自学教程：C++ FRTOS1_xTaskCreate函数代码示例

void APP_Start(void) {#if PL_HAS_RTOS_TRACE  if(RTOSTRC1_uiTraceStart()!=1) {    for(;;){} /* failure? */  }#endif#if PL_HAS_RADIO  RNETA_Init();#endif  SHELL_Init();  if (FRTOS1_xTaskCreate(      MainTask,  /* pointer to the task */      "Main", /* task name for kernel awareness debugging */      configMINIMAL_STACK_SIZE+500, /* task stack size */      (void*)NULL, /* optional task startup argument */      tskIDLE_PRIORITY,  /* initial priority */      (xTaskHandle*)NULL /* optional task handle to create */    ) != pdPASS) {  /*lint -e527 */  for(;;){} /* error! probably out of memory */    /*lint +e527 */  }  timerHndl = xTimerCreate("timer0", TIMER_PERIOD_MS/portTICK_RATE_MS, pdTRUE, (void *)0, vTimerCallback);  if (timerHndl==NULL) {    for(;;); /* failure! */  }  if (xTimerStart(timerHndl, 0)!=pdPASS) {    for(;;); /* failure! */  }  FRTOS1_vTaskStartScheduler();}

void APP_Run(void) {  appState = APP_STATE_INIT;  MOT_Init();  SHELL_Init();#if PL_HAS_LINE_SENSOR  REF_Init();  LF_Init();  TURN_Init();#endif#if PL_HAS_ULTRASONIC  US_Init();#endif#if PL_HAS_BUZZER  BUZ_Init();#endif#if PL_HAS_EVENTS  EVNT_Init();#endif#if PL_HAS_RADIO  RADIO_Init();#endif#if PL_HAS_REMOTE  REMOTE_Init();#endif#if PL_HAS_QUEUE  QUEUE_Init();#endif  if (FRTOS1_xTaskCreate(MainTask, (signed portCHAR *)"Main", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {    for(;;){} /* error */  }  FRTOS1_vTaskStartScheduler();}

/*! /brief Initializes module */void SEM_Init(void) {#if USE_SEMAPHORES  if (FRTOS1_xTaskCreate(vMasterTask, "Master", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {    for(;;){} /* error */  }#endif}

void REF_Init(void) {  refState = REF_STATE_INIT;  timerHandle = RefCnt_Init(NULL);  /*! /todo You might need to adjust priority or other task settings */  if (FRTOS1_xTaskCreate(ReflTask, "Refl", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {    for(;;){} /* error */  }}

/*! /brief Initializes module */void SEM_Init(void) {  /*! /todo Implement functionality */#if 0  if (FRTOS1_xTaskCreate(vMasterTask, "Master", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {    for(;;){} /* error */  }#endif}

void APP_Start(void) {  NEO_Init();  SHELL_Init();  if (FRTOS1_xTaskCreate(AppTask, "App", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+2, NULL) != pdPASS) {    for(;;){} /* error */  }  FRTOS1_vTaskStartScheduler();}

void APPFRDM_Init(void){	 if (FRTOS1_xTaskCreate(T3, (signed portCHAR *)"T3", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS)	 {	     for(;;){}	 }}

void BLEUART_CMDMODE_Init(void) {  txBuffer[0] = '/0';  isConnected = FALSE;  isEnabled = FALSE;  if (FRTOS1_xTaskCreate(BleUartTask, "BleUart", configMINIMAL_STACK_SIZE+100, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {    for(;;){} /* error */  }}

void StateMachine_Init(void) {  //refState = REF_STATE_INIT;  //timerHandle = RefCnt_Init(NULL);  /*! /todo You might need to adjust priority or other task settings */  DRV_EnableDisable(0);  if (FRTOS1_xTaskCreate(StateMachineTask, "StateMachine", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {    for(;;){} /* error */  }}

