C++ pdMS_TO_TICKS函数代码示例

/* SW2: PTC1 (near USB)
 * SW3: PTB17
 */
static void ButtonTask(void *pvParameters) {
  (void)pvParameters;
  g = 3.5;
  floatFunc(5.5);
  for(;;) {
    if (SW2IsPressed()) { /* SW2 pressed */
      PrintButtonPressed(2, TRUE);
      vTaskDelay(pdMS_TO_TICKS(50)); /* debounce */
      while(SW2IsPressed()) { /* wait until released */
        //vTaskDelay(pdMS_TO_TICKS(50)); /*! \todo 4 Add delay of 50 ms */
      }
      PrintButtonPressed(2, FALSE);
      (void)xSemaphoreGive(semSW2); /* send message to toggle USB */
      (void)xSemaphoreGive(semMouse); /* send message to toggle USB */
      (void)xSemaphoreGive(semKbd); /* send message to toggle USB */
    }
    if (SW3IsPressed()) { /* SW3 pressed */
      PrintButtonPressed(3, TRUE);
      vTaskDelay(pdMS_TO_TICKS(50)); /* debounce */
      while(SW3IsPressed()) { /* wait until released */
        //vTaskDelay(pdMS_TO_TICKS(50)); /*! \todo 5 Add delay of 50 ms */
      }
      PrintButtonPressed(3, FALSE);
      (void)xSemaphoreGive(semSW3); /* send message */
      (void)xSemaphoreGive(semLED); /* send message to change LED */
    }
    //vTaskDelay(pdMS_TO_TICKS(10)); /*! \todo 2 Add delay of 10 ms */
  }
}

void SWT_Init(void) {
  BaseType_t res;

  led = 0; /* red */
#if configSUPPORT_STATIC_ALLOCATION
  handle = xTimerCreateStatic(
      "swtimer", /* debug name of task */
      pdMS_TO_TICKS(500), /* period */
      pdTRUE, /* auto-reload */
      NULL, /* no timer ID */
      vTimerCallback, /* callback */
      &xTimerBuffer
      );
#else /* configSUPPORT_DYNAMIC_ALLOCATION */
  handle = xTimerCreate(
      "swtimer", /* debug name of task */
      pdMS_TO_TICKS(500), /* period */
      pdTRUE, /* auto-reload */
      NULL, /* no timer ID */
      vTimerCallback /* callback */
      );
#endif
  if (handle==NULL) {
    for(;;); /* error creating timer */
  }
  res = xTimerStart(handle, 0);
  if (res==pdFAIL) {
    for(;;); /* error starting timer */
  }
}

/**************************************************************************//**
 * @brief  Main function
 *****************************************************************************/
int main(void)
{
  /* Chip errata */
  CHIP_Init();
  /* If first word of user data page is non-zero, enable eA Profiler trace */
  BSP_TraceProfilerSetup();

  /* Initialize LED driver */
  BSP_LedsInit();
  /* Setting state of leds*/
  BSP_LedSet(0);
  BSP_LedSet(1);

  /* Initialize SLEEP driver, no calbacks are used */
  SLEEP_Init(NULL, NULL);
#if (configSLEEP_MODE < 3)
  /* do not let to sleep deeper than define */
  SLEEP_SleepBlockBegin((SLEEP_EnergyMode_t)(configSLEEP_MODE+1));
#endif

  /* Parameters value for taks*/
  static TaskParams_t parametersToTask1 = { pdMS_TO_TICKS(1000), 0 };
  static TaskParams_t parametersToTask2 = { pdMS_TO_TICKS(500), 1 };

  /*Create two task for blinking leds*/
  xTaskCreate( LedBlink, (const char *) "LedBlink1", STACK_SIZE_FOR_TASK, &parametersToTask1, TASK_PRIORITY, NULL);
  xTaskCreate( LedBlink, (const char *) "LedBlink2", STACK_SIZE_FOR_TASK, &parametersToTask2, TASK_PRIORITY, NULL);

