只有延时服务的协作式的内核,Error: garbage at end of line

只看该作者 · 2013-9-7 16:42

本帖最后由 searover79 于 2013-9-7 16:44 编辑

#include <avr/io.h>
#include <avr/interrupt.h>
//#include <avr/signal.h>
#include "config.h"
unsigned char Stack[200];
register unsigned char OSRdyTbl       asm("r2"); //任务运行就绪表
register unsigned char OSTaskRunningPrio asm("r3"); //正在运行的任务
#define OS_TASKS 3                   //设定运行任务的数量
struct TaskCtrBlock          //任务控制块
{
  unsigned int OSTaskStackTop;  //保存任务的堆栈顶

unsigned int OSWaitTick;    //任务延时时钟
} TCB[OS_TASKS+1];
//防止被编译器占用
register unsigned char tempR4  asm("r4");
register unsigned char tempR5  asm("r5");
register unsigned char tempR6  asm("r6");
register unsigned char tempR7  asm("r7");
register unsigned char tempR8  asm("r8");
register unsigned char tempR9  asm("r9");
register unsigned char tempR10 asm("r10");
register unsigned char tempR11 asm("r11");
register unsigned char tempR12 asm("r12");
register unsigned char tempR13 asm("r13");
register unsigned char tempR14 asm("r14");
register unsigned char tempR15 asm("r15");
register unsigned char tempR16 asm("r16");
register unsigned char tempR17 asm("r17");

//建立任务
void OSTaskCreate(void (*Task)(void),unsigned char *Stack,unsigned char TaskID)
{
  unsigned char i;
  *Stack--=(unsigned int)Task>>8; //将任务的地址高位压入堆栈，
  *Stack--=(unsigned int)Task;       //将任务的地址低位压入堆栈，

  *Stack--=0x00;                   //R1 __zero_reg__
  *Stack--=0x00;                   //R0 __tmp_reg__
  *Stack--=0x80;                                     //SREG 在任务中，开启全局中断
  for(i=0;i<14;i++) //在 avr-libc 中的 FAQ中的 What registers are used by the C compiler?
*Stack--=i;                   //描述了寄存器的作用
TCB[TaskID].OSTaskStackTop=(unsigned int)Stack; //将人工堆栈的栈顶，保存到堆栈的数组中
OSRdyTbl|=0x01<<TaskID;    //任务就绪表已经准备好
}
//开始任务调度,从最低优先级的任务的开始
void OSStartTask()
{
  OSTaskRunningPrio=OS_TASKS;
  SP=TCB[OS_TASKS].OSTaskStackTop+17;
  __asm__ __volatile__("reti    nt");
}
//进行任务调度
void OSSched(void)
{
//  根据中断时保存寄存器的次序入栈，模拟一次中断后，入栈的情况
  __asm__ __volatile__("PUSH __zero_reg__       nt");  //R1
  __asm__ __volatile__("PUSH __tmp_reg__       nt");  //R0
  __asm__ __volatile__("IN __tmp_reg__,__SREG__ nt");  //保存状态寄存器SREG
  __asm__ __volatile__("PUSH __tmp_reg__       nt");
  __asm__ __volatile__("CLR  __zero_reg__       nt");  //R0重新清零
  __asm__ __volatile__("PUSH R18                nt");
  __asm__ __volatile__("PUSH R19                nt");
  __asm__ __volatile__("PUSH R20                nt");
  __asm__ __volatile__("PUSH R21                nt");
  __asm__ __volatile__("PUSH R22                nt");
  __asm__ __volatile__("PUSH R23                nt");
  __asm__ __volatile__("PUSH R24                nt");
  __asm__ __volatile__("PUSH R25                nt");
  __asm__ __volatile__("PUSH R26                nt");
  __asm__ __volatile__("PUSH R27                nt");
  __asm__ __volatile__("PUSH R30                nt");
  __asm__ __volatile__("PUSH R31                nt");
  __asm__ __volatile__("PUSH R28                nt");  //R28与R29用于建立在堆栈上的指针
  __asm__ __volatile__("PUSH R29                nt");  //入栈完成

