void
task1(intptr_t exinf)
{
ER ercd;
check_point(1);
ercd = act_tsk(TASK2);
check_ercd(ercd, E_OK);
check_point(3);
ercd = act_tsk(TASK3);
check_ercd(ercd, E_OK);
check_point(4);
ercd = act_tsk(TASK4);
check_ercd(ercd, E_OK);
check_point(5);
ercd = slp_tsk();
check_ercd(ercd, E_OK);
check_point(9);
ercd = act_tsk(TASK5);
check_ercd(ercd, E_OK);
check_point(10);
ercd = act_tsk(TASK6);
check_ercd(ercd, E_OK);
check_point(11);
ercd = sus_tsk(TASK6);
check_ercd(ercd, E_OK);
check_point(12);
ercd = sus_tsk(TASK5);
check_ercd(ercd, E_OK);
check_point(13);
ercd = rsm_tsk(TASK5);
check_ercd(ercd, E_OK);
check_point(14);
ercd = rsm_tsk(TASK6);
check_ercd(ercd, E_OK);
check_point(15);
ercd = slp_tsk();
check_ercd(ercd, E_OK);
check_point(31);
ercd = slp_tsk();
check_ercd(ercd, E_OK);
check_finish(38);
check_point(0);
}
/*
* 計測ルーチン
*/
void
perf_eval(uint_t n)
{
uint_t i, j;
init_hist(1, MAX_TIME, histarea1);
sus_tsk(LOGTASK); /* システムログタスクの動作を止める */
for (i = 0; i < NO_MEASURE; i++) {
ini_flg(FLG1);
for (j = 0; j < n; j++) {
act_tsk(task_list[j]);
}
chg_pri(TSK_SELF, MAIN_PRIORITY_LOW);
/* タスクが待ち状態に入るのを待つ */
chg_pri(TSK_SELF, TPRI_INI);
begin_measure(1);
set_flg(FLG1, 0x01U);
end_measure(1);
chg_pri(TSK_SELF, MAIN_PRIORITY_LOW);
/* タスクが終了するのを待つ */
chg_pri(TSK_SELF, TPRI_INI);
}
rsm_tsk(LOGTASK); /* システムログタスクの動作を再開する */
syslog_1(LOG_NOTICE, "Execution times of set_flg"
" when %d tasks are released from waiting.", n);
print_hist(1);
logtask_flush(0U);
}
void
task6(intptr_t exinf)
{
ER ercd;
check_point(17);
ercd = dis_dsp();
check_ercd(ercd, E_OK);
check_point(18);
ercd = wup_tsk(TASK1);
check_ercd(ercd, E_OK);
check_point(19);
ercd = wup_tsk(TASK2);
check_ercd(ercd, E_OK);
check_point(20);
ercd = sus_tsk(TASK2);
check_ercd(ercd, E_OK);
check_point(21);
ercd = wup_tsk(TASK3);
check_ercd(ercd, E_OK);
check_point(22);
ercd = wup_tsk(TASK4);
check_ercd(ercd, E_OK);
check_point(23);
ercd = sus_tsk(TASK1);
check_ercd(ercd, E_OK);
check_point(24);
ercd = ena_dsp();
check_ercd(ercd, E_OK);
check_point(27);
ercd = dis_dsp();
check_ercd(ercd, E_OK);
check_point(28);
ercd = rsm_tsk(TASK1);
check_ercd(ercd, E_OK);
check_point(29);
ercd = wup_tsk(TASK5);
check_ercd(ercd, E_OK);
check_point(30);
ercd = ena_dsp();
check_ercd(ercd, E_OK);
check_point(32);
ercd = slp_tsk();
check_ercd(ercd, E_OK);
check_point(0);
}
void
task1(intptr_t exinf)
{
ER_UINT ercd;
test_start(__FILE__);
check_point(1);
ercd = act_tsk(TASK2);
check_ercd(ercd, E_OK);
check_point(6);
ercd = chg_pri(TASK3, HIGH_PRIORITY);
check_ercd(ercd, E_NOSPT);
check_point(7);
ercd = wup_tsk(TASK3);
check_ercd(ercd, E_NOSPT);
check_point(8);
ercd = can_wup(TASK3);
check_ercd(ercd, E_NOSPT);
check_point(9);
ercd = rel_wai(TASK3);
