void
alarm3_handler(intptr_t exinf)
{
ER_UINT ercd;
switch (++alarm3_count) {
case 1:
check_point(21);
check_assert(fch_hrt() == 441U);
check_point(22);
ercd = wup_tsk(TASK1);
check_ercd(ercd, E_OK);
return;
check_point(0);
case 2:
check_point(44);
check_assert(fch_hrt() == 840U);
check_point(45);
ercd = wup_tsk(TASK1);
check_ercd(ercd, E_OK);
return;
check_point(0);
default:
check_point(0);
}
check_point(0);
}
void
main_task(intptr_t exinf)
{
HRTCNT hrtcnt, prev_hrtcnt;
char *prev_hrtcnt_pos;
ulong_t i;
cyclic_count = 0U;
recent_hrtcnt = fch_hrt();
syslog(LOG_NOTICE, "system performance time test starts.");
for (i = 0; i < NO_LOOP; i++) {
(void) loc_cpu();
hrtcnt = fch_hrt();
prev_hrtcnt = recent_hrtcnt;
prev_hrtcnt_pos = recent_hrtcnt_pos;
recent_hrtcnt = hrtcnt;
recent_hrtcnt_pos = "TSK";
(void) unl_cpu();
if (prev_hrtcnt > hrtcnt) {
syslog(LOG_NOTICE,
"system performance time goes back: %d(%s) %d(TSK)",
prev_hrtcnt, prev_hrtcnt_pos, hrtcnt);
}
}
syslog(LOG_NOTICE, "system performance time test finishes.");
syslog(LOG_NOTICE, "number of cyclic handler execution: %d", cyclic_count);
check_finish(0);
}
void
cyclic_handler(intptr_t exinf)
{
HRTCNT hrtcnt, prev_hrtcnt;
char *prev_hrtcnt_pos;
(void) loc_cpu();
hrtcnt = fch_hrt();
prev_hrtcnt = recent_hrtcnt;
prev_hrtcnt_pos = recent_hrtcnt_pos;
recent_hrtcnt = hrtcnt;
recent_hrtcnt_pos = "CYC";
(void) unl_cpu();
if (prev_hrtcnt > hrtcnt) {
syslog(LOG_NOTICE,
"system performance time goes back: %d(%s) %d(CYC)",
prev_hrtcnt, prev_hrtcnt_pos, hrtcnt);
}
cyclic_count += 1U;
}
/*
* 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
task1(intptr_t exinf)
{
ER_UINT ercd;
check_point(2);
check_assert(fch_hrt() == 10U);
simtim_advance(90U);
check_assert(fch_hrt() == 100U);
check_point(3);
ercd = sta_alm(ALM1, 100U);
check_ercd(ercd, E_OK);
check_point(5);
ercd = slp_tsk();
check_ercd(ercd, E_OK);
check_point(9);
simtim_advance(79U);
check_assert(fch_hrt() == 300U);
check_point(10);
ercd = sta_alm(ALM1, 100U);
check_ercd(ercd, E_OK);
check_point(12);
simtim_advance(10U);
check_assert(fch_hrt() == 310U);
check_point(13);
ercd = sta_alm(ALM2, 100U);
check_ercd(ercd, E_OK);
check_point(14);
simtim_advance(10U);
check_assert(fch_hrt() == 320U);
check_point(15);
ercd = sta_alm(ALM3, 110U);
check_ercd(ercd, E_OK);
check_point(16);
ercd = slp_tsk();
check_ercd(ercd, E_OK);
check_point(24);
simtim_advance(59U);
check_assert(fch_hrt() == 500U);
check_point(25);
ercd = sta_alm(ALM1, 100U);
check_ercd(ercd, E_OK);
check_point(27);
simtim_advance(10U);
check_assert(fch_hrt() == 510U);
check_point(28);
ercd = sta_alm(ALM2, 110U);
check_ercd(ercd, E_OK);
check_point(29);
ercd = slp_tsk();
check_ercd(ercd, E_OK);
check_point(34);
simtim_advance(69U);
check_assert(fch_hrt() == 700U);
check_point(35);
ercd = sta_alm(ALM1, 100U);
check_ercd(ercd, E_OK);
check_point(37);
simtim_advance(10U);
check_assert(fch_hrt() == 710U);
check_point(38);
ercd = sta_alm(ALM2, 100U);
check_ercd(ercd, E_OK);
check_point(39);
ercd = slp_tsk();
check_ercd(ercd, E_OK);
check_point(47);
simtim_advance(60U);
check_assert(fch_hrt() == 900U);
check_point(48);
ercd = sta_alm(ALM1, 100U);
check_ercd(ercd, E_OK);
check_point(50);
simtim_advance(10U);
check_assert(fch_hrt() == 910U);
