(uC/OSII学习笔记)uC/OSII在kinetisK60上移植与任务建立

OS_STK *FirstTask_Add;
void main()
{OSInit(); //初始化uC/OS
FirstTask_Add &＃61; (OS_STK *)malloc(sizeof(OS_STK));OSTaskCreate(FirstTask_LED,(void *)0,FirstTask_Add,4); //创建任务
OSStart(); //启动多任务管理
}

INT8U OSTaskCreate (void (*task)(void *p_arg),void *p_arg,OS_STK *ptos,INT8U prio)
{OS_STK *psp;INT8U err;
#if OS_CRITICAL_METHOD &＃61;&＃61; 3u /* Allocate storage for CPU status register */OS_CPU_SR cpu_sr &＃61; 0u;
#endif#ifdef OS_SAFETY_CRITICAL_IEC61508if (OSSafetyCriticalStartFlag &＃61;&＃61; OS_TRUE){OS_SAFETY_CRITICAL_EXCEPTION();return (OS_ERR_ILLEGAL_CREATE_RUN_TIME);}
#endif#if OS_ARG_CHK_EN > 0uif (prio > OS_LOWEST_PRIO) /* Make sure priority is within allowable range */{return (OS_ERR_PRIO_INVALID);}
#endifOS_ENTER_CRITICAL();if (OSIntNesting > 0u) /* Make sure we don&＃39;t create the task from within an ISR */{OS_EXIT_CRITICAL();return (OS_ERR_TASK_CREATE_ISR);}if (OSTCBPrioTbl[prio] &＃61;&＃61; (OS_TCB *)0) /* Make sure task doesn&＃39;t already exist at this priority */{OSTCBPrioTbl[prio] &＃61; OS_TCB_RESERVED;/* Reserve the priority to prevent others from doing ... *//* ... the same thing until task is created. */OS_EXIT_CRITICAL();psp &＃61; OSTaskStkInit(task, p_arg, ptos, 0u); /* Initialize the task&＃39;s stack */err &＃61; OS_TCBInit(prio, psp, (OS_STK *)0, 0u, 0u, (void *)0, 0u);if (err &＃61;&＃61; OS_ERR_NONE){if (OSRunning &＃61;&＃61; OS_TRUE) /* Find highest priority task if multitasking has started */{OS_Sched();}}else{OS_ENTER_CRITICAL();OSTCBPrioTbl[prio] &＃61; (OS_TCB *)0;/* Make this priority available to others */OS_EXIT_CRITICAL();}return (err);}OS_EXIT_CRITICAL();return (OS_ERR_PRIO_EXIST);
}

void FirstTask_LED(void *pdata)
{U8 aa &＃61; 1;pdata &＃61; pdata; init_LED();while(1){Delay(300);LED2(aa);aa &＃61; !aa;}
}

OSTaskCreateExt(Task_LED1,(void *)0,&Task_Stk[STARTUP_TASK_STK_SIZE-1],5,5,&Task_Stk[0],128,(void *)0,OS_TASK_OPT_STK_CHK || OS_TASK_OPT_STK_CLR);