check_ercd(ercd, E_NOSPT);
check_point(10);
ercd = sus_tsk(TASK3);
check_ercd(ercd, E_NOSPT);
check_point(11);
ercd = rsm_tsk(TASK3);
check_ercd(ercd, E_NOSPT);
check_point(12);
ercd = sta_alm(ALM1, 10);
check_ercd(ercd, E_OK);
check_point(13);
ercd = slp_tsk();
check_ercd(ercd, E_OK);
check_point(27);
ercd = act_tsk(TASK3);
check_ercd(ercd, E_OK);
check_point(28);
ercd = act_tsk(TASK4);
check_ercd(ercd, E_OK);
check_point(29);
ercd = act_tsk(TASK2);
check_ercd(ercd, E_OK);
check_finish(34);
check_point(0);
}
SYSCALL ER
frsm_tsk(ID tskid)
{
ER ercd;
LOG_FRSM_TSK_ENTER(tskid);
ercd = rsm_tsk(tskid);
LOG_FRSM_TSK_LEAVE(ercd);
return(ercd);
}
/*
* 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();
}
/*
* メインタスク（低優先度）
*/
void main_task(intptr_t exinf)
{
syslog_0(LOG_NOTICE, "Performance evaluation program (1)");
init_hist(1, MAX_TIME, histarea1);
init_hist(2, MAX_TIME, histarea2);
logtask_flush(0U);
sus_tsk(LOGTASK); /* システムログタスクの動作を止める */
act_tsk(TASK1);
act_tsk(TASK2);
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 wup_tsk -> slp_tsk");
print_hist(1);
syslog_0(LOG_NOTICE, "Execution times of slp_tsk -> wup_tsk");
print_hist(2);
ext_ker();
}
void
task3(intptr_t exinf)
{
ER ercd;
check_point(13);
ercd = sta_alm(ALM1, 10);
check_ercd(ercd, E_OK);
wait_var();
check_point(16);
ercd = sta_alm(ALM1, 10);
check_ercd(ercd, E_OK);
ercd = dis_dsp();
check_ercd(ercd, E_OK);
wait_var();
check_point(18);
ercd = ena_dsp();
check_ercd(ercd, E_OK);
check_point(20);
ercd = sta_alm(ALM1, 10);
check_ercd(ercd, E_OK);
ercd = sus_tsk(TASK1);
check_ercd(ercd, E_OK);
wait_var();
check_point(22);
ercd = rsm_tsk(TASK1);
check_ercd(ercd, E_OK);
check_point(26);
ercd = ext_tsk();
check_point(0);
}
/*
* 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);
}
static int __ui_rsm_tsk(struct pt_regs *regs)
{
ID tskid = __xn_reg_arg1(regs);
return rsm_tsk(tskid);
}
/*
* タスクコマンド
*/
static UW
task_command(B *command)
{
INT point=0;
B cmd=-1;
UW w;
int no, count;
BOOL result=TRUE;
ER ercd = E_OK;
if(current_tskid == MONTASK){ /* モニタ自体の制御はできない */
printf(" Can't control the monitor!!\n");
return 0;
}
count = sizeof(mon_task) / sizeof(struct SUBCOMMAND_TABLE);
if(command[point]){
for(no = 0 ; no < count ; no++){
if(compare_word(mon_task[no].subcommand, command, 0)){
skip_word(command, &point);
cmd = mon_task[no].type;
break;
}
}
}
switch(cmd){
case MONTASK_ACTIVE: /* 起動要求(act_tsk) */
ercd = act_tsk(current_tskid);
printf(" execute act_tsk(%d)", current_tskid);
break;
case MONTASK_TERM: /* 強制終了(ter_tsk) */
ercd = ter_tsk(current_tskid);
printf(" execute ter_tsk(%d)", current_tskid);
break;
case MONTASK_SUSPEND: /* 待ち要求(sus_tsk) */
ercd = sus_tsk(current_tskid);
