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 */
  }
}