void nrk_create_taskset ()
{
RX_TASK.task = rx_task;
nrk_task_set_stk (&RX_TASK, rx_task_stack, NRK_APP_STACKSIZE);
RX_TASK.prio = 2;
RX_TASK.FirstActivation = TRUE;
RX_TASK.Type = BASIC_TASK;
RX_TASK.SchType = PREEMPTIVE;
RX_TASK.period.secs = 1;
RX_TASK.period.nano_secs = 0;
RX_TASK.cpu_reserve.secs = 1;
RX_TASK.cpu_reserve.nano_secs = 0;
RX_TASK.offset.secs = 0;
RX_TASK.offset.nano_secs = 0;
nrk_activate_task (&RX_TASK);
TX_TASK.task = tx_task;
nrk_task_set_stk (&TX_TASK, tx_task_stack, NRK_APP_STACKSIZE);
TX_TASK.prio = 3;
TX_TASK.FirstActivation = TRUE;
TX_TASK.Type = BASIC_TASK;
TX_TASK.SchType = PREEMPTIVE;
TX_TASK.period.secs = 1;
TX_TASK.period.nano_secs = 0;
TX_TASK.cpu_reserve.secs = 1;
TX_TASK.cpu_reserve.nano_secs = 0;
TX_TASK.offset.secs = 0;
TX_TASK.offset.nano_secs = 0;
nrk_activate_task (&TX_TASK);
}
void nrk_create_taskset ()
{
//priority of all 4 tasks was initially (1-4):
//GridEye, GPS, Task 1, Task 3
TaskOne.task = Task1;
nrk_task_set_stk( &TaskOne, Stack1, NRK_APP_STACKSIZE);
TaskOne.prio = 2;
TaskOne.FirstActivation = TRUE;
TaskOne.Type = BASIC_TASK;
TaskOne.SchType = PREEMPTIVE;
TaskOne.period.secs = 0;
TaskOne.period.nano_secs = 10 * NANOS_PER_MS;//changed from 5 to 150
TaskOne.cpu_reserve.secs = 0;
TaskOne.cpu_reserve.nano_secs = 0 * NANOS_PER_MS;
TaskOne.offset.secs = 0;
TaskOne.offset.nano_secs = 0;
nrk_activate_task (&TaskOne);
TASK_GPS.task = TaskGPS;
nrk_task_set_stk( &TASK_GPS, StackGPS, NRK_APP_STACKSIZE);
TASK_GPS.prio = 3;
TASK_GPS.FirstActivation = TRUE;
TASK_GPS.Type = BASIC_TASK;
TASK_GPS.SchType = PREEMPTIVE;
TASK_GPS.period.secs = 0;
TASK_GPS.period.nano_secs = 10 * NANOS_PER_MS; //change from 50 to 150
TASK_GPS.cpu_reserve.secs = 0;
TASK_GPS.cpu_reserve.nano_secs = 0;
TASK_GPS.offset.secs = 0;
TASK_GPS.offset.nano_secs = 0;
nrk_activate_task (&TASK_GPS);
TaskThree.task = Task3;
nrk_task_set_stk( &TaskThree, Stack3, NRK_APP_STACKSIZE);
TaskThree.prio = 2;
TaskThree.FirstActivation = TRUE;
TaskThree.Type = BASIC_TASK;
TaskThree.SchType = PREEMPTIVE;
TaskThree.period.secs = 0;
TaskThree.period.nano_secs = 10 * NANOS_PER_MS;//changed from 250 to 150
TaskThree.cpu_reserve.secs = 1;
TaskThree.cpu_reserve.nano_secs = 0;
TaskThree.offset.secs = 0;
TaskThree.offset.nano_secs = 0;
nrk_activate_task (&TaskThree);
TASK_GRIDEYE.task = TaskGridEYE;
nrk_task_set_stk( &TASK_GRIDEYE, StackGridEYE, NRK_APP_STACKSIZE);
TASK_GRIDEYE.prio = 1;
TASK_GRIDEYE.FirstActivation = TRUE;
TASK_GRIDEYE.Type = BASIC_TASK;
TASK_GRIDEYE.SchType = PREEMPTIVE;
TASK_GRIDEYE.period.secs = 0;
TASK_GRIDEYE.period.nano_secs = 150*NANOS_PER_MS; //*NANOS_PER_MS; //changed 50 to 150
TASK_GRIDEYE.cpu_reserve.secs = 0;
TASK_GRIDEYE.cpu_reserve.nano_secs = 0;//200*NANOS_PER_MS;
TASK_GRIDEYE.offset.secs = 0;
TASK_GRIDEYE.offset.nano_secs= 0;
nrk_activate_task (&TASK_GRIDEYE);
}
void
nrk_create_taskset()
{
TaskOne.task = rx_task;
nrk_task_set_stk( &TaskOne, Stack1, NRK_APP_STACKSIZE);
TaskOne.prio = 1;
TaskOne.FirstActivation = TRUE;
TaskOne.Type = BASIC_TASK;
TaskOne.SchType = PREEMPTIVE;
TaskOne.period.secs = 10;
TaskOne.period.nano_secs = 250*NANOS_PER_MS;
TaskOne.cpu_reserve.secs = 0;
TaskOne.cpu_reserve.nano_secs = 50*NANOS_PER_MS;
TaskOne.offset.secs = 0;
TaskOne.offset.nano_secs= 0;
nrk_activate_task (&TaskOne);
TaskTwo.task = tx_task;
nrk_task_set_stk( &TaskTwo, Stack2, NRK_APP_STACKSIZE);
TaskTwo.prio = 2;
TaskTwo.FirstActivation = TRUE;
TaskTwo.Type = BASIC_TASK;
TaskTwo.SchType = PREEMPTIVE;
TaskTwo.period.secs = 0;
TaskTwo.period.nano_secs = 500*NANOS_PER_MS;
TaskTwo.cpu_reserve.secs = 0;
TaskTwo.cpu_reserve.nano_secs = 100*NANOS_PER_MS;
TaskTwo.offset.secs = 0;
TaskTwo.offset.nano_secs= 0;
nrk_activate_task (&TaskTwo);
}
void
nrk_create_taskset()
{
TaskOne.task = print_sensor_readings;
nrk_task_set_stk( &TaskOne, Stack1, NRK_APP_STACKSIZE);
TaskOne.prio = 1;
TaskOne.FirstActivation = TRUE;
TaskOne.Type = BASIC_TASK;
TaskOne.SchType = PREEMPTIVE;
TaskOne.period.secs = 2;
TaskOne.period.nano_secs = 0;
TaskOne.cpu_reserve.secs = 0;
TaskOne.cpu_reserve.nano_secs = 0;
TaskOne.offset.secs = 0;
TaskOne.offset.nano_secs= 0;
nrk_activate_task (&TaskOne);
nrk_task_set_entry_function( &TaskTwo, collect_Audio_Data);
nrk_task_set_stk( &TaskTwo, Stack2, NRK_APP_STACKSIZE);
TaskTwo.prio = 2;
TaskTwo.FirstActivation = TRUE;
TaskTwo.Type = BASIC_TASK;
TaskTwo.SchType = PREEMPTIVE;
TaskTwo.period.secs = 2;
TaskTwo.period.nano_secs = 0;
TaskTwo.cpu_reserve.secs = 0;
TaskTwo.cpu_reserve.nano_secs = 0;
TaskTwo.offset.secs = 0;
TaskTwo.offset.nano_secs= 0;