printf(" execute sus_tsk(%d)", current_tskid);
break;
case MONTASK_RESUME: /* 待ち再開(rsm_tsk) */
ercd = rsm_tsk(current_tskid);
printf(" execute rsm_tsk(%d)", current_tskid);
break;
case MONTASK_RELEASE: /* 待ち解除(rel_wai) */
ercd = rel_wai(current_tskid);
printf(" execute rel_wai(%d)", current_tskid);
break;
case MONTASK_WAKEUP: /* タスク起床(wup_tsk) */
ercd = wup_tsk(current_tskid);
printf(" execute wup_tsk(%d)", current_tskid);
break;
case MONTASK_PRIORITY: /* 優先度変更(chg_pri) */
if(get_value(command, &point, &w, DEC_BASE)){
ercd = chg_pri(current_tskid, w);
printf(" execute chg_pri(%d, %d)", current_tskid, w);
}
else
result = FALSE;
break;
default:
result = FALSE;
break;
}
if(result){
printf(" :: result = %s !\n", (VP_INT)itron_strerror(ercd));
tslp_tsk(100); /* スイッチング */
}
return 0;
}
void main_task(intptr_t unused) {
ev3_lcd_set_font(EV3_FONT_MEDIUM);
ev3_font_get_size(EV3_FONT_MEDIUM, &fontw, &fonth);
memfile_t memfile;
ev3_memfile_load("/test.bmp", &memfile);
image_t image;
ev3_image_load(&memfile, &image);
ev3_lcd_draw_image(&image, 0, fonth * 2);
//ev3_sta_cyc(TEST_EV3_CYC1);
// Enable TEST_EV3_CYC2 for 5 seconds
ev3_sta_cyc(TEST_EV3_CYC2);
tslp_tsk(5000);
ev3_stp_cyc(TEST_EV3_CYC2);
#if 0
// Register button handlers
ev3_button_set_on_clicked(BACK_BUTTON, button_clicked_handler, BACK_BUTTON);
ev3_button_set_on_clicked(ENTER_BUTTON, button_clicked_handler, ENTER_BUTTON);
ev3_button_set_on_clicked(LEFT_BUTTON, button_clicked_handler, LEFT_BUTTON);
// Configure sensors
ev3_sensor_config(gyro_sensor, GYRO_SENSOR);
// Configure motors
ev3_motor_config(left_motor, LARGE_MOTOR);
ev3_motor_config(right_motor, LARGE_MOTOR);
// Start task for self-balancing
act_tsk(BALANCE_TASK);
// Open Bluetooth file
bt = ev3_serial_open_file(EV3_SERIAL_BT);
assert(bt != NULL);
// Start task for printing message while idle
act_tsk(IDLE_TASK);
while(1) {
uint8_t c = fgetc(bt);
sus_tsk(IDLE_TASK);
switch(c) {
case 'w':
if(motor_control_drive < 0)
motor_control_drive = 0;
else
motor_control_drive += 10;
fprintf(bt, "motor_control_drive: %d\n", motor_control_drive);
break;
case 's':
if(motor_control_drive > 0)
motor_control_drive = 0;
else
motor_control_drive -= 10;
fprintf(bt, "motor_control_drive: %d\n", motor_control_drive);
break;
case 'a':
if(motor_control_steer < 0)
motor_control_steer = 0;
else
motor_control_steer += 10;
fprintf(bt, "motor_control_steer: %d\n", motor_control_steer);
break;
case 'd':
if(motor_control_steer > 0)
motor_control_steer = 0;
else
motor_control_steer -= 10;
fprintf(bt, "motor_control_steer: %d\n", motor_control_steer);
break;
case 'h':
fprintf(bt, "==========================\n");
fprintf(bt, "Usage:\n");
fprintf(bt, "Press 'w' to speed up\n");