  /*Start FreeRTOS Scheduler*/
  vTaskStartScheduler();

  return 0;
}

void test_runner(void *arg)
{
    PUBNUB_UNUSED(arg);

    for (;;) {
        unsigned next_test = 0;
        unsigned failed_count = 0;
        unsigned passed_count = 0;
        unsigned indete_count = 0;
        unsigned tests_in_progress = 0;

        FreeRTOS_printf(("Starting Run of %d tests\n", TEST_COUNT));

        while (failed_count + passed_count + indete_count < TEST_COUNT) {
            struct TestResultMessage msg;
            if ((tests_in_progress < g_max_conc_tests) && (next_test < TEST_COUNT)) {
                start_test(next_test++);
                ++tests_in_progress;
            }
            if (pdTRUE == xQueueReceive(m_TestResultQueue, &msg, pdMS_TO_TICKS(20))) {
                switch (msg.result) {
                case trFail:
                    FreeRTOS_printf(("\n !!!!!!! The %d. test ('%s') failed!\n\n", msg.test + 1, m_aTest[msg.test].name));
                    ++failed_count;
                    break;
                case trPass:
                    ++passed_count;
                    break;
                case trIndeterminate:
                    ++indete_count;
                    FreeRTOS_printf((" Indeterminate %d. test ('%s') of %d\t", msg.test+1, m_aTest[msg.test].name, TEST_COUNT));
                    /* Should restart the test... */
                    //FreeRTOS_printf((" ReStarting %d. test of %ld\t", msg.test + 1, TEST_COUNT));
                    break;
                }
#ifdef INCLUDE_vTaskDelete
                vTaskDelete(m_aTest[msg.test].task);
#endif
                --tests_in_progress;
            }
        }

        FreeRTOS_printf(("Test run over.\n"));
        if (passed_count == TEST_COUNT) {
            FreeRTOS_printf(("\n All %d tests passed\n", TEST_COUNT));
        }
        else {
            FreeRTOS_printf(("\n\n %d tests passed, %d tests failed, %d tests indeterminate\n", 
                    passed_count,
                    failed_count,
                    indete_count
                ));
        }

        vTaskDelay(pdMS_TO_TICKS(10 * 1000));
    }
}

void vStartNTPTask( uint16_t usTaskStackSize, UBaseType_t uxTaskPriority )
{
	/* The only public function in this module: start a task to contact
	some NTP server. */

	if( xNTPTaskhandle != NULL )
	{
		switch( xStatus )
		{
		case EStatusPause:
			xStatus = EStatusAsking;
			vSignalTask();
			break;
		case EStatusLookup:
			FreeRTOS_printf( ( "NTP looking up server\n" ) );
			break;
		case EStatusAsking:
			FreeRTOS_printf( ( "NTP still asking\n" ) );
			break;
		case EStatusFailed:
			FreeRTOS_printf( ( "NTP failed somehow\n" ) );
			ulIPAddressFound = 0ul;
			xStatus = EStatusLookup;
			vSignalTask();
			break;
		}
	}
	else
	{
		xUDPSocket = FreeRTOS_socket( FREERTOS_AF_INET, FREERTOS_SOCK_DGRAM, FREERTOS_IPPROTO_UDP );
		if( xUDPSocket != NULL )
		{
		struct freertos_sockaddr xAddress;
		#if( ipconfigUSE_CALLBACKS != 0 )
			BaseType_t xReceiveTimeOut = pdMS_TO_TICKS( 0 );
		#else
			BaseType_t xReceiveTimeOut = pdMS_TO_TICKS( 5000 );
		#endif

			xAddress.sin_addr = 0ul;
			xAddress.sin_port = FreeRTOS_htons( NTP_PORT );