void RTOS_Init(void) {  static const int led1 = 1;  static const int led2 = 2;  EVNT_SetEvent(EVNT_STARTUP); /* set startup event */  /*! /todo Create tasks here */  if (FRTOS1_xTaskCreate(AppTask, (signed portCHAR *)"App1", configMINIMAL_STACK_SIZE, (void*)&led1, tskIDLE_PRIORITY, NULL) != pdPASS) {    for(;;){} /* error case only, stay here! */  }#if 0  if (FRTOS1_xTaskCreate(AppTask, (signed portCHAR *)"App2", configMINIMAL_STACK_SIZE, (void*)&led2, tskIDLE_PRIORITY, NULL) != pdPASS) {    for(;;){} /* error case only, stay here! */  }  if (FRTOS1_xTaskCreate(KillMe, (signed portCHAR *)"KillMe", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {    for(;;){} /* error case only, stay here! */  }#endif}

/*lint -save  -e970 Disable MISRA rule (6.3) checking. */int main(void)/*lint -restore Enable MISRA rule (6.3) checking. */{  /* Write your local variable definition here */  /*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/  PE_low_level_init();  /*** End of Processor Expert internal initialization.                    ***/  if (FRTOS1_xTaskCreate(        Task1,  /* pointer to the task */        (signed portCHAR *)"Task1", /* task name for kernel awareness debugging */        configMINIMAL_STACK_SIZE, /* task stack size */        (void*)NULL, /* optional task startup argument */        tskIDLE_PRIORITY,  /* initial priority */        (xTaskHandle*)NULL /* optional task handle to create */      ) != pdPASS) {    /*lint -e527 */    for(;;){}; /* error! probably out of memory */    /*lint +e527 */  }  if (FRTOS1_xTaskCreate(        Task2,  /* pointer to the task */        (signed portCHAR *)"Task2", /* task name for kernel awareness debugging */        configMINIMAL_STACK_SIZE, /* task stack size */        (void*)NULL, /* optional task startup argument */        tskIDLE_PRIORITY,  /* initial priority */        (xTaskHandle*)NULL /* optional task handle to create */      ) != pdPASS) {    /*lint -e527 */    for(;;){}; /* error! probably out of memory */    /*lint +e527 */  }  /*** Don't write any code pass this line, or it will be deleted during code generation. ***/  /*** RTOS startup code. Macro PEX_RTOS_START is defined by the RTOS component. DON'T MODIFY THIS CODE!!! ***/  #ifdef PEX_RTOS_START    PEX_RTOS_START();                  /* Startup of the selected RTOS. Macro is defined by the RTOS component. */  #endif  /*** End of RTOS startup code.  ***/  /*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/  for(;;){}  /*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/} /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/

void SHELL_Init(void) {#if !CLS1_DEFAULT_SERIAL && PL_HAS_BLUETOOTH  (void)CLS1_SetStdio(&BT_stdio); /* use the Bluetooth stdio as default */#endif#if PL_HAS_RTOS  if (FRTOS1_xTaskCreate(ShellTask, "Shell", configMINIMAL_STACK_SIZE+100, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {    for(;;){} /* error */  }#endif}

/*! /brief Initializes module */void REMOTE_Init(void) {  REMOTE_isOn = FALSE;  REMOTE_isVerbose = FALSE;  REMOTE_useJoystick = TRUE;#if PL_CONFIG_CONTROL_SENDER  if (FRTOS1_xTaskCreate(RemoteTask, "Remote", configMINIMAL_STACK_SIZE+50, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {    for(;;){} /* error */  }#endif}

void ACCEL_StartOrientationTask(void) {#if PL_HAS_HW_ACCELEROMETER    ACCEL1_CalibrateZ1g(); /* assume device is flat during reset/power-up */    //ACCEL1_CalibrateX1g(); /* flat on switch side */    //ACCEL1_CalibrateY1g(); /* flat on LCD side */#endif#if PL_HAS_ACCEL_ORIENT    FRTOS1_xTaskCreate(TaskAccelOrientation, (signed portCHAR *)"AccelOrient", configMINIMAL_STACK_SIZE+50, NULL, tskIDLE_PRIORITY+1, &xHandleTaskAccelOrientation);#endif}

