void StartupHook(void)
{
(void)SetRelAlarm(ID_vAlarmReceiver,50,10);
(void)SetRelAlarm(ID_vAlarmSender,100,200);
(void)SetRelAlarm(ID_vAlarmMainFunction,200,1); //so cyclic 1 Ticks = 4ms
DcmEx1Init();
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_t1_instance(void)
{
StatusType result_inst_2, result_inst_4, result_inst_5, result_inst_6, result_inst_7, result_inst_10, result_inst_11, result_inst_12, result_inst_14;
TickType result_inst_3, result_inst_13;
AlarmBaseType result_inst_1;
SCHEDULING_CHECK_INIT(1);
result_inst_2 = GetAlarmBase(Alarm1, &result_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(1,OSMAXALLOWEDVALUE_Counter1, (int)(result_inst_1.maxallowedvalue));
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(1,OSTICKSPERBASE_Counter1, (int)(result_inst_1.ticksperbase));
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(1,OSMINCYCLE_Counter1, (int)(result_inst_1.mincycle));
SCHEDULING_CHECK_AND_EQUAL_INT(1,E_OK, result_inst_2);
SCHEDULING_CHECK_INIT(2);
result_inst_4 = GetAlarm(Alarm1, &result_inst_3);
SCHEDULING_CHECK_AND_EQUAL_INT(2,E_OS_NOFUNC, result_inst_4);
SCHEDULING_CHECK_INIT(3);
result_inst_5 = CancelAlarm(Alarm1);
SCHEDULING_CHECK_AND_EQUAL_INT(3,E_OS_NOFUNC, result_inst_5);
SCHEDULING_CHECK_INIT(4);
result_inst_6 = SetAbsAlarm(Alarm1, 2, 2);
SCHEDULING_CHECK_AND_EQUAL_INT(4,E_OK, result_inst_6);
SCHEDULING_CHECK_INIT(5);
result_inst_7 = SetAbsAlarm(Alarm1, 3, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(5,E_OS_STATE, result_inst_7);
WaitActivationPeriodicAlarm(Alarm1);
WaitActivationPeriodicAlarm(Alarm1);
SCHEDULING_CHECK_INIT(8);
result_inst_10 = CancelAlarm(Alarm1);
SCHEDULING_CHECK_AND_EQUAL_INT(8,E_OK, result_inst_10);
SCHEDULING_CHECK_INIT(9);
result_inst_11 = SetRelAlarm(Alarm1, 2, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(9,E_OK, result_inst_11);
SCHEDULING_CHECK_INIT(10);
result_inst_12 = SetRelAlarm(Alarm1, 3, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(10,E_OS_STATE, result_inst_12);
SCHEDULING_CHECK_INIT(11);
result_inst_14 = GetAlarm(Alarm1, &result_inst_13);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(11,2, result_inst_13);
SCHEDULING_CHECK_AND_EQUAL_INT(11,E_OK, result_inst_14);
WaitActivationOneShotAlarm(Alarm1);
SCHEDULING_CHECK_STEP(13);
}
/*
* MAIN TASK
*/
int main(void)
{
//GPIO_InitTypeDef GPIO_InitStructure;
SystemInit();
/*Initializes Erika related stuffs*/
EE_system_init();
SWatch_state.errorStatus = errorSig;
SWatch_state.ModelData.prevZCSigState = &ZCSig;
SWatch_state.ModelData.dwork = &DWork;
/* init state machine */
SWatch_initialize(&SWatch_state,
&Bplus, &Bminus, &Btime, &Btimer, &Balarm, &Bswatch, &Bstart, &Bstop,
&hours, &minutes, &seconds, &tenths, &mode, &alarm_signal, &timer_exp);
/*Initialize systick */
EE_systick_set_period(MILLISECONDS_TO_TICKS(1, SystemCoreClock));
EE_systick_enable_int();
EE_systick_start();
/* Initializes LCD and touchscreen */
IOE_Config();
/* Initialize the LCD */
STM32f4_Discovery_LCD_Init();
// LCD_Clear(White);
/* Set the LCD Text size */
// LCD_SetFont(&Font8x12);
// Lcd_Touch_Calibration();
InitTouch(-0.102, 0.0656, -335, 10);
/* Draw the background */
DrawInit(MyWatchScr);
LCD_SetTextColor(Black);
LCD_SetBackColor(Black);
LCD_DrawFullRect(10, 80, 240, 56);
WPrint(&MyWatchScr[SEP1STR], ":");
WPrint(&MyWatchScr[SEP2STR], ":");
/* Program cyclic alarms which will fire after an initial offset,
* and after that periodically
* */
SetRelAlarm(AlarmTaskLCD, 10, 50);
SetRelAlarm(AlarmTaskClock, 10, 100);
/* Forever loop: background activities (if any) should go here */
for (;;) {
}
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_isr1_instance(void)
{
StatusType result_inst_1, result_inst_2, result_inst_3, result_inst_4, result_inst_5, result_inst_6, result_inst_7, result_inst_8, result_inst_9;
TickType TickType_inst_1, TickType_inst_2;
SCHEDULING_CHECK_INIT(2);
result_inst_1 = GetCounterValue(Software_Counter, &TickType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(2,E_OK, result_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(2,0, TickType_inst_1);
SCHEDULING_CHECK_INIT(3);
result_inst_2 = SetRelAlarm(Alarm_ActivateTask, 2, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(3,E_OK, result_inst_2);
SCHEDULING_CHECK_INIT(4);
result_inst_3 = IncrementCounter(Software_Counter);
SCHEDULING_CHECK_AND_EQUAL_INT(4,E_OK, result_inst_3);
SCHEDULING_CHECK_INIT(5);
result_inst_4 = IncrementCounter(Software_Counter);
/* alarm expiration */
SCHEDULING_CHECK_AND_EQUAL_INT(6,E_OK, result_inst_4);
/* force scheduling */
SCHEDULING_CHECK_INIT(7);
result_inst_5 = SetRelAlarm(Alarm_SetEvent_suspendedtask, 2, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(7,E_OK, result_inst_5);
