예제 #1
0
//	メインタスク
void main_task(VP_INT exinf)
{
	serial_ctl_por(TASK_PORTID, (IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV));
	syslog(LOG_NOTICE,"Sample program starts (exinf = %d)", exinf);

	std::atexit(finish);

	try
	{
		for (;;)
		{
			for (ID semid = 1; semid <= 5; semid++)
				p_fork[semid - 1] = new fork(semid);

			for (ID tskid = 1; tskid <= 5; tskid++)
				act_tsk(tskid);

			char c;
			do
			{
				serial_rea_dat(TASK_PORTID, &c, 1);
				if (c == 'a')
					std::abort();
			} while (c != 'q' && c != 'Q');

			for (ID tskid = 1; tskid <= 5; tskid++)
			{
				ter_tsk(tskid);
			}

			for (ID semid = 1; semid <= 5; semid++)
			{
				delete p_fork[semid - 1];
				p_fork[semid - 1] = 0;
			}

			do
			{
				syslog(LOG_NOTICE, "restart? [y|n] ");
				serial_rea_dat(TASK_PORTID, &c, 1);
			} while (c != 'y' && c != 'n');

			if (c == 'n')
				break;
		}

		syslog(LOG_NOTICE, "multitask test succeeded");
	}
	catch (std::bad_alloc&)
	{
		syslog(LOG_NOTICE, "multitask test failed");
	}

	std::exit(0);
}
예제 #2
0
파일: monitor.c 프로젝트: inouema/toppers
/*
 *  モニタタスク
 */
void monitor(VP_INT exinf)
{
	INT  no, point;
	B    c;

	/* モニタで使用するデータの初期化 */

	mon_portid   = mon_default_portid = (ID)exinf;
	mon_datatype = DATA_BYTE;
	mon_logmask  = LOG_NOTICE;
	mon_lowmask  = LOG_EMERG;
	current_tskid = MONTASK;
	mon_infile   = stdin;

	if(mon_portid != CONSOLE_PORTID)
		syscall(serial_opn_por(mon_portid));
#ifdef NEED_MONITOR
	if(!need_monitor())
		ext_tsk();
#endif	/* NEED_MONITOR */
	_setup_stdio(&mon_portid);
#ifdef MONITOR_DELAY
	dly_tsk(MONITOR_DELAY);
#endif	/* MONITOR_DELAY */
#if defined(LOGTASK) && (LOGTASK_PRIORITY <= MONITOR_PRIORITY)
	chg_pri(LOGTASK, MONITOR_PRIORITY+1);
	dly_tsk(50);
	printf("change log task priority %d to %d !\n", LOGTASK_PRIORITY, MONITOR_PRIORITY+1);
#endif
	printf(banner,
		(TMONITOR_PRVER >> 12) & 0x0f,
		(TMONITOR_PRVER >> 4) & 0xff,
		TMONITOR_PRVER & 0x0f);
	vmsk_log(LOG_UPTO(mon_logmask), LOG_UPTO(mon_lowmask));
	syscall(serial_ctl_por(mon_portid, (IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV)));

	/* モニタのメインのデスパッチ */

	do{
		prompt(current_tskid);
		c = monitor_getstring(mon_command, &point);
		no = dispatch_command(mon_command, &point);
		putecho('\n');
		if(no >= 0)
			mon_dispatch[no].func(&mon_command[point]);
		fflush(NULL);
	}while(c != KEY_EXT);
	printf("exit monitor !!\n");
}
예제 #3
0
파일: sample1.c 프로젝트: inouema/toppers
void init_task(intptr_t exinf)
{
#ifndef TASK_LOOP
    volatile ulong_t	i;
    SYSTIM	stime1, stime2;
#endif /* TASK_LOOP */

    /* シリアルポートのオープン */
    SVC(serial_opn_por(SIO_PORTID));
    SVC(serial_ctl_por(SIO_PORTID , IOCTL_CRLF));

    /* 起動メッセージの出力 */
    syslog(LOG_INFO , "Sample program starts.");

    /* 周期ハンドラの起動 */
    SVC(sta_cyc(MAIN_CYC));


    /*
     *  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 */

    task_loop = LOOP_REF;
    SVC(get_tim(&stime1));
    for (i = 0; i < task_loop; i++);
    SVC(get_tim(&stime2));
    task_loop = LOOP_REF * 400UL / (stime2 - stime1);

#endif /* TASK_LOOP */

}
예제 #4
0
파일: laser_car.c 프로젝트: huchunxu/asp
void main_task(intptr_t exinf)
{
	//串口任务初始化
	ER_UINT	ercd;
	SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_NOTICE), LOG_UPTO(LOG_EMERG)));
	syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);

