void trtSignal(uint8_t semnbr) {
uint8_t i;
struct task *t;
uint32_t minDeadline = 0xFFFFFFFF;
uint8_t taskToReadyQ = 0;
cli(); // disable interrupts
for (i=1; i <= kernel.nbrOfTasks; i++) {
t = &kernel.tasks[i];
if (t->state == (semnbr + WAIT_OFFSET)) {
if (t->deadline <= minDeadline) {
taskToReadyQ = i;
minDeadline = t->deadline;
}
}
}
if (taskToReadyQ == 0) {
kernel.semaphores[semnbr-1]++;
} else {
kernel.tasks[taskToReadyQ].state = READYQ; // make task ready
// call interrupt handler to schedule
TIMER1_COMPA_vect();
}
sei(); // reenable interrupts
}
void Posixino::timerThread() {
while (true) {
usleep(1000);
for (int n = 0; n < 3; n++) {
if (interruptCounter[n] < 0) continue;
interruptCounter[n] += 1000;
if (interruptCounter[n] < interruptTiming[n]) continue;
interruptCounter[n] -= interruptTiming[n];
if (n == 0) {
# ifdef TIMER0
TIMER0_COMPA_vect();
# endif
}
if (n == 1) {
# ifdef TIMER1
TIMER1_COMPA_vect();
# endif
}
if (n == 2) {
# ifdef TIMER2
TIMER2_COMPA_vect();
# endif
}
} // for interrupts
} // forever
} // timerThread()
void trtTerminate(void) {
cli();
kernel.tasks[kernel.running].state = TERMINATED;
// call interrupt handler to schedule
TIMER1_COMPA_vect();
}
void trtSleepUntil(uint32_t release, uint32_t deadline) {
struct task *t;
t = &kernel.tasks[kernel.running];
cli(); // turn off interrupts
t->state = TIMEQ;
t->release = release;
t->deadline = deadline;
// call interrupt handler to schedule
TIMER1_COMPA_vect();
}
static void timer1_isr(void) {
const uint8_t tr = timer_reason;
if ( ! sim_interrupts) {
// Interrupts disabled. Schedule another callback in 10us.
schedule_timer(10);
return;
}
timer_reason = 0;
cli();
#ifdef SIM_DEBUG
uint64_t now = now_ns();
static unsigned int cc_1s = 0, prev_1s = 0;
if ( ! clock_counter_1s && prev_1s) ++cc_1s;
prev_1s = clock_counter_1s;
//uint16_t now = sim_tick_counter();
uint64_t real = (now-begin) / 1000;
uint64_t avr = cc_1s * 4 + clock_counter_1s;
avr *= 250;
avr += clock_counter_250ms * 10;
avr += clock_counter_10ms;
avr *= 1000 ;
printf("test: Real: %us %u.%03ums AVR: %us %u.%03ums Real/AVR: %u\n",
real / 1000000 , (real % 1000000)/1000 , real % 1000 ,
avr / 1000000 , (avr % 1000000)/1000 , avr % 1000 ,
real / (avr?avr:1) );
printf("test: 10ms=%u 250ms=%u 1s=%u total=%luns actual=%luns\n",
clock_counter_10ms, clock_counter_250ms, clock_counter_1s,
now - begin, now - then, sim_runtime_ns());
//printf(" timer1_isr tick_time=%04X now=%04X delta=%u total=%u\n",
// TICK_TIME , now, now_us() - then, (now_us() - begin)/1000000 ) ;
then = now;
#endif
if (tr & TIMER_OCR1A) TIMER1_COMPA_vect();
if (tr & TIMER_OCR1B) TIMER1_COMPB_vect();
sei();
// Setup next timer
sim_timer_set();
}
void trtWait(uint8_t semnbr) {
struct task *t;
uint8_t *s;