SCHEDULING_CHECK_INIT(8);
result_inst_6 = IncrementCounter(Software_Counter);
SCHEDULING_CHECK_AND_EQUAL_INT(8,E_OK, result_inst_6);
SCHEDULING_CHECK_INIT(9);
result_inst_7 = IncrementCounter(Software_Counter);
/*alarm expires*/
SCHEDULING_CHECK_AND_EQUAL_INT(10,E_OK, result_inst_7);
/*force rescheduling*/
SCHEDULING_CHECK_INIT(11);
result_inst_8 = GetCounterValue(Software_Counter_By_Alarm, &TickType_inst_2);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(11,E_OK, result_inst_8);
SCHEDULING_CHECK_AND_EQUAL_INT(11,0, TickType_inst_2);
SCHEDULING_CHECK_INIT(12);
result_inst_9 = SetRelAlarm(Alarm_ActivateTask, 0, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(13,E_OS_VALUE, result_inst_9);
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_t1_instance(void)
{
StatusType result_inst_1, result_inst_2, result_inst_3, result_inst_4, result_inst_5, result_inst_6, result_inst_7, result_inst_9, result_inst_10;
TickType result_inst_8;
SCHEDULING_CHECK_INIT(2);
result_inst_1 = SetAbsAlarm(Alarm1, 2, 2);
SCHEDULING_CHECK_AND_EQUAL_INT(2,E_OK, result_inst_1);
SCHEDULING_CHECK_INIT(3);
result_inst_2 = SetAbsAlarm(Alarm1, 3, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(3,E_OS_STATE, result_inst_2);
WaitActivationPeriodicAlarm(Alarm1);
SCHEDULING_CHECK_INIT(4);
result_inst_3 = Schedule();
SCHEDULING_CHECK_AND_EQUAL_INT(6,E_OK, result_inst_3);
WaitActivationPeriodicAlarm(Alarm1);
SCHEDULING_CHECK_INIT(7);
result_inst_4 = Schedule();
SCHEDULING_CHECK_AND_EQUAL_INT(9,E_OK, result_inst_4);
SCHEDULING_CHECK_INIT(10);
result_inst_5 = CancelAlarm(Alarm1);
SCHEDULING_CHECK_AND_EQUAL_INT(10,E_OK, result_inst_5);
SCHEDULING_CHECK_INIT(11);
result_inst_6 = SetRelAlarm(Alarm1, 2, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(11,E_OK, result_inst_6);
SCHEDULING_CHECK_INIT(12);
result_inst_7 = SetRelAlarm(Alarm1, 3, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(12,E_OS_STATE, result_inst_7);
SCHEDULING_CHECK_INIT(13);
result_inst_9 = GetAlarm(Alarm1, &result_inst_8);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(13,2, result_inst_8);
SCHEDULING_CHECK_AND_EQUAL_INT(13,E_OK, result_inst_9);
WaitActivationOneShotAlarm(Alarm1);
SCHEDULING_CHECK_INIT(14);
result_inst_10 = Schedule();
SCHEDULING_CHECK_AND_EQUAL_INT(15,E_OK, result_inst_10);
}
//initialise the counter and alarm table
EXPORT void knl_cntalm_init(void)
{
INT i;
CCB* ccb;
ALMCB* almcb;
for(i=0;i<cfgOSEK_COUNTER_NUM;i++)
{
ccb = &knl_ccb_table[i];
QueInit(&ccb->almque);
#if(cfgAR_SCHEDTBL_NUM > 0)
QueInit(&ccb->tblque);
#endif
ccb->curvalue = 0;
}
#if(cfgOSEK_ALARM_NUM >0)
for(i=0;i<cfgOSEK_ALARM_NUM;i++)
{
almcb = &knl_almcb_table[i];
QueInit(&almcb->almque);
//almcb->almid = i;
if((knl_galm_table[i].mode & knl_app_mode) != 0)
{
(void)SetRelAlarm(i,knl_galm_table[i].time,knl_galm_table[i].cycle);
}
}
#endif
#if(cfgAR_SCHEDTBL_NUM > 0)
knl_init_schedule_table();
#endif
}
/* |------------------+-----------------------------------------------------------------| */
#if 0 /* defined as Macro */
StatusType SetAbsAlarm ( AlarmType xAlarmID , TickType xStart ,TickType xCycle )
{
/* Yeah,I want to implement it,but the OSEK counter was not implemented.
* Temporarily I choose put it away.
* But later I will realize the OSEK Counter. */
return SetRelAlarm(xAlarmID,xStart,xCycle);
}
void StartupHook(void)
{
/* Add Code Here */
(void)SetRelAlarm(ID_vAlarmReceiver,50,10);
(void)SetRelAlarm(ID_vAlarmSender,100,200);
(void)SetRelAlarm(ID_vAlarmMainFunction,200,1); //so cyclic 1 Ticks = 4ms
Can_Init(&Can_ConfigData);
CanIf_Init(&CanIf_Config);
CanNm_Init(&CanNm_Config);
CanSM_Init(&CanSM_Cfg);
Nm_Init(&Nm_Config);
ComM_Init(&ComM_Cfg);
CanIf_SetControllerMode(vCanIf_Channel_0,CANIF_CS_STARTED);
CanIf_SetControllerMode(vCanIf_Channel_1,CANIF_CS_STARTED);
Nm_PassiveStartUp(vNm_Channel_0);
ComM_RequestComMode(vComM_User_0,COMM_FULL_COMMUNICATION);
CanNm_NetworkRequest(vCanNm_Channel_0);
}
int main(int argc, char* argv[]) {
WaitEvent(&Event1);
WaitEvent(&Event2);
WaitEvent(&Event3);
ActivateTask(&Task1);
ActivateTask(&Task2);
ActivateTask(&Task3);
SetRelAlarm(&Alarm1);
SetRelAlarm(&Alarm2);
#ifdef WRONG
WaitEvent(&Alarm1);
ActivateTask(&Event3);
SetRelAlarm(&Task3);
#endif // WRONG
return 0;
}
/* main function, only to initialize software and hardware,
* fire alarms, and implement background activities */
int main(void)
{
Sys_init();//Initialize clock, devices and periphericals
SetRelAlarm(AlarmReferenceChange,1000,1000);
/* Forever loop: background activities (if any) should go here */
for (;;);
return 0;