nrk_activate_task (&TaskTwo);
}
void nrk_create_taskset ()
{
nrk_task_set_entry_function (&rx_task_info, rx_task);
nrk_task_set_stk (&rx_task_info, rx_task_stack, NRK_APP_STACKSIZE);
rx_task_info.prio = 1;
rx_task_info.FirstActivation = TRUE;
rx_task_info.Type = BASIC_TASK;
rx_task_info.SchType = PREEMPTIVE;
rx_task_info.period.secs = 0;
rx_task_info.period.nano_secs = 250 * NANOS_PER_MS;
rx_task_info.cpu_reserve.secs = 0;
rx_task_info.cpu_reserve.nano_secs = 100 * NANOS_PER_MS;
rx_task_info.offset.secs = 0;
rx_task_info.offset.nano_secs = 0;
nrk_activate_task (&rx_task_info);
nrk_task_set_entry_function (&tx_task_info, tx_task);
nrk_task_set_stk (&tx_task_info, tx_task_stack, NRK_APP_STACKSIZE);
tx_task_info.prio = 1;
tx_task_info.FirstActivation = TRUE;
tx_task_info.Type = BASIC_TASK;
tx_task_info.SchType = PREEMPTIVE;
tx_task_info.period.secs = 0;
tx_task_info.period.nano_secs = 250 * NANOS_PER_MS;
tx_task_info.cpu_reserve.secs = 0;
tx_task_info.cpu_reserve.nano_secs = 100 * NANOS_PER_MS;
tx_task_info.offset.secs = 0;
tx_task_info.offset.nano_secs = 0;
nrk_activate_task (&tx_task_info);
tdma_task_config ();
}
void nrk_create_taskset()
{
type_task_snd.task = task_snd;
nrk_task_set_stk( &type_task_snd, stack_task_snd, NRK_APP_STACKSIZE);
type_task_snd.prio = SND_TASK_PRIO;
type_task_snd.FirstActivation = TRUE;
type_task_snd.Type = BASIC_TASK;
type_task_snd.SchType = PREEMPTIVE;
type_task_snd.period.secs = 0;
type_task_snd.period.nano_secs = SND_TASK_PERIOD_ms*NANOS_PER_MS;
type_task_snd.cpu_reserve.secs = 0;
type_task_snd.cpu_reserve.nano_secs = 0; //SND_TASK_RESERVE_ms*NANOS_PER_MS;
type_task_snd.offset.secs = 0;
type_task_snd.offset.nano_secs= 0;
nrk_activate_task (&type_task_snd);
type_task_rcv.task = task_rcv;
nrk_task_set_stk( &type_task_rcv, stack_task_rcv, NRK_APP_STACKSIZE);
type_task_rcv.prio = RCV_TASK_PRIO;
type_task_rcv.FirstActivation = TRUE;
type_task_rcv.Type = BASIC_TASK;
type_task_rcv.SchType = PREEMPTIVE;
type_task_rcv.period.secs = 0;
type_task_rcv.period.nano_secs = RCV_TASK_PERIOD_ms*NANOS_PER_MS;
type_task_rcv.cpu_reserve.secs = 0;
type_task_rcv.cpu_reserve.nano_secs = 0; //RCV_TASK_RESERVE_ms*NANOS_PER_MS;
type_task_rcv.offset.secs = 0;
type_task_rcv.offset.nano_secs= 0;
nrk_activate_task (&type_task_rcv);
}
void
nrk_create_taskset()
{
nrk_task_set_entry_function( &TaskOne, Task1);
nrk_task_set_stk( &TaskOne, Stack1, NRK_APP_STACKSIZE);
TaskOne.prio = 1;
TaskOne.FirstActivation = TRUE;
TaskOne.Type = BASIC_TASK;
#ifdef NRK_EDF
TaskOne.SchType = EDF;
#else
TaskOne.SchType = PREEMPTIVE;
#endif
TaskOne.period.secs = 6;
TaskOne.period.nano_secs = 0*NANOS_PER_MS;
TaskOne.cpu_reserve.secs = 6;
TaskOne.cpu_reserve.nano_secs = 0*NANOS_PER_MS;
TaskOne.offset.secs = 0;
TaskOne.offset.nano_secs= 0;
nrk_activate_task (&TaskOne);
nrk_task_set_entry_function( &TaskTwo, Task2);
nrk_task_set_stk( &TaskTwo, Stack2, NRK_APP_STACKSIZE);
TaskTwo.prio = 2;
TaskTwo.FirstActivation = TRUE;
TaskTwo.Type = BASIC_TASK;
#ifdef NRK_EDF
TaskOne.SchType = EDF;
#else
TaskOne.SchType = PREEMPTIVE;
#endif
TaskTwo.period.secs = 12;
TaskTwo.period.nano_secs = 0*NANOS_PER_MS;
TaskTwo.cpu_reserve.secs = 12;
TaskTwo.cpu_reserve.nano_secs = 0*NANOS_PER_MS;
TaskTwo.offset.secs = 0;
TaskTwo.offset.nano_secs= 0;
nrk_activate_task (&TaskTwo);
nrk_task_set_entry_function( &TaskThree, Task3);
nrk_task_set_stk( &TaskThree, Stack3, NRK_APP_STACKSIZE);
TaskThree.prio = 3;
TaskThree.FirstActivation = TRUE;
TaskThree.Type = BASIC_TASK;
#ifdef NRK_EDF
TaskOne.SchType = EDF;
#else
TaskOne.SchType = PREEMPTIVE;
#endif
TaskThree.period.secs = 9;
TaskThree.period.nano_secs = 0;
TaskThree.cpu_reserve.secs = 8;
TaskThree.cpu_reserve.nano_secs = 0*NANOS_PER_MS;
TaskThree.offset.secs = 0;
TaskThree.offset.nano_secs= 0;
nrk_activate_task (&TaskThree);
return;
}
void nrk_create_taskset ()
{
TaskOne.task = Task1;
nrk_task_set_stk( &TaskOne, Stack1, NRK_APP_STACKSIZE);
TaskOne.prio = 1;
TaskOne.FirstActivation = TRUE;
TaskOne.Type = BASIC_TASK;
TaskOne.SchType = PREEMPTIVE;
TaskOne.period.secs = 1;
TaskOne.period.nano_secs = 500 * NANOS_PER_MS;
TaskOne.cpu_reserve.secs = 0;
TaskOne.cpu_reserve.nano_secs = 500 * NANOS_PER_MS;
TaskOne.offset.secs = 0;
TaskOne.offset.nano_secs = 0;
nrk_activate_task (&TaskOne);
TaskTwo.task = Task2;
nrk_task_set_stk( &TaskTwo, Stack2, NRK_APP_STACKSIZE);
TaskTwo.prio = 2;
TaskTwo.FirstActivation = TRUE;
TaskTwo.Type = BASIC_TASK;
TaskTwo.SchType = PREEMPTIVE;
TaskTwo.period.secs = 0;
TaskTwo.period.nano_secs = 250 * NANOS_PER_MS;
TaskTwo.cpu_reserve.secs = 0;