check_point(51);
ercd = sta_alm(ALM2, 50U);
check_ercd(ercd, E_OK);
check_point(53);
ercd = slp_tsk();
check_ercd(ercd, E_OK);
check_point(59);
simtim_advance(89U);
check_assert(fch_hrt() == 1100U);
check_point(60);
ercd = sta_alm(ALM1, 10U);
check_ercd(ercd, E_OK);
check_point(62);
simtim_add(20U);
check_assert(fch_hrt() == 1120U);
check_point(63);
ercd = sta_alm(ALM2, 100U);
check_ercd(ercd, E_OK);
check_point(64);
simtim_advance(10U);
check_point(70);
check_assert(fch_hrt() == 1160U);
check_point(71);
ercd = slp_tsk();
check_ercd(ercd, E_OK);
check_point(75);
target_raise_hrt_int();
check_point(77);
simtim_advance(59U);
check_assert(fch_hrt() == 1300U);
check_point(78);
ercd = sta_alm(ALM1, 100U);
check_ercd(ercd, E_OK);
check_point(80);
ercd = adj_tim(200);
check_ercd(ercd, E_OK);
check_point(84);
ercd = sta_alm(ALM1, TMAX_RELTIM);
check_ercd(ercd, E_OK);
check_point(86);
ercd = adj_tim(-200);
check_ercd(ercd, E_OK);
check_point(88);
ercd = slp_tsk();
check_ercd(ercd, E_OK);
check_finish(93);
check_point(0);
}
void
alarm2_handler(intptr_t exinf)
{
ER_UINT ercd;
switch (++alarm2_count) {
case 1:
check_point(19);
check_assert(fch_hrt() == 421U);
check_assert(_kernel_current_hrtcnt == 411U);
return;
check_point(0);
case 2:
check_point(31);
check_assert(fch_hrt() == 631U);
check_assert(_kernel_current_hrtcnt == 631U);
check_point(32);
ercd = wup_tsk(TASK1);
check_ercd(ercd, E_OK);
return;
check_point(0);
case 3:
check_point(43);
check_assert(fch_hrt() == 820U);
simtim_advance(20U);
check_assert(fch_hrt() == 840U);
return;
check_point(0);
case 4:
check_point(54);
check_assert(fch_hrt() == 971U);
return;
check_point(0);
case 5:
check_point(72);
check_assert(fch_hrt() == 1231U);
check_point(73);
ercd = wup_tsk(TASK1);
check_ercd(ercd, E_OK);
return;
check_point(0);
default:
check_point(0);
}
check_point(0);
}
void
alarm1_handler(intptr_t exinf)
{
ER_UINT ercd;
switch (++alarm1_count) {
case 1:
check_point(6);
check_assert(fch_hrt() == 211U);
simtim_advance(10U);
check_assert(fch_hrt() == 221U);
check_point(7);
ercd = wup_tsk(TASK1);
check_ercd(ercd, E_OK);
return;
check_point(0);
case 2:
check_point(17);
check_assert(fch_hrt() == 411U);
check_point(18);
simtim_advance(10U);
check_assert(fch_hrt() == 421U);
return;
check_point(0);
case 3:
check_point(30);
check_assert(fch_hrt() == 611U);
simtim_advance(20U);
return;
check_point(0);
case 4:
check_point(40);
check_assert(fch_hrt() == 811U);
check_point(41);
simtim_advance(9U);
check_assert(fch_hrt() == 820U);
check_point(42);
ercd = sta_alm(ALM3, 10U);
check_ercd(ercd, E_OK);
return;
check_point(0);
case 5:
check_point(56);
check_assert(fch_hrt() == 1011U);
check_point(57);
ercd = wup_tsk(TASK1);
check_ercd(ercd, E_OK);
return;
check_point(0);
case 6:
check_point(65);
check_assert(fch_hrt() == 1130U);
check_point(66);
simtim_advance(10U);
check_assert(fch_hrt() == 1140U);
check_point(67);
target_raise_hrt_int();
return;
check_point(0);
case 7:
check_point(82);
check_assert(fch_hrt() == 1310U);
return;
check_point(0);
case 8:
check_point(90);
check_assert(fch_hrt() == 4000001521U);
check_point(91);
ercd = wup_tsk(TASK1);
check_ercd(ercd, E_OK);
return;
check_point(0);
default:
check_point(0);
}
check_point(0);
}