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_t1_instance(void)
{
StatusType result_inst_1, result_inst_2, result_inst_3, result_inst_4, result_inst_5, result_inst_7;
TickType result_inst_6;
SCHEDULING_CHECK_INIT(1);
result_inst_1 = SetAbsAlarm(Alarm1, 2, 2);
SCHEDULING_CHECK_AND_EQUAL_INT(1,E_OK, result_inst_1);
SCHEDULING_CHECK_INIT(2);
result_inst_2 = SetAbsAlarm(Alarm1, 3, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(2,E_OS_STATE, result_inst_2);
WaitActivationPeriodicAlarm(Alarm1);
SCHEDULING_CHECK_STEP(4);
WaitActivationPeriodicAlarm(Alarm1);
SCHEDULING_CHECK_INIT(6);
result_inst_3 = CancelAlarm(Alarm1);
SCHEDULING_CHECK_AND_EQUAL_INT(6,E_OK, result_inst_3);
SCHEDULING_CHECK_INIT(7);
result_inst_4 = SetRelAlarm(Alarm1, 2, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(7,E_OK, result_inst_4);
SCHEDULING_CHECK_INIT(8);
result_inst_5 = SetRelAlarm(Alarm1, 3, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(8,E_OS_STATE, result_inst_5);
SCHEDULING_CHECK_INIT(9);
result_inst_7 = GetAlarm(Alarm1, &result_inst_6);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(9,2, result_inst_6);
SCHEDULING_CHECK_AND_EQUAL_INT(9,E_OK, result_inst_7);
WaitActivationOneShotAlarm(Alarm1);
SCHEDULING_CHECK_STEP(11);
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_isr1_instance(void)
{
StatusType result_inst_1, result_inst_2, result_inst_3, result_inst_4, result_inst_5, result_inst_6, result_inst_7, result_inst_8, result_inst_9;
TickType TickType_inst_1, TickType_inst_2, TickType_inst_3, TickType_inst_4, TickType_inst_5;
/*s1*/
SCHEDULING_CHECK_INIT(2);
result_inst_1 = GetCounterValue(Software_Counter, &TickType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(2,E_OK, result_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(2,0, TickType_inst_1);
SCHEDULING_CHECK_INIT(3);
result_inst_2 = SetRelAlarm(Alarm1, 2, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(3,E_OK, result_inst_2);
SCHEDULING_CHECK_INIT(4);
result_inst_3 = IncrementCounter(Software_Counter);
SCHEDULING_CHECK_AND_EQUAL_INT(4,E_OK, result_inst_3);
SCHEDULING_CHECK_INIT(5);
result_inst_4 = IncrementCounter(Software_Counter);
SCHEDULING_CHECK_AND_EQUAL_INT(5,E_OK, result_inst_4);
SCHEDULING_CHECK_INIT(6);
result_inst_5 = GetCounterValue(Software_Counter, &TickType_inst_2);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(6,E_OK, result_inst_5);
SCHEDULING_CHECK_AND_EQUAL_INT(6,1, TickType_inst_2);
SCHEDULING_CHECK_INIT(7);
result_inst_6 = IncrementCounter(Software_Counter);
SCHEDULING_CHECK_AND_EQUAL_INT(7,E_OK, result_inst_6);
SCHEDULING_CHECK_INIT(8);
result_inst_7 = IncrementCounter(Software_Counter);
/*alarm expires*/
SCHEDULING_CHECK_AND_EQUAL_INT(10,E_OK, result_inst_7);
/*force rescheduling*/
SCHEDULING_CHECK_INIT(11);
result_inst_8 = GetCounterValue(Software_Counter, &TickType_inst_3);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(11,E_OK, result_inst_8);
SCHEDULING_CHECK_AND_EQUAL_INT(11,2, TickType_inst_3);
SCHEDULING_CHECK_INIT(12);
TickType_inst_4 = 0;
result_inst_9 = GetElapsedCounterValue(Software_Counter, &TickType_inst_4, &TickType_inst_5);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(12,E_OK , result_inst_9);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(12,2 , TickType_inst_4);
SCHEDULING_CHECK_AND_EQUAL_INT(12,2 , TickType_inst_5);
}
static void test_t1_instance(void)
{
StatusType r1, r2;
/* Activate t2 in cycle 10 */
SCHEDULING_CHECK_INIT(1);
r1 = SetAbsAlarm(activate_task_accross_cores, 10, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(1, E_OK, r1);
/* Set t2_event after 20 cycles */
SCHEDULING_CHECK_INIT(2);
r2 = SetRelAlarm(set_event_accross_cores, 20, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(2, E_OK, r2);
/* Wait for the core 1 to end its tests */
SyncAllCores(sync);
}
extern void controller_init(void)
{
/* open CIAA digital outputs */
fd_out = ciaaPOSIX_open("/dev/dio/out/0", ciaaPOSIX_O_RDWR);
/* open CIAA ADC */
fd_adc = ciaaPOSIX_open("/dev/serial/aio/in/0", ciaaPOSIX_O_RDONLY);
/* open UART connected to USB bridge (FT2232) */
fd_uart1 = ciaaPOSIX_open("/dev/serial/uart/1", ciaaPOSIX_O_RDWR);
uart_init(ciaaBAUDRATE_115200, ciaaFIFO_TRIGGER_LEVEL3);
sensorLM35_init(fd_adc, ciaaCHANNEL_3);
SetRelAlarm(ActivatePeriodicTask, 350, SAMPLES_TIME);
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_t1_instance1(void)
{
ApplicationType result_app_1;
StatusType result_inst_1, result_inst_2, result_inst_3, result_inst_4, result_inst_5, result_inst_6, result_inst_7;
ScheduleTableStatusType ScheduleTableStatusType_inst_1;
TickType TickType_inst_1;
SCHEDULING_CHECK_INIT(1);
result_app_1 = GetApplicationID();
