void
cpuexc_handler(void *p_excinf)
{
syslog(LOG_NOTICE, "CPU exception handler (p_excinf = %08p).", p_excinf);
if (sns_ctx() != true) {
syslog(LOG_WARNING,
"sns_ctx() is not true in CPU exception handler.");
}
if (sns_dpn() != true) {
syslog(LOG_WARNING,
"sns_dpn() is not true in CPU exception handler.");
}
syslog(LOG_INFO, "sns_loc = %d sns_dsp = %d xsns_dpn = %d",
sns_loc(), sns_dsp(), xsns_dpn(p_excinf));
if (xsns_dpn(p_excinf)) {
syslog(LOG_NOTICE, "Sample program ends with exception.");
SVC_PERROR(ext_ker());
assert(0);
}
#ifdef PREPARE_RETURN_CPUEXC
PREPARE_RETURN_CPUEXC;
SVC_PERROR(get_tid(&cpuexc_tskid));
SVC_PERROR(act_tsk(EXC_TASK));
#else /* PREPARE_RETURN_CPUEXC */
syslog(LOG_NOTICE, "Sample program ends with exception.");
SVC_PERROR(ext_ker());
assert(0);
#endif /* PREPARE_RETURN_CPUEXC */
}
/*
* メインタスク
*/
void main_task(intptr_t exinf)
{
syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);
/* GPIO0のLED制御ピンを出力にする */
GPIO_SetDir(
0, // GPIOポート番号
LEDMASK, // 操作するビットマスク
1 // 設定する値
);
while(1)
{
/* 500m秒待つ */
SVC_PERROR(tslp_tsk(500));
/* LED制御ピンをLにする */
GPIO_ClearValue(
0, // GPIOポート番号
LEDMASK // 操作するビットマスク
);
/* 500m秒待つ */
SVC_PERROR(tslp_tsk(500));
/* LED制御ピンをHにする */
GPIO_SetValue(
0, // GPIOポート番号
LEDMASK // 操作するビットマスク
);
}
syslog(LOG_NOTICE, "Sample program ends.");
SVC_PERROR(ext_ker());
assert(0);
}
void
cpuexc_handler(void *p_excinf)
{
ID tskid;
syslog(LOG_NOTICE, "CPU exception handler (p_excinf = %08p).", p_excinf);
if (sns_ctx() != true) {
syslog(LOG_WARNING,
"sns_ctx() is not true in CPU exception handler.");
}
if (sns_dpn() != true) {
syslog(LOG_WARNING,
"sns_dpn() is not true in CPU exception handler.");
}
syslog(LOG_INFO, "sns_loc = %d sns_dsp = %d sns_tex = %d",
sns_loc(), sns_dsp(), sns_tex());
syslog(LOG_INFO, "xsns_dpn = %d xsns_xpn = %d",
xsns_dpn(p_excinf), xsns_xpn(p_excinf));
if (xsns_xpn(p_excinf)) {
syslog(LOG_NOTICE, "Sample program ends with exception.");
SVC_PERROR(ext_ker());
assert(0);
}
SVC_PERROR(iget_tid(&tskid));
SVC_PERROR(iras_tex(tskid, 0x8000U));
}
/*
* アラームハンドラ
*
* HIGH_PRIORITY，MID_PRIORITY，LOW_PRIORITY の各優先度のレディキュー
* を回転させる．
*/
void alarm_handler(intptr_t exinf)
{
ID prcid = exinf;
syslog(LOG_NOTICE, "alarm_handler %d start!", exinf);
SVC_PERROR(imrot_rdq(HIGH_PRIORITY, prcid));
SVC_PERROR(imrot_rdq(MID_PRIORITY, prcid));
SVC_PERROR(imrot_rdq(LOW_PRIORITY, prcid));
}
/*
* 駆動ハンドラ
* 機能: 駆動タスクを起床する
*/
void
nxtrike_drive_handler(intptr_t exinf)
{
//iwup_tsk(NXTRIKE_DRIVE_TASK);
while (1) {
SVC_PERROR(wup_tsk(NXTRIKE_DRIVE_TASK));
SVC_PERROR(tslp_tsk(NXTRIKE_DRIVE_HANDLER_T));
}
}
static void initialize(intptr_t unused) {
btstack_memory_init();
hardware_initialize();
SVC_PERROR(act_tsk(BT_TSK));
SVC_PERROR(act_tsk(BT_QOS_TSK));
#if defined(DEBUG)
syslog(LOG_NOTICE, "bluetooth_dri initialized.");
#endif
}
/*
* 並行実行されるタスク
*/
void task(intptr_t exinf)