TaskTwo.cpu_reserve.nano_secs = 0;
//TaskTwo.cpu_reserve.nano_secs = 100 * NANOS_PER_MS;
TaskTwo.offset.secs = 0;
TaskTwo.offset.nano_secs = 0;
nrk_activate_task (&TaskTwo);
TaskThree.task = Task3;
TaskThree.Ptos = (void *) &Stack3[NRK_APP_STACKSIZE - 1];
TaskThree.Pbos = (void *) &Stack3[0];
TaskThree.prio = 3;
TaskThree.FirstActivation = TRUE;
TaskThree.Type = BASIC_TASK;
TaskThree.SchType = PREEMPTIVE;
TaskThree.period.secs = 0;
TaskThree.period.nano_secs = 250 * NANOS_PER_MS;
TaskThree.cpu_reserve.secs = 0;
TaskThree.cpu_reserve.nano_secs = 200 * NANOS_PER_MS;
TaskThree.offset.secs = 0;
TaskThree.offset.nano_secs = 0;
nrk_activate_task (&TaskThree);
}
void nrk_create_taskset ()
{
RX_TASK.task = rx_task;
nrk_task_set_stk( &RX_TASK, rx_task_stack, NRK_APP_STACKSIZE);
RX_TASK.prio = 3;
RX_TASK.FirstActivation = TRUE;
RX_TASK.Type = BASIC_TASK;
RX_TASK.SchType = PREEMPTIVE;
RX_TASK.period.secs = 0;
RX_TASK.period.nano_secs = 500 *NANOS_PER_MS;
RX_TASK.cpu_reserve.secs = 1;
RX_TASK.cpu_reserve.nano_secs = 500 * NANOS_PER_MS;
RX_TASK.offset.secs = 0;
RX_TASK.offset.nano_secs = 0;
nrk_activate_task (&RX_TASK);
TX_TASK.task = tx_task;
nrk_task_set_stk( &TX_TASK, tx_task_stack, NRK_APP_STACKSIZE);
TX_TASK.prio = 2;
TX_TASK.FirstActivation = TRUE;
TX_TASK.Type = BASIC_TASK;
TX_TASK.SchType = PREEMPTIVE;
TX_TASK.period.secs = 1;
TX_TASK.period.nano_secs = 0;
TX_TASK.cpu_reserve.secs = 1;
TX_TASK.cpu_reserve.nano_secs = 500 * NANOS_PER_MS;
TX_TASK.offset.secs = 0;
TX_TASK.offset.nano_secs = 0;
nrk_activate_task (&TX_TASK);
/*
INTER_TX_TASK.task = inter_tx_task;
nrk_task_set_stk( &INTER_TX_TASK, inter_tx_task_stack, NRK_APP_STACKSIZE);
INTER_TX_TASK.prio = 2;
INTER_TX_TASK.FirstActivation = TRUE;
INTER_TX_TASK.Type = BASIC_TASK;
INTER_TX_TASK.SchType = PREEMPTIVE;
INTER_TX_TASK.period.secs = 1;
INTER_TX_TASK.period.nano_secs = 0;
INTER_TX_TASK.cpu_reserve.secs = 1;
INTER_TX_TASK.cpu_reserve.nano_secs = 500 * NANOS_PER_MS;
INTER_TX_TASK.offset.secs = 0;
INTER_TX_TASK.offset.nano_secs = 0;
nrk_activate_task (&INTER_TX_TASK);
*/
printf ("Create done\r\n");
}
void nrk_create_taskset ()
{
RX_TASK.task = rx_task;
nrk_task_set_stk (&RX_TASK, rx_task_stack, NRK_APP_STACKSIZE);
RX_TASK.prio = 2;
RX_TASK.FirstActivation = TRUE;
RX_TASK.Type = BASIC_TASK;
RX_TASK.SchType = PREEMPTIVE;
RX_TASK.period.secs = 0;
RX_TASK.period.nano_secs = 100 * NANOS_PER_MS;
RX_TASK.cpu_reserve.secs = 0;
RX_TASK.cpu_reserve.nano_secs = 0;
RX_TASK.offset.secs = 0;
RX_TASK.offset.nano_secs = 0;
nrk_activate_task (&RX_TASK);
TX_TASK.task = tx_task;
nrk_task_set_stk (&TX_TASK, tx_task_stack, NRK_APP_STACKSIZE);
TX_TASK.prio = 2;
TX_TASK.FirstActivation = TRUE;
TX_TASK.Type = BASIC_TASK;
TX_TASK.SchType = PREEMPTIVE;
TX_TASK.period.secs = 1;
TX_TASK.period.nano_secs = 0;
TX_TASK.cpu_reserve.secs = 0;
TX_TASK.cpu_reserve.nano_secs = 500 * NANOS_PER_MS;
TX_TASK.offset.secs = 0;
TX_TASK.offset.nano_secs = 0;
nrk_activate_task (&TX_TASK);
nrk_task_set_entry_function( &SYNT_TASK_T, synt_task);
nrk_task_set_stk( &SYNT_TASK_T, synt_task_stack, NRK_APP_STACKSIZE);
SYNT_TASK_T.prio = 1;
SYNT_TASK_T.FirstActivation = TRUE;
SYNT_TASK_T.Type = BASIC_TASK;
SYNT_TASK_T.SchType = PREEMPTIVE;
SYNT_TASK_T.period.secs = 0;
SYNT_TASK_T.period.nano_secs = 500*NANOS_PER_MS;
SYNT_TASK_T.cpu_reserve.secs = 0;
SYNT_TASK_T.cpu_reserve.nano_secs = 100*NANOS_PER_MS;
SYNT_TASK_T.offset.secs = 0;
SYNT_TASK_T.offset.nano_secs= 0;
nrk_activate_task (&SYNT_TASK_T);
}
void
nrk_create_taskset()
{
nrk_task_set_entry_function( &TaskOne, Task_Accelorometer);
nrk_task_set_stk( &TaskOne, Stack1, NRK_APP_STACKSIZE);
TaskOne.prio = 1;
TaskOne.FirstActivation = TRUE;
TaskOne.Type = BASIC_TASK;
TaskOne.SchType = PREEMPTIVE;
TaskOne.period.secs = 0;
TaskOne.period.nano_secs = 250*NANOS_PER_MS;
TaskOne.cpu_reserve.secs = 0;
TaskOne.cpu_reserve.nano_secs = 250*NANOS_PER_MS;
TaskOne.offset.secs = 1;
TaskOne.offset.nano_secs= 0;
nrk_activate_task (&TaskOne);
nrk_task_set_entry_function( &TaskTwo, Task_Gyro);
nrk_task_set_stk( &TaskTwo, Stack2, NRK_APP_STACKSIZE);
TaskTwo.prio = 2;
TaskTwo.FirstActivation = TRUE;
TaskTwo.Type = BASIC_TASK;
TaskTwo.SchType = PREEMPTIVE;
TaskTwo.period.secs = 0;
TaskTwo.period.nano_secs = 250*NANOS_PER_MS;
TaskTwo.cpu_reserve.secs = 0;
TaskTwo.cpu_reserve.nano_secs = 250*NANOS_PER_MS;
TaskTwo.offset.secs = 1;
TaskTwo.offset.nano_secs= 0;
nrk_activate_task (&TaskTwo);
nrk_task_set_entry_function( &TaskThree, Task_Magneto);
nrk_task_set_stk( &TaskThree, Stack3, NRK_APP_STACKSIZE);
TaskThree.prio = 3;