	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)));

	//初始化其它的任务
	SVC_PERROR(act_tsk(SPEED_TASK));
	SVC_PERROR(act_tsk(FOLLOW_TASK));
	SVC_PERROR(act_tsk(SENSORS_TASK));
	SVC_PERROR(sta_cyc(CYC_HANDLE));
	//结束自己的使命
	ext_tsk();
}
예제 #5
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();
}
예제 #6
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);
}
예제 #7
0
파일: sample1.c 프로젝트: inouema/toppers
/*
 *  メインタスク
 */
void main_task(intptr_t exinf)
{
	char_t	c;
	ER_UINT	ercd;
	PRI		tskpri;
	ID		prcid = exinf;
	ID		tskid = sample_tskid[(exinf - 1) * 3 ];
	int_t	        tskno = (exinf-1) * 3 + 1;
	ID		cycid = sample_cycid[(int_t)exinf-1];
	ID		almid = sample_almid[(int_t)exinf-1];
	bool_t  update_select = true;
	uint_t  tme_select    = exinf;
	uint_t  prc_select    = exinf;
	uint32_t server_req;

#ifndef TASK_LOOP
	volatile ulong_t	i;
	SYSTIM	stime1, stime2;
#endif /* TASK_LOOP */
#ifdef G_SYSLOG
	uint_t e;
#endif /* G_SYSLOG */

	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(((int_t)serial_port[exinf-1]));
	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(serial_port[exinf-1],
							(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 */

	/*
	 *  タスクの起動
	 */
	SVC_PERROR(act_tsk(tskid));

	/*
 	 *  メインループ
	 */
	do {
		if (update_select) {
			prcid = prc_select;
			cycid = sample_cycid[tme_select-1];
			almid = sample_almid[tme_select-1];
                        tsk_mig_prc = prcid;
			update_select = false;
			syslog(LOG_INFO, "select tskno 0x%x", tskno);
			syslog(LOG_INFO, "select cycid %d", cycid);
			syslog(LOG_INFO, "select almid %d", almid);
			syslog(LOG_INFO, "select processor %d", prcid);
		}
		
		SVC_PERROR(serial_rea_dat(serial_port[exinf-1], &c, 1));
		
		switch (c) {
		case 'e':
		case 's':
		case 'S':
		case 'd':
                case 'g':
			message[tskno - 1] = c;
			break;
		case '1':
			tskno = 1;
                        tskid = TASK1;
			update_select = true;
			break;
		case '2':
			tskno = 2;
                        tskid = TASK2;
			update_select = true;
			break;
		case '3':
			tskno = 3;
                        tskid = TASK3;
			update_select = true;
			break;
		case '4':
			tskno = 4;
                        tskid = TASK4;
			update_select = true;
			break;
		case '5':
			tskno = 5;
                        tskid = TASK5;
			update_select = true;
			break;
		case '6':
			tskno = 6;
                        tskid = TASK6;
			update_select = true;
			break;
		case '8':
			prc_select = 1;
			update_select = true;
			break;
		case '9':
			prc_select = 2;
			update_select = true;
			break;
		case 'a':
			syslog(LOG_INFO, "#act_tsk(0x%x)", tskno);
			SVC_PERROR(act_tsk(tskid));
			break;
		case 'A':
			syslog(LOG_INFO, "#can_act(0x%x)", tskno);
			SVC_PERROR(ercd = can_act(tskid));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "can_act(0x%x) returns %d", tskno, ercd);
			}
			break;
		case '>':
			syslog(LOG_INFO, "#chg_pri(0x%x, HIGH_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, HIGH_PRIORITY));
			break;
		case '=':
			syslog(LOG_INFO, "#chg_pri(0x%x, MID_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, MID_PRIORITY));
			break;
		case '<':
			syslog(LOG_INFO, "#chg_pri(0x%x, LOW_PRIORITY)", tskno);
			SVC_PERROR(chg_pri(tskid, LOW_PRIORITY));
			break;
		case 'G':
			syslog(LOG_INFO, "#get_pri(0x%x, &tskpri)", tskno);
			SVC_PERROR(ercd = get_pri(tskid, &tskpri));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "priority of task 0x%x is %d", tskno, tskpri);
			}
			break;
		case 'w':
			syslog(LOG_INFO, "#wup_tsk(0x%x)", tskno);
			SVC_PERROR(wup_tsk(tskid));
			break;
		case 'W':
			syslog(LOG_INFO, "#can_wup(0x%x)", tskno);
			SVC_PERROR(ercd = can_wup(tskid));
			if (ercd >= 0) {
				syslog(LOG_NOTICE, "can_wup(0x%x) returns %d", tskno, ercd);
			}
			break;
		case 'c':
			syslog(LOG_INFO, "#sta_cyc(%d)", cycid);
			SVC_PERROR(sta_cyc(cycid));
			break;
		case 'C':
			syslog(LOG_INFO, "#stp_cyc(%d)", cycid);
			SVC_PERROR(stp_cyc(cycid));
			break;
		case 'b':
			syslog(LOG_INFO, "#sta_alm(%d, %d)", almid, ALM_TIME);
			SVC_PERROR(sta_alm(almid, ALM_TIME));
			break;
		case 'B':
			syslog(LOG_INFO, "#stp_alm(%d)", almid);
			SVC_PERROR(stp_alm(almid));
			break;
		case 'f':
			syslog(LOG_INFO, "#mact_tsk(%d, %d)", tskid, prcid);
			SVC_PERROR(mact_tsk(tskid, prcid));
			break;                  
		default:
			break;
		}
	} while (c != '\003' && c != 'Q');