{
volatile ulong_t i;
int_t n = 0;
int_t tskno = (int_t) exinf;
const char *graph[] = { "|", " +", " *" };
char c;
SVC_PERROR(ena_tex());
while (true) {
syslog(LOG_NOTICE, "task%d is running (%03d). %s",
tskno, ++n, graph[tskno-1]);
for (i = 0; i < task_loop; i++);
c = message[tskno-1];
message[tskno-1] = 0;
switch (c) {
case 'e':
syslog(LOG_INFO, "#%d#ext_tsk()", tskno);
SVC_PERROR(ext_tsk());
assert(0);
case 's':
syslog(LOG_INFO, "#%d#slp_tsk()", tskno);
SVC_PERROR(slp_tsk());
break;
case 'S':
syslog(LOG_INFO, "#%d#tslp_tsk(10000)", tskno);
SVC_PERROR(tslp_tsk(10000));
break;
case 'd':
syslog(LOG_INFO, "#%d#dly_tsk(10000)", tskno);
SVC_PERROR(dly_tsk(10000));
break;
case 'y':
syslog(LOG_INFO, "#%d#dis_tex()", tskno);
SVC_PERROR(dis_tex());
break;
case 'Y':
syslog(LOG_INFO, "#%d#ena_tex()", tskno);
SVC_PERROR(ena_tex());
break;
#ifdef CPUEXC1
case 'z':
syslog(LOG_NOTICE, "#%d#raise CPU exception", tskno);
RAISE_CPU_EXCEPTION;
break;
case 'Z':
SVC_PERROR(loc_cpu());
syslog(LOG_NOTICE, "#%d#raise CPU exception", tskno);
RAISE_CPU_EXCEPTION;
SVC_PERROR(unl_cpu());
break;
#endif /* CPUEXC1 */
default:
break;
}
}
}
ER load_application(const void *mod_data, SIZE mod_data_sz) {
ER ercd;
// ev3_led_set_color(LED_GREEN);
// chg_status(STATUS_RUNNING);
#if 0
// Wait for pressing center button
SYSTIM time = 0;
uint32_t ledcolor = 0;
syslog(LOG_NOTICE, "Press center button to run the application.");
while(!global_brick_info.button_pressed[BRICK_BUTTON_ENTER]) {
SYSTIM newtime;
get_tim(&newtime);
if (newtime - time > 500) { // Blink LED
brick_misc_command(MISCCMD_SET_LED, ledcolor);
ledcolor ^= TA_LED_RED | TA_LED_GREEN;
time = newtime;
}
}
while(global_brick_info.button_pressed[BRICK_BUTTON_ENTER]) {
SYSTIM newtime;
get_tim(&newtime);
if (newtime - time > 500) { // Blink LED
brick_misc_command(MISCCMD_SET_LED, ledcolor);
ledcolor ^= TA_LED_RED | TA_LED_GREEN;
time = newtime;
}
}
#endif
brick_misc_command(MISCCMD_SET_LED, TA_LED_GREEN);
platform_soft_reset();
ercd = dmloader_ins_ldm(mod_data, mod_data_sz, 1);
if (ercd != E_OK) {
syslog(LOG_ERROR, "Failed to load application, ercd: %d", ercd);
} else {
app_loaded = true;
SVC_PERROR(sta_alm(APP_TER_BTN_ALM, 0));
SVC_PERROR(wai_sem(APP_TER_SEM));
syslog(LOG_NOTICE, "Terminate application.");
SVC_PERROR(dmloader_rmv_ldm(1));
brick_misc_command(MISCCMD_SET_LED, TA_LED_GREEN);
}
// chg_status(STATUS_IDLE);
platform_soft_reset();
tslp_tsk(500);
return ercd;
}
static void initialize(intptr_t unused) {
/**
* Initialize frame buffers
*/
static bitmap_t console_bitmap;
static uint8_t lcd_console_fb_vmem[((WIDTH + 2) / 3 * HEIGHT)];
console_bitmap.height = HEIGHT;
console_bitmap.width = WIDTH;
console_bitmap.pixels = lcd_console_fb_vmem;
ev3rt_console_fb = &console_bitmap;
lcd_screen_fb = &lcd_screen;
on_display_fb = lcd_screen_fb;
initialize_lcd_font();