fprintf(bt, "Press 's' to speed down\n");
fprintf(bt, "Press 'a' to turn left\n");
fprintf(bt, "Press 'd' to turn right\n");
fprintf(bt, "Press 'i' for idle task\n");
fprintf(bt, "Press 'h' for this message\n");
fprintf(bt, "==========================\n");
break;
case 'i':
fprintf(bt, "Idle task started.\n");
rsm_tsk(IDLE_TASK);
break;
default:
fprintf(bt, "Unknown key '%c' pressed.\n", c);
}
}
#endif
}
void
task1(intptr_t exinf)
{
ER_UINT ercd;
test_start(__FILE__);
set_bit_func(bit_mutex);
check_point(1);
ercd = loc_mtx(MTX1);
check_ercd(ercd, E_OK);
check_point(2);
ercd = act_tsk(TASK2);
check_ercd(ercd, E_OK);
check_point(3);
ercd = act_tsk(TASK5);
check_ercd(ercd, E_OK);
check_point(6);
ercd = sus_tsk(TASK2);
check_ercd(ercd, E_OK);
check_point(7);
ercd = loc_mtx(MTX1);
check_ercd(ercd, E_OK);
ercd = loc_mtx(MTX2);
check_ercd(ercd, E_OK);
check_point(8);
ercd = act_tsk(TASK3);
check_ercd(ercd, E_OK);
check_point(9);
ercd = dis_dsp();
check_ercd(ercd, E_OK);
check_point(10);
ercd = rot_rdq(MID_PRIORITY);
check_ercd(ercd, E_OK);
check_point(11);
ercd = act_tsk(TASK4);
check_ercd(ercd, E_OK);
check_point(12);
ercd = wup_tsk(TASK5);
check_ercd(ercd, E_OK);
check_point(13);
ercd = ena_dsp();
check_ercd(ercd, E_OK);
check_point(17);
ercd = slp_tsk();
check_ercd(ercd, E_OK);
check_point(20);
ercd = loc_mtx(MTX3);
check_ercd(ercd, E_OK);
check_point(21);
ercd = wup_tsk(TASK3);
check_ercd(ercd, E_OK);
check_point(22);
ercd = dis_dsp();
check_ercd(ercd, E_OK);
check_point(23);
ercd = rot_rdq(MID_PRIORITY);
check_ercd(ercd, E_OK);
check_point(24);
ercd = wup_tsk(TASK4);
check_ercd(ercd, E_OK);
check_point(25);
ercd = wup_tsk(TASK5);
check_ercd(ercd, E_OK);
check_point(26);
ercd = ena_dsp();
check_ercd(ercd, E_OK);
check_point(30);
ercd = slp_tsk();
check_ercd(ercd, E_OK);
check_point(33);
ercd = rsm_tsk(TASK2);
check_ercd(ercd, E_OK);
check_point(34);
ercd = ini_mtx(MTX2);
check_ercd(ercd, E_OK);
check_point(37);
ercd = wup_tsk(TASK5);
check_ercd(ercd, E_OK);
check_point(40);
ercd = loc_mtx(MTX1);
check_ercd(ercd, E_OK);
check_point(41);
ercd = loc_mtx(MTX4);
check_ercd(ercd, E_OK);
check_point(47);
ercd = unl_mtx(MTX4);
check_ercd(ercd, E_OK);
check_point(48);
ercd = wup_tsk(TASK5);
check_ercd(ercd, E_OK);
check_point(51);
ercd = wup_tsk(TASK3);
check_ercd(ercd, E_OK);
check_point(53);
ercd = loc_mtx(MTX1);
check_ercd(ercd, E_OK);
ercd = loc_mtx(MTX2);
check_ercd(ercd, E_OK);
check_point(54);
ercd = loc_mtx(MTX4);
check_ercd(ercd, E_OK);
check_point(62);
ercd = unl_mtx(MTX4);
check_ercd(ercd, E_OK);
check_point(65);
ercd = slp_tsk();
check_ercd(ercd, E_OK);
check_point(73);
ercd = loc_mtx(MTX3);
check_ercd(ercd, E_OK);
check_point(74);
ercd = loc_mtx(MTX4);
