Beispiel #1
0
/**
 * @fn			void KzDevPollingTask(VP_INT arg)
 * @brief		Device Driver Task
 * @note		SDK Private function
 */
void KzDevPollingTask(VP_INT arg)
{
	/*-- Start Polling --*/
	sta_cyc( mCycDevPol );	
	
	for(;;)
	{
		slp_tsk();
		device_pol();
	}
}
Beispiel #2
0
void
task2(intptr_t exinf)
{
	ER_UINT	ercd;
	ID		somid;

	test_start(__FILE__);

	check_point(1);
	ercd = get_som(&somid);
	check_ercd(ercd, E_OK);

	check_assert(somid == SOM1);

	WAIT(task2_flag);

	check_point(4);
	ercd = chg_som(SOM2);
	check_ercd(ercd, E_OK);

	ercd = get_som(&somid);
	check_ercd(ercd, E_OK);

	check_assert(somid == SOM1);

	WAIT(task2_flag);

	check_point(8);
	WAIT(task2_flag);

	check_point(14);
	WAIT(task2_flag);

	check_point(19);
	ercd = sta_cyc(CYC1);
	check_ercd(ercd, E_OK);

	ercd = get_som(&somid);
	check_ercd(ercd, E_OK);

	check_assert(somid == SOM1);

	WAIT(task2_flag);

	check_point(25);
	WAIT(task2_flag);

	check_point(30);
	WAIT(task2_flag);

	check_point(0);
}
static mrb_value
mrb_ssp_cyclic_sta(mrb_state *mrb, mrb_value self)
{
	ER retval;
	mrb_value id   = mrb_iv_get(mrb, self, mrb_intern_lit(mrb, "@cyclic_id"));
	mrb_int id_num = mrb_fixnum(id);

	retval = sta_cyc(id_num);
	
	if (retval == E_OK)
	{
		return(mrb_false_value());
	}
	return(mrb_true_value());
}
Beispiel #4
0
/*
 *	初期化
 */
void Initialize(void)
{
	Count = 0;

	ADR_PJDR = 0;					// LED OFF
	ADR_PJDDR = 0x01;

	sta_cyc(CYCHDR1);

	SIO_Open();
	SIO_FlashBuffer();

	h8s_wrb_mem(P1DDR, 0x0F);		// Channel 入出力方向設定
	h8s_wrb_mem(P1DR, 0);			// Select Channel 0
}
Beispiel #5
0
/*
 *  メインタスク(中優先度)
 */
void main_task(intptr_t exinf)
{
	uint_t	i;

	syslog_0(LOG_NOTICE, "Performance evaluation program (4)");
	init_hist(1, MAX_TIME, histarea1);
	init_hist(2, MAX_TIME, histarea2);
	init_hist(3, MAX_TIME, histarea3);
	logtask_flush(0U);

	sus_tsk(LOGTASK);		/* システムログタスクの動作を止める */

	/*
	 *  タスク切換えを起こさないact_tskの処理時間の測定
	 */
	for (i = 0; i < NO_MEASURE; i++) {
		begin_measure(1);
		act_tsk(TASK3);
		end_measure(1);
		slp_tsk();
	}

	/*
	 *  タスク切換えを起こすact_tskの処理時間の測定
	 */
	for (i = 0; i < NO_MEASURE; i++) {
		begin_measure(2);
		act_tsk(TASK1);
	}

	/*
	 *  タスク切換えを起こすiact_tskの処理時間の測定(測定回数は10分の1)
	 */
	task2_count = 0;
	sta_cyc(CYC1);
	while (task2_count < NO_MEASURE / 10) ;
	stp_cyc(CYC1);

	rsm_tsk(LOGTASK);		/* システムログタスクの動作を再開する */

	syslog_0(LOG_NOTICE, "Execution times of act_tsk without task switch");
	print_hist(1);
	syslog_0(LOG_NOTICE, "Execution times of act_tsk with task switch");
	print_hist(2);
	syslog_0(LOG_NOTICE, "Execution times of iact_tsk with task switch");
	print_hist(3);
	ext_ker();
}
Beispiel #6
0
void init_task(intptr_t exinf)
{
#ifndef TASK_LOOP
    volatile ulong_t	i;
    SYSTIM	stime1, stime2;
#endif /* TASK_LOOP */

    /* シリアルポートのオープン */
    SVC(serial_opn_por(SIO_PORTID));
    SVC(serial_ctl_por(SIO_PORTID , IOCTL_CRLF));

    /* 起動メッセージの出力 */
    syslog(LOG_INFO , "Sample program starts.");

    /* 周期ハンドラの起動 */
    SVC(sta_cyc(MAIN_CYC));


    /*
     *  ループ回数の設定
     *
     *  TASK_LOOPがマクロ定義されている場合,測定せずに,TASK_LOOPに定
     *  義された値を,タスク内でのループ回数とする.
     *
     *  MEASURE_TWICEがマクロ定義されている場合,1回目の測定結果を捨て
     *  て,2回目の測定結果を使う.1回目の測定は長めの時間が出るため.
     */
#ifdef TASK_LOOP
    task_loop = TASK_LOOP;
#else /* TASK_LOOP */

    task_loop = LOOP_REF;
    SVC(get_tim(&stime1));
    for (i = 0; i < task_loop; i++);
    SVC(get_tim(&stime2));
    task_loop = LOOP_REF * 400UL / (stime2 - stime1);

#endif /* TASK_LOOP */

}
Beispiel #7
0
void main_task(intptr_t exinf)
{
	//串口任务初始化
	ER_UINT	ercd;
	SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_NOTICE), LOG_UPTO(LOG_EMERG)));
	syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);

	ercd = serial_opn_por(TASK_PORTID);
	if (ercd < 0 && MERCD(ercd) != E_OBJ) {
		syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.",
									itron_strerror(ercd), SERCD(ercd));
	}
	SVC_PERROR(serial_ctl_por(TASK_PORTID,
							(IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV)));

	//初始化其它的任务
	SVC_PERROR(act_tsk(SPEED_TASK));
	SVC_PERROR(act_tsk(FOLLOW_TASK));
	SVC_PERROR(act_tsk(SENSORS_TASK));
	SVC_PERROR(sta_cyc(CYC_HANDLE));
	//结束自己的使命
	ext_tsk();
}
Beispiel #8
0
/*
 *  メインタスク
 */
void main_task(VP_INT exinf)
{
	char	c;
	ID	tskid = TASK1;
	volatile UW	i;
	INT	tskno = 1;
	ER_UINT	ercd;	
	PRI	tskpri;
	SYSTIM	stime1, stime2;
#ifndef OMIT_VGET_TIM
	SYSUTIM	utime1, utime2;
#endif /* OMIT_VGET_TIM */

	vmsk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG));
	syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int)exinf);
	syscall(serial_ctl_por(TASK_PORTID,
			(IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV)));