void REF_Init(void) {  mutexHandle = FRTOS1_xSemaphoreCreateMutex();  if (mutexHandle==NULL) {    for(;;);  }  timerHandle = TU1_Init(NULL);  InitSensorValues();  if (FRTOS1_xTaskCreate(ReflTask, (signed portCHAR *)"Refl", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {    for(;;){} /* error */  }}

void HOST_Init(void) {#if ONLY_HOST  FsMSD1_HostInit();  HOST_Run();#else  FsMSD1_HostInit();  if (FRTOS1_xTaskCreate(HostTask, (signed portCHAR *)"Host", configMINIMAL_STACK_SIZE+100, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {    for(;;){} /* error */  }#endif}

void PLR_Init(void) {	//feedSem = FRTOS1_xSemaphoreCreateRecursiveMutex();	blinky_light_ClrVal();	if (FRTOS1_xTaskCreate(playerTask, "Player", configMINIMAL_STACK_SIZE+200,			NULL, tskIDLE_PRIORITY+3, NULL) != pdPASS) {		for (;;) {		} /* error */	}	  //FRTOS1_vQueueAddToRegistry(feedSem, "feedSem");}

void main(void){  /* Write your local variable definition here */  PEX_RTOS_INIT();  /*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/  PE_low_level_init();  /*** End of Processor Expert internal initialization.                    ***/  if (FRTOS1_xTaskCreate(        Task1,  /* pointer to the task */        (signed portCHAR *)"Task1", /* task name for kernel awareness debugging */        configMINIMAL_STACK_SIZE, /* task stack size */        (void*)NULL, /* optional task startup argument */        tskIDLE_PRIORITY,  /* initial priority */        (xTaskHandle*)NULL /* optional task handle to create */      ) != pdPASS) {    /*lint -e527 */    for(;;){}; /* error! probably out of memory */    /*lint +e527 */  }  if (FRTOS1_xTaskCreate(        Task2,  /* pointer to the task */        (signed portCHAR *)"Task2", /* task name for kernel awareness debugging */        configMINIMAL_STACK_SIZE, /* task stack size */        (void*)NULL, /* optional task startup argument */        tskIDLE_PRIORITY,  /* initial priority */        (xTaskHandle*)NULL /* optional task handle to create */      ) != pdPASS) {    /*lint -e527 */    for(;;){}; /* error! probably out of memory */    /*lint +e527 */  }    FRTOS1_vTaskStartScheduler();  /*** Don't write any code pass this line, or it will be deleted during code generation. ***/  /*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/  for(;;){}  /*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/} /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/

void APP_Run(void) {  if (FRTOS1_xTaskCreate(MainTask, (signed portCHAR *)"Main", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {    for(;;){} /* error */  }  //(void)RTOSTICK1_Enable();  //FRTOS1_taskENABLE_INTERRUPTS();    for(;;) {    LED1_Neg();    WAIT1_Waitms(1000);  }  FRTOS1_vTaskStartScheduler();}

/*! /brief Function for starting the Application. Inits and Start the RTOS */void APP_Start(void) {  PL_Init(); 				/* platform initialization */  EVNT_SetEvent(EVNT_INIT); /* set initial event */  //Create application Task  if (FRTOS1_xTaskCreate(APPTask, (signed portCHAR *)"APP_Task", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {    for(;;){} /* error */  }  RTOS_Run();}

void RTOS_Init(void) {  if (FRTOS1_xTaskCreate(T1, (signed portCHAR *)"T1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {    for(;;){} /* error */  }  if (FRTOS1_xTaskCreate(App_loop, (signed portCHAR *)"App_loop", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {      for(;;){} /* error */    }#if PL_HAS_LINE_SENSOR  if (FRTOS1_xTaskCreate(CheckReflactance, (signed portCHAR *)"CheckReflactance", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &checkRefl) != pdPASS) {       for(;;){} /* error */     }#endif#if PL_HAS_REMOTE  if (FRTOS1_xTaskCreate(Remote, (signed portCHAR *)"Remote", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &remoteTask) != pdPASS) {       for(;;){} /* error */     }#endif#if PL_HAS_FIGHT  if(FRTOS1_xTaskCreate(Fight_modus,(signed portCHAR *) "Fight_m", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &fightTask) != pdPASS) {      for(;;){} /* error */    }#endif#if PL_HAS_ACCEL && PL_IS_ROBO  if(FRTOS1_xTaskCreate(AccelObserv,(signed portCHAR *) "AccelObserv", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL) != pdPASS) {      for(;;){} /* error */    }#endif}