check_ercd(ercd, E_OK);
check_point(82);
ercd = unl_mtx(MTX4);
check_ercd(ercd, E_OK);
check_point(85);
ercd = unl_mtx(MTX2);
check_ercd(ercd, E_OK);
check_point(87);
ercd = sus_tsk(TASK2);
check_ercd(ercd, E_OK);
check_point(88);
ercd = loc_mtx(MTX1);
check_ercd(ercd, E_OK);
check_point(89);
ercd = wup_tsk(TASK3);
check_ercd(ercd, E_OK);
check_point(90);
ercd = rot_rdq(MID_PRIORITY);
check_ercd(ercd, E_OK);
check_point(92);
ercd = wup_tsk(TASK5);
check_ercd(ercd, E_OK);
check_point(98);
ercd = loc_mtx(MTX1);
check_ercd(ercd, E_OK);
check_point(99);
ercd = wup_tsk(TASK3);
check_ercd(ercd, E_OK);
check_point(100);
ercd = rot_rdq(MID_PRIORITY);
check_ercd(ercd, E_OK);
check_point(102);
ercd = rsm_tsk(TASK2);
check_ercd(ercd, E_OK);
check_point(103);
ercd = slp_tsk();
check_ercd(ercd, E_OK);
check_point(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);
}
void
task1(intptr_t exinf)
{
ER_UINT ercd;
T_RFLG rflg;
FLGPTN flgptn;
test_start(__FILE__);
check_point(1);
ercd = ref_flg(FLG1, &rflg);
check_ercd(ercd, E_OK);
check_assert(rflg.wtskid == TSK_NONE);
check_assert(rflg.flgptn == 0x00);
ercd = ref_flg(FLG2, &rflg);
check_ercd(ercd, E_OK);
check_assert(rflg.wtskid == TSK_NONE);
check_assert(rflg.flgptn == 0x01);
check_point(2);
ercd = loc_cpu();
check_ercd(ercd, E_OK);
ercd = set_flg(FLG1, 0x01);
check_ercd(ercd, E_CTX);
ercd = wai_flg(FLG1, 0x01, TWF_ORW, &flgptn);
check_ercd(ercd, E_CTX);
ercd = unl_cpu();
check_ercd(ercd, E_OK);
ercd = dis_dsp();
check_ercd(ercd, E_OK);
ercd = wai_flg(FLG1, 0x01, TWF_ORW, &flgptn);
check_ercd(ercd, E_CTX);
ercd = ena_dsp();
check_ercd(ercd, E_OK);
ercd = chg_ipm(TMAX_INTPRI);
check_ercd(ercd, E_OK);
ercd = wai_flg(FLG1, 0x01, TWF_ORW, &flgptn);
check_ercd(ercd, E_CTX);
ercd = chg_ipm(TIPM_ENAALL);
check_ercd(ercd, E_OK);
ercd = set_flg(0, 0x01);
check_ercd(ercd, E_ID);
ercd = wai_flg(0, 0x01, TWF_ORW, &flgptn);
check_ercd(ercd, E_ID);
ercd = set_flg(TNUM_FLGID+1, 0x01);
check_ercd(ercd, E_ID);
ercd = wai_flg(TNUM_FLGID+1, 0x01, TWF_ORW, &flgptn);
check_ercd(ercd, E_ID);
ercd = wai_flg(FLG1, 0x00, TWF_ORW, &flgptn);
check_ercd(ercd, E_PAR);
ercd = wai_flg(FLG1, 0x01, 0U, &flgptn);
check_ercd(ercd, E_PAR);
ercd = wai_flg(FLG1, 0x01, (TWF_ORW|TWF_ANDW), &flgptn);
check_ercd(ercd, E_PAR);
ercd = set_flg(FLG1, 0x00);
check_ercd(ercd, E_OK);
ercd = ref_flg(FLG1, &rflg);
check_ercd(ercd, E_OK);
check_assert(rflg.wtskid == TSK_NONE);
check_assert(rflg.flgptn == 0x00);
ercd = set_flg(FLG1, 0x01);
check_ercd(ercd, E_OK);
ercd = ref_flg(FLG1, &rflg);
check_ercd(ercd, E_OK);
check_assert(rflg.wtskid == TSK_NONE);
check_assert(rflg.flgptn == 0x01);
ercd = set_flg(FLG1, 0x01);
check_ercd(ercd, E_OK);
ercd = ref_flg(FLG1, &rflg);