	/*
 	 *  ループ回数の設定
	 */
	task_loop = LOOP_REF;
	get_tim(&stime1);
	for (i = 0; i < task_loop; i++);
	get_tim(&stime2);
	task_loop = LOOP_REF * 400 / (stime2 - stime1);
	tex_loop = task_loop / 5;

	/*
 	 *  タスクの起動
	 */
	act_tsk(TASK1);
	act_tsk(TASK2);
	act_tsk(TASK3);

	/*
 	 *  メインループ
	 */
	do {
		syscall(serial_rea_dat(TASK_PORTID, &c, 1));
		switch (c) {
		case 'e':
		case 's':
		case 'S':
		case 'd':
		case 'y':
		case 'Y':
		case 'z':
		case 'Z':
			message[tskno-1] = c;
			break;
		case '1':
			tskno = 1;
			tskid = TASK1;
			break;
		case '2':
			tskno = 2;
			tskid = TASK2;
			break;
		case '3':
			tskno = 3;
			tskid = TASK3;
			break;
		case 'a':
			syslog(LOG_INFO, "#act_tsk(%d)", tskno);
			syscall(act_tsk(tskid));
			break;
		case 'A':
			syslog(LOG_INFO, "#can_act(%d)", tskno);
			syscall(ercd = can_act(tskid));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "can_act(%d) returns %d",
						tskno, ercd);
			}
			break;
		case 't':
			syslog(LOG_INFO, "#ter_tsk(%d)", tskno);
			syscall(ter_tsk(tskid));
			break;
		case '>':
			syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno);
			chg_pri(tskid, HIGH_PRIORITY);
			break;
		case '=':
			syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno);
			chg_pri(tskid, MID_PRIORITY);
			break;
		case '<':
			syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno);
			chg_pri(tskid, LOW_PRIORITY);
			break;
		case 'G':
			syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno);
			syscall(ercd = get_pri(tskid, &tskpri));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "priority of task %d is %d",
						tskno, tskpri);
			}
			break;
		case 'w':
			syslog(LOG_INFO, "#wup_tsk(%d)", tskno);
			syscall(wup_tsk(tskid));
			break;
		case 'W':
			syslog(LOG_INFO, "#can_wup(%d)", tskno);
			syscall(ercd = can_wup(tskid));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "can_wup(%d) returns %d",
						tskno, ercd);
			}
			break;
		case 'l':
			syslog(LOG_INFO, "#rel_wai(%d)", tskno);
			syscall(rel_wai(tskid));
			break;
		case 'u':
			syslog(LOG_INFO, "#sus_tsk(%d)", tskno);
			syscall(sus_tsk(tskid));
			break;
		case 'm':
			syslog(LOG_INFO, "#rsm_tsk(%d)", tskno);
			syscall(rsm_tsk(tskid));
			break;
		case 'M':
			syslog(LOG_INFO, "#frsm_tsk(%d)", tskno);
			syscall(frsm_tsk(tskid));
			break;
		case 'x':
			syslog(LOG_INFO, "#ras_tex(%d, 0x0001)", tskno);
			syscall(ras_tex(tskid, 0x0001));
			break;
		case 'X':
			syslog(LOG_INFO, "#ras_tex(%d, 0x0002)", tskno);
			syscall(ras_tex(tskid, 0x0002));
			break;
		case 'r':
			syslog(LOG_INFO, "#rot_rdq(three priorities)");
			rot_rdq(HIGH_PRIORITY);
			rot_rdq(MID_PRIORITY);
			rot_rdq(LOW_PRIORITY);
			break;
		case 'c':
			sta_cyc(CYCHDR1);
			break;
		case 'C':
			stp_cyc(CYCHDR1);
			break;
#ifndef OMIT_VGET_TIM
		case 'V':
			syscall(vxget_tim(&utime1));
			syscall(vxget_tim(&utime2));
			syslog(LOG_NOTICE, "utime1 = %d, utime2 = %d",
						(UINT) utime1, (UINT) utime2);
			break;
#endif /* OMIT_VGET_TIM */
		case 'v':
			vmsk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG));
			break;
		case 'q':
			vmsk_log(LOG_UPTO(LOG_NOTICE), LOG_UPTO(LOG_EMERG));
			break;
		default:
			break;
		}
	} while (c != '\003' && c != 'Q');

	syslog(LOG_NOTICE, "Sample program ends.");
	kernel_exit();
}
/*
 *  メインタスク
 */
void main_task(intptr_t exinf)
{
	char	c;
	ID		tskid = TASK1;
	int_t	tskno = 1;
	ER_UINT	ercd;
	PRI		tskpri;
#ifndef TASK_LOOP
	volatile ulong_t	i;
	SYSTIM	stime1, stime2;
#endif /* TASK_LOOP */
	HRTCNT	hrtcnt1, hrtcnt2;

	SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG)));
	syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);

	/*
	 *  シリアルポートの初期化
	 *
	 *  システムログタスクと同じシリアルポートを使う場合など,シリアル
	 *  ポートがオープン済みの場合にはここでE_OBJエラーになるが,支障は
	 *  ない.
	 */
	ercd = serial_opn_por(TASK_PORTID);
	if (ercd < 0 && MERCD(ercd) != E_OBJ) {
		syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.",
									itron_strerror(ercd), SERCD(ercd));
	}
	SVC_PERROR(serial_ctl_por(TASK_PORTID,
							(IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV)));

	/*
 	 *  ループ回数の設定
	 *
	 *  並行実行されるタスク内での空ループの回数(task_loop)は,空ルー
	 *  プの実行時間が約0.4秒になるように設定する.この設定のために,
	 *  LOOP_REF回の空ループの実行時間を,その前後でget_timを呼ぶことで
	 *  測定し,その測定結果から空ループの実行時間が0.4秒になるループ回
	 *  数を求め,task_loopに設定する.
	 *
	 *  LOOP_REFは,デフォルトでは1,000,000に設定しているが,想定したよ
	 *  り遅いプロセッサでは,サンプルプログラムの実行開始に時間がかか
	 *  りすぎるという問題を生じる.逆に想定したより速いプロセッサでは,
	 *  LOOP_REF回の空ループの実行時間が短くなり,task_loopに設定する値
	 *  の誤差が大きくなるという問題がある.
	 *
	 *  そこで,そのようなターゲットでは,target_test.hで,LOOP_REFを適
	 *  切な値に定義するのが望ましい.
	 *
	 *  また,task_loopの値を固定したい場合には,その値をTASK_LOOPにマ
	 *  クロ定義する.TASK_LOOPがマクロ定義されている場合,上記の測定を
	 *  行わずに,TASK_LOOPに定義された値を空ループの回数とする.
	 *
	 * ターゲットによっては,空ループの実行時間の1回目の測定で,本来よ
	 * りも長めになるものがある.このようなターゲットでは,MEASURE_TWICE
	 * をマクロ定義することで,1回目の測定結果を捨てて,2回目の測定結果
	 * を使う.
	 */
#ifdef TASK_LOOP
	task_loop = TASK_LOOP;
#else /* TASK_LOOP */