  TCB[OSTaskRunningPrio].OSTaskStackTop=SP;          //将正在运行的任务的堆栈底保存


  unsigned char OSNextTaskID;                            //在现有堆栈上开设新的空间
  for (OSNextTaskID = 0;                               //进行任务调度
OSNextTaskID < OS_TASKS && !(OSRdyTbl & (0x01<<OSNextTaskID));
OSNextTaskID++);
OSTaskRunningPrio = OSNextTaskID ;
  cli();  //保护堆栈转换
  SP=TCB[OSTaskRunningPrio].OSTaskStackTop;
  sei();

//根据中断时的出栈次序
  __asm__ __volatile__("POP  R29                nt");
  __asm__ __volatile__("POP  R28                nt");
  __asm__ __volatile__("POP  R31                nt");
  __asm__ __volatile__("POP  R30                nt");
  __asm__ __volatile__("POP  R27                nt");
  __asm__ __volatile__("POP  R26                nt");
  __asm__ __volatile__("POP  R25                nt");
  __asm__ __volatile__("POP  R24                nt");
  __asm__ __volatile__("POP  R23                nt");
  __asm__ __volatile__("POP  R22                nt");
  __asm__ __volatile__("POP  R21                nt");
  __asm__ __volatile__("POP  R20                nt");
  __asm__ __volatile__("POP  R19                nt");
  __asm__ __volatile__("POP  R18                nt");
  __asm__ __volatile__("POP  __tmp_reg__       nt");    //SERG 出栈并恢复
  __asm__ __volatile__("OUT  __SREG__,__tmp_reg__ nt");    //
  __asm__ __volatile__("POP  __tmp_reg__       nt");    //R0 出栈
  __asm__ __volatile__("POP  __zero_reg__       nt");    //R1 出栈
  //中断时出栈完成
}
void OSTimeDly(unsigned int ticks)
{
  if(ticks)                            //当延时有效
  {
OSRdyTbl &= ~(0x01<<OSTaskRunningPrio);
TCB[OSTaskRunningPrio].OSWaitTick=ticks;
OSSched();                         //从新调度
  }
}

void TCN0Init(void) // 计时器0
{
  TCCR0A = 0;
  TCCR0A |= (1<<CS02);  // 256预分频
  TIMSK0 |= (1<<TOIE0); // T0溢出中断允许
  TCNT0 = 100;       // 置计数起始值

}

SIGNAL(SIG_OVERFLOW0)
{
  unsigned char i;
  for(i=0;i<OS_TASKS;i++)    //任务时钟
  {
if(TCB.OSWaitTick)
{
   TCB.OSWaitTick--;
   if(TCB.OSWaitTick==0)    //当任务时钟到时,必须是由定时器减时的才行
   {
      OSRdyTbl |= (0x01<<i);    //使任务在就绪表中置位
   }
}
  }
  TCNT0=100;
}
void Task0()
{
  unsigned int j=0;
  while(1)
  {
PORTB=j++;
OSTimeDly(2);
  }
}
void Task1()
{
  unsigned int j=0;
  while(1)
  {
PORTC=j++;
OSTimeDly(4);
  }
}
void Task2()
{
  unsigned int j=0;
  while(1)
  {
PORTD=j++;
OSTimeDly(8);
  }
}

void TaskScheduler()
{
  while(1)
  {
   OSSched();//反复进行调度
  }
}

int main(void)
{
  TCN0Init();
  OSRdyTbl=0;
  OSTaskRunningPrio=0;
  OSTaskCreate(Task0,&Stack[49],0);
  OSTaskCreate(Task1,&Stack[99],1);
  OSTaskCreate(Task2,&Stack[149],2);
  OSTaskCreate(TaskScheduler,&Stack[199],OS_TASKS);
  OSStartTask();
}

这个一个网上关于AVR单片机的只有延时服务的协作式的内核，使用at90can128单片机，AVR Studio4编译时出现错误：
C:\DOCUME~1\ADMINI~1\LOCALS~1\Temp/ccs0dVB1.s:292:Error:garbage at end of line.
请问该怎么解决？