SCHEDULING_CHECK_AND_EQUAL_INT(1, app1, result_app_1);
SCHEDULING_CHECK_INIT(2);
result_inst_1 = SetRelAlarm(Alarm1, 1, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(2, E_OK, result_inst_1);
SCHEDULING_CHECK_INIT(3);
result_inst_2 = GetAlarm(Alarm1, &TickType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(3, E_OK, result_inst_2);
SCHEDULING_CHECK_INIT(4);
result_inst_3 = StartScheduleTableAbs(sched1, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(4, E_OK, result_inst_3);
SCHEDULING_CHECK_INIT(5);
result_inst_4 = GetScheduleTableStatus(sched1, &ScheduleTableStatusType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(5 , SCHEDULETABLE_RUNNING , ScheduleTableStatusType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(5, E_OK, result_inst_4);
SCHEDULING_CHECK_INIT(6);
result_inst_5 = GetResource(Resource1);
SCHEDULING_CHECK_AND_EQUAL_INT(6, E_OK, result_inst_5);
SCHEDULING_CHECK_INIT(7);
result_inst_6 = TerminateApplication(INVALID_RESTART);
SCHEDULING_CHECK_AND_EQUAL_INT(8, E_OS_VALUE, result_inst_6);
SCHEDULING_CHECK_INIT(9);
result_inst_7 = TerminateApplication(RESTART);
SCHEDULING_CHECK_AND_EQUAL_INT(90, E_OK, result_inst_7);
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_t1_instance(void)
{
StatusType result_inst_1, result_inst_3, result_inst_4;
TaskStateType result_inst_2;
SCHEDULING_CHECK_INIT(1);
result_inst_1 = SetRelAlarm(Alarm1, 0, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(1,E_OK, result_inst_1);
WaitActivationOneShotAlarm(Alarm1);
SCHEDULING_CHECK_INIT(2);
result_inst_3 = GetTaskState(t2, &result_inst_2);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(2,READY, result_inst_2);
SCHEDULING_CHECK_AND_EQUAL_INT(2,E_OK, result_inst_3);
SCHEDULING_CHECK_INIT(3);
result_inst_4 = TerminateTask();
SCHEDULING_CHECK_AND_EQUAL_INT(3,E_OK, result_inst_4);
}
EXPORT void knl_alarm_counter_init(void)
{
uint8 i;
for(i=0;i<cfgOS_COUNTER_NUM;i++)
{
knl_ccb_head[i] = INVALID_ALARM;
knl_ccb_value[i] = 0;
}
for(i=0;i<cfgOS_ALARM_NUM;i++)
{
knl_acb_next[i] = INVALID_ALARM;
knl_acb_prev[i] = INVALID_ALARM;
knl_acb_value[i] = ALARM_STOPPED;
}
for(i=0;i<cfgOS_ALARM_NUM;i++)
{
if((knl_acb_mode[i]&knl_appmode) != 0u)
{
(void)SetRelAlarm(i,knl_acb_time[i],knl_acb_cycle[i]);
}
}
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_t1_instance(void)
{
StatusType result_inst_1, result_inst_2, result_inst_3, result_inst_4, result_inst_5;
TickType TickType_inst_1, TickType_inst_2, TickType_inst_3, tick_temp;
TickType alarm_increment = 2;
EventMaskType EventMaskType_inst_1;
SCHEDULING_CHECK_INIT(1);
result_inst_1 = GetCounterValue(Hardware_Counter, &TickType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(1,E_OK, result_inst_1);
WaitCounterDeltaValue(Hardware_Counter, 3);
SCHEDULING_CHECK_INIT(2);
result_inst_2 = GetCounterValue(Hardware_Counter, &TickType_inst_2);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(2, (TickType_inst_1 + 3)%(OSMAXALLOWEDVALUE_Hardware_Counter + 1) , TickType_inst_2);
SCHEDULING_CHECK_AND_EQUAL_INT(2,E_OK , result_inst_2);
SCHEDULING_CHECK_INIT(3);
result_inst_3 = SetRelAlarm(Alarm1, alarm_increment, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(3,E_OK, result_inst_3);
WaitActivationOneShotAlarm(Alarm1);
SCHEDULING_CHECK_INIT(4);
tick_temp = TickType_inst_2;
result_inst_4 = GetElapsedCounterValue(Hardware_Counter, &TickType_inst_2, &TickType_inst_3);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(4,E_OK , result_inst_4);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(4, (tick_temp + alarm_increment)%(OSMAXALLOWEDVALUE_Hardware_Counter + 1) , TickType_inst_2);
SCHEDULING_CHECK_AND_EQUAL_INT(4,alarm_increment , TickType_inst_3);
SCHEDULING_CHECK_INIT(5);
result_inst_5 = GetEvent(t1, &EventMaskType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(5,Event1 , EventMaskType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(5, E_OK , result_inst_5);
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_isr1_instance(void)
{
StatusType result_inst_1, result_inst_2, result_inst_3, result_inst_4, result_inst_5, result_inst_6, result_inst_7, result_inst_8, result_inst_9, result_inst_10, result_inst_11;
TickType TickType_inst_1, TickType_inst_2, TickType_inst_3, TickType_inst_4, TickType_inst_6, TickType_inst_8, TickType_inst_9, TickType_inst_10, tick_temp;
TickType TickType_inst_5 = OSMAXALLOWEDVALUE_Software_Counter + 1;
TickType TickType_inst_7 = OSMAXALLOWEDVALUE_Hardware_Counter + 1;
TickType alarm_increment = 2;
EventMaskType EventMaskType_inst_1;
SCHEDULING_CHECK_INIT(2);
result_inst_1 = GetCounterValue(Hardware_Counter, &TickType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(2,E_OK, result_inst_1);