initialize_lcd_spi();
st7586fb_probe(&spidev);
st7586fb_ioctl(spidev.drvdata, FB_ST7586_INIT_DISPLAY, 0);
st7586fb_ioctl(spidev.drvdata, FB_ST7586_START_DISPLAY, 0);
lcd_screen.pixels = ((struct fb_info *)(spidev.drvdata))->screen_base;
lcd_screen.height = HEIGHT;
lcd_screen.width = WIDTH;
global_brick_info.lcd_screen = &lcd_screen;
SVC_PERROR(act_tsk(LCD_REFRESH_TSK));
}
void initialize_console_dri() {
/**
* Fill dummy lines in log buffer with spaces
*/
for (int i = 0; i < CONSOLE_LOG_VIEW_LINES; ++i)
for (int j = 0; j < CONSOLE_LOG_VIEW_LINE_WIDTH; ++j)
log_buffer[i][j] = ' ';
/**
* Draw title
*/
int offset_x;
if (strlen("EV3RT Console") * CONSOLE_TITLE_FONT_WIDTH > 178 /* screen width */)
offset_x = 0;
else
offset_x = (178 /* screen width */ - strlen("EV3RT Console") * CONSOLE_TITLE_FONT_WIDTH) / 2;
bitmap_bitblt(NULL, 0, 0, ev3rt_console_fb, 0, CONSOLE_TITLE_AREA_Y, 178 /* screen width */, CONSOLE_TITLE_FONT_HEIGHT, ROP_SET); // Clear
bitmap_draw_string("EV3RT Console", ev3rt_console_fb, offset_x, CONSOLE_TITLE_AREA_Y, CONSOLE_TITLE_FONT, ROP_COPYINVERTED);
// syslog(LOG_NOTICE, "%s", cm->title);
/**
* Draw menu
*/
console_menu_perform_action(CONSOLE_MENU_ACT_RESET);
/**
* Active by default
*/
SVC_PERROR(set_flg(console_button_flag, 1 << BRICK_BUTTON_BACK));
}
void test_ev3_cychdr(intptr_t idx) {
ev3_lcd_fill_rect(0, fonth * idx, EV3_LCD_WIDTH, fonth, EV3_LCD_WHITE);
char buf[100];
sprintf(buf, "EV3CYC %d count %d", idx, ++count[idx]);
ev3_lcd_draw_string(buf, 0, fonth * idx);
SVC_PERROR(tslp_tsk(10));
}
/*
* タッチセンサハンドラ
*/
void nxtrike_touch_sensor_handler(intptr_t exinf)
{
//nxtrike_touch_sensor_value ^= (sensor_adc(TOUCH_SENSOR) < 512);
while (1) {
nxtrike_touch_sensor_value = ev3_touch_sensor_is_pressed(touch_sensor);
SVC_PERROR(tslp_tsk(NXTRIKE_TOUCH_SENSOR_HANDLER_T));
}
}
void initialize_lcd_dri() {
initialize(0);
softreset(0);
ev3_driver_t driver;
driver.init_func = NULL;
driver.softreset_func = softreset;
SVC_PERROR(platform_register_driver(&driver));
}
/*
* 並行実行されるタスク
*/
void task(intptr_t exinf)
{
volatile ulong_t i;
int_t n = 0;
int_t tskno = (int_t) (exinf);
const char *graph[] = { "|", " +", " *", "||", " ++", " **" };
char_t c;
while (1) {
syslog(LOG_NOTICE, "task%d is running (%03d). %s",
tskno, ++n, graph[tskno-1]);
for (i = 0; i < task_loop; i++);
c = message[tskno-1];
message[tskno-1] = 0;
switch (c) {
case 'e':
syslog(LOG_INFO, "#%d#ext_tsk()", tskno);
SVC_PERROR(ext_tsk());
assert(0);
case 's':
syslog(LOG_INFO, "#%d#slp_tsk()", tskno);
SVC_PERROR(slp_tsk());
break;
case 'S':
syslog(LOG_INFO, "#%d#tslp_tsk(10000)", tskno);
SVC_PERROR(tslp_tsk(10000));
break;
case 'd':
syslog(LOG_INFO, "#%d#dly_tsk(10000)", tskno);
SVC_PERROR(dly_tsk(10000));
break;
case 'g':
syslog(LOG_INFO, "#%d#mig_tsk(0,%d)", tskno,tsk_mig_prc);
SVC_PERROR(mig_tsk(0,tsk_mig_prc));
break;
