vTaskDelay(2/portTICK_RATE_MS);  } /* for */}

void BootUpModule(void) {	typedef enum {		Bootup1, Passed, Error	} BootUpState_Type;	BootUpState_Type BootUpState = Bootup1;	while (BootUpState != Passed) {		switch (BootUpState) {		case Bootup1:			SendSim900("AT+Bootup/r/n");			if (CompareString(buffer, "OK", 2)) {	//are the same				FRTOS1_xSemaphoreGive(SuccessLedMutex);				BootUpState = Passed;			}			break;		default:			BootUpState = Error;			break;		}		FRTOS1_vTaskDelay(BOOTUP_STATEMACHINE_DELAY_MS/portTICK_PERIOD_MS);	}}

static void Play(MIDI_MusicTrack *tracks, unsigned int nofTracks) {  int itemNo;  uint8_t channel;  uint32_t currTimeMs;  TickType_t startTicks;  unsigned int nofFinished;  /* init defaults */  for(channel=0;channel<nofTracks;channel++) {    VS1_MIDI_SetBank(channel, 0);    VS1_MIDI_SetInstrument(channel, VS1_MIDI_INSTR_Default);    VS1_MIDI_SetVolume(channel, 127);  }  startTicks = FRTOS1_xTaskGetTickCount();  itemNo = 0;  for(;;) { /* breaks */    currTimeMs = (FRTOS1_xTaskGetTickCount()-startTicks)/portTICK_RATE_MS;#if 0    if (currTimeMs>15000) {      break;    }#endif    nofFinished = 0;    for(channel=0;channel<nofTracks;channel++) {      if (!PlayTrackItem(&tracks[channel], currTimeMs, channel)) {        nofFinished++;      }    }    if (nofFinished==nofTracks) { /* all finished */      break;    }    FRTOS1_vTaskDelay(1/portTICK_RATE_MS);    itemNo++;  }}

static portTASK_FUNCTION(ReflTask, pvParameters) {  (void)pvParameters; /* not used */  for(;;) {    REF_StateMachine();    FRTOS1_vTaskDelay(10/TRG_TICKS_MS);  }}

static portTASK_FUNCTION(MainTask, pvParameters) {  (void)pvParameters; /* not used */#if PL_HAS_TSS  Configure(); /* initialize TSS library */#endif  for(;;) {#if PL_HAS_TSS    TSS_Task(); /* call TSS library to process touches */#else    CheckButton();#endif#if PL_APP_FOLLOW_OBSTACLE    FollowObstacle();#endif#if PL_HAS_LED_BLUE    LEDB_Neg();#endif#if PL_HAS_RADIO    (void)RADIO_Handle();#endif#if PL_HAS_EVENTS    EVNT_HandleEvent(RADIO_AppHandleEvent);#endif    StateMachine(FALSE);    FRTOS1_vTaskDelay(10/portTICK_RATE_MS);  }}

void ACCEL_StopAccelDemo(void) {    EVNT1_SetEvent(EVNT1_APP_MODE_CHANGE); /* request to close application */    while(EVNT1_GetEvent(EVNT1_APP_MODE_CHANGE)) {        /* wait until task has killed itself */        FRTOS1_vTaskDelay(50/portTICK_RATE_MS);    }    APP_SetApplicationMode(APP_MODE_MAIN_MENU);}

static portTASK_FUNCTION(vSlaveTask, pvParameters) {  for(;;) {	  xSemaphoreGive(MySemTest);	  FRTOS1_vTaskDelay(500);  }}

static void ReflTask (void *pvParameters) {  (void)pvParameters; /* not used *///  SQUEUE_SendString("Reflectance task started!/r/n");  for(;;) {    REF_StateMachine();    FRTOS1_vTaskDelay(10/portTICK_RATE_MS);  }}

static portTASK_FUNCTION(RadioTask, pvParameters) {  (void)pvParameters; /* not used */  (void)RADIO_PowerUp();  for(;;) {    (void)RADIO_Process();    FRTOS1_vTaskDelay(5/portTICK_RATE_MS);  }}