TaskThree.FirstActivation = TRUE;
TaskThree.Type = BASIC_TASK;
TaskThree.SchType = PREEMPTIVE;
TaskThree.period.secs = 0;
TaskThree.period.nano_secs = 250*NANOS_PER_MS;
TaskThree.cpu_reserve.secs = 0;
TaskThree.cpu_reserve.nano_secs = 0*NANOS_PER_MS;
TaskThree.offset.secs = 1;
TaskThree.offset.nano_secs= 0;
nrk_activate_task (&TaskThree);
}
void nrk_create_taskset ()
{
TX_TASK.task = tx_task;
nrk_task_set_stk (&TX_TASK, tx_task_stack, NRK_APP_STACKSIZE);
TX_TASK.prio = 2;
TX_TASK.FirstActivation = TRUE;
TX_TASK.Type = BASIC_TASK;
TX_TASK.SchType = PREEMPTIVE;
TX_TASK.period.secs = 10;
TX_TASK.period.nano_secs = 0;
TX_TASK.cpu_reserve.secs = 1;
TX_TASK.cpu_reserve.nano_secs = 500 * NANOS_PER_MS;
TX_TASK.offset.secs = 0;
TX_TASK.offset.nano_secs = 0;
nrk_activate_task (&TX_TASK);
RX_TASK.task = rx_task;
nrk_task_set_stk (&RX_TASK, rx_task_stack, NRK_APP_STACKSIZE);
RX_TASK.prio = 3;
RX_TASK.FirstActivation = TRUE;
RX_TASK.Type = BASIC_TASK;
RX_TASK.SchType = PREEMPTIVE;
RX_TASK.period.secs = 10;
RX_TASK.period.nano_secs = 0;
RX_TASK.cpu_reserve.secs = 1;
RX_TASK.cpu_reserve.nano_secs = 500 * NANOS_PER_MS;
RX_TASK.offset.secs = 0;
RX_TASK.offset.nano_secs = 0;
nrk_activate_task (&RX_TASK);
CYCLING_TASK.task = cycling_task;
nrk_task_set_stk(&CYCLING_TASK, cycling_task_stack, NRK_APP_STACKSIZE);
CYCLING_TASK.prio = 1;
CYCLING_TASK.FirstActivation = TRUE;
CYCLING_TASK.Type = BASIC_TASK;
CYCLING_TASK.SchType = PREEMPTIVE;
CYCLING_TASK.period.secs = 0;
CYCLING_TASK.period.nano_secs = 100 * NANOS_PER_MS;
CYCLING_TASK.cpu_reserve.secs = 1;
CYCLING_TASK.cpu_reserve.nano_secs = 50 * NANOS_PER_MS;
CYCLING_TASK.offset.secs = 0;
CYCLING_TASK.offset.nano_secs = 0;
nrk_activate_task(&CYCLING_TASK);
}
void
nrk_create_taskset()
{
nrk_task_set_entry_function( &TaskOne, Task1);
nrk_task_set_stk( &TaskOne, Stack1, NRK_APP_STACKSIZE);
TaskOne.prio = 1;
TaskOne.FirstActivation = TRUE;
TaskOne.Type = BASIC_TASK;
TaskOne.SchType = PREEMPTIVE;
TaskOne.period.secs = 5;
TaskOne.period.nano_secs = 250*NANOS_PER_MS;
TaskOne.cpu_reserve.secs = 1;
TaskOne.cpu_reserve.nano_secs = 50*NANOS_PER_MS;
TaskOne.offset.secs = 0;
TaskOne.offset.nano_secs= 0;
nrk_activate_task (&TaskOne);
}
void nrk_create_taskset ()
{
MOBILE_TASK.task = tx_task;
nrk_task_set_stk (&MOBILE_TASK, mobile_task_stack, NRK_APP_STACKSIZE);
MOBILE_TASK.prio = 2;
MOBILE_TASK.FirstActivation = TRUE;
MOBILE_TASK.Type = BASIC_TASK;
MOBILE_TASK.SchType = PREEMPTIVE;
MOBILE_TASK.period.secs = 0;
MOBILE_TASK.period.nano_secs = 200 * NANOS_PER_MS;
MOBILE_TASK.cpu_reserve.secs = 0;
MOBILE_TASK.cpu_reserve.nano_secs = 200 * NANOS_PER_MS;
MOBILE_TASK.offset.secs = 0;
MOBILE_TASK.offset.nano_secs = 0;
nrk_activate_task (&MOBILE_TASK);
}
void nrk_create_taskset ()
{
WHACKY_TASK.task = whacky_task;
nrk_task_set_stk( &WHACKY_TASK, whacky_task_stack, NRK_APP_STACKSIZE);
WHACKY_TASK.prio = 2;
WHACKY_TASK.FirstActivation = TRUE;
WHACKY_TASK.Type = BASIC_TASK;
WHACKY_TASK.SchType = PREEMPTIVE;
WHACKY_TASK.period.secs = 2;
WHACKY_TASK.period.nano_secs = 0;
WHACKY_TASK.cpu_reserve.secs = 2;
WHACKY_TASK.cpu_reserve.nano_secs = 0;
WHACKY_TASK.offset.secs = 0;
WHACKY_TASK.offset.nano_secs = 0;
nrk_activate_task (&WHACKY_TASK);
printf ("Create done\r\n");
}
void
nrk_create_taskset()
{
TaskOne.task = Task1;
nrk_task_set_stk( &TaskOne, Stack1, NRK_APP_STACKSIZE);
TaskOne.prio = 1;
TaskOne.FirstActivation = TRUE;
TaskOne.Type = BASIC_TASK;
TaskOne.SchType = PREEMPTIVE;
TaskOne.period.secs = 0;
TaskOne.period.nano_secs = 5*NANOS_PER_MS;
// Disable reserve
TaskOne.cpu_reserve.secs = 0;
TaskOne.cpu_reserve.nano_secs = 0;
TaskOne.offset.secs = 0;
TaskOne.offset.nano_secs= 0;
nrk_activate_task (&TaskOne);
}
void bmac_task_config ()
{
nrk_task_set_entry_function( &bmac_task, bmac_nw_task);
nrk_task_set_stk( &bmac_task, bmac_task_stack, BMAC_STACKSIZE);
bmac_task.prio = BMAC_TASK_PRIORITY;
bmac_task.FirstActivation = TRUE;
bmac_task.Type = BASIC_TASK;
bmac_task.SchType = PREEMPTIVE;
bmac_task.period.secs = 0;
bmac_task.period.nano_secs = BMAC_MIN_CHECK_RATE_MS * NANOS_PER_MS;
bmac_task.cpu_reserve.secs = 5; // bmac reserve , 0 to disable
bmac_task.cpu_reserve.nano_secs = 0;
bmac_task.offset.secs = 0;
bmac_task.offset.nano_secs = 0;
#ifdef DEBUG
printf( "bmac activate\r\n" );
#endif
nrk_activate_task (&bmac_task);
}
//Create all the tasks
void nrk_create_taskset ()
{
RX_TASK.task = rx_task;
nrk_task_set_stk( &RX_TASK, rx_task_stack, NRK_APP_STACKSIZE);
RX_TASK.prio = 10;
RX_TASK.FirstActivation = TRUE;
RX_TASK.Type = BASIC_TASK;
RX_TASK.SchType = PREEMPTIVE;