	syslog(LOG_NOTICE, "Sample program ends.");
	SVC_PERROR(ext_ker());
	assert(0);
}
예제 #8
0
파일: ppp.c 프로젝트: chenyifu/asp_tinet_mb
void
ppp_input_task(intptr_t exinf)
{
	T_NET_BUF	*input;
	T_PPP_PROTENT	*proto;
	ID		tskid;
	int_t		ix;

	/* ポートを初期設定する */
	syscall(serial_opn_por(HDLC_PORTID));
	syscall(serial_ctl_por(HDLC_PORTID, IOCTL_FCSND | IOCTL_FCRCV));

	get_tid(&tskid);

#ifdef PPP_CFG_MODEM

	init_modem();
	syslog(LOG_NOTICE, "[PPP INPUT:%d] started with modem on port %d.", tskid, HDLC_PORTID);

#else	/* of #ifdef PPP_CFG_MODEM */

	syslog(LOG_NOTICE, "[PPP INPUT:%d] started on port %d.", tskid, HDLC_PORTID);

#endif	/* of #ifdef PPP_CFG_MODEM */

	/* ネットワークタイマタスクを起動する */
	syscall(act_tsk(NET_TIMER_TASK));

	/* 上位プロトコルを初期化する */
	for (ix = 0; (proto = protocols[ix]) != NULL; ix ++)
		if (proto->init != NULL)
			(*proto->init)();

	lcp_lowerup();
	lcp_open(PPP_OPEN_PASSIVE);

	/* PPP 出力タスクを起動する */
	syscall(act_tsk(PPP_OUTPUT_TASK));

	while (true) {
		if (tget_net_buf(&input, IF_PDU_SIZE, TMO_PPP_GET_NET_BUF) == E_OK) {
			while (HDLC_read(input, IF_PDU_SIZE) != E_OK)
				;
			if (input->len > 0) {

	#ifdef PPP_IDLE_TIMEOUT
				wai_sem(SEM_IDLE_TIMEOUT);
				if (idle && ntohs(*GET_PPP_HDR(input)) != PPP_LCP) {
					untimeout((FP)idle_timeout, NULL);
					idle = false;
					}
				sig_sem(SEM_IDLE_TIMEOUT);
	#endif	/* of #ifdef PPP_IDLE_TIMEOUT */

				parse_input(input);
				}
			else
				syscall(rel_net_buf(input));

	#ifdef PPP_IDLE_TIMEOUT
			wai_sem(SEM_IDLE_TIMEOUT);
			if (!idle && ppp_phase == PPP_PHASE_NETWORK) {
				timeout((FP)idle_timeout, NULL, PPP_IDLE_TIMEOUT);
				idle = true;
				}
			else if (idle && ppp_phase != PPP_PHASE_NETWORK) {
				untimeout((FP)idle_timeout, NULL);
				idle = false;
				}
			sig_sem(SEM_IDLE_TIMEOUT);
	#endif	/* of #ifdef PPP_IDLE_TIMEOUT */