			FreeRTOS_bind( xUDPSocket, &xAddress, sizeof( xAddress ) );
			FreeRTOS_setsockopt( xUDPSocket, 0, FREERTOS_SO_RCVTIMEO, &xReceiveTimeOut, sizeof( xReceiveTimeOut ) );
			xTaskCreate( 	prvNTPTask,						/* The function that implements the task. */
							( const char * ) "NTP client",	/* Just a text name for the task to aid debugging. */
							usTaskStackSize,				/* The stack size is defined in FreeRTOSIPConfig.h. */
							NULL,							/* The task parameter, not used in this case. */
							uxTaskPriority,					/* The priority assigned to the task is defined in FreeRTOSConfig.h. */
							&xNTPTaskhandle );				/* The task handle. */
		}
		else
		{
			FreeRTOS_printf( ( "Creating socket failed\n" ) );
		}
	}
}

void
main_thread(void *pdata) {
    try_flash();
    if (user_vtor[1] == 0xFFFFFFFF) {
        serial_puts(&Serial1, "No application loaded, trying to load again in 10 seconds\r\n");
        vTaskDelay(pdMS_TO_TICKS(10000));
        NVIC_SystemReset();
    } else {
        serial_puts(&Serial1, "Booting application\r\n");
        vTaskDelay(pdMS_TO_TICKS(250));
        reset_and_jump();
    }
}

BaseType_t xPhyCheckLinkStatus( EthernetPhy_t *pxPhyObject, BaseType_t xHadReception )
{
uint32_t ulStatus, ulBitMask = 1u;
BaseType_t xPhyIndex;
BaseType_t xNeedCheck = pdFALSE;

	if( xHadReception > 0 )
	{
		/* A packet was received. No need to check for the PHY status now,
		but set a timer to check it later on. */
		vTaskSetTimeOutState( &( pxPhyObject->xLinkStatusTimer ) );
		pxPhyObject->xLinkStatusRemaining = pdMS_TO_TICKS( ipconfigPHY_LS_HIGH_CHECK_TIME_MS );
	}
	else if( xTaskCheckForTimeOut( &( pxPhyObject->xLinkStatusTimer ), &( pxPhyObject->xLinkStatusRemaining ) ) != pdFALSE )
	{
		for( xPhyIndex = 0; xPhyIndex < pxPhyObject->xPortCount; xPhyIndex++, ulBitMask <<= 1 )
		{
		BaseType_t xPhyAddress = pxPhyObject->ucPhyIndexes[ xPhyIndex ];

			if( pxPhyObject->fnPhyRead( xPhyAddress, phyREG_01_BMSR, &ulStatus ) == 0 )
			{
				if( !!( pxPhyObject->ulLinkStatusMask & ulBitMask ) != !!( ulStatus & phyBMSR_LINK_STATUS ) )
				{
					if( ( ulStatus & phyBMSR_LINK_STATUS ) != 0 )
					{
						pxPhyObject->ulLinkStatusMask |= ulBitMask;
					}
					else
					{
						pxPhyObject->ulLinkStatusMask &= ~( ulBitMask );
					}
					FreeRTOS_printf( ( "xPhyCheckLinkStatus: PHY LS now %02lX\n", pxPhyObject->ulLinkStatusMask ) );
					eventLogAdd( "PHY LS now %02lX", pxPhyObject->ulLinkStatusMask );
					xNeedCheck = pdTRUE;
				}
			}
		}
		vTaskSetTimeOutState( &( pxPhyObject->xLinkStatusTimer ) );
		if( ( pxPhyObject->ulLinkStatusMask & phyBMSR_LINK_STATUS ) != 0 )
		{
			pxPhyObject->xLinkStatusRemaining = pdMS_TO_TICKS( ipconfigPHY_LS_HIGH_CHECK_TIME_MS );
		}
		else
		{
			pxPhyObject->xLinkStatusRemaining = pdMS_TO_TICKS( ipconfigPHY_LS_LOW_CHECK_TIME_MS );
		}
	}
	return xNeedCheck;
}

