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Chapter 3
void
{
main (void)
OS_ERR
err;
BSP_IntDisAll();
OSInit(&err);
if (err != OS_ERR_NONE) {
/* Something didn’t get initialized correctly ... */
/* ... check OS.H for the meaning of the error code, see OS_ERR_xxxx */
}
OSTaskCreate((OS_TCB *)&AppTaskStartTCB,
(CPU_CHAR *)”App Task Start”,
(OS_TASK_PTR )AppTaskStart,
(void *)0,
(OS_PRIO )APP_TASK_START_PRIO,
(CPU_STK *)&AppTaskStartStk[0],
(CPU_STK_SIZE)APP_TASK_START_STK_SIZE / 10,
(CPU_STK_SIZE)APP_TASK_START_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(OS_ERR *)&err); (12)
if (err != OS_ERR_NONE) {
/* The task didn’t get created. Lookup the value of the error code ... */
/* ... in OS.H for the meaning of the error */
}
OSStart(&err); (13)
if (err != OS_ERR_NONE) {
/* Your code is NEVER supposed to come back to this point. */
}
}
Listing 3-2 APP.C (2nd Part)
L3-2(1)
Start main() by calling a BSP function that disables all interrupts. On most
processors, interrupts are disabled at startup until explicitly enabled by application
code. However, it is safer to turn off all peripheral interrupts during startup.
L3-2(2)
Call OSInit() , which is responsible for initializing μC/OS-III. OSInit()
initializes internal variables and data structures, and also creates two (2) to five (5)
internal tasks. At a minimum, μC/OS-III creates the idle task ( OS_IdleTask() ),
which executes when no other task is ready to run. μC/OS-III also creates the
tick task, which is responsible for keeping track of time.
54
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