stm32+uCos-iii使用串口中断校验枕头帧尾的接受数组 -

#include "sys.h"
#include "delay.h"
#include "usart.h"
#include "usart2.h"
#include "includes.h"
#include "timer.h"
#include "led.h"
#define START_TASK_PRIO 3
#define START_STK_SIZE 128
OS_TCB StartTaskTCB;
CPU_STK START_TASK_STK[START_STK_SIZE];
void start_task(void *p_arg);
#define TASK1_TASK_PRIO 4
#define TASK1_STK_SIZE 128
OS_TCB Task1_TaskTCB;
CPU_STK TASK1_TASK_STK[TASK1_STK_SIZE];
void task1_task(void *p_arg);
#define TASK2_TASK_PRIO 5
#define TASK2_STK_SIZE 128
OS_TCB Task2_TaskTCB;
CPU_STK TASK2_TASK_STK[TASK2_STK_SIZE];
void task2_task(void *p_arg);
#define TASK3_TASK_PRIO 6
#define TASK3_STK_SIZE 128
OS_TCB Task3_TaskTCB;
CPU_STK TASK3_TASK_STK[TASK3_STK_SIZE];
void task3_task(void *p_arg);
#define TASK4_TASK_PRIO 7
#define TASK4_STK_SIZE 128
OS_TCB Task4_TaskTCB;
CPU_STK TASK4_TASK_STK[TASK4_STK_SIZE];
void task4_task(void *p_arg);
//主函数
int main(void)
{
OS_ERR err;
CPU_SR_ALLOC();
//模块初始化
delay_init(); //时钟初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//中断分组配置
uart_init(115200); //串口初始化
//Usart3_Init();
//USART_SendData(USART3,5);
//LED_Init(); //LED初始化
Servo_Init();
Motor_Init();
Timer4_Init(); //1kHz 1ms中断一次
Bsp_Int_Ok = 1;
//初始化完成
Servo_Out(750,750,750,750);
OSInit(&err); //初始化UCOSIII
OS_CRITICAL_ENTER(); //进入临界区
//创建开始任务
OSTaskCreate((OS_TCB * )&StartTaskTCB, //任务控制块
(CPU_CHAR * )"start task", //任务名字
(OS_TASK_PTR )start_task, //任务函数
(void * )0, //传递给任务函数的参数
(OS_PRIO )START_TASK_PRIO, //任务优先级
(CPU_STK * )&START_TASK_STK[0], //任务堆栈基地址
(CPU_STK_SIZE)START_STK_SIZE/10, //任务堆栈深度限位
(CPU_STK_SIZE)START_STK_SIZE, //任务堆栈大小
(OS_MSG_QTY )0, //任务内部消息队列能够接收的最大消息数目,为0时禁止接收消息
(OS_TICK )0, //当使能时间片轮转时的时间片长度，为0时为默认长度，
(void * )0, //用户补充的存储区
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR, //任务选项
(OS_ERR * )&err); //存放该函数错误时的返回值
OS_CRITICAL_EXIT(); //退出临界区
OSStart(&err); //开启UCOSIII
}
//开始任务任务函数
void start_task(void *p_arg)
{
OS_ERR err;
CPU_SR_ALLOC();
p_arg = p_arg;
CPU_Init();
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); //统计任务
#endif
#ifdef CPU_CFG_INT_DIS_MEAS_EN //如果使能了测量中断关闭时间
CPU_IntDisMeasMaxCurReset();
#endif
#if OS_CFG_SCHED_ROUND_ROBIN_EN //当使用时间片轮转的时候
//使能时间片轮转调度功能,时间片长度为1个系统时钟节拍，既1*5=5ms
OSSchedRoundRobinCfg(DEF_ENABLED,1,&err);
#endif
OS_CRITICAL_ENTER(); //进入临界区
//创建TASK1任务
OSTaskCreate((OS_TCB * )&Task1_TaskTCB,
(CPU_CHAR * )"Task1 task",
(OS_TASK_PTR )task1_task,
(void * )0,
(OS_PRIO )TASK1_TASK_PRIO,
(CPU_STK * )&TASK1_TASK_STK[0],