#ifdef MEASURE_TWICE
	task_loop = LOOP_REF;
	SVC_PERROR(get_tim(&stime1));
	for (i = 0; i < task_loop; i++);
	SVC_PERROR(get_tim(&stime2));
#endif /* MEASURE_TWICE */

	task_loop = LOOP_REF;
	SVC_PERROR(get_tim(&stime1));
	for (i = 0; i < task_loop; i++);
	SVC_PERROR(get_tim(&stime2));
	task_loop = LOOP_REF * 400LU / (ulong_t)(stime2 - stime1) * 1000LU;

#endif /* TASK_LOOP */

	/*
 	 *  タスクの起動
	 */
	SVC_PERROR(act_tsk(TASK1));
	SVC_PERROR(act_tsk(TASK2));
	SVC_PERROR(act_tsk(TASK3));

	/*
 	 *  メインループ
	 */
	do {
		SVC_PERROR(serial_rea_dat(TASK_PORTID, &c, 1));
		switch (c) {
		case 'e':
		case 's':
		case 'S':
		case 'd':
		case 'y':
		case 'Y':
		case 'z':
		case 'Z':
			message[tskno-1] = c;
			break;
		case '1':
			tskno = 1;
			tskid = TASK1;
			break;
		case '2':
			tskno = 2;
			tskid = TASK2;
			break;
		case '3':
			tskno = 3;
			tskid = TASK3;
			break;
		case 'a':
			syslog(LOG_INFO, "#act_tsk(%d)", tskno);
			SVC_PERROR(act_tsk(tskid));
			break;
		case 'A':
			syslog(LOG_INFO, "#can_act(%d)", tskno);
			SVC_PERROR(ercd = can_act(tskid));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "can_act(%d) returns %d", tskno, ercd);
			}
			break;
		case 't':
			syslog(LOG_INFO, "#ter_tsk(%d)", tskno);
			SVC_PERROR(ter_tsk(tskid));
			break;
		case '>':
			syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, HIGH_PRIORITY));
			break;
		case '=':
			syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, MID_PRIORITY));
			break;
		case '<':
			syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, LOW_PRIORITY));
			break;
		case 'G':
			syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno);
			SVC_PERROR(ercd = get_pri(tskid, &tskpri));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "priority of task %d is %d", tskno, tskpri);
			}
			break;
		case 'w':
			syslog(LOG_INFO, "#wup_tsk(%d)", tskno);
			SVC_PERROR(wup_tsk(tskid));
			break;
		case 'W':
			syslog(LOG_INFO, "#can_wup(%d)", tskno);
			SVC_PERROR(ercd = can_wup(tskid));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "can_wup(%d) returns %d", tskno, ercd);
			}
			break;
		case 'l':
			syslog(LOG_INFO, "#rel_wai(%d)", tskno);
			SVC_PERROR(rel_wai(tskid));
			break;
		case 'u':
			syslog(LOG_INFO, "#sus_tsk(%d)", tskno);
			SVC_PERROR(sus_tsk(tskid));
			break;
		case 'm':
			syslog(LOG_INFO, "#rsm_tsk(%d)", tskno);
			SVC_PERROR(rsm_tsk(tskid));
			break;
		case 'x':
			syslog(LOG_INFO, "#ras_ter(%d)", tskno);
			SVC_PERROR(ras_ter(tskid));
			break;
		case 'r':
			syslog(LOG_INFO, "#rot_rdq(three priorities)");
			SVC_PERROR(rot_rdq(HIGH_PRIORITY));
			SVC_PERROR(rot_rdq(MID_PRIORITY));
			SVC_PERROR(rot_rdq(LOW_PRIORITY));
			break;
		case 'c':
			syslog(LOG_INFO, "#sta_cyc(1)");
			SVC_PERROR(sta_cyc(CYCHDR1));
			break;
		case 'C':
			syslog(LOG_INFO, "#stp_cyc(1)");
			SVC_PERROR(stp_cyc(CYCHDR1));
			break;
		case 'b':
			syslog(LOG_INFO, "#sta_alm(1, 5000000)");
			SVC_PERROR(sta_alm(ALMHDR1, 5000000));
			break;
		case 'B':
			syslog(LOG_INFO, "#stp_alm(1)");
			SVC_PERROR(stp_alm(ALMHDR1));
			break;

		case 'V':
			hrtcnt1 = fch_hrt();
			hrtcnt2 = fch_hrt();
			syslog(LOG_NOTICE, "hrtcnt1 = %tu, hrtcnt2 = %tu",
										hrtcnt1, hrtcnt2);
			break;

		case 'o':
#ifdef TOPPERS_SUPPORT_OVRHDR
			syslog(LOG_INFO, "#sta_ovr(%d, 2000000)", tskno);
			SVC_PERROR(sta_ovr(tskid, 2000000));
#else /* TOPPERS_SUPPORT_OVRHDR */
			syslog(LOG_NOTICE, "sta_ovr is not supported.");
#endif /* TOPPERS_SUPPORT_OVRHDR */
			break;
		case 'O':
#ifdef TOPPERS_SUPPORT_OVRHDR
			syslog(LOG_INFO, "#stp_ovr(%d)", tskno);
			SVC_PERROR(stp_ovr(tskid));
#else /* TOPPERS_SUPPORT_OVRHDR */
			syslog(LOG_NOTICE, "stp_ovr is not supported.");
#endif /* TOPPERS_SUPPORT_OVRHDR */
			break;

		case 'v':
			SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO),
										LOG_UPTO(LOG_EMERG)));
			break;
		case 'q':
			SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_NOTICE),
										LOG_UPTO(LOG_EMERG)));
			break;

#ifdef BIT_KERNEL
		case ' ':
			SVC_PERROR(loc_cpu());
			{
				extern ER	bit_kernel(void);

				SVC_PERROR(ercd = bit_kernel());
				if (ercd >= 0) {
					syslog(LOG_NOTICE, "bit_kernel passed.");
				}
			}
			SVC_PERROR(unl_cpu());
			break;
#endif /* BIT_KERNEL */

		default:
			break;
		}
	} while (c != '\003' && c != 'Q');

	syslog(LOG_NOTICE, "Sample program ends.");
	SVC_PERROR(ext_ker());
	assert(0);
}
Beispiel #10
0
/*
 *  メインタスク
 */
void main_task(intptr_t exinf)
{
	char_t	c;
	ER_UINT	ercd;
	PRI		tskpri;
	ID		prcid = exinf;
	ID		tskid = sample_tskid[(exinf - 1) * 3 ];
	int_t	        tskno = (exinf-1) * 3 + 1;
	ID		cycid = sample_cycid[(int_t)exinf-1];
	ID		almid = sample_almid[(int_t)exinf-1];
	bool_t  update_select = true;
	uint_t  tme_select    = exinf;
	uint_t  prc_select    = exinf;
	uint32_t server_req;