RX_TASK.period.secs = 1;
RX_TASK.period.nano_secs =0;
RX_TASK.cpu_reserve.secs = 0;
RX_TASK.cpu_reserve.nano_secs = 200 * NANOS_PER_MS;
RX_TASK.offset.secs = 0;
RX_TASK.offset.nano_secs = 0;
TX_TASK.task = tx_task;
nrk_task_set_stk( &TX_TASK, tx_task_stack, NRK_APP_STACKSIZE);
TX_TASK.prio = 10;
TX_TASK.FirstActivation = TRUE;
TX_TASK.Type = BASIC_TASK;
TX_TASK.SchType = PREEMPTIVE;
TX_TASK.period.secs = 1;
TX_TASK.period.nano_secs = 0;
TX_TASK.cpu_reserve.secs = 0;
TX_TASK.cpu_reserve.nano_secs = 200 * NANOS_PER_MS;
TX_TASK.offset.secs = 0;
TX_TASK.offset.nano_secs = 0;
RE_TX_TASK.task = re_tx_task;
nrk_task_set_stk( &RE_TX_TASK, re_tx_task_stack, NRK_APP_STACKSIZE);
RE_TX_TASK.prio = 1;
RE_TX_TASK.FirstActivation = TRUE;
RE_TX_TASK.Type = BASIC_TASK;
RE_TX_TASK.SchType = PREEMPTIVE;
RE_TX_TASK.period.secs = 2;
RE_TX_TASK.period.nano_secs = 0;
RE_TX_TASK.cpu_reserve.secs = 0;
RE_TX_TASK.cpu_reserve.nano_secs = 100 * NANOS_PER_MS;
RE_TX_TASK.offset.secs = 0;
RE_TX_TASK.offset.nano_secs = 0;
ACK_TX_TASK.task = ack_tx_task;
nrk_task_set_stk( &ACK_TX_TASK, ack_tx_task_stack, NRK_APP_STACKSIZE);
ACK_TX_TASK.prio = 1;
ACK_TX_TASK.FirstActivation = TRUE;
ACK_TX_TASK.Type = BASIC_TASK;
ACK_TX_TASK.SchType = PREEMPTIVE;
ACK_TX_TASK.period.secs = 1;
ACK_TX_TASK.period.nano_secs = 0;
ACK_TX_TASK.cpu_reserve.secs = 0;
ACK_TX_TASK.cpu_reserve.nano_secs = 100 * NANOS_PER_MS;
ACK_TX_TASK.offset.secs = 0;
ACK_TX_TASK.offset.nano_secs = 0;
nrk_activate_task (&RX_TASK);
nrk_activate_task (&TX_TASK);
nrk_activate_task (&RE_TX_TASK);
nrk_activate_task (&ACK_TX_TASK);
printf ("Create done\r\n");
}
void
nrk_create_taskset()
{
int8_t val;
nrk_task_set_entry_function( &TaskOne, Task1);
nrk_task_set_stk( &TaskOne, Stack1, NRK_APP_STACKSIZE);
TaskOne.prio = 1;
TaskOne.FirstActivation = TRUE;
TaskOne.Type = BASIC_TASK;
TaskOne.SchType = PREEMPTIVE;
TaskOne.period.secs = 1;
TaskOne.period.nano_secs = 0*NANOS_PER_MS;
TaskOne.cpu_reserve.secs = 0;
TaskOne.cpu_reserve.nano_secs = 50*NANOS_PER_MS;
TaskOne.offset.secs = 0;
TaskOne.offset.nano_secs= 0;
nrk_activate_task (&TaskOne);
nrk_task_set_entry_function( &TaskTwo, Task2);
nrk_task_set_stk( &TaskTwo, Stack2, NRK_APP_STACKSIZE);
TaskTwo.prio = 2;
TaskTwo.FirstActivation = TRUE;
TaskTwo.Type = BASIC_TASK;
TaskTwo.SchType = PREEMPTIVE;
TaskTwo.period.secs = 10;
TaskTwo.period.nano_secs = 500*NANOS_PER_MS;
TaskTwo.cpu_reserve.secs = 10;
TaskTwo.cpu_reserve.nano_secs = 100*NANOS_PER_MS;
TaskTwo.offset.secs = 0;
TaskTwo.offset.nano_secs= 0;
nrk_activate_task (&TaskTwo);
nrk_task_set_entry_function( &TaskThree, Task3);
nrk_task_set_stk( &TaskThree, Stack3, NRK_APP_STACKSIZE);
TaskThree.prio = 2;
TaskThree.FirstActivation = TRUE;
TaskThree.Type = BASIC_TASK;
TaskThree.SchType = PREEMPTIVE;
TaskThree.period.secs = 10;
TaskThree.period.nano_secs = 0;
TaskThree.cpu_reserve.secs = 0;
TaskThree.cpu_reserve.nano_secs = 100*NANOS_PER_MS;
TaskThree.offset.secs = 0;
TaskThree.offset.nano_secs= 0;
nrk_activate_task (&TaskThree);
nrk_task_set_entry_function( &TaskFour, Task4);
nrk_task_set_stk( &TaskFour, Stack4, NRK_APP_STACKSIZE);
TaskFour.prio = 2;
TaskFour.FirstActivation = TRUE;
TaskFour.Type = BASIC_TASK;
TaskFour.SchType = PREEMPTIVE;
TaskFour.period.secs = 2;
TaskFour.period.nano_secs = 0;
TaskFour.cpu_reserve.secs = 1;
TaskFour.cpu_reserve.nano_secs = 100*NANOS_PER_MS;
TaskFour.offset.secs = 0;
TaskFour.offset.nano_secs= 0;
nrk_activate_task (&TaskFour);
val=nrk_register_driver( &dev_manager_ff_sensors,FIREFLY_SENSOR_BASIC);
if(val==NRK_ERROR) nrk_kprintf( PSTR("Failed to load my ADC driver\r\n") );
}
void nrk_init()
{
uint8_t i;
// unsigned char *stkc;
nrk_task_type IdleTask;
nrk_wakeup_signal = nrk_signal_create();
if(nrk_wakeup_signal==NRK_ERROR) nrk_kernel_error_add(NRK_SIGNAL_CREATE_ERROR,0);
//if((volatile)TCCR1B!=0) nrk_kernel_error_add(NRK_STACK_OVERFLOW,0);
/*
if(_nrk_startup_ok()==0) nrk_kernel_error_add(NRK_BAD_STARTUP,0);
#ifdef NRK_STARTUP_VOLTAGE_CHECK
if(nrk_voltage_status()==0) nrk_kernel_error_add(NRK_LOW_VOLTAGE,0);
#endif
#ifdef NRK_REBOOT_ON_ERROR
#ifndef NRK_WATCHDOG
while(1)
{
nrk_kprintf( PSTR("KERNEL CONFIG CONFLICT: NRK_REBOOT_ON_ERROR needs watchdog!\r\n") );
for (i = 0; i < 100; i++)
nrk_spin_wait_us (1000);
}
#endif
#endif
#ifdef NRK_WATCHDOG
if(nrk_watchdog_check()==NRK_ERROR)
{
nrk_watchdog_disable();
nrk_kernel_error_add(NRK_WATCHDOG_ERROR,0);
}
nrk_watchdog_enable();
#endif
// nrk_stack_pointer_init();
*/
nrk_cur_task_prio = 0;
nrk_cur_task_TCB = NULL;
nrk_high_ready_TCB = NULL;
nrk_high_ready_prio = 0;