default:
break;
}
}
}
void
tcpClient_main(intptr_t exinf) {
EthernetInterface network;
TCPSocketConnection socket;
/* syslogの設定 */
SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG)));
syslog(LOG_NOTICE, "tcpClient:");
syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);
syslog(LOG_NOTICE, "LOG_NOTICE: Network Setting up...");
#if (USE_DHCP == 1)
if (network.init() != 0) { //for DHCP Server
#else
if (network.init(IP_ADDRESS, SUBNET_MASK, DEFAULT_GATEWAY) != 0) { //for Static IP Address (IPAddress, NetMasks, Gateway)
#endif
syslog(LOG_NOTICE, "Network Initialize Error");
return;
}
syslog(LOG_NOTICE, "Network was initialized successfully");
while (network.connect(5000) != 0) {
syslog(LOG_NOTICE, "LOG_NOTICE: Network Connect Error");
}
syslog(LOG_NOTICE, "MAC Address is %s", network.getMACAddress());
syslog(LOG_NOTICE, "IP Address is %s", network.getIPAddress());
syslog(LOG_NOTICE, "NetMask is %s", network.getNetworkMask());
syslog(LOG_NOTICE, "Gateway Address is %s", network.getGateway());
syslog(LOG_NOTICE, "Network Setup OK...");
while (socket.connect(SERVER, HTTP_PORT) < 0) {
syslog(LOG_EMERG, "Unable to connect to (%s) on port (%d)", SERVER, HTTP_PORT);
wait(1.0);
}
ClientGreet(&socket);
socket.close();
syslog(LOG_NOTICE, "program end");
}
// set mac address
void mbed_mac_address(char *mac) {
// PEACH1
mac[0] = 0x00;
mac[1] = 0x02;
mac[2] = 0xF7;
mac[3] = 0xF0;
mac[4] = 0x00;
mac[5] = 0x00;
}
/*
* 並行して実行されるタスク用のタスク例外処理ルーチン
*/
void tex_routine(TEXPTN texptn, intptr_t exinf)
{
volatile ulong_t i;
int_t tskno = (int_t) exinf;
syslog(LOG_NOTICE, "task%d receives exception 0x%04x.", tskno, texptn);
for (i = 0; i < tex_loop; i++);
if ((texptn & 0x8000U) != 0U) {
syslog(LOG_INFO, "#%d#ext_tsk()", tskno);
SVC_PERROR(ext_tsk());
assert(0);
}
}
ER load_application(const void *mod_data, SIZE mod_data_sz) {
ER ercd;
real_kernel_evt_hdr = kernel_evt_hdr;
ev3_motors_init(NONE_MOTOR, NONE_MOTOR, NONE_MOTOR, NONE_MOTOR);
handle_btn_clicked = false;
ev3_led_set_color(LED_GREEN);
chg_status(STATUS_RUNNING);
ercd = dmloader_ins_ldm(mod_data, mod_data_sz, 1);
if (ercd != E_OK) {
syslog(LOG_ERROR, "Failed to load app, ercd: %d", ercd);
} else {
SVC_PERROR(wai_sem(APP_TER_SEM));
syslog(LOG_NOTICE, "HERE dmloader_rmv_ldm");
SVC_PERROR(dmloader_rmv_ldm(1));
}
chg_status(STATUS_IDLE);
for(ID i = EV3_PORT_A; i <= EV3_PORT_D; i++)
ev3_motor_config(i, NONE_MOTOR);
return ercd;
}
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();
}
/*
* 並行実行されるタスク
*/
void task(intptr_t exinf)
{
volatile ulong_t i;
int_t n = 0;
int_t tskno = (int_t) exinf;
const char *graph[] = { "| ", " + ", " *" };
char c;
#ifdef TOPPERS_SUPPORT_OVRHDR
T_ROVR pk_rovr;
#endif /* TOPPERS_SUPPORT_OVRHDR */
while (true) {
#ifdef TOPPERS_SUPPORT_OVRHDR
SVC_PERROR(ref_ovr(TSK_SELF, &pk_rovr));
if ((pk_rovr.ovrstat & TOVR_STA) != 0) {