void RTOS_Start(void) {  if (FRTOS1_xTaskCreate(        MyTask,  /* pointer to the task */        (signed portCHAR *)"MyTask", /* task name for kernel awareness debugging */        configMINIMAL_STACK_SIZE, /* task stack size */        (void*)NULL, /* optional task startup argument */        tskIDLE_PRIORITY,  /* initial priority */        (xTaskHandle*)NULL /* optional task handle to create */      ) != pdPASS) {     for(;;){}; /* error! probably out of memory */  }  FRTOS1_vTaskStartScheduler();}

void PONG_Init(void) {  if (FRTOS1_xTaskCreate(        PongTask,  /* pointer to the task */        "Pong", /* task name for kernel awareness debugging */        configMINIMAL_STACK_SIZE, /* task stack size */        (void*)NULL, /* optional task startup argument */        tskIDLE_PRIORITY+2,  /* initial priority */        (xTaskHandle*)NULL /* optional task handle to create */      ) != pdPASS) {    /*lint -e527 */    for(;;){}; /* error! probably out of memory */    /*lint +e527 */  }}

void MM_Init(void) {  if (FRTOS1_xTaskCreate(      MidiPlayTask,  /* pointer to the task */      "MidiPlay", /* task name for kernel awareness debugging */      configMINIMAL_STACK_SIZE, /* task stack size */      (void*)NULL, /* optional task startup argument */      tskIDLE_PRIORITY+1,  /* initial priority */      &MidiPlayTaskHandle /* optional task handle to create */    ) != pdPASS) {  /*lint -e527 */  for(;;){} /* error! probably out of memory */    /*lint +e527 */  }}

void SHELL_Init(void) {#if PL_HAS_RTOS_TRACE    Ptrc1_vTraceSetQueueName(CLS1_GetSemaphore(), "Shell_Sem");#endif#if !PL_HAS_RTOS    buf[0] = '/0';    (void)CLS1_ParseWithCommandTable((unsigned char*)CLS1_CMD_HELP, CLS1_GetStdio(), CmdParserTable);#endif#if PL_HAS_RTOS    if (FRTOS1_xTaskCreate(ShellTask, (signed portCHAR *)"Shell", configMINIMAL_STACK_SIZE+200, NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {        for(;;) {} /* error */    }#endif}

static portTASK_FUNCTION(vMasterTask, pvParameters) {  /*! /todo Implement functionality */  xSemaphoreHandle sem = NULL;  (void)pvParameters; /* parameter not used */  sem = FRTOS1_xSemaphoreCreateBinary();  if (sem==NULL) { /* semaphore creation failed */    for(;;){} /* error */  }  FRTOS1_vQueueAddToRegistry(sem, "IPC_Sem");  /* create slave task */  if (FRTOS1_xTaskCreate(vSlaveTask, "Slave", configMINIMAL_STACK_SIZE, sem, tskIDLE_PRIORITY+1, NULL) != pdPASS) {    for(;;){} /* error */  }  if (FRTOS1_xTaskCreate(vSlaveTask2, "Slave", configMINIMAL_STACK_SIZE, sem, tskIDLE_PRIORITY+2, NULL) != pdPASS) {      for(;;){} /* error */    }  for(;;) {    if (sem != NULL) { /* valid semaphore? */      (void)xSemaphoreGive(sem); /* give control to other task */      FRTOS1_vTaskDelay(1000/portTICK_RATE_MS);    }  }}