/*
#ifdef NRK_MAX_RESERVES
// Setup the reserve structures
_nrk_reserve_init();
#endif
*/
_nrk_resource_cnt=0; //NRK_MAX_RESOURCE_CNT;
//PAJA: CHECK THIS
for(i=0;i<NRK_MAX_RESOURCE_CNT;i++)
{
nrk_sem_list[i].count=-1;
nrk_sem_list[i].value=-1;
nrk_sem_list[i].resource_ceiling=-1;
//nrk_resource_count[i]=-1;
//nrk_resource_value[i]=-1;
//nrk_resource_ceiling[i]=-1;
}
////// //PAJA: CHECK THIS
////// for (i= 0; i<NRK_MAX_TASKS_TCB; i++)
////// {
////// nrk_task_TCB[i].task_prio = TCB_EMPTY_PRIO;
////// nrk_task_TCB[i].task_ID = -1;
////// nrk_task_TCB[i].Next = NULL; //PAJA:check this
////// nrk_task_TCB[i].Prev = NULL;
////// }
//////
////// _headTCB = &nrk_task_TCB[0];
////// _tailTCB = _headTCB;
tasksNumber = 1; //idle tasks
nrk_task_init_cnt = 1;
nrk_task_TCB.task_prio = TCB_EMPTY_PRIO;
nrk_task_TCB.task_ID = -1;
nrk_task_TCB.Next = NULL; //PAJA:check this
nrk_task_TCB.Prev = NULL;
_headTCB = &nrk_task_TCB;
_tailTCB = _headTCB;
// Setup a double linked list of Ready Tasks
for (i=0;i<NRK_MAX_TASKS;i++)
{
_nrk_readyQ[i].Next = &_nrk_readyQ[i+1];
_nrk_readyQ[i+1].Prev = &_nrk_readyQ[i];
}
_nrk_readyQ[0].Prev = NULL;
_nrk_readyQ[NRK_MAX_TASKS].Next = NULL;
_head_node = NULL;
_free_node = &_nrk_readyQ[0];
nrk_task_set_entry_function( &IdleTask, (uint32_t)nrk_idle_task);
nrk_task_set_stk( &IdleTask, nrk_idle_task_stk, NRK_TASK_IDLE_STK_SIZE);
nrk_idle_task_stk[0]=STK_CANARY_VAL;
//IdleTask.task_ID = NRK_IDLE_TASK_ID;
IdleTask.prio = 0;
IdleTask.offset.secs = 0;
IdleTask.offset.nano_secs = 0;
IdleTask.FirstActivation = TRUE;
IdleTask.Type = IDLE_TASK;
IdleTask.SchType = PREEMPTIVE;
nrk_activate_task(&IdleTask);
}
/**
* nrk_init();
* * - Init TCBlist - linked list of empty TCBs
* - Init global variables
* - Init event list
* - Create idle task
*/
void nrk_init()
{
uint8_t i;
// unsigned char *stkc;
nrk_task_type IdleTask;
nrk_wakeup_signal = nrk_signal_create();
if(nrk_wakeup_signal==NRK_ERROR) nrk_kernel_error_add(NRK_SIGNAL_CREATE_ERROR,0);
//if((volatile)TCCR1B!=0) nrk_kernel_error_add(NRK_STACK_OVERFLOW,0);
#ifndef NRK_SOFT_REBOOT_ON_ERROR
i=_nrk_startup_error();
if((i&0x1)!=0) nrk_kernel_error_add(NRK_BAD_STARTUP,0);
#ifndef IGNORE_EXT_RST_ERROR
if((i&0x2)!=0) nrk_kernel_error_add(NRK_EXT_RST_ERROR,0);
#endif
#ifndef IGNORE_BROWN_OUT_ERROR
if((i&0x4)!=0) nrk_kernel_error_add(NRK_BOD_ERROR,0);
#endif
//if((i&0x8)!=0) nrk_kernel_error_add(NRK_BAD_STARTUP,0);
//if(_nrk_startup_ok()==0) nrk_kernel_error_add(NRK_BAD_STARTUP,0);
#endif
#ifdef NRK_STARTUP_VOLTAGE_CHECK
if(nrk_voltage_status()==0) nrk_kernel_error_add(NRK_LOW_VOLTAGE,0);
#endif
#ifdef NRK_REBOOT_ON_ERROR
#ifndef NRK_WATCHDOG
while(1)
{
nrk_kprintf( PSTR("KERNEL CONFIG CONFLICT: NRK_REBOOT_ON_ERROR needs watchdog!\r\n") );
for (i = 0; i < 100; i++)
nrk_spin_wait_us (1000);
}
#endif
#endif
#ifdef NRK_WATCHDOG
if(nrk_watchdog_check()==NRK_ERROR)
{
nrk_watchdog_disable();
nrk_kernel_error_add(NRK_WATCHDOG_ERROR,0);
}
nrk_watchdog_enable();
#endif
// nrk_stack_pointer_init();
/*
#ifdef KERNEL_STK_ARRAY
stkc = (uint16_t*)&nrk_kernel_stk[NRK_KERNEL_STACKSIZE-1];
nrk_kernel_stk[0]=STK_CANARY_VAL;
nrk_kernel_stk_ptr = &nrk_kernel_stk[NRK_KERNEL_STACKSIZE-1];
#else
stkc = NRK_KERNEL_STK_TOP-NRK_KERNEL_STACKSIZE;
*stkc = STK_CANARY_VAL;
stkc = NRK_KERNEL_STK_TOP;
nrk_kernel_stk_ptr = NRK_KERNEL_STK_TOP;
#endif
*stkc++ = (uint16_t)((uint16_t)_nrk_timer_tick>>8);
*stkc = (uint16_t)((uint16_t)_nrk_timer_tick&0xFF);
*/
// printf( "Init kernel_entry= %d %d\n",kernel_entry[1], kernel_entry[0] );
nrk_cur_task_prio = 0;
nrk_cur_task_TCB = NULL;
nrk_high_ready_TCB = NULL;
nrk_high_ready_prio = 0;
#ifdef NRK_STATS_TRACKER
nrk_stats_reset();
#endif
#ifdef NRK_MAX_RESERVES
// Setup the reserve structures
_nrk_reserve_init();
#endif
_nrk_resource_cnt=0; //NRK_MAX_RESOURCE_CNT;
for(i=0;i<NRK_MAX_RESOURCE_CNT;i++)
{
nrk_sem_list[i].count=-1;
nrk_sem_list[i].value=-1;
nrk_sem_list[i].resource_ceiling=-1;
//nrk_resource_count[i]=-1;
//nrk_resource_value[i]=-1;
//nrk_resource_ceiling[i]=-1;
}
for (i= 0; i<NRK_MAX_TASKS; i++)
{
nrk_task_TCB[i].task_prio = TCB_EMPTY_PRIO;
nrk_task_TCB[i].task_ID = -1;
}
// Setup a double linked list of Ready Tasks
for (i=0;i<NRK_MAX_TASKS;i++)
{
_nrk_readyQ[i].Next = &_nrk_readyQ[i+1];
_nrk_readyQ[i+1].Prev = &_nrk_readyQ[i];
}
_nrk_readyQ[0].Prev = NULL;
_nrk_readyQ[NRK_MAX_TASKS].Next = NULL;
_head_node = NULL;
_free_node = &_nrk_readyQ[0];
nrk_task_set_entry_function( &IdleTask, nrk_idle_task);
nrk_task_set_stk( &IdleTask, nrk_idle_task_stk, NRK_TASK_IDLE_STK_SIZE);