(CPU_STK_SIZE)TASK1_STK_SIZE/10,
(CPU_STK_SIZE)TASK1_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
//创建TASK2任务
OSTaskCreate((OS_TCB * )&Task2_TaskTCB,
(CPU_CHAR * )"task2 task",
(OS_TASK_PTR )task2_task,
(void * )0,
(OS_PRIO )TASK2_TASK_PRIO,
(CPU_STK * )&TASK2_TASK_STK[0],
(CPU_STK_SIZE)TASK2_STK_SIZE/10,
(CPU_STK_SIZE)TASK2_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
//创建TASK3任务
OSTaskCreate((OS_TCB * )&Task3_TaskTCB,
(CPU_CHAR * )"task3 task",
(OS_TASK_PTR )task3_task,
(void * )0,
(OS_PRIO )TASK3_TASK_PRIO,
(CPU_STK * )&TASK3_TASK_STK[0],
(CPU_STK_SIZE)TASK3_STK_SIZE/10,
(CPU_STK_SIZE)TASK3_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
//创建TASK4任务
OSTaskCreate((OS_TCB * )&Task4_TaskTCB,
(CPU_CHAR * )"task4 task",
(OS_TASK_PTR )task4_task,
(void * )0,
(OS_PRIO )TASK4_TASK_PRIO,
(CPU_STK * )&TASK4_TASK_STK[0],
(CPU_STK_SIZE)TASK4_STK_SIZE/10,
(CPU_STK_SIZE)TASK4_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
OS_CRITICAL_EXIT(); //退出临界区
OSTaskDel((OS_TCB*)0,&err); //删除start_task任务自身
}
u16 len = 0;
u16 t = 0;
//task1任务函数
void task1_task(void *p_arg)
{
OS_ERR err;
err = err;
p_arg = p_arg;
while(1)
{
if( Count_10ms >= 10 )
{
Count_10ms = 0;
}
if( Count_20ms >= 20 )
{
Count_20ms = 0;
/*
error = error_get;
val_out = Kp * error + Kd*(error-error_last);
error_last = error;
Servo_PWM = val_out + 750;
TIM2->CCR2 = Servo_PWM;
*/
}
if( Count_40ms >= 40 )
{
Count_40ms = 0;
if( USART_RX_STA & 0x8000 )
{
len=USART_RX_STA&0x3fff;//得到此次接收到的数据长度
//printf("\r\n your message:\r\n");
for(t=0;t<len;t++)
{
USART1->DR=USART_RX_BUF[t];
while((USART1->SR&0X40)==0);//等待发送结束
}
//printf("\r\n");//插入换行
USART_RX_STA=0;
}
}
}
}
//task2任务函数
void task2_task(void *p_arg)
{
u8 task2_num=0;
OS_ERR err;
p_arg = p_arg;
while(1)
{
task2_num++; //任务2执行次数加1 注意task1_num2加到255的时候会清零！！
//printf("task2 runs;%dtimes\r\n",task2_num);
OSTimeDlyHMSM(0,0,2,0,OS_OPT_TIME_HMSM_STRICT,&err); //延时1s
}
}
//task3任务函数
void task3_task(void *p_arg)
{
u8 task3_num=0;
OS_ERR err;
p_arg = p_arg;
while(1)
{
task3_num++; //任务2执行次数加1 注意task1_num2加到255的时候会清零！！
//printf("task3 runs;%dtimes\r\n",task3_num);
OSTimeDlyHMSM(0,0,3,0,OS_OPT_TIME_HMSM_STRICT,&err); //延时1s
}
}
//task4任务函数
void task4_task(void *p_arg)
{
u8 task4_num=0;
OS_ERR err;
p_arg = p_arg;
while(1)
{
task4_num++; //任务2执行次数加1 注意task1_num2加到255的时候会清零！！
//printf("task4 runs;%dtimes\r\n",task4_num);
OSTimeDlyHMSM(0,0,4,0,OS_OPT_TIME_HMSM_STRICT,&err); //延时1s
}
}

复制代码