WaitCounterDeltaValue(Hardware_Counter, 3);
SCHEDULING_CHECK_INIT(3);
result_inst_2 = GetCounterValue(Hardware_Counter, &TickType_inst_2);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(3, (TickType_inst_1 + 3)%(OSMAXALLOWEDVALUE_Hardware_Counter + 1) , TickType_inst_2);
SCHEDULING_CHECK_AND_EQUAL_INT(3,E_OK , result_inst_2);
SCHEDULING_CHECK_INIT(4);
result_inst_3 = SetRelAlarm(Alarm1, alarm_increment, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(4,E_OK, result_inst_3);
WaitActivationOneShotAlarm(Alarm1);
SCHEDULING_CHECK_INIT(5);
tick_temp = TickType_inst_2;
result_inst_4 = GetElapsedCounterValue(Hardware_Counter, &TickType_inst_2, &TickType_inst_3);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(5,E_OK , result_inst_4);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(5,(tick_temp + alarm_increment)%(OSMAXALLOWEDVALUE_Hardware_Counter + 1) , TickType_inst_2);
SCHEDULING_CHECK_AND_EQUAL_INT(5,alarm_increment , TickType_inst_3);
SCHEDULING_CHECK_INIT(6);
result_inst_5 = GetEvent(t1, &EventMaskType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(6,Event1 , EventMaskType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(6,E_OK , result_inst_5);
SCHEDULING_CHECK_INIT(7);
result_inst_6 = IncrementCounter(Hardware_Counter);
SCHEDULING_CHECK_AND_EQUAL_INT(7,E_OS_ID, result_inst_6);
SCHEDULING_CHECK_INIT(8);
result_inst_7 = IncrementCounter(INVALID_COUNTER);
SCHEDULING_CHECK_AND_EQUAL_INT(8,E_OS_ID, result_inst_7);
SCHEDULING_CHECK_INIT(9);
result_inst_8 = GetCounterValue(INVALID_COUNTER, &TickType_inst_4);
SCHEDULING_CHECK_AND_EQUAL_INT(9,E_OS_ID, result_inst_8);
SCHEDULING_CHECK_INIT(10);
result_inst_9 = GetElapsedCounterValue(Software_Counter, &TickType_inst_5, &TickType_inst_6);
SCHEDULING_CHECK_AND_EQUAL_INT(10,E_OS_VALUE, result_inst_9);
SCHEDULING_CHECK_INIT(11);
result_inst_10 = GetElapsedCounterValue(Hardware_Counter, &TickType_inst_7, &TickType_inst_8);
SCHEDULING_CHECK_AND_EQUAL_INT(11,E_OS_VALUE, result_inst_10);
SCHEDULING_CHECK_INIT(12);
result_inst_11 = GetElapsedCounterValue(INVALID_COUNTER, &TickType_inst_9, &TickType_inst_10);
SCHEDULING_CHECK_AND_EQUAL_INT(12,E_OS_ID, result_inst_11);
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_t1_instance(void)
{
StatusType result_inst_2, result_inst_4, result_inst_6, result_inst_7, result_inst_8, result_inst_9, result_inst_10, result_inst_11, result_inst_12, result_inst_13, result_inst_14, result_inst_15, result_inst_16, result_inst_17;
AlarmBaseType result_inst_1, result_inst_5;
TickType result_inst_3;
SCHEDULING_CHECK_INIT(1);
result_inst_2 = GetAlarmBase(INVALID_ALARM, &result_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(1,E_OS_ID, result_inst_2);
SCHEDULING_CHECK_INIT(2);
result_inst_4 = GetAlarm(INVALID_ALARM, &result_inst_3);
SCHEDULING_CHECK_AND_EQUAL_INT(2,E_OS_ID, result_inst_4);
SCHEDULING_CHECK_INIT(3);
result_inst_6 = GetAlarmBase(Alarm1, &result_inst_5);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(3,OSMAXALLOWEDVALUE, (int)(result_inst_5.maxallowedvalue));
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(3,OSTICKSPERBASE, (int)(result_inst_5.ticksperbase));
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(3,OSMINCYCLE, (int)(result_inst_5.mincycle));
SCHEDULING_CHECK_AND_EQUAL_INT(3,E_OK, result_inst_6);
SCHEDULING_CHECK_INIT(4);
result_inst_7 = SetRelAlarm(INVALID_ALARM, 0, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(4,E_OS_ID, result_inst_7);
SCHEDULING_CHECK_INIT(5);
result_inst_8 = SetRelAlarm(Alarm1, -1, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(5,E_OS_VALUE, result_inst_8);
SCHEDULING_CHECK_INIT(6);
result_inst_9 = SetRelAlarm(Alarm1, result_inst_5.maxallowedvalue + 1, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(6,E_OS_VALUE, result_inst_9);
SCHEDULING_CHECK_INIT(7);
result_inst_10 = SetRelAlarm(Alarm1, 0, result_inst_5.mincycle - 1);
SCHEDULING_CHECK_AND_EQUAL_INT(7,E_OS_VALUE, result_inst_10);
SCHEDULING_CHECK_INIT(8);
result_inst_11 = SetRelAlarm(Alarm1, 0, result_inst_5.maxallowedvalue + 1);
SCHEDULING_CHECK_AND_EQUAL_INT(8,E_OS_VALUE, result_inst_11);
SCHEDULING_CHECK_INIT(9);
result_inst_12 = SetAbsAlarm(INVALID_ALARM, 0, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(9,E_OS_ID, result_inst_12);
SCHEDULING_CHECK_INIT(10);
result_inst_13 = SetAbsAlarm(Alarm1, -1, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(10,E_OS_VALUE, result_inst_13);
SCHEDULING_CHECK_INIT(11);
result_inst_14 = SetAbsAlarm(Alarm1, result_inst_5.maxallowedvalue + 1, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(11,E_OS_VALUE, result_inst_14);
SCHEDULING_CHECK_INIT(12);