#ifndef TASK_LOOP
	volatile ulong_t	i;
	SYSTIM	stime1, stime2;
#endif /* TASK_LOOP */
#ifdef G_SYSLOG
	uint_t e;
#endif /* G_SYSLOG */

	SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG)));
	syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);

	/*
	 *  シリアルポートの初期化
	 *
	 *  システムログタスクと同じシリアルポートを使う場合など,シリアル
	 *  ポートがオープン済みの場合にはここでE_OBJエラーになるが,支障は
	 *  ない.
	 */
	ercd = serial_opn_por(((int_t)serial_port[exinf-1]));
	if (ercd < 0 && MERCD(ercd) != E_OBJ) {
		syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.",
									itron_strerror(ercd), SERCD(ercd));
	}
	SVC_PERROR(serial_ctl_por(serial_port[exinf-1],
							(IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV)));

	/*
	 *  ループ回数の設定
	 *
	 *  TASK_LOOPがマクロ定義されている場合,測定せずに,TASK_LOOPに定
	 *  義された値を,タスク内でのループ回数とする.
	 *
	 *  MEASURE_TWICEがマクロ定義されている場合,1回目の測定結果を捨て
	 *  て,2回目の測定結果を使う.1回目の測定は長めの時間が出るため.
	 */
#ifdef TASK_LOOP
	task_loop = TASK_LOOP;
#else /* TASK_LOOP */

#ifdef MEASURE_TWICE
	task_loop = LOOP_REF;
	SVC_PERROR(get_tim(&stime1));
	for (i = 0; i < task_loop; i++);
	SVC_PERROR(get_tim(&stime2));
#endif /* MEASURE_TWICE */

	task_loop = LOOP_REF;
	SVC_PERROR(get_tim(&stime1));
	for (i = 0; i < task_loop; i++);
	SVC_PERROR(get_tim(&stime2));
	task_loop = LOOP_REF * 400UL / (stime2 - stime1);
#endif /* TASK_LOOP */

	/*
	 *  タスクの起動
	 */
	SVC_PERROR(act_tsk(tskid));

	/*
 	 *  メインループ
	 */
	do {
		if (update_select) {
			prcid = prc_select;
			cycid = sample_cycid[tme_select-1];
			almid = sample_almid[tme_select-1];
                        tsk_mig_prc = prcid;
			update_select = false;
			syslog(LOG_INFO, "select tskno 0x%x", tskno);
			syslog(LOG_INFO, "select cycid %d", cycid);
			syslog(LOG_INFO, "select almid %d", almid);
			syslog(LOG_INFO, "select processor %d", prcid);
		}
		
		SVC_PERROR(serial_rea_dat(serial_port[exinf-1], &c, 1));
		
		switch (c) {
		case 'e':
		case 's':
		case 'S':
		case 'd':
                case 'g':
			message[tskno - 1] = c;
			break;
		case '1':
			tskno = 1;
                        tskid = TASK1;
			update_select = true;
			break;
		case '2':
			tskno = 2;
                        tskid = TASK2;
			update_select = true;
			break;
		case '3':
			tskno = 3;
                        tskid = TASK3;
			update_select = true;
			break;
		case '4':
			tskno = 4;
                        tskid = TASK4;
			update_select = true;
			break;
		case '5':
			tskno = 5;
                        tskid = TASK5;
			update_select = true;
			break;
		case '6':
			tskno = 6;
                        tskid = TASK6;
			update_select = true;
			break;
		case '8':
			prc_select = 1;
			update_select = true;
			break;
		case '9':
			prc_select = 2;
			update_select = true;
			break;
		case 'a':
			syslog(LOG_INFO, "#act_tsk(0x%x)", tskno);
			SVC_PERROR(act_tsk(tskid));
			break;
		case 'A':
			syslog(LOG_INFO, "#can_act(0x%x)", tskno);
			SVC_PERROR(ercd = can_act(tskid));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "can_act(0x%x) returns %d", tskno, ercd);
			}
			break;
		case '>':
			syslog(LOG_INFO, "#chg_pri(0x%x, HIGH_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, HIGH_PRIORITY));
			break;
		case '=':
			syslog(LOG_INFO, "#chg_pri(0x%x, MID_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, MID_PRIORITY));
			break;
		case '<':
			syslog(LOG_INFO, "#chg_pri(0x%x, LOW_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, LOW_PRIORITY));
			break;
		case 'G':
			syslog(LOG_INFO, "#get_pri(0x%x, &tskpri)", tskno);
			SVC_PERROR(ercd = get_pri(tskid, &tskpri));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "priority of task 0x%x is %d", tskno, tskpri);
			}
			break;
		case 'w':
			syslog(LOG_INFO, "#wup_tsk(0x%x)", tskno);
			SVC_PERROR(wup_tsk(tskid));
			break;
		case 'W':
			syslog(LOG_INFO, "#can_wup(0x%x)", tskno);
			SVC_PERROR(ercd = can_wup(tskid));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "can_wup(0x%x) returns %d", tskno, ercd);
			}
			break;
		case 'c':
			syslog(LOG_INFO, "#sta_cyc(%d)", cycid);
			SVC_PERROR(sta_cyc(cycid));
			break;
		case 'C':
			syslog(LOG_INFO, "#stp_cyc(%d)", cycid);
			SVC_PERROR(stp_cyc(cycid));
			break;
		case 'b':
			syslog(LOG_INFO, "#sta_alm(%d, %d)", almid, ALM_TIME);
			SVC_PERROR(sta_alm(almid, ALM_TIME));
			break;
		case 'B':
			syslog(LOG_INFO, "#stp_alm(%d)", almid);
			SVC_PERROR(stp_alm(almid));
			break;
		case 'f':
			syslog(LOG_INFO, "#mact_tsk(%d, %d)", tskid, prcid);
			SVC_PERROR(mact_tsk(tskid, prcid));
			break;                  
		default:
			break;
		}
	} while (c != '\003' && c != 'Q');

	syslog(LOG_NOTICE, "Sample program ends.");
	SVC_PERROR(ext_ker());
	assert(0);
}
Beispiel #11
0
void main_task(intptr_t exinf)
{
    static ID tskid = TASK1;
    static uint_t tskno = 1;
    char_t c;