			}
		else {
			HDLC_dummy_read();
			NET_COUNT_PPP(net_count_ppp.in_err_packets, 1);
			NET_COUNT_PPP(net_count_ppp_no_bufs, 1);
			}
		}
	}
예제 #9
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);
}
예제 #10
0
파일: sample1n.c 프로젝트: inouema/toppers
ER
net_serial_ctl_por (ID portid, UINT ioctl)
{
	net_ioctl = ioctl;
	return serial_ctl_por(portid, ioctl);
	}
예제 #11
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);
}
예제 #12
0
파일: sample1.c 프로젝트: huchunxu/asp
/*
 *  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);
}
예제 #13
0
파일: monitor.c 프로젝트: inouema/toppers
/*
 *  設定コマンド
 */
static UW
set_command(B *command)
{
	INT  point=0;
	B    cmd=0;
	UB   b;
	UH   h;
	UW   w, value1, value2;
	int  no, count;
	BOOL cont;

	count = sizeof(mon_set) / sizeof(struct SUBCOMMAND_TABLE);
	if(command[point]){
		for(no = 0 ; no < count ; no++){
			if(compare_word(mon_set[no].subcommand, command, 0)){
				skip_word(command, &point);
				cmd = mon_set[no].type;
				break;
			}
		}
	}
	switch(cmd){
	default:						/* デフォルト */
		cmd = mon_datatype;
	case MONSET_BYTE:				/* バイト単位メモリ設定 */
	case MONSET_HALF:				/* ハーフ単位メモリ設定 */
	case MONSET_WORD:				/* ワード単位メモリ設定 */
		if(!get_value(command, &point, &value1, HEX_BASE))
			value1 = mon_address;
		value1 = MonAlignAddress(value1);
		mon_datatype = cmd;
		do{
			printf("  %08lx", (unsigned long)value1);
			switch(mon_datatype){
			case DATA_HALF:
				if(MemoryRead(value1, &h, 2) == 0)
					h = -1;
				printf(" %04x =", h);
				break;
			case DATA_WORD:
				if(MemoryRead(value1, &w, 4) == 0)
					w = -1;
				printf(" %08lx =", (unsigned long)w);
				break;
			default:
				if(MemoryRead(value1, &b, 1) == 0)
					b = -1;
				printf(" %02x =", b);
				break;
			}
			monitor_getstring(mon_command, &point);
			if(get_value(mon_command, &point, &value2, HEX_BASE)){
				switch(mon_datatype){
				case DATA_HALF:
					h = value2;
					MemoryWrite(value1, &h, 2);
					if(MemoryRead(value1, &h, 2) == 0)
						h = -1;
					printf(" %04x\n", h);
					break;
				case DATA_WORD:
					w = value2;
					MemoryWrite(value1, &w, 4);
					if(MemoryRead(value1, &w, 4) == 0)
						w = -1;
					printf(" %08lx\n", (unsigned long)w);
					break;
				default:
					b = value2;
					MemoryWrite(value1, &b, 1);
					if(MemoryRead(value1, &b, 1) == 0)
						b = -1;
					printf(" %02x\n", b);
					break;
				}
				value1 += mon_datatype;
				cont = TRUE;
			}
			else
				cont = FALSE;
		}while(cont || point == 0);
		putchar('\n');
		mon_address = value1;
		break;
	case MONSET_COMMAND:			/* コマンドモード設定 */
		if(get_value(command, &point, &value1, DEC_BASE)){
			if(value1 == 1 || value1 == 2){
				printf("  set %d command(s) mode !\n", value1);
				mon_mode = value1;
			}
		}
		printf("  set command mode=%d word(s) !\n", mon_mode);
		break;
	case MONSET_SERIAL:				/* シリアル設定 */
		if(get_value(command, &point, &value1, DEC_BASE)){
			if(value1 > 0 && mon_portid != value1){
				if(mon_portid != mon_default_portid && mon_portid != CONSOLE_PORTID)
					syscall(serial_cls_por(mon_portid));
				mon_portid = value1;
				if(mon_portid != mon_default_portid && mon_portid != CONSOLE_PORTID)
					syscall(serial_opn_por(mon_portid));
				syscall(serial_ctl_por(mon_portid, (IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV)));
				printf(banner,
					(TMONITOR_PRVER >> 12) & 0x0f,
					(TMONITOR_PRVER >> 4) & 0xff,
					TMONITOR_PRVER & 0x0f);
			}
		}
		printf("  set serial port id=%d !\n", mon_portid);
		break;
	case MONSET_TASK:				/* タスク選択 */
		if(get_value(command, &point, &value1, DEC_BASE)){
			if(value1 >= TMIN_TSKID && value1 < (TMIN_TSKID+tmax_tskid))
				current_tskid = value1;
			else
				current_tskid = MONTASK;
		}
		else
			current_tskid = MONTASK;
		break;
	case MONSET_IN:					/* 入力設定 */
		value1 = 0;
		get_value(command, &point, &value1, DEC_BASE);
		if(value1 == 1)
			mon_infile = stdout;
		else if(value1 == 2)
			mon_infile = stderr;
		else
			mon_infile = stdin;
		break;
	}
	return 0;
}
예제 #14
0
ER
net_serial_ctl_por (ID portid, uint_t ioctl)
{
	net_ioctl = ioctl;
	return serial_ctl_por(portid, ioctl);
	}
예제 #15
0
파일: ev3main.c 프로젝트: yuyaotsuka/etrobo
void ev3_main_task(intptr_t exinf) {
    ER_UINT ercd;