t = &kernel.tasks[kernel.running];
cli(); // disable interrupts
s = &kernel.semaphores[semnbr-1];
if ((*s) > 0) {
(*s)--;
} else {
t->state = semnbr + WAIT_OFFSET; // waiting for Sem#semnbr
// call interrupt handler to schedule
TIMER1_COMPA_vect();
}
sei(); // reenable interrupts
}
void trtCreateTask(void (*fun)(void*), uint16_t stacksize, uint32_t release, uint32_t deadline, void *args) {
uint8_t *sp;
struct task *t;
int i;
cli(); // turn off interrupts
++kernel.nbrOfTasks;
sp = kernel.memptr;
kernel.memptr -= stacksize; // decrease free mem ptr
// initialize stack
*sp-- = lo8(fun); // store PC(lo)
*sp-- = hi8(fun); // store PC(hi)
for (i=0; i<25; i++) //WAS -- for (i=0; i<24; i++)
*sp-- = 0x00; // store SREG,r0-r1,r3-r23
// Save args in r24-25 (input arguments stored in these registers)
*sp-- = lo8(args);
*sp-- = hi8(args);
for (i=0; i<6; i++)
*sp-- = 0x00; // store r26-r31
t = &kernel.tasks[kernel.nbrOfTasks];
t->release = release;
t->deadline = deadline;
t->state = TIMEQ;
t->spl = lo8(sp); // store stack pointer
t->sph = hi8(sp);
// call interrupt handler to schedule
TIMER1_COMPA_vect();
}
void sim_check_interrupts()
{
unsigned int ticks = SDL_GetTicks();
int tickDiff = ticks - prevTicks;
prevTicks = ticks;
if (!(SREG & _BV(SREG_I)))
return;
#ifdef ENABLE_ULTILCD2
if ((TWCR & _BV(TWEN)) && (TWCR & _BV(TWINT)) && (TWCR & _BV(TWIE)))
{
//Relay the TWI interrupt by 25ms one time till it gets disabled again. This fakes the LCD refresh rate.
if (twiIntStart == 0)
twiIntStart = SDL_GetTicks();
if (SDL_GetTicks() - twiIntStart > 25)
{
cli();
TWI_vect();
_sei();
}
}
if (!(TWCR & _BV(TWEN)) || !(TWCR & _BV(TWIE)))
{
twiIntStart = 0;
}
#endif
//if (tickDiff > 1)
// printf("Ticks slow! %i\n", tickDiff);
if (tickDiff > 0)
{
ms_callback();
cli();
for(int n=0;n<tickDiff;n++)
{
if (TIMSK0 & _BV(OCIE0B))
TIMER0_COMPB_vect();
if (TIMSK0 & _BV(TOIE0))
TIMER0_OVF_vect();
}
//Timer1 runs at 16Mhz / 8 ticks per second.
unsigned int waveformMode = ((TCCR1B & (_BV(WGM13) | _BV(WGM12))) >> 1) | (TCCR1A & (_BV(WGM11) | _BV(WGM10)));
unsigned int clockSource = TCCR1B & (_BV(CS12) | _BV(CS11) | _BV(CS10));
unsigned int tickCount = F_CPU * tickDiff / 1000;
unsigned int ticks = TCNT1;
switch(clockSource)
{
case 0: tickCount = 0; break;
case 1: break;
case 2: tickCount /= 8; break;
case 3: tickCount /= 64; break;
case 4: tickCount /= 256; break;
case 5: tickCount /= 1024; break;
case 6: tickCount = 0; break;
case 7: tickCount = 0; break;
}
tickCount *= 4;//For some reason the stepper speed is to slow, so cheat the timer routine.
if (tickCount > 0 && OCR1A > 0)
{
ticks += tickCount;
while(ticks > int(OCR1A))
{
ticks -= int(OCR1A);
if (TIMSK1 & _BV(OCIE1A))
TIMER1_COMPA_vect();
}
TCNT1 = ticks;
}
_sei();
}