syslog(LOG_NOTICE, "task%d is running (%03d). %s [%ld]",
tskno, ++n, graph[tskno-1], pk_rovr.leftotm);
}
else {
syslog(LOG_NOTICE, "task%d is running (%03d). %s",
tskno, ++n, graph[tskno-1]);
}
#else /* TOPPERS_SUPPORT_OVRHDR */
syslog(LOG_NOTICE, "task%d is running (%03d). %s",
tskno, ++n, graph[tskno-1]);
#endif /* TOPPERS_SUPPORT_OVRHDR */
for (i = 0; i < task_loop; i++);
c = message[tskno-1];
message[tskno-1] = 0;
switch (c) {
case 'e':
syslog(LOG_INFO, "#%d#ext_tsk()", tskno);
SVC_PERROR(ext_tsk());
assert(0);
case 's':
syslog(LOG_INFO, "#%d#slp_tsk()", tskno);
SVC_PERROR(slp_tsk());
break;
case 'S':
syslog(LOG_INFO, "#%d#tslp_tsk(10000000)", tskno);
SVC_PERROR(tslp_tsk(10000000));
break;
case 'd':
syslog(LOG_INFO, "#%d#dly_tsk(10000000)", tskno);
SVC_PERROR(dly_tsk(10000000));
break;
case 'y':
syslog(LOG_INFO, "#%d#dis_ter()", tskno);
SVC_PERROR(dis_ter());
break;
case 'Y':
syslog(LOG_INFO, "#%d#ena_ter()", tskno);
SVC_PERROR(ena_ter());
break;
#ifdef CPUEXC1
case 'z':
syslog(LOG_NOTICE, "#%d#raise CPU exception", tskno);
RAISE_CPU_EXCEPTION;
break;
case 'Z':
SVC_PERROR(loc_cpu());
syslog(LOG_NOTICE, "#%d#raise CPU exception", tskno);
RAISE_CPU_EXCEPTION;
SVC_PERROR(unl_cpu());
break;
#endif /* CPUEXC1 */
default:
break;
}
}
}
/*
* 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);
}
/*
* 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);
}
/*
* 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);
}
/*
* 例外処理タスク
*/
void exc_task(intptr_t exinf)
{
SVC_PERROR(ras_ter(cpuexc_tskid));
}
void initialize_i2c_dri(intptr_t unused) {
ev3_driver_t driver;
driver.init_func = initialize;
driver.softreset_func = NULL;
SVC_PERROR(platform_register_driver(&driver));
}
/**
* Application task wrapper
* \param exinf Pointer of actual T_CTSK
*/
static void app_tsk_wrapper(intptr_t exinf) {
const T_CTSK *pk_ctsk = (const T_CTSK *)exinf;
SVC_PERROR(ena_tex());
pk_ctsk->task(pk_ctsk->exinf);
}
/*
* 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);
}
/*
* アラームハンドラ
*
* HIGH_PRIORITY，MID_PRIORITY，LOW_PRIORITY の各優先度のレディキュー
* を回転させる．
*/
void alarm_handler(intptr_t exinf)
{
SVC_PERROR(rot_rdq(HIGH_PRIORITY));
SVC_PERROR(rot_rdq(MID_PRIORITY));
SVC_PERROR(rot_rdq(LOW_PRIORITY));
}
/*
* 周期ハンドラ
*
* HIGH_PRIORITY，MID_PRIORITY，LOW_PRIORITY の各優先度のレディキュー
* を回転させる．
*/
void cyclic_handler(intptr_t exinf)
{
SVC_PERROR(irot_rdq(HIGH_PRIORITY));
SVC_PERROR(irot_rdq(MID_PRIORITY));
SVC_PERROR(irot_rdq(LOW_PRIORITY));
}
/*
* 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);
}
void ev3_main_task(intptr_t exinf) {
ER_UINT ercd;
// Pause application at first
platform_pause_application(true);
/**
* Initialize FatFS
*/
initialize_fatfs_dri();
/**
* Load configurations
*/
ev3rt_load_configuration();
/**
* Initialize LCD
*/
initialize_lcd_dri();
/**
* Initialize EV3RT console and open its SIO port.