nrk_idle_task_stk[0]=STK_CANARY_VAL;
//IdleTask.task_ID = NRK_IDLE_TASK_ID;
IdleTask.prio = 0;
IdleTask.period.secs = 0;
IdleTask.period.nano_secs = 0;
IdleTask.cpu_reserve.secs = 0;
IdleTask.cpu_reserve.nano_secs = 0;
IdleTask.offset.secs = 0;
IdleTask.offset.nano_secs = 0;
IdleTask.FirstActivation = TRUE;
IdleTask.Type = IDLE_TASK;
IdleTask.SchType = PREEMPTIVE;
nrk_activate_task(&IdleTask);
}
void nrk_create_taskset()
{
TaskOne.task = uart_task;
nrk_task_set_stk( &TaskOne, Stack1, NRK_APP_STACKSIZE);
TaskOne.prio = 3;
TaskOne.FirstActivation = TRUE;
TaskOne.Type = BASIC_TASK;
TaskOne.SchType = PREEMPTIVE;
TaskOne.period.secs = 0;
TaskOne.period.nano_secs = 400*NANOS_PER_MS;
TaskOne.cpu_reserve.secs = 0;
TaskOne.cpu_reserve.nano_secs = 60*NANOS_PER_MS;
TaskOne.offset.secs = 0;
TaskOne.offset.nano_secs= 0;
nrk_activate_task (&TaskOne);
TaskTwo.task = discover_task;
nrk_task_set_stk( &TaskTwo, Stack2, NRK_APP_STACKSIZE);
TaskTwo.prio = 2;
TaskTwo.FirstActivation = TRUE;
TaskTwo.Type = BASIC_TASK;
TaskTwo.SchType = PREEMPTIVE;
TaskTwo.period.secs = 4;
TaskTwo.period.nano_secs = 0*NANOS_PER_MS;
TaskTwo.cpu_reserve.secs = 0;
TaskTwo.cpu_reserve.nano_secs = 100*NANOS_PER_MS;
// this had an offset for mac address
TaskTwo.offset.secs = 0;
TaskTwo.offset.nano_secs= 0;
nrk_activate_task (&TaskTwo);
TaskThree.task = rx_task;
nrk_task_set_stk( &TaskThree, Stack3, NRK_APP_STACKSIZE);
TaskThree.prio = 4;
TaskThree.FirstActivation = TRUE;
TaskThree.Type = BASIC_TASK;
TaskThree.SchType = PREEMPTIVE;
TaskThree.period.secs = 0;
TaskThree.period.nano_secs = 800*NANOS_PER_MS;
TaskThree.cpu_reserve.secs = 0;
TaskThree.cpu_reserve.nano_secs = 400*NANOS_PER_MS;
TaskThree.offset.secs = 0;
TaskThree.offset.nano_secs= 0;
nrk_activate_task (&TaskThree);
TaskFour.task = retrans_task;
nrk_task_set_stk( &TaskFour, Stack4, NRK_APP_STACKSIZE);
TaskFour.prio = 1;
TaskFour.FirstActivation = TRUE;
TaskFour.Type = BASIC_TASK;
TaskFour.SchType = PREEMPTIVE;
TaskFour.period.secs = 4;
TaskFour.period.nano_secs = 0*NANOS_PER_MS;
TaskFour.cpu_reserve.secs = 0;
TaskFour.cpu_reserve.nano_secs = 100*NANOS_PER_MS;
TaskFour.offset.secs = 0;
TaskFour.offset.nano_secs= 0;
nrk_activate_task (&TaskFour);
TaskFive.task = act_recog;
nrk_task_set_stk( &TaskFive, Stack5, NRK_APP_STACKSIZE);
TaskFive.prio = 1;
TaskFive.FirstActivation = TRUE;
TaskFive.Type = BASIC_TASK;
TaskFive.SchType = PREEMPTIVE;
TaskFive.period.secs = 0;
TaskFive.period.nano_secs = 100*NANOS_PER_MS;
TaskFive.cpu_reserve.secs = 0;
TaskFive.cpu_reserve.nano_secs = 8*NANOS_PER_MS;
TaskFive.offset.secs = 0;
TaskFive.offset.nano_secs= 0;
nrk_activate_task (&TaskFive);
}
void
nrk_create_taskset()
{
nrk_task_set_entry_function( &TaskOne, Task1);
nrk_task_set_stk( &TaskOne, Stack1, NRK_APP_STACKSIZE);
TaskOne.prio = 1;
TaskOne.FirstActivation = TRUE;
TaskOne.Type = BASIC_TASK;
TaskOne.SchType = PREEMPTIVE;
TaskOne.period.secs = 2;
TaskOne.period.nano_secs = 500*NANOS_PER_MS;
TaskOne.prelevel=1;
TaskOne.cpu_reserve.secs = 1;
TaskOne.cpu_reserve.nano_secs = 500*NANOS_PER_MS;
TaskOne.offset.secs = 0;
TaskOne.offset.nano_secs= 0;
nrk_activate_task (&TaskOne);
// nrk_task_set_entry_function( &TaskTwo, Task2);
// nrk_task_set_stk( &TaskTwo, Stack2, NRK_APP_STACKSIZE);
// TaskTwo.prio = 2;
// TaskTwo.FirstActivation = TRUE;
// TaskTwo.Type = BASIC_TASK;
// TaskTwo.SchType = PREEMPTIVE;
// TaskTwo.period.secs = 0;
// TaskTwo.period.nano_secs = 250*NANOS_PER_MS;
// TaskTwo.PreemptionLevel=1;
// TaskTwo.cpu_reserve.secs = 0;
// TaskTwo.cpu_reserve.nano_secs = 100*NANOS_PER_MS;
// TaskTwo.offset.secs = 0;
// TaskTwo.offset.nano_secs= 0;
// nrk_activate_task (&TaskTwo);
//sets enrty function for task3
nrk_task_set_entry_function( &TaskThree, Task3);
nrk_task_set_stk( &TaskThree, Stack3, NRK_APP_STACKSIZE);
TaskThree.prio = 3;
TaskThree.FirstActivation = TRUE;
TaskThree.Type = BASIC_TASK;
TaskThree.SchType = PREEMPTIVE;
TaskThree.period.secs = 1;
TaskThree.period.nano_secs = 100*NANOS_PER_MS;
TaskThree.prelevel=2;
TaskThree.cpu_reserve.secs = 0;
TaskThree.cpu_reserve.nano_secs = 100*NANOS_PER_MS;
TaskThree.offset.secs = 0;
TaskThree.offset.nano_secs= 0;
//activate task3
nrk_activate_task (&TaskThree);
//sets entry function for task3
nrk_task_set_entry_function( &TaskFour, Task4);
nrk_task_set_stk( &TaskFour, Stack4, NRK_APP_STACKSIZE);
TaskFour.prio = 4;
TaskFour.FirstActivation = TRUE;
TaskFour.Type = BASIC_TASK;
TaskFour.SchType = PREEMPTIVE;
TaskFour.period.secs = 1;
TaskFour.period.nano_secs = 0;
TaskFour.prelevel=4;
TaskFour.cpu_reserve.secs = 0;