    // Pause application at first
    platform_pause_application(true);

    /**
     * Initialize FatFS
     */
    initialize_fatfs_dri();

    /**
     * Load configurations
     */
    ev3rt_load_configuration();

    /**
     * Initialize LCD
     */
    initialize_lcd_dri();

    /**
     * Initialize EV3RT console and open its SIO port.
     */
    initialize_console_dri();
    ercd = serial_opn_por(SIO_PORT_LCD);
    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(SIO_PORT_LCD, IOCTL_NULL));

    platform_pause_application(false);

    is_initialized = false;

//    syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);

    /**
     * Initialize all drivers
     */
	for(uint32_t i = 0; i < tnum_drivers; ++i)
		if (drivers[i].init_func != NULL) drivers[i].init_func(0);

	platform_soft_reset();

	// Banner
	syslog(LOG_NOTICE, "");
	syslog(LOG_NOTICE, "");
	syslog(LOG_NOTICE, "");
	syslog(LOG_NOTICE, "");
	syslog(LOG_NOTICE, "   _____   ______ ___  ______");
	syslog(LOG_NOTICE, "  / __/ | / /_  // _ \/_  __/");
	syslog(LOG_NOTICE, " / _/ | |/ //_ </ , _/ / /");
	syslog(LOG_NOTICE, "/___/ |___/____/_/|_| /_/");
	syslog(LOG_NOTICE, "=============================");
	syslog(LOG_NOTICE, "Powered by TOPPERS/HRP2 RTOS");
	syslog(LOG_NOTICE, "Initialization is completed..");

	platform_pause_application(true);

	is_initialized = true;

	brick_misc_command(MISCCMD_SET_LED, TA_LED_GREEN);

#if 0 // Legacy code
    initialize_analog_dri();
    initialize_uart_dri();
	initialize_motor_dri();
	initialize_sound_dri();
	initialize_fatfs_dri();
	//    initialize_ev3();



//    syslog(LOG_ERROR, "TEST ZMODEM");
//    uint8_t c;
//    while(1) {
//    	serial_rea_dat(SIO_PORT_UART, &c, 1);
//		ER ercd;
//		switch (c) {
//		case 'r':
//			ercd = zmodem_recv_file(app_text_mempool, sizeof(app_text_mempool));
//			syslog(LOG_ERROR, "ZMODEM ercd = %d.", ercd);
//			break;
//		default:
//			syslog(LOG_ERROR, "Key %c pressed.", c);
//		}
//    }


    //EV3::ev3 = new EV3::EV3();

//#define TEST_ANALOG_SENSOR
//

//#ifdef TEST_ANALOG_SENSOR

//    while(1) {
//        /*
//         *  Debug Analog Port 2
//         */
//        int sv = analog_get_short(1);
//        printk("Sensor PIN1: %d\n", sv);
//        printk("Sensor PIN6: %d\n", analog_get_short_pin6(1));
//
//        GPIO67.OUT_DATA ^= GPIO_ED_PIN7 | GPIO_ED_PIN14;
//        target_fput_log('H');
//        target_fput_log('E');
//        target_fput_log('R');
//        target_fput_log('E');
//        target_fput_log('\n');
//        tslp_tsk(1000);
//    }
//#endif
//#ifdef TEST_UART
//  //init_pwm();
//  //ev3_motor_set_speed(PortA, 50);
//  //tslp_tsk(3000);
//  //ev3_motor_brake(PortA, true);
//  init_uart();
//  while(1) {
//      /*
//       *  Debug UART Port 2
//       */
//      int sv = uart_get_short(1);
//      printk("Sensor value: %d\n", sv);
//
//      GPIO67.OUT_DATA ^= GPIO_ED_PIN7 | GPIO_ED_PIN14;
//      target_fput_log('H');
//      target_fput_log('E');
//      target_fput_log('R');
//      target_fput_log('E');
//      target_fput_log('\n');
//      tslp_tsk(1000);
//  }
//#endif
#endif

}