void DRV_Init(void) {  DRV_Status.mode = DRV_MODE_NONE;  DRV_Status.speed.left = 0;  DRV_Status.speed.right = 0;  DRV_Status.pos.left = 0;  DRV_Status.pos.right = 0;  DRV_Queue = FRTOS1_xQueueCreate(QUEUE_LENGTH, QUEUE_ITEM_SIZE);  if (DRV_Queue==NULL) {    for(;;){} /* out of memory? */  }  FRTOS1_vQueueAddToRegistry(DRV_Queue, "Drive");  if (FRTOS1_xTaskCreate(DriveTask, "Drive", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY+3, NULL) != pdPASS) {    for(;;){} /* error */  }}

void ACCEL_StartDemoTask(ACCEL_WindowDesc *desc) {    UI1_PixelDim yPos, h;    UI1_CreateScreen(&desc->screen, UI1_COLOR_WHITE);    (void)UI1_CreateWindow(&desc->screen, &desc->window, UI1_COLOR_BRIGHT_GREEN, 0, 0, UI1_GetWidth(), UI1_GetHeight());    (void)UI1_CreateHeader(&desc->window, &desc->header, (unsigned char*)"Accelerometer", FONT, UI1_COLOR_BLUE);    UI1_ChangeTextFgColor(&desc->header.element, UI1_COLOR_WHITE);    UI1_SetWindowEventCallback(&desc->window, accelW_WindowCallback);    /* Icon: Close */    h = (UI1_PixelDim)(UI1_GetElementHeight(&desc->header));    (void)UI1_CreateIcon(&desc->window, &desc->iconClose, 1, 1, (UI1_PixelDim)(h-2), (UI1_PixelDim)(h-2), UI1_ICON_CLOSE);    desc->iconClose.element.prop.flags |= UI1_FLAGS_ALIGN_RIGHT;    UI1_OnWindowResize(&desc->window); /* right align element(s) if needed */    UI1_ChangeElementColor(&desc->iconClose, UI1_COLOR_BLUE);    UI1_ChangeIconFgColor(&desc->iconClose, UI1_COLOR_WHITE);    UI1_EnableElementSelection(&desc->iconClose);    yPos = (UI1_PixelDim)(UI1_GetElementPosY(&desc->window)+UI1_GetElementHeight(&desc->header)+5);    /* barGraph */    desc->data[0] = 0;    desc->data[1] = 0;    desc->data[2] = 0;    (void)UI1_CreateBarGraph(&desc->window, &desc->accelBarGraph, 5, yPos, 170, 170,                             UI1_COLOR_BRIGHT_GREEN,                             (byte*)&desc->data, sizeof(desc->data),                             UI1_COLOR_RED, /* bar color */                             1, /* border width */                             UI1_COLOR_BLACK, /* border color */                             5 /* border space */                            );    yPos = (UI1_PixelDim)(UI1_GetElementPosY(&desc->accelBarGraph)+UI1_GetElementHeight(&desc->accelBarGraph)+5);    /* X */    desc->txtBufX[0] = '/0';    (void)UI1_CreateText(&desc->window, &desc->txtX,  5, yPos, 0, 0, &desc->txtBufX[0], FONT);    /* Y */    desc->txtBufY[0] = '/0';    (void)UI1_CreateText(&desc->window, &desc->txtY, 58, yPos, 0, 0, &desc->txtBufY[0], FONT);    /* Z */    desc->txtBufZ[0] = '/0';    (void)UI1_CreateText(&desc->window, &desc->txtZ, 110, yPos, 0, 0, &desc->txtBufZ[0], FONT);    UIG1_CreateGraph(&desc->window, &desc->graph,                     (UI1_PixelDim)(UI1_GetElementPosX(&desc->accelBarGraph)+UI1_GetElementWidth(&desc->accelBarGraph)+10), UI1_GetElementPosY(&desc->accelBarGraph),                     125, UI1_GetElementHeight(&desc->accelBarGraph));    /* update the screen */    UI1_UpdateScreen(&desc->screen);    FRTOS1_xTaskCreate(TaskAccelDemo, (signed portCHAR *)"Accel", configMINIMAL_STACK_SIZE+50, desc, tskIDLE_PRIORITY+1, NULL);}