static void
cliWriteConfig(void) {
    int16_t result;
    if (!HAS_FEATURE(PPSEN) && (cfg.flags & FLAG_PPSEN)) {
        cli_puts("WARNING: PPS output not available on this hardware\r\n");
        cfg.flags &= ~FLAG_PPSEN;
    }
    if ((cfg.flags & (FLAG_GPSEXT | FLAG_GPSOUT)) == (FLAG_GPSEXT | FLAG_GPSOUT)) {
        cli_puts("WARNING: gps_ext_in and gps_ext_out are mutually exclusive.\r\n");
        cfg.flags &= ~FLAG_GPSOUT;
    }
    /* Check for more than one ntpkey type */
    result = 0;
    if (cfg.flags & FLAG_NTPKEY_MD5) {
        result++;
    }
    if (cfg.flags & FLAG_NTPKEY_SHA1) {
        result++;
    }
    if (result > 1) {
        cli_puts("WARNING: More than one ntpkey type specified\r\n");
        cfg.flags &= ~(FLAG_NTPKEY_MD5 | FLAG_NTPKEY_SHA1);
    }
    cli_puts("Writing EEPROM...\r\n");
    result = eeprom_write_cfg();
    if (result == EERR_OK) {
        cli_puts("OK\r\n");
        serial_drain(cl_out);
        vTaskDelay(pdMS_TO_TICKS(1000));
        NVIC_SystemReset();
    } else {
        show_eeprom_error(result);
    }
}

static void prvCheckTask( void *pvParameters )
{
const TickType_t xCycleFrequency = pdMS_TO_TICKS( 2500UL );
static char *pcStatusMessage = "No errors";

	/* Just to remove compiler warning. */
	( void ) pvParameters;

	for( ;; )
	{
		/* Place this task in the blocked state until it is time to run again. */
		vTaskDelay( xCycleFrequency );

		/* Check the tasks that use static allocation are still executing. */
		if( xAreStaticAllocationTasksStillRunning() != pdPASS )
		{
			pcStatusMessage = "Error: Static allocation";
		}

		/* This is the only task that uses stdout so its ok to call printf()
		directly. */
		printf( "%s - tick count %d - number of tasks executing %d\r\n",
													pcStatusMessage,
													xTaskGetTickCount(),
													uxTaskGetNumberOfTasks() );
	}
}

static void prvQueueReceiveTask( void *pvParameters )
{
uint32_t ulReceivedValue;
const uint32_t ulExpectedValue = 100UL;
const TickType_t xShortDelay = pdMS_TO_TICKS( 10 );

	/* Remove compiler warning about unused parameter. */
	( void ) pvParameters;

	for( ;; )
	{
		/* Wait until something arrives in the queue - this task will block
		indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
		FreeRTOSConfig.h. */
		xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );

		/*  To get here something must have been received from the queue, but
		is it the expected value?  If it is, toggle the LED. */
		if( ulReceivedValue == ulExpectedValue )
		{
			/* Blip the LED briefly to show the demo is running, but without
			leaving the LED on too long as energy is being conserved. */
			mainTOGGLE_LED();
			vTaskDelay( xShortDelay );
			mainTOGGLE_LED();

			ulReceivedValue = 0U;
		}
	}
}

static Socket_t prvCreateDNSSocket( void )
{
static Socket_t xSocket = NULL;
struct freertos_sockaddr xAddress;
BaseType_t xReturn;
TickType_t xTimeoutTime = pdMS_TO_TICKS( 200 );

	/* This must be the first time this function has been called.  Create
	the socket. */
	xSocket = FreeRTOS_socket( FREERTOS_AF_INET, FREERTOS_SOCK_DGRAM, FREERTOS_IPPROTO_UDP );

	/* Auto bind the port. */
	xAddress.sin_port = 0u;
	xReturn = FreeRTOS_bind( xSocket, &xAddress, sizeof( xAddress ) );

	/* Check the bind was successful, and clean up if not. */
	if( xReturn != 0 )
	{
		FreeRTOS_closesocket( xSocket );
		xSocket = NULL;
	}
	else
	{
		/* Set the send and receive timeouts. */
		FreeRTOS_setsockopt( xSocket, 0, FREERTOS_SO_RCVTIMEO, ( void * ) &xTimeoutTime, sizeof( TickType_t ) );
		FreeRTOS_setsockopt( xSocket, 0, FREERTOS_SO_SNDTIMEO, ( void * ) &xTimeoutTime, sizeof( TickType_t ) );
	}

	return xSocket;
}

BaseType_t xNetworkInterfaceInitialise( void )
{
const TickType_t x5_Seconds = 5000UL;

	if( xEMACTaskHandle == NULL )
	{
		prvGMACInit();