result_inst_15 = SetAbsAlarm(Alarm1, 0, result_inst_5.mincycle - 1);
SCHEDULING_CHECK_AND_EQUAL_INT(12,E_OS_VALUE, result_inst_15);
SCHEDULING_CHECK_INIT(13);
result_inst_16 = SetAbsAlarm(Alarm1, 0, result_inst_5.maxallowedvalue + 1);
SCHEDULING_CHECK_AND_EQUAL_INT(13,E_OS_VALUE, result_inst_16);
SCHEDULING_CHECK_INIT(14);
result_inst_17 = CancelAlarm(INVALID_ALARM);
SCHEDULING_CHECK_AND_EQUAL_INT(14,E_OS_ID, result_inst_17);
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_t1_instance(void)
{
AlarmBaseType AlarmBaseType_inst_1;
EventMaskType EventMaskType_inst_1;
StatusType result_inst_2, result_inst_3, result_inst_4, result_inst_5, result_inst_6, result_inst_7, result_inst_8, result_inst_9, result_inst_10, result_inst_11, result_inst_12, result_inst_13, result_inst_14, result_inst_15, result_inst_16, result_inst_17, result_inst_18, result_inst_19;
TaskStateType TaskStateType_inst_1;
TaskType TaskType_inst_1;
TickType TickType_inst_1;
SCHEDULING_CHECK_STEP(1);
SCHEDULING_CHECK_STEP(2);
SuspendAllInterrupts();
SCHEDULING_CHECK_INIT(3);
result_inst_2 = ActivateTask(t2);
SCHEDULING_CHECK_AND_EQUAL_INT(4,E_OS_DISABLEDINT, result_inst_2);
SCHEDULING_CHECK_INIT(5);
result_inst_3 = TerminateTask();
SCHEDULING_CHECK_AND_EQUAL_INT(6,E_OS_DISABLEDINT, result_inst_3);
SCHEDULING_CHECK_INIT(7);
result_inst_4 = ChainTask(t2);
SCHEDULING_CHECK_AND_EQUAL_INT(8,E_OS_DISABLEDINT, result_inst_4);
SCHEDULING_CHECK_INIT(9);
result_inst_5 = Schedule();
SCHEDULING_CHECK_AND_EQUAL_INT(10,E_OS_DISABLEDINT, result_inst_5);
SCHEDULING_CHECK_INIT(11);
result_inst_6 = GetTaskID(&TaskType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(12,E_OS_DISABLEDINT, result_inst_6);
SCHEDULING_CHECK_INIT(13);
result_inst_7 = GetTaskState(t2, &TaskStateType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(14,E_OS_DISABLEDINT, result_inst_7);
SCHEDULING_CHECK_INIT(15);
result_inst_8 = GetResource(Resource1);
SCHEDULING_CHECK_AND_EQUAL_INT(16,E_OS_DISABLEDINT, result_inst_8);
SCHEDULING_CHECK_INIT(17);
result_inst_9 = ReleaseResource(Resource1);
SCHEDULING_CHECK_AND_EQUAL_INT(18,E_OS_DISABLEDINT, result_inst_9);
SCHEDULING_CHECK_INIT(19);
result_inst_10 = SetEvent(t2, Event1);
SCHEDULING_CHECK_AND_EQUAL_INT(20,E_OS_DISABLEDINT, result_inst_10);
SCHEDULING_CHECK_INIT(21);
result_inst_11 = ClearEvent(Event1);
SCHEDULING_CHECK_AND_EQUAL_INT(22,E_OS_DISABLEDINT, result_inst_11);
SCHEDULING_CHECK_INIT(23);
result_inst_12 = GetEvent(t2, &EventMaskType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(24,E_OS_DISABLEDINT, result_inst_12);
SCHEDULING_CHECK_INIT(25);
result_inst_13 = WaitEvent(Event1);
SCHEDULING_CHECK_AND_EQUAL_INT(26,E_OS_DISABLEDINT, result_inst_13);
SCHEDULING_CHECK_INIT(27);
result_inst_14 = GetAlarmBase(Alarm1, &AlarmBaseType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(28,E_OS_DISABLEDINT, result_inst_14);
SCHEDULING_CHECK_INIT(29);
result_inst_15 = GetAlarm(Alarm1, &TickType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(30,E_OS_DISABLEDINT, result_inst_15);
SCHEDULING_CHECK_INIT(31);
result_inst_16 = SetRelAlarm(Alarm1, 1, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(32,E_OS_DISABLEDINT, result_inst_16);
SCHEDULING_CHECK_INIT(33);
result_inst_17 = SetAbsAlarm(Alarm1, 1, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(34,E_OS_DISABLEDINT, result_inst_17);
SCHEDULING_CHECK_INIT(35);
result_inst_18 = CancelAlarm(Alarm1);
SCHEDULING_CHECK_AND_EQUAL_INT(36,E_OS_DISABLEDINT, result_inst_18);
SCHEDULING_CHECK_INIT(37);
result_inst_19 = GetActiveApplicationMode();
SCHEDULING_CHECK_AND_EQUAL_INT(38,OSDEFAULTAPPMODE, result_inst_19);
SCHEDULING_CHECK_STEP(39);
ResumeAllInterrupts();
}
/** 走行中の処理 */
SINT Driver::state_driving(void){
//DEBUG_PRINT1("s", "state_driving()");
RobotInfo r_info;
NavInfo n_info;
RobotCmd cmd;
bool ret;
navigator_.Init();
//Position prePos;
//Position now_position;
// F32 r = 41.34; // タイヤの半径 []
// F32 d = 82.6; // 左右のタイヤ間距離 [mm]
// S32 angR = nxt_motor_get_count(1);
// S32 angL = nxt_motor_get_count(2);
// S32 angR_bak;
// S32 angL_bak;
navigator_.Init();
r_info = robot_.GetInfo();
//angR = r_info.rot_encoderR_val;
//angL = r_info.rot_encoderL_val;
n_info = navigator_.GetInfo(r_info);
// 最初のミッションを設定＆初期化
cur_mission_iter_ = this->mission_list_.Begin();
if ( cur_mission_iter_ != this->mission_list_.End() ){
(*cur_mission_iter_)->Init(r_info, n_info);
} else {
this->status_ = STATE_ERROR;
}
this->ClearEventFlag();
SetRelAlarm(Alarm4msec, 1, DRIVE_PERIOD); // ドライブ用Alarmタイマーのセット
// 走行開始
// ステータスが運転中ならループを繰り返す
while(this->status_ == STATE_DRIVING){
//DEBUG_PRINT1("s", (*cur_mission_iter_)->Name());
ClearEvent(EventDrive); // ドライブイベントのクリア