check_ercd(ercd, E_OK);
check_assert(rflg.wtskid == TSK_NONE);
check_assert(rflg.flgptn == 0x01);
ercd = set_flg(FLG1, 0x02);
check_ercd(ercd, E_OK);
ercd = ref_flg(FLG1, &rflg);
check_ercd(ercd, E_OK);
check_assert(rflg.wtskid == TSK_NONE);
check_assert(rflg.flgptn == 0x03);
ercd = clr_flg(FLG1, ~0x01);
check_ercd(ercd, E_OK);
ercd = set_flg(FLG1, 0x03);
check_ercd(ercd, E_OK);
ercd = ref_flg(FLG1, &rflg);
check_ercd(ercd, E_OK);
check_assert(rflg.wtskid == TSK_NONE);
check_assert(rflg.flgptn == 0x03);
check_point(3);
ercd = act_tsk(TASK2);
check_ercd(ercd, E_OK);
check_point(6);
ercd = set_flg(FLG1, 0x04);
check_ercd(ercd, E_OK);
check_point(9);
ercd = dis_dsp();
check_ercd(ercd, E_OK);
ercd = set_flg(FLG1, 0x08);
check_ercd(ercd, E_OK);
ercd = ref_flg(FLG1, &rflg);
check_ercd(ercd, E_OK);
check_assert(rflg.wtskid == TSK_NONE);
check_assert(rflg.flgptn == 0x0f);
check_point(10);
ercd = ena_dsp();
check_ercd(ercd, E_OK);
check_point(13);
ercd = chg_ipm(TMAX_INTPRI);
check_ercd(ercd, E_OK);
ercd = set_flg(FLG2, 0x04);
check_ercd(ercd, E_OK);
ercd = ref_flg(FLG2, &rflg);
check_ercd(ercd, E_OK);
check_assert(rflg.wtskid == TSK_NONE);
check_assert(rflg.flgptn == 0x00);
check_point(14);
ercd = chg_ipm(TIPM_ENAALL);
check_ercd(ercd, E_OK);
check_point(17);
ercd = sus_tsk(TASK2);
check_ercd(ercd, E_OK);
ercd = set_flg(FLG2, 0x04);
check_ercd(ercd, E_OK);
ercd = ref_flg(FLG2, &rflg);
check_ercd(ercd, E_OK);
check_assert(rflg.wtskid == TSK_NONE);
check_assert(rflg.flgptn == 0x00);
check_point(18);
ercd = rsm_tsk(TASK2);
check_ercd(ercd, E_OK);
check_point(21);
ercd = wai_flg(FLG2, 0x02, TWF_ORW, &flgptn);
check_ercd(ercd, E_ILUSE);
ercd = set_flg(FLG2, 0x02);
check_ercd(ercd, E_OK);
ercd = wai_flg(FLG2, 0x02, TWF_ORW, &flgptn);
check_ercd(ercd, E_ILUSE);
check_point(22);
ercd = set_flg(FLG2, 0x01);
check_ercd(ercd, E_OK);
check_point(25);
ercd = wai_flg(FLG3, 0x01, TWF_ORW, &flgptn);
check_ercd(ercd, E_OK);
check_point(31);
ercd = wai_flg(FLG4, 0x01, TWF_ORW, &flgptn);
check_ercd(ercd, E_OK);
check_point(37);
ercd = clr_flg(FLG3, 0);
check_ercd(ercd, E_OK);
ercd = sta_alm(ALM1, 2 * TEST_TIME_CP);
check_ercd(ercd, E_OK);
check_point(38);
ercd = wai_flg(FLG3, 0x01, TWF_ORW, &flgptn);
check_ercd(ercd, E_OK);
check_point(42);
ercd = set_flg(FLG3, 0x02);
check_ercd(ercd, E_OK);
check_point(43);
ercd = slp_tsk();
check_ercd(ercd, E_OK);
check_point(0);
}
/*
* 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);
}
/*
* 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);
}
/*
* 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();
}
void platform_pause_application(bool_t pause) {
if (pause)
rsm_tsk(PLATFORM_BUSY_TASK);
else
sus_tsk(PLATFORM_BUSY_TASK);
}