    /* シリアルポートからの文字受信 */
    if(serial_rea_dat(SIO_PORTID , &c , 1) > 0)
    {
        switch(c)
        {
        case 'e':
        case 'z':
        case 'Z':
        case 'r':
            message[tskno] = c;
            break;
        case '1':
            tskid = TASK1;
            tskno = 0;
            break;
        case '2':
            tskid = TASK2;
            tskno = 1;
            break;
        case '3':
            tskid = TASK3;
            tskno = 2;
            break;
        case 'a':
            syslog(LOG_INFO, "#act_tsk(%d)", tskno);
            SVC(act_tsk(tskid));
            break;
        case 'b':
            syslog(LOG_INFO, "#sta_alm(1, 5000)");
            SVC(sta_alm(ALM1 , 5000));
            break;
        case 'B':
            syslog(LOG_INFO, "#stp_alm(1)");
            SVC(stp_alm(ALM1));
            break;
        case 'c':
            syslog(LOG_INFO, "sta_cyc(1)");
            SVC(sta_cyc(CYC1));
            break;
        case 'C':
            syslog(LOG_INFO, "stp_cyc(1)");
            SVC(stp_cyc(CYC1));
            break;
        case 'Q':
            syslog(LOG_NOTICE, "Sample program ends.");
            SVC(ext_ker());
            break;
        default:
            /* エラー表示 */
            syslog(LOG_INFO , "Unknown command.");
            break;
        }
    }
}
/*
 *  メインタスク
 */
void main_task(intptr_t exinf)
{
	char	c;
	ID		tskid = TASK1;
	int_t	tskno = 1;
	ER_UINT	ercd;
	PRI		tskpri;
#ifndef TASK_LOOP
	volatile ulong_t	i;
	SYSTIM	stime1, stime2;
#endif /* TASK_LOOP */
#ifdef TOPPERS_SUPPORT_GET_UTM
	SYSUTM	utime1, utime2;
#endif /* TOPPERS_SUPPORT_GET_UTM */
	T_CTSK	ctsk;
	T_DTEX	dtex;
	ID		TASK3 = -1;

	SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG)));
	syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);

	/*
	 *  シリアルポートの初期化
	 *
	 *  システムログタスクと同じシリアルポートを使う場合など,シリアル
	 *  ポートがオープン済みの場合にはここでE_OBJエラーになるが,支障は
	 *  ない.
	 */
	ercd = serial_opn_por(TASK_PORTID);
	if (ercd < 0 && MERCD(ercd) != E_OBJ) {
		syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.",
									itron_strerror(ercd), SERCD(ercd));
	}
	SVC_PERROR(serial_ctl_por(TASK_PORTID,
							(IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV)));

	/*
 	 *  ループ回数の設定
	 *
	 *  並行実行されるタスク内での空ループの回数(task_loop)は,空ルー
	 *  プの実行時間が約0.4秒になるように設定する.この設定のために,
	 *  LOOP_REF回の空ループの実行時間を,その前後でget_timを呼ぶことで
	 *  測定し,その測定結果から空ループの実行時間が0.4秒になるループ回
	 *  数を求め,task_loopに設定する.
	 *
	 *  LOOP_REFは,デフォルトでは1,000,000に設定しているが,想定したよ
	 *  り遅いプロセッサでは,サンプルプログラムの実行開始に時間がかか
	 *  りすぎるという問題を生じる.逆に想定したより速いプロセッサでは,
	 *  LOOP_REF回の空ループの実行時間が短くなり,task_loopに設定する値
	 *  の誤差が大きくなるという問題がある.
	 *
	 *  そこで,そのようなターゲットでは,target_test.hで,LOOP_REFを適
	 *  切な値に定義するのが望ましい.
	 *
	 *  また,task_loopの値を固定したい場合には,その値をTASK_LOOPにマ
	 *  クロ定義する.TASK_LOOPがマクロ定義されている場合,上記の測定を
	 *  行わずに,TASK_LOOPに定義された値を空ループの回数とする.
	 *
	 * ターゲットによっては,空ループの実行時間の1回目の測定で,本来よ
	 * りも長めになるものがある.このようなターゲットでは,MEASURE_TWICE
	 * をマクロ定義することで,1回目の測定結果を捨てて,2回目の測定結果
	 * を使う.
	 *
	 *  タスク例外処理ルーチン内での空ループの回数(tex_loop)は,
	 *  task_loopの4分の1の値(空ループの実行時間が0.1秒になるループ回
	 *  数)に設定する.
	 */
#ifdef TASK_LOOP
	task_loop = TASK_LOOP;
#else /* TASK_LOOP */

#ifdef MEASURE_TWICE
	task_loop = LOOP_REF;
	SVC_PERROR(get_tim(&stime1));
	for (i = 0; i < task_loop; i++);
	SVC_PERROR(get_tim(&stime2));
#endif /* MEASURE_TWICE */

	task_loop = LOOP_REF;
	SVC_PERROR(get_tim(&stime1));
	for (i = 0; i < task_loop; i++);
	SVC_PERROR(get_tim(&stime2));
	task_loop = LOOP_REF * 400UL / (stime2 - stime1);

#endif /* TASK_LOOP */
	tex_loop = task_loop / 4;

	/*
 	 *  タスクの起動
	 */
	SVC_PERROR(act_tsk(TASK1));
	SVC_PERROR(act_tsk(TASK2));

	/*
 	 *  メインループ
	 */
	do {
		SVC_PERROR(serial_rea_dat(TASK_PORTID, &c, 1));
		switch (c) {
		case 'e':
		case 's':
		case 'S':
		case 'd':
		case 'y':
		case 'Y':
		case 'z':
		case 'Z':
			message[tskno-1] = c;
			break;
		case '1':
			tskno = 1;
			tskid = TASK1;
			break;
		case '2':
			tskno = 2;
			tskid = TASK2;
			break;
		case '3':
			tskno = 3;
			tskid = TASK3;
			break;
		case 'a':
			syslog(LOG_INFO, "#act_tsk(%d)", tskno);
			SVC_PERROR(act_tsk(tskid));
			break;
		case 'A':
			syslog(LOG_INFO, "#can_act(%d)", tskno);
			SVC_PERROR(ercd = can_act(tskid));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "can_act(%d) returns %d", tskno, ercd);
			}
			break;
		case 't':
			syslog(LOG_INFO, "#ter_tsk(%d)", tskno);
			SVC_PERROR(ter_tsk(tskid));
			break;
		case '>':
			syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, HIGH_PRIORITY));
			break;
		case '=':
			syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, MID_PRIORITY));
			break;
		case '<':
			syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, LOW_PRIORITY));
			break;
		case 'G':
			syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno);
			SVC_PERROR(ercd = get_pri(tskid, &tskpri));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "priority of task %d is %d", tskno, tskpri);
			}
			break;
		case 'w':
			syslog(LOG_INFO, "#wup_tsk(%d)", tskno);
			SVC_PERROR(wup_tsk(tskid));
			break;
		case 'W':
			syslog(LOG_INFO, "#can_wup(%d)", tskno);
			SVC_PERROR(ercd = can_wup(tskid));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "can_wup(%d) returns %d", tskno, ercd);
			}
			break;
		case 'l':
			syslog(LOG_INFO, "#rel_wai(%d)", tskno);
			SVC_PERROR(rel_wai(tskid));
			break;
		case 'u':
			syslog(LOG_INFO, "#sus_tsk(%d)", tskno);
			SVC_PERROR(sus_tsk(tskid));
			break;
		case 'm':
			syslog(LOG_INFO, "#rsm_tsk(%d)", tskno);
			SVC_PERROR(rsm_tsk(tskid));
			break;
		case 'x':
			syslog(LOG_INFO, "#ras_tex(%d, 0x0001U)", tskno);
			SVC_PERROR(ras_tex(tskid, 0x0001U));
			break;
		case 'X':
			syslog(LOG_INFO, "#ras_tex(%d, 0x0002U)", tskno);
			SVC_PERROR(ras_tex(tskid, 0x0002U));
			break;
		case 'r':
			syslog(LOG_INFO, "#rot_rdq(three priorities)");
			SVC_PERROR(rot_rdq(HIGH_PRIORITY));
			SVC_PERROR(rot_rdq(MID_PRIORITY));
			SVC_PERROR(rot_rdq(LOW_PRIORITY));
			break;
		case 'c':
			syslog(LOG_INFO, "#sta_cyc(1)");
			SVC_PERROR(sta_cyc(CYCHDR1));
			break;
		case 'C':
			syslog(LOG_INFO, "#stp_cyc(1)");
			SVC_PERROR(stp_cyc(CYCHDR1));
			break;
		case 'b':
			syslog(LOG_INFO, "#sta_alm(1, 5000)");
			SVC_PERROR(sta_alm(ALMHDR1, 5000));
			break;
		case 'B':
			syslog(LOG_INFO, "#stp_alm(1)");
			SVC_PERROR(stp_alm(ALMHDR1));
			break;
		case '@':
			ctsk.tskatr = TA_NULL;
			ctsk.exinf = 3;
			ctsk.task = task;
			ctsk.itskpri = MID_PRIORITY;
			ctsk.stksz = STACK_SIZE;
			ctsk.stk = NULL;
			SVC_PERROR(TASK3 = acre_tsk(&ctsk));