WaitEvent(EventDrive); // ドライブイベント待ち
// タッチセンサON,もしくは転倒情報より走行停止
if ( event_flag_.is_SetEvent(Robot::EVENT_TOUCH_SENSOR_ON) || event_flag_.is_SetEvent(Robot::EVENT_FAIL) ){
status_ = STATE_WAIT_START;
break;
}
// デバッグ用
if ( event_flag_.is_SetEvent(Robot::EVENT_GYRO) ){
// robot_.Beep();
}
if ( event_flag_.is_SetEvent(Robot::EVENT_GYRO2) ){
// robot_.Beep();
}
if ( event_flag_.is_SetEvent(Robot::EVENT_SONAR_SENSOR_ON) ){
// robot_.Beep();
}
r_info = robot_.GetInfo();
n_info = navigator_.GetInfo(r_info);
//prePos = now_position;
//angR_bak = angR;
//angL_bak = angL;
//angR = r_info.rot_encoderR_val;
//angL = r_info.rot_encoderL_val;
//now_position = getPositionEstimation(prePos, angR - angR_bak, angL - angL_bak, r, d);
while(1){
ret = (*cur_mission_iter_)->Run(r_info, n_info, this->event_flag_, cmd);
if ( ret == true ){
robot_.Drive(cmd);
break;
} else if ( ret == false ){
// 次のミッションに遷移
++cur_mission_iter_;
if ( cur_mission_iter_ == mission_list_.End() ){
// ミッションリストがなくなったので終了
// ただし、最後のミッションは倒立したまま停止を続けるはずなので、
// 基本的にこの処理には入らない
this->status_ = STATE_COMPLETE;
break;
} else {
(*cur_mission_iter_)->Init(r_info, n_info);
continue;
}
} else {
// ここに入ることはないはず
this->status_ = STATE_WAIT_START;
break;
}
}
#if 1
// Bluetooth データ送信
if ( this->is_bt_connect_ ){
robot_.BTSend(cmd, r_info, n_info);
//robot_.BTSend(cmd, now_position);
}
#endif
this->ClearEventFlag();
}
robot_.Stop();
this->ClearEventFlag();
CancelAlarm(Alarm4msec); // ドライブ用Alarmタイマーのキャンセル
ClearEvent(EventDrive); // ドライブイベントのクリア
return 0;
}
/*==================[external functions definition]==========================*/
void StartOS
(
AppModeType Mode
)
{
/* \req OSEK_SYS_3.25 The system service void
** StartOS ( AppModeType Mode ) shall be defined */
/* \req OSEK_SYS_3.25.1 This system service shall starts the operating
** system */
uint8f loopi;
IntSecure_Start();
/* save the aplication mode */
ApplicationMode = Mode;
/* StartOs_Arch */
StartOs_Arch();
/* init every task */
for( loopi = 0; loopi < TASKS_COUNT; loopi++)
{
/* \req OSEK_SYS_3.1.2-2/3 The operating system shall ensure that the task
** code is being executed from the first statement. */
SetEntryPoint(loopi); /* set task entry point */
}
/* set sys context */
SetActualContext(CONTEXT_SYS);
/* set actual task to invalid task */
SetRunningTask(INVALID_TASK);
/* add to ready the corresponding tasks for this
* Application Mode */
for (loopi = 0; loopi < AutoStart[Mode].TotalTasks; loopi++)
{
/* activate task */
ActivateTask(AutoStart[Mode].TasksRef[loopi]);
}
for (loopi = 0; loopi < ALARM_AUTOSTART_COUNT; loopi++)
{
if (AutoStartAlarm[loopi].Mode == Mode)
{
(void)SetRelAlarm(AutoStartAlarm[loopi].Alarm, AutoStartAlarm[loopi].AlarmTime, AutoStartAlarm[loopi].AlarmCycleTime);
}
}
#if (HOOK_STARTUPHOOK == OSEK_ENABLE)
StartupHook();
#endif
IntSecure_End();
/* enable all OS interrupts */
EnableOSInterrupts();
/* enable interrupts */
EnableInterrupts();
/* call Scheduler */
(void)Schedule();
/* this function shall never return */
while(1);
}
void tempo(int ms)
{
CancelAlarm(0);
SetRelAlarm (0, ms, T_ORDO) ;
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_isr1_instance(void)
{
StatusType result_inst_1, result_inst_1_5, result_inst_2, result_inst_3, result_inst_4, result_inst_5, result_inst_6, result_inst_7, result_inst_8, result_inst_9, result_inst_10, result_inst_11, result_inst_12, result_inst_13, result_inst_14, result_inst_15;
StatusType result_inst_16, result_inst_17, result_inst_18, result_inst_19, result_inst_20, result_inst_21, result_inst_22, result_inst_23, result_inst_24, result_inst_25, result_inst_26, result_inst_27, result_inst_28, result_inst_29, result_inst_30, result_inst_31, result_inst_32, result_inst_33, result_inst_34, result_inst_35;
AlarmBaseType alarmbase;
TickType tik;
SCHEDULING_CHECK_INIT(2);
result_inst_1 = ActivateTask(t4);
SCHEDULING_CHECK_AND_EQUAL_INT(2,E_OK, result_inst_1);
SCHEDULING_CHECK_INIT(3);
result_inst_1_5 = ActivateTask(t3);
SCHEDULING_CHECK_AND_EQUAL_INT(3,E_OK, result_inst_1_5);
SCHEDULING_CHECK_INIT(4);
result_inst_2 = GetAlarmBase(INVALID_ALARM, &alarmbase);
SCHEDULING_CHECK_AND_EQUAL_INT(4,E_OS_ID, result_inst_2);
SCHEDULING_CHECK_INIT(5);
result_inst_3 = GetAlarmBase(Alarm0, &alarmbase);
SCHEDULING_CHECK_AND_EQUAL_INT(5,E_OK, result_inst_3);
SCHEDULING_CHECK_INIT(6);
result_inst_4 = GetAlarm(INVALID_ALARM, &tik);
SCHEDULING_CHECK_AND_EQUAL_INT(6,E_OS_ID, result_inst_4);
SCHEDULING_CHECK_INIT(7);
result_inst_5 = GetAlarm(Alarm0, &tik);
SCHEDULING_CHECK_AND_EQUAL_INT(7,E_OS_NOFUNC, result_inst_5);
SCHEDULING_CHECK_INIT(8);