		/* Wait at most 5 seconds for a Link Status in the PHY. */
		xGMACWaitLS( pdMS_TO_TICKS( x5_Seconds ) );

		/* The handler task is created at the highest possible priority to
		ensure the interrupt handler can return directly to it. */
		xTaskCreate( prvEMACHandlerTask, "EMAC", configEMAC_TASK_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, &xEMACTaskHandle );
		configASSERT( xEMACTaskHandle );
	}

	if( xTxBufferQueue == NULL )
	{
		xTxBufferQueue = xQueueCreate( GMAC_TX_BUFFERS, sizeof( void * ) );
		configASSERT( xTxBufferQueue );
	}

	if( xTXDescriptorSemaphore == NULL )
	{
		xTXDescriptorSemaphore = xSemaphoreCreateCounting( ( UBaseType_t ) GMAC_TX_BUFFERS, ( UBaseType_t ) GMAC_TX_BUFFERS );
		configASSERT( xTXDescriptorSemaphore );
	}
	/* When returning non-zero, the stack will become active and
    start DHCP (in configured) */
	return ( ulPHYLinkStatus & BMSR_LINK_STATUS ) != 0;
}

void vApplicationTickHook( void )
{
static uint32_t ulCallCount = 0;
const uint32_t ulCallsBetweenSends = pdMS_TO_TICKS( 1000 );
const uint32_t ulMessage = configPRINT_SYSTEM_STATUS;
portBASE_TYPE xDummy;

	/* If configUSE_TICK_HOOK is set to 1 then this function will get called
	from each RTOS tick.  It is called from the tick interrupt and therefore
	will be executing in the privileged state. */

	ulCallCount++;

	/* Is it time to print out the pass/fail message again? */
	if( ulCallCount >= ulCallsBetweenSends )
	{
		ulCallCount = 0;

		/* Send a message to the check task to command it to check that all
		the tasks are still running then print out the status.

		This is running in an ISR so has to use the "FromISR" version of
		xQueueSend().  Because it is in an ISR it is running with privileges
		so can access xGlobalScopeCheckQueue directly. */
		xQueueSendFromISR( xGlobalScopeCheckQueue, &ulMessage, &xDummy );
	}
}

/**
 * SIM800 IP configuration commands fail if the IP application is running,
 * even though the configuration settings are already right. The following
 * monkey dance is therefore needed.
 */
static int sim800_config(struct cellular *modem, const char *option, const char *value, int attempts)
{
    at_set_timeout(modem->at, 10);

    for (int i=0; i<attempts; i++) {
        /* Blindly try to set the configuration option. */
        at_command(modem->at, "AT+%s=%s", option, value);

        /* Query the setting status. */
        const char *response = at_command(modem->at, "AT+%s?", option);
        /* Bail out on timeouts. */
        if (response == NULL)
            return -1;

        /* Check if the setting has the correct value. */
        char expected[16];
        if (snprintf(expected, sizeof(expected), "+%s: %s", option, value) >= (int) sizeof(expected)) {
            return -1;
        }
        if (!strcmp(response, expected))
            return 0;

        vTaskDelay(pdMS_TO_TICKS(1000));
    }

    return -1;
}

static void prvQueueReceiveTask( void *pvParameters )
{
    uint32_t ulReceivedValue;
    const uint32_t ulExpectedValue = 100UL;
    const TickType_t xShortDelay = pdMS_TO_TICKS( 10 );

    /* Remove compiler warning about unused parameter. */
    ( void ) pvParameters;

    for( ;; ) {
        /* Wait until something arrives in the queue - this task will block
        indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
        FreeRTOSConfig.h. */
        xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );

        /*  To get here something must have been received from the queue, but
        is it the expected value?  If it is, toggle the LED. */
        if( ulReceivedValue == ulExpectedValue ) {
            /* Turn the LED on for a brief time only so it doens't distort the
            energy reading. */
            BSP_LedSet( mainTASK_LED );
            vTaskDelay( xShortDelay );
            BSP_LedClear( mainTASK_LED );
            ulReceivedValue = 0U;
        }
    }
}