			dtex.texatr = TA_NULL;
			dtex.texrtn = tex_routine;
			SVC_PERROR(def_tex(TASK3, &dtex));

			syslog(LOG_NOTICE, "task3 is created with tskid = %d.",
														(int_t) TASK3);
			break;
		case '!':
			syslog(LOG_INFO, "#del_tsk(%d)", tskno);
			SVC_PERROR(del_tsk(tskid));
			break;

		case 'V':
#ifdef TOPPERS_SUPPORT_GET_UTM
			SVC_PERROR(get_utm(&utime1));
			SVC_PERROR(get_utm(&utime2));
			syslog(LOG_NOTICE, "utime1 = %ld, utime2 = %ld",
										(ulong_t) utime1, (ulong_t) utime2);
#else /* TOPPERS_SUPPORT_GET_UTM */
			syslog(LOG_NOTICE, "get_utm is not supported.");
#endif /* TOPPERS_SUPPORT_GET_UTM */
			break;

		case 'v':
			SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO),
										LOG_UPTO(LOG_EMERG)));
			break;
		case 'q':
			SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_NOTICE),
										LOG_UPTO(LOG_EMERG)));
			break;

#ifdef BIT_KERNEL
		case ' ':
			SVC_PERROR(loc_cpu());
			{
				extern ER	bit_kernel(void);

				SVC_PERROR(ercd = bit_kernel());
				if (ercd >= 0) {
					syslog(LOG_NOTICE, "bit_kernel passed.");
				}
			}
			SVC_PERROR(unl_cpu());
			break;
#endif /* BIT_KERNEL */

		case '$':
			syslog(LOG_INFO, "#%d#twai_sem(10000)", tskno);
			SVC_PERROR(twai_sem(TEST_SEM, 10000));
			break;
			
		default:
			break;
		}
	} while (c != '\003' && c != 'Q');

	syslog(LOG_NOTICE, "Sample program ends.");
	SVC_PERROR(ext_ker());
	assert(0);
}
Beispiel #13
0
void
task4(intptr_t exinf)
{
	ER_UINT	ercd;
	ID		somid;

	check_point(17);
	ercd = get_som(&somid);
	check_ercd(ercd, E_OK);

	check_assert(somid == TSOM_STP);

	ercd = stp_cyc(CYC1);
	check_ercd(ercd, E_OK);

	ercd = dly_tsk(TEST_TIME_PROC);
	check_ercd(ercd, E_OK);

	check_point(18);
	ercd = chg_som(SOM1);
	check_ercd(ercd, E_OK);

	check_point(22);
	ercd = get_som(&somid);
	check_ercd(ercd, E_OK);

	check_assert(somid == TSOM_STP);

	ercd = stp_cyc(CYC1);
	check_ercd(ercd, E_OK);

	ercd = chg_pri(TSK_SELF, HIGH_PRIORITY);
	check_ercd(ercd, E_OK);

	check_point(23);
	ercd = chg_som(SOM1);
	check_ercd(ercd, E_OK);

	check_point(24);
	ercd = sta_cyc(CYC1);
	check_ercd(ercd, E_OK);

	ercd = get_som(&somid);
	check_ercd(ercd, E_OK);

	check_assert(somid == SOM1);

	ercd = chg_pri(TSK_SELF, LOW_PRIORITY);
	check_ercd(ercd, E_OK);

	check_point(28);
	ercd = get_som(&somid);
	check_ercd(ercd, E_OK);

	check_assert(somid == TSOM_STP);

	ercd = stp_cyc(CYC1);
	check_ercd(ercd, E_OK);

	ercd = dis_dsp();
	check_ercd(ercd, E_OK);

	check_point(29);
	ercd = chg_som(SOM1);
	check_ercd(ercd, E_OK);

	ercd = sta_cyc(CYC1);
	check_ercd(ercd, E_OK);

	ercd = get_som(&somid);
	check_ercd(ercd, E_OK);

	check_assert(check_somid(somid));

	ercd = ena_dsp();
	check_ercd(ercd, E_OK);

	check_point(0);
}
Beispiel #14
0
/*
 *  メインタスク
 */
void main_task(intptr_t exinf)
{
	char_t	c;
	ID		tskid = TASK1;
	int_t	tskno = 1;
	ER_UINT	ercd;
	PRI		tskpri;
#ifndef TASK_LOOP
	volatile ulong_t	i;
	SYSTIM	stime1, stime2;
#endif /* TASK_LOOP */
#ifdef TOPPERS_SUPPORT_GET_UTM
	SYSUTM	utime1, utime2;
#endif /* TOPPERS_SUPPORT_GET_UTM */

	SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG)));
	syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);

	/*
	 *  シリアルポートの初期化
	 *
	 *  システムログタスクと同じシリアルポートを使う場合など,シリアル
	 *  ポートがオープン済みの場合にはここでE_OBJエラーになるが,支障は
	 *  ない.
	 */
	ercd = serial_opn_por(TASK_PORTID);
	if (ercd < 0 && MERCD(ercd) != E_OBJ) {
		syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.",
									itron_strerror(ercd), SERCD(ercd));
	}
	SVC_PERROR(serial_ctl_por(TASK_PORTID,
							(IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV)));