result_inst_6 = SetRelAlarm(INVALID_ALARM, 0, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(8,E_OS_ID, result_inst_6);
SCHEDULING_CHECK_INIT(9);
result_inst_7 = SetRelAlarm(Alarm0, -1 , 0);
SCHEDULING_CHECK_AND_EQUAL_INT(9,E_OS_VALUE, result_inst_7);
SCHEDULING_CHECK_INIT(10);
result_inst_8 = SetRelAlarm(Alarm0, alarmbase.maxallowedvalue + 1 , 0);
SCHEDULING_CHECK_AND_EQUAL_INT(10,E_OS_VALUE, result_inst_8);
SCHEDULING_CHECK_INIT(11);
result_inst_9 = SetRelAlarm(Alarm0, 0 , alarmbase.mincycle - 1);
SCHEDULING_CHECK_AND_EQUAL_INT(11,E_OS_VALUE, result_inst_9);
SCHEDULING_CHECK_INIT(12);
result_inst_10 = SetRelAlarm(Alarm0, 0 , alarmbase.maxallowedvalue + 1);
SCHEDULING_CHECK_AND_EQUAL_INT(12,E_OS_VALUE, result_inst_10);
SCHEDULING_CHECK_INIT(13);
result_inst_11 = SetAbsAlarm(INVALID_ALARM, 0, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(13,E_OS_ID, result_inst_11);
SCHEDULING_CHECK_INIT(14);
result_inst_12 = SetAbsAlarm(Alarm0, -1 , 0);
SCHEDULING_CHECK_AND_EQUAL_INT(14,E_OS_VALUE, result_inst_12);
SCHEDULING_CHECK_INIT(15);
result_inst_13 = SetAbsAlarm(Alarm0, alarmbase.maxallowedvalue + 1 , 0);
SCHEDULING_CHECK_AND_EQUAL_INT(15,E_OS_VALUE, result_inst_13);
SCHEDULING_CHECK_INIT(16);
result_inst_14 = SetAbsAlarm(Alarm0, 0 , alarmbase.mincycle - 1);
SCHEDULING_CHECK_AND_EQUAL_INT(16,E_OS_VALUE, result_inst_14);
SCHEDULING_CHECK_INIT(17);
result_inst_15 = SetAbsAlarm(Alarm0, 0 , alarmbase.maxallowedvalue + 1);
SCHEDULING_CHECK_AND_EQUAL_INT(17,E_OS_VALUE, result_inst_15);
SCHEDULING_CHECK_INIT(18);
result_inst_16 = CancelAlarm(INVALID_ALARM);
SCHEDULING_CHECK_AND_EQUAL_INT(18,E_OS_ID, result_inst_16);
SCHEDULING_CHECK_INIT(19);
result_inst_17 = CancelAlarm(Alarm0);
SCHEDULING_CHECK_AND_EQUAL_INT(19,E_OS_NOFUNC, result_inst_17);
SCHEDULING_CHECK_INIT(20);
result_inst_18 = SetRelAlarm(Alarm1_1, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(20,E_OK, result_inst_18);
SCHEDULING_CHECK_INIT(21);
result_inst_19 = SetRelAlarm(Alarm1_1, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(21,E_OS_STATE, result_inst_19);
SCHEDULING_CHECK_INIT(22);
result_inst_20 = GetAlarm(Alarm1_1, &tik);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(22,E_OK, result_inst_20);
SCHEDULING_CHECK_AND_EQUAL_INT(22,2, tik);
WaitActivationPeriodicAlarm(Alarm1_1);
SCHEDULING_CHECK_INIT(23);
result_inst_21 = CancelAlarm(Alarm1_1);
SCHEDULING_CHECK_AND_EQUAL_INT(23,E_OK, result_inst_21);
SCHEDULING_CHECK_INIT(24);
result_inst_22 = SetAbsAlarm(Alarm1_2, 2 , 0);
SCHEDULING_CHECK_AND_EQUAL_INT(24,E_OK, result_inst_22);
SCHEDULING_CHECK_INIT(25);
result_inst_23 = SetAbsAlarm(Alarm1_2, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(25,E_OS_STATE, result_inst_23);
WaitActivationOneShotAlarm(Alarm1_2);
SCHEDULING_CHECK_INIT(26);
result_inst_24 = SetRelAlarm(Alarm2_1, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(26,E_OK, result_inst_24);
SCHEDULING_CHECK_INIT(27);
result_inst_25 = SetRelAlarm(Alarm2_1, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(27,E_OS_STATE, result_inst_25);
SCHEDULING_CHECK_INIT(28);
result_inst_26 = GetAlarm(Alarm2_1, &tik);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(28,E_OK, result_inst_26);
SCHEDULING_CHECK_AND_EQUAL_INT(28,2, tik);
WaitActivationPeriodicAlarm(Alarm2_1);
SCHEDULING_CHECK_INIT(29);
result_inst_27 = CancelAlarm(Alarm2_1);
SCHEDULING_CHECK_AND_EQUAL_INT(29,E_OK, result_inst_27);
SCHEDULING_CHECK_INIT(30);
result_inst_28 = SetAbsAlarm(Alarm2_2, 2 , 0);
SCHEDULING_CHECK_AND_EQUAL_INT(30,E_OK, result_inst_28);
SCHEDULING_CHECK_INIT(31);
result_inst_29 = SetAbsAlarm(Alarm2_2, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(31,E_OS_STATE, result_inst_29);
WaitActivationOneShotAlarm(Alarm2_2);
SCHEDULING_CHECK_INIT(32);
result_inst_30 = SetRelAlarm(Alarm3, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(32,E_OK, result_inst_30);
SCHEDULING_CHECK_INIT(33);
result_inst_31 = SetRelAlarm(Alarm3, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(33,E_OS_STATE, result_inst_31);
SCHEDULING_CHECK_INIT(34);
result_inst_32 = GetAlarm(Alarm3, &tik);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(34,E_OK, result_inst_32);
SCHEDULING_CHECK_AND_EQUAL_INT(34,2, tik);
WaitActivationPeriodicAlarm(Alarm3);
SCHEDULING_CHECK_INIT(36);
result_inst_33 = CancelAlarm(Alarm3);
SCHEDULING_CHECK_AND_EQUAL_INT(36,E_OK, result_inst_33);
SCHEDULING_CHECK_INIT(37);
result_inst_34 = SetAbsAlarm(Alarm3, 2 , 0);
SCHEDULING_CHECK_AND_EQUAL_INT(37,E_OK, result_inst_34);
SCHEDULING_CHECK_INIT(38);
result_inst_35 = SetAbsAlarm(Alarm3, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(38,E_OS_STATE, result_inst_35);
WaitActivationOneShotAlarm(Alarm3);
SCHEDULING_CHECK_STEP(40);
}