void Task1() {
uint16_t cnt;
int8_t v;
cnt = 0;
while (1) {
nrk_led_toggle(ORANGE_LED);
// printf("Task1 cnt=%d\r\n", cnt);
// nrk_kprintf(PSTR("Task1 accessing semaphore\r\n"));
// printf("T1_next_period = %u \n", nrk_cur_task_TCB->next_period);
v = nrk_sem_pend(sem1);
if (v == NRK_ERROR)
nrk_kprintf(PSTR("T1 error pend\r\n"));
// nrk_kprintf(PSTR("Task1 holding semaphore\r\n"));
// printf("In T1 sys_ceiling = %u \n", system_ceiling);
printf("In T1 Q --- ");
nrk_print_readyQ();
printf("\n");
// to something within the critical section
nrk_wait_until_next_period();
v = nrk_sem_post(sem1);
if (v == NRK_ERROR)
nrk_kprintf(PSTR("T1 error post\r\n"));
// nrk_kprintf(PSTR("Task1 released semaphore\r\n"));
nrk_wait_until_next_period();
if (cnt == 3)
break;
cnt++;
}
nrk_stats_display_all();
}
void Task2() {
uint8_t cnt;
int8_t v;
cnt = 0;
while (1) {
nrk_led_toggle(BLUE_LED);
// printf("Task2 cnt=%d\r\n", cnt);
// nrk_kprintf(PSTR("Task2 accessing semaphore\r\n"));
// printf("T2_next_period = %u \n", nrk_cur_task_TCB->next_period);
v = nrk_sem_pend(sem1);
if (v == NRK_ERROR)
nrk_kprintf(PSTR("T2 error pend\r\n"));
// nrk_kprintf(PSTR("Task2 holding semaphore\r\n"));
// printf("In T2 sys_ceiling = %u \n", system_ceiling);
printf("In T2 Q --- ");
nrk_print_readyQ();
printf("\n");
// to something within the critical section
nrk_wait_until_next_period();
v = nrk_sem_post(sem1);
if (v == NRK_ERROR)
nrk_kprintf(PSTR("T2 error post\r\n"));
// nrk_kprintf(PSTR("Task2 released semaphore\r\n"));
nrk_wait_until_next_period();
cnt++;
}
}
void Task4() {
uint8_t cnt;
cnt = 0;
while (1) {
nrk_led_toggle(GREEN_LED);
printf("In T4 sys_ceiling = %u \n", system_ceiling);
printf("In T4 Q --- ");
nrk_print_readyQ();
printf("\n");
nrk_wait_until_next_period();
cnt++;
}
}
void Task3() {
uint8_t cnt;
cnt = 0;
while (1) {
nrk_led_toggle(GREEN_LED);
// nrk_sem_pend(sem1);
// printf("In T3 sys_ceiling = %u \n", system_ceiling);
printf("In T3 Q --- ");
nrk_print_readyQ();
printf("\n");
nrk_wait_until_next_period();
// nrk_sem_post(sem1);
nrk_wait_until_next_period();
cnt++;
}
}
void nrk_add_to_readyQ(int8_t task_ID) {
nrk_queue *NextNode;
nrk_queue *CurNode;
printf("nrk_add_to_readyQ %d\n", task_ID);
// nrk_queue full
if (_free_node == NULL) {
return;
}
NextNode = _head_node;
CurNode = _free_node;
if (EDF_ON == 1) {
if (_head_node != NULL) {
while (NextNode != NULL) {
if (nrk_task_TCB[NextNode->task_ID].abs_deadline
> nrk_task_TCB[task_ID].abs_deadline) {
break;
}
NextNode = NextNode->Next;
}
}
} else {
if (_head_node != NULL) {
while (NextNode != NULL) {
if (nrk_task_TCB[NextNode->task_ID].elevated_prio_flag)
if (nrk_task_TCB[NextNode->task_ID].task_prio_ceil
< nrk_task_TCB[task_ID].task_prio)
break;
if (nrk_task_TCB[task_ID].elevated_prio_flag)
if (nrk_task_TCB[NextNode->task_ID].task_prio
< nrk_task_TCB[task_ID].task_prio_ceil)
break;
if (nrk_task_TCB[NextNode->task_ID].task_prio
< nrk_task_TCB[task_ID].task_prio)
break;
NextNode = NextNode->Next;
}
// while ((NextNode != NULL) && ((nrk_task_TCB[NextNode->task_ID].task_prio >= nrk_task_TCB[task_ID].task_prio)|| ) {
// NextNode = NextNode->Next;}
// Stop if nextNode is freenode or next node less prio or (equal and elevated
// Issues - 1 comes, becomes 2', 1 more comes (2' 1) then 2 comes where should it be placed ?
// 2' 2 1 or 2 2' 1 in ready q , what happens after 2'->1, what if 2'->2
}
}
CurNode->task_ID = task_ID;
_free_node = _free_node->Next;
if (NextNode == _head_node) {
//at start
if (_head_node != NULL) {
CurNode->Next = _head_node;
CurNode->Prev = NULL;
_head_node->Prev = CurNode;
} else {
CurNode->Next = NULL;
CurNode->Prev = NULL;
_free_node->Prev = CurNode;
}
_head_node = CurNode;
} else {
if (NextNode != _free_node) {
// Insert in middle
CurNode->Prev = NextNode->Prev;
CurNode->Next = NextNode;
(NextNode->Prev)->Next = CurNode;
NextNode->Prev = CurNode;
} else {
//insert at end
CurNode->Next = NULL;
CurNode->Prev = _free_node->Prev;
_free_node->Prev = CurNode;
}
}
// Print out for debug all tasks in readyQ after addition.
printf("Modified Contents of Ready Q: ");
nrk_print_readyQ();
printf("\r\n");
}