TaskFour.cpu_reserve.nano_secs = 100*NANOS_PER_MS;
TaskFour.offset.secs = 0;
TaskFour.offset.nano_secs= 0;
// nrk_activate_task (&TaskFour);
}
void nrk_create_taskset_2() {
nrk_task_set_entry_function(&TaskOne, Task1);
nrk_task_set_stk(&TaskOne, Stack1, NRK_APP_STACKSIZE);
TaskOne.prio = 1;
TaskOne.FirstActivation = TRUE;
TaskOne.Type = BASIC_TASK;
TaskOne.SchType = PREEMPTIVE;
TaskOne.period.secs = 2;
TaskOne.period.nano_secs = 0;
TaskOne.cpu_reserve.secs = 2;
TaskOne.cpu_reserve.nano_secs = 0;
TaskOne.offset.secs = 0;
TaskOne.offset.nano_secs = 0;
printf("Activating Task 1\r\n");
nrk_activate_task(&TaskOne);
nrk_task_set_entry_function(&TaskTwo, Task2);
nrk_task_set_stk(&TaskTwo, Stack2, NRK_APP_STACKSIZE);
TaskTwo.prio = 2;
TaskTwo.FirstActivation = TRUE;
TaskTwo.Type = BASIC_TASK;
TaskTwo.SchType = PREEMPTIVE;
TaskTwo.period.secs = 1;
TaskTwo.period.nano_secs = 0;
TaskTwo.cpu_reserve.secs = 1;
TaskTwo.cpu_reserve.nano_secs = 0;
TaskTwo.offset.secs = 0;
TaskTwo.offset.nano_secs = 0;
printf("Activating Task 2\r\n");
nrk_activate_task(&TaskTwo);
nrk_task_set_entry_function( &TaskThree, Task3);
nrk_task_set_stk( &TaskThree, Stack3, NRK_APP_STACKSIZE);
TaskThree.prio = 3;
TaskThree.FirstActivation = TRUE;
TaskThree.Type = BASIC_TASK;
TaskThree.SchType = PREEMPTIVE;
TaskThree.period.secs = 0;
TaskThree.period.nano_secs = 250 * NANOS_PER_MS;
TaskThree.cpu_reserve.secs = 0;
TaskThree.cpu_reserve.nano_secs = 250 * NANOS_PER_MS;
TaskThree.offset.secs = 0;
TaskThree.offset.nano_secs= 0;
printf("Activating Task 3\r\n");
nrk_activate_task (&TaskThree);
nrk_task_set_entry_function( &TaskFour, Task4);
nrk_task_set_stk( &TaskFour, Stack4, NRK_APP_STACKSIZE);
TaskFour.prio = 4;
TaskFour.FirstActivation = TRUE;
TaskFour.Type = BASIC_TASK;
TaskFour.SchType = PREEMPTIVE;
TaskFour.period.secs = 0;
TaskFour.period.nano_secs = 500 * NANOS_PER_MS;
TaskFour.cpu_reserve.secs = 0;
TaskFour.cpu_reserve.nano_secs = 500 * NANOS_PER_MS;
TaskFour.offset.secs = 0;
TaskFour.offset.nano_secs= 0;
printf("Activating Task 4\r\n");
nrk_activate_task (&TaskFour);
}
void
nrk_create_taskset()
{
TaskOne.task = Task1;
TaskOne.Ptos = (void *) &Stack1[NRK_APP_STACKSIZE];
TaskOne.Pbos = (void *) &Stack1[0];
TaskOne.prio = 2;
TaskOne.FirstActivation = TRUE;
TaskOne.Type = BASIC_TASK;
TaskOne.SchType = PREEMPTIVE;
TaskOne.period.secs = 0;
TaskOne.period.nano_secs = 250*NANOS_PER_MS;
TaskOne.cpu_reserve.secs = 0;
TaskOne.cpu_reserve.nano_secs = 50*NANOS_PER_MS;
TaskOne.offset.secs = 0;
TaskOne.offset.nano_secs= 0;
nrk_activate_task (&TaskOne);
TaskTwo.task = Task2;
TaskTwo.Ptos = (void *) &Stack2[NRK_APP_STACKSIZE];
TaskTwo.Pbos = (void *) &Stack2[0];
TaskTwo.prio = 2;
TaskTwo.FirstActivation = TRUE;
TaskTwo.Type = BASIC_TASK;
TaskTwo.SchType = PREEMPTIVE;
TaskTwo.period.secs = 0;
TaskTwo.period.nano_secs = 500*NANOS_PER_MS;
TaskTwo.cpu_reserve.secs = 0;
TaskTwo.cpu_reserve.nano_secs = 100*NANOS_PER_MS;
TaskTwo.offset.secs = 0;
TaskTwo.offset.nano_secs= 0;
//nrk_activate_task (&TaskTwo);
TaskThree.task = Task3;
TaskThree.Ptos = (void *) &Stack3[NRK_APP_STACKSIZE];
TaskThree.Pbos = (void *) &Stack3[0];
TaskThree.prio = 3;
TaskThree.FirstActivation = TRUE;
TaskThree.Type = BASIC_TASK;
TaskThree.SchType = PREEMPTIVE;
TaskThree.period.secs = 0;
TaskThree.period.nano_secs = 500*NANOS_PER_MS;
TaskThree.cpu_reserve.secs = 0;
TaskThree.cpu_reserve.nano_secs = 100*NANOS_PER_MS;
TaskThree.offset.secs = 0;
TaskThree.offset.nano_secs= 0;
nrk_activate_task (&TaskThree);
TaskFour.task = Task4;
nrk_task_set_stk( &TaskFour, Stack4, NRK_APP_STACKSIZE);
// TaskFour.Ptos = (void *) &Stack3[NRK_APP_STACKSIZE];
// TaskFour.Pbos = (void *) &Stack3[0];
TaskFour.prio = 4;
TaskFour.FirstActivation = TRUE;
TaskFour.Type = BASIC_TASK;
TaskFour.SchType = PREEMPTIVE;
TaskFour.period.secs = 0;
TaskFour.period.nano_secs = 20*NANOS_PER_MS;
TaskFour.cpu_reserve.secs = 0;
TaskFour.cpu_reserve.nano_secs = 50*NANOS_PER_MS;
TaskFour.offset.secs = 0;
TaskFour.offset.nano_secs= 0;
nrk_activate_task (&TaskFour);
TaskFive.task = Task5;
// nrk_task_set_stk( &TaskFive, Stack5, NRK_APP_STACKSIZE);
TaskFive.Ptos = (void *) &Stack5[NRK_APP_STACKSIZE];
TaskFive.Pbos = (void *) &Stack5[0];
TaskFive.prio = 1;
TaskFive.FirstActivation = TRUE;
TaskFive.Type = BASIC_TASK;
TaskFive.SchType = PREEMPTIVE;
TaskFive.period.secs = 5;
TaskFive.period.nano_secs = 100*NANOS_PER_MS;
TaskFive.cpu_reserve.secs = 3;
TaskFive.cpu_reserve.nano_secs = 0*NANOS_PER_MS;
TaskFive.offset.secs = 0;
TaskFive.offset.nano_secs= 0;
nrk_activate_task (&TaskFive);
}