*/
initialize_console_dri();
ercd = serial_opn_por(SIO_PORT_LCD);
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(SIO_PORT_LCD, IOCTL_NULL));
platform_pause_application(false);
is_initialized = false;
// syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);
/**
* Initialize all drivers
*/
for(uint32_t i = 0; i < tnum_drivers; ++i)
if (drivers[i].init_func != NULL) drivers[i].init_func(0);
platform_soft_reset();
// Banner
syslog(LOG_NOTICE, "");
syslog(LOG_NOTICE, "");
syslog(LOG_NOTICE, "");
syslog(LOG_NOTICE, "");
syslog(LOG_NOTICE, " _____ ______ ___ ______");
syslog(LOG_NOTICE, " / __/ | / /_ // _ \/_ __/");
syslog(LOG_NOTICE, " / _/ | |/ //_ </ , _/ / /");
syslog(LOG_NOTICE, "/___/ |___/____/_/|_| /_/");
syslog(LOG_NOTICE, "=============================");
syslog(LOG_NOTICE, "Powered by TOPPERS/HRP2 RTOS");
syslog(LOG_NOTICE, "Initialization is completed..");
platform_pause_application(true);
is_initialized = true;
brick_misc_command(MISCCMD_SET_LED, TA_LED_GREEN);
#if 0 // Legacy code
initialize_analog_dri();
initialize_uart_dri();
initialize_motor_dri();
initialize_sound_dri();
initialize_fatfs_dri();
// initialize_ev3();
// syslog(LOG_ERROR, "TEST ZMODEM");
// uint8_t c;
// while(1) {
// serial_rea_dat(SIO_PORT_UART, &c, 1);
// ER ercd;
// switch (c) {
// case 'r':
// ercd = zmodem_recv_file(app_text_mempool, sizeof(app_text_mempool));
// syslog(LOG_ERROR, "ZMODEM ercd = %d.", ercd);
// break;
// default:
// syslog(LOG_ERROR, "Key %c pressed.", c);
// }
// }
//EV3::ev3 = new EV3::EV3();
//#define TEST_ANALOG_SENSOR
//
//#ifdef TEST_ANALOG_SENSOR
// while(1) {
// /*
// * Debug Analog Port 2
// */
// int sv = analog_get_short(1);
// printk("Sensor PIN1: %d\n", sv);
// printk("Sensor PIN6: %d\n", analog_get_short_pin6(1));
//
// GPIO67.OUT_DATA ^= GPIO_ED_PIN7 | GPIO_ED_PIN14;
// target_fput_log('H');
// target_fput_log('E');
// target_fput_log('R');
// target_fput_log('E');
// target_fput_log('\n');
// tslp_tsk(1000);
// }
//#endif
//#ifdef TEST_UART
// //init_pwm();
// //ev3_motor_set_speed(PortA, 50);
// //tslp_tsk(3000);
// //ev3_motor_brake(PortA, true);
// init_uart();
// while(1) {
// /*
// * Debug UART Port 2
// */
// int sv = uart_get_short(1);
// printk("Sensor value: %d\n", sv);
//
// GPIO67.OUT_DATA ^= GPIO_ED_PIN7 | GPIO_ED_PIN14;
// target_fput_log('H');
// target_fput_log('E');
// target_fput_log('R');
// target_fput_log('E');
// target_fput_log('\n');
// tslp_tsk(1000);
// }
//#endif
#endif
}