	/*
 	 *  ループ回数の設定
	 *
	 *  TASK_LOOPがマクロ定義されている場合,測定せずに,TASK_LOOPに定
	 *  義された値を,タスク内でのループ回数とする.
	 *
	 *  MEASURE_TWICEがマクロ定義されている場合,1回目の測定結果を捨て
	 *  て,2回目の測定結果を使う.1回目の測定は長めの時間が出るため.
	 */
#ifdef TASK_LOOP
	task_loop = TASK_LOOP;
#else /* TASK_LOOP */

#ifdef MEASURE_TWICE
	task_loop = LOOP_REF;
	SVC_PERROR(get_tim(&stime1));
	for (i = 0; i < task_loop; i++);
	SVC_PERROR(get_tim(&stime2));
#endif /* MEASURE_TWICE */

	task_loop = LOOP_REF;
	SVC_PERROR(get_tim(&stime1));
	for (i = 0; i < task_loop; i++);
	SVC_PERROR(get_tim(&stime2));
	task_loop = LOOP_REF * 400UL / (stime2 - stime1);

#endif /* TASK_LOOP */
	tex_loop = task_loop / 5;

	/*
 	 *  タスクの起動
	 */
	SVC_PERROR(act_tsk(TASK1));
	SVC_PERROR(act_tsk(TASK2));
	SVC_PERROR(act_tsk(TASK3));

	/*
 	 *  メインループ
	 */
	do {
		SVC_PERROR(serial_rea_dat(TASK_PORTID, &c, 1));
		switch (c) {
		case 'e':
		case 's':
		case 'S':
		case 'd':
		case 'y':
		case 'Y':
		case 'z':
		case 'Z':
			message[tskno-1] = c;
			break;
		case '1':
			tskno = 1;
			tskid = TASK1;
			break;
		case '2':
			tskno = 2;
			tskid = TASK2;
			break;
		case '3':
			tskno = 3;
			tskid = TASK3;
			break;
		case 'a':
			syslog(LOG_INFO, "#act_tsk(%d)", tskno);
			SVC_PERROR(act_tsk(tskid));
			break;
		case 'A':
			syslog(LOG_INFO, "#can_act(%d)", tskno);
			SVC_PERROR(ercd = can_act(tskid));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "can_act(%d) returns %d", tskno, ercd);
			}
			break;
		case 't':
			syslog(LOG_INFO, "#ter_tsk(%d)", tskno);
			SVC_PERROR(ter_tsk(tskid));
			break;
		case '>':
			syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, HIGH_PRIORITY));
			break;
		case '=':
			syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, MID_PRIORITY));
			break;
		case '<':
			syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, LOW_PRIORITY));
			break;
		case 'G':
			syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno);
			SVC_PERROR(ercd = get_pri(tskid, &tskpri));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "priority of task %d is %d", tskno, tskpri);
			}
			break;
		case 'w':
			syslog(LOG_INFO, "#wup_tsk(%d)", tskno);
			SVC_PERROR(wup_tsk(tskid));
			break;
		case 'W':
			syslog(LOG_INFO, "#can_wup(%d)", tskno);
			SVC_PERROR(ercd = can_wup(tskid));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "can_wup(%d) returns %d", tskno, ercd);
			}
			break;
		case 'l':
			syslog(LOG_INFO, "#rel_wai(%d)", tskno);
			SVC_PERROR(rel_wai(tskid));
			break;
		case 'u':
			syslog(LOG_INFO, "#sus_tsk(%d)", tskno);
			SVC_PERROR(sus_tsk(tskid));
			break;
		case 'm':
			syslog(LOG_INFO, "#rsm_tsk(%d)", tskno);
			SVC_PERROR(rsm_tsk(tskid));
			break;
		case 'x':
			syslog(LOG_INFO, "#ras_tex(%d, 0x0001U)", tskno);
			SVC_PERROR(ras_tex(tskid, 0x0001U));
			break;
		case 'X':
			syslog(LOG_INFO, "#ras_tex(%d, 0x0002U)", tskno);
			SVC_PERROR(ras_tex(tskid, 0x0002U));
			break;
		case 'r':
			syslog(LOG_INFO, "#rot_rdq(three priorities)");
			SVC_PERROR(rot_rdq(HIGH_PRIORITY));
			SVC_PERROR(rot_rdq(MID_PRIORITY));
			SVC_PERROR(rot_rdq(LOW_PRIORITY));
			break;
		case 'c':
			syslog(LOG_INFO, "#sta_cyc(1)");
			SVC_PERROR(sta_cyc(CYCHDR1));
			break;
		case 'C':
			syslog(LOG_INFO, "#stp_cyc(1)");
			SVC_PERROR(stp_cyc(CYCHDR1));
			break;
		case 'b':
			syslog(LOG_INFO, "#sta_alm(1, 5000)");
			SVC_PERROR(sta_alm(ALMHDR1, 5000));
			break;
		case 'B':
			syslog(LOG_INFO, "#stp_alm(1)");
			SVC_PERROR(stp_alm(ALMHDR1));
			break;

		case 'V':
#ifdef TOPPERS_SUPPORT_GET_UTM
			SVC_PERROR(get_utm(&utime1));
			SVC_PERROR(get_utm(&utime2));
			syslog(LOG_NOTICE, "utime1 = %ld, utime2 = %ld",
										(ulong_t) utime1, (ulong_t) utime2);
#else /* TOPPERS_SUPPORT_GET_UTM */
			syslog(LOG_NOTICE, "get_utm is not supported.");
#endif /* TOPPERS_SUPPORT_GET_UTM */
			break;

		case 'v':
			SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO),
										LOG_UPTO(LOG_EMERG)));
			break;
		case 'q':
			SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_NOTICE),
										LOG_UPTO(LOG_EMERG)));
			break;

#ifdef BIT_KERNEL
		case ' ':
			SVC_PERROR(loc_cpu());
			{
				extern ER	bit_kernel(void);

				SVC_PERROR(ercd = bit_kernel());
				if (ercd >= 0) {
					syslog(LOG_NOTICE, "bit_kernel passed.");
				}
			}
			SVC_PERROR(unl_cpu());
			break;
#endif /* BIT_KERNEL */

		default:
			break;
		}
	} while (c != '\003' && c != 'Q');

	syslog(LOG_NOTICE, "Sample program ends.");
	SVC_PERROR(ext_ker());
	assert(0);
}
Beispiel #15
0
/*
 *  main task
 */
void main_task(intptr_t exinf)
{
	char_t	c;
	ID		tskid = TASK1;
	int_t	tskno = 1;
	ER_UINT	ercd;
	PRI		tskpri;
#ifndef TASK_LOOP
	volatile ulong_t	i;
	SYSTIM	stime1, stime2;
#endif /* TASK_LOOP */
#ifdef TOPPERS_SUPPORT_GET_UTM
	SYSUTM	utime1, utime2;
#endif /* TOPPERS_SUPPORT_GET_UTM */

	SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG)));
	syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);

	/*
	 *  initialize the serial port
	 *
	 *  If the same serial port is shared between main task and system
	 *  log task. As this serial port is already opened in system log
	 *  task, serial_opn_por will return E_OBJ which is not a real
	 *  error.
	 */
	ercd = serial_opn_por(TASK_PORTID);
	if (ercd < 0 && MERCD(ercd) != E_OBJ) {
		syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.",
									itron_strerror(ercd), SERCD(ercd));
	}
	SVC_PERROR(serial_ctl_por(TASK_PORTID,
							(IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV)));

	/*
 	 *  adjustment of task_loop.
	 *
	 *  If TASK_LOOP is defined, the adjustment of task_loop will not be
	 *  done.
	 *
	 *  If MEASURE_TWICE is defined, 2 measurements are made. The 2nd
	 *  result is adopted as the 1st is a little longer than the 2nd.
	 */
#ifdef TASK_LOOP
	task_loop = TASK_LOOP;
#else /* TASK_LOOP */

#ifdef MEASURE_TWICE
	task_loop = LOOP_REF;
	SVC_PERROR(get_tim(&stime1));
	for (i = 0; i < task_loop; i++);
	SVC_PERROR(get_tim(&stime2));
#endif /* MEASURE_TWICE */

	task_loop = LOOP_REF;
	SVC_PERROR(get_tim(&stime1));
	for (i = 0; i < task_loop; i++);
	SVC_PERROR(get_tim(&stime2));
	task_loop = LOOP_REF * 400UL / (stime2 - stime1);

#endif /* TASK_LOOP */
	tex_loop = task_loop / 5;

	/*
 	 *  activate the target tasks
	 */
	SVC_PERROR(act_tsk(TASK1));
	SVC_PERROR(act_tsk(TASK2));
	SVC_PERROR(act_tsk(TASK3));

	/*
 	 *  main loop
	 */
	do {
		SVC_PERROR(serial_rea_dat(TASK_PORTID, &c, 1));
		switch (c) {
		case 'e':
		case 's':
		case 'S':
		case 'd':
		case 'y':
		case 'Y':
		case 'z':
		case 'Z':
			message[tskno-1] = c;
			break;
		case '1':
			tskno = 1;
			tskid = TASK1;
			break;
		case '2':
			tskno = 2;
			tskid = TASK2;
			break;
		case '3':
			tskno = 3;
			tskid = TASK3;
			break;
		case 'a':
			syslog(LOG_INFO, "#act_tsk(%d)", tskno);
			SVC_PERROR(act_tsk(tskid));
			break;
		case 'A':
			syslog(LOG_INFO, "#can_act(%d)", tskno);
			SVC_PERROR(ercd = can_act(tskid));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "can_act(%d) returns %d", tskno, ercd);
			}
			break;
		case 't':
			syslog(LOG_INFO, "#ter_tsk(%d)", tskno);
			SVC_PERROR(ter_tsk(tskid));
			break;
		case '>':
			syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, HIGH_PRIORITY));
			break;
		case '=':
			syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, MID_PRIORITY));
			break;
		case '<':
			syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, LOW_PRIORITY));
			break;
		case 'G':
			syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno);
			SVC_PERROR(ercd = get_pri(tskid, &tskpri));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "priority of task %d is %d", tskno, tskpri);
			}
			break;
		case 'w':
			syslog(LOG_INFO, "#wup_tsk(%d)", tskno);
			SVC_PERROR(wup_tsk(tskid));
			break;
		case 'W':
			syslog(LOG_INFO, "#can_wup(%d)", tskno);
			SVC_PERROR(ercd = can_wup(tskid));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "can_wup(%d) returns %d", tskno, ercd);
			}
			break;
		case 'l':
			syslog(LOG_INFO, "#rel_wai(%d)", tskno);
			SVC_PERROR(rel_wai(tskid));
			break;
		case 'u':
			syslog(LOG_INFO, "#sus_tsk(%d)", tskno);
			SVC_PERROR(sus_tsk(tskid));
			break;
		case 'm':
			syslog(LOG_INFO, "#rsm_tsk(%d)", tskno);
			SVC_PERROR(rsm_tsk(tskid));
			break;
		case 'x':
			syslog(LOG_INFO, "#ras_tex(%d, 0x0001U)", tskno);
			SVC_PERROR(ras_tex(tskid, 0x0001U));
			break;
		case 'X':
			syslog(LOG_INFO, "#ras_tex(%d, 0x0002U)", tskno);
			SVC_PERROR(ras_tex(tskid, 0x0002U));
			break;
		case 'r':
			syslog(LOG_INFO, "#rot_rdq(three priorities)");
			SVC_PERROR(rot_rdq(HIGH_PRIORITY));
			SVC_PERROR(rot_rdq(MID_PRIORITY));
			SVC_PERROR(rot_rdq(LOW_PRIORITY));
			break;
		case 'c':
			syslog(LOG_INFO, "#sta_cyc(1)");
			SVC_PERROR(sta_cyc(CYCHDR1));
			break;
		case 'C':
			syslog(LOG_INFO, "#stp_cyc(1)");
			SVC_PERROR(stp_cyc(CYCHDR1));
			break;
		case 'b':
			syslog(LOG_INFO, "#sta_alm(1, 5000)");
			SVC_PERROR(sta_alm(ALMHDR1, 5000));
			break;
		case 'B':
			syslog(LOG_INFO, "#stp_alm(1)");
			SVC_PERROR(stp_alm(ALMHDR1));
			break;

		case 'V':
#ifdef TOPPERS_SUPPORT_GET_UTM
			SVC_PERROR(get_utm(&utime1));
			SVC_PERROR(get_utm(&utime2));
			syslog(LOG_NOTICE, "utime1 = %ld, utime2 = %ld",
										(ulong_t) utime1, (ulong_t) utime2);
#else /* TOPPERS_SUPPORT_GET_UTM */
			syslog(LOG_NOTICE, "get_utm is not supported.");
#endif /* TOPPERS_SUPPORT_GET_UTM */
			break;

		case 'v':
			SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO),
										LOG_UPTO(LOG_EMERG)));
			break;
		case 'q':
			SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_NOTICE),
										LOG_UPTO(LOG_EMERG)));
			break;

#ifdef BIT_KERNEL
		case ' ':
			SVC_PERROR(loc_cpu());
			{
				extern ER	bit_kernel(void);

				SVC_PERROR(ercd = bit_kernel());
				if (ercd >= 0) {
					syslog(LOG_NOTICE, "bit_kernel passed.");
				}
			}
			SVC_PERROR(unl_cpu());
			break;
#endif /* BIT_KERNEL */

		default:
			break;
		}
	} while (c != '\003' && c != 'Q');

	syslog(LOG_NOTICE, "Sample program ends.");
	SVC_PERROR(ext_ker());
	assert(0);
}