void interrupt 2 _watchdogISR( void ) {
//ourtosShutdown();
SET_LEDS_OUTPUT();
SET_LEDS(LED_WATCHDOG);
for(;;) {
/* Hang in error state */
}
}
//=========================================================================
// blinkLED: routine that will blink an led when vxWorks is running
//=========================================================================
// from winSH: -> show_active starts the thread
// -> td "show_active" kills the thread
//=========================================================================
static void blinkLED()
{
static int count=0;
int leds=GET_LEDS;
while (1)
{
if(count)
BIT_ON(leds,HOST_ACTIVE_LED);
else
BIT_OFF(leds,HOST_ACTIVE_LED);
SET_LEDS(leds);
count=count?0:1;
taskDelay(calcSysClkTicks(83)); /* taskDelay(5); */
}
}
void shortBlockingTask(void) {
SET_LEDS(LED_SHORT_BLK);
DisableInterrupts;
ourtosAcquireMutex(&blockingMutex);
EnableInterrupts;
timerBlockingDelayMsec(SHORT_BLOCK_TIME);
DisableInterrupts;
ourtosReleaseMutex(&blockingMutex);
EnableInterrupts;
SET_WATCHDOG_FLGS(ID_SHORT_BLK);
}
void pollBtnsTask(void) {
int i;
bool_t taskEnabled[N_TASKS];
SET_LEDS(LED_POLL_BTN);
if ( 1 == GET_MUTEX_DISABLE_BTN() ) {
DisableInterrupts;
ourtosEnableMutexes(true);
EnableInterrupts;
} else {
DisableInterrupts;
ourtosEnableMutexes(false);
EnableInterrupts;
}
/* poll all task enable btns */
for( i = 0; i < N_TASKS; i++) {
if ( 0 == GET_TASK_ENABLE_BTN(i) ) {
taskEnabled[i] = true;
} else {
taskEnabled[i] = false;
}
}
#ifndef SIMULATION /* disable btns in simulation */
/* Disable or enable tasks based upon btn.
* Note that we cannot disable task 1 (i.e. pollButtonTask),
* because this would prevent us from enabling/disabling any tasks in the
* future.
*/
DisableInterrupts;
ourtosEnableTask(PRIORITY_WATCHDOG, taskEnabled[0]);
// ourtosEnableTask(PRIORITY_POLL_BTN, taskEnabled[1]);
ourtosEnableTask(PRIORITY_SHORT, taskEnabled[2]);
ourtosEnableTask(PRIORITY_LONG, taskEnabled[3]);
EnableInterrupts;
#endif
SET_WATCHDOG_FLGS(ID_POLL_BTN);
}
void watchdogKickTask(void) {
SET_LEDS(LED_WATCHDOG_KICK);
if ( WATCHDOG_FLG_ALL_SET == _watchdogFlags ) {
_FEED_COP();
/* watchdog clear must be atomic so that tasks setting flags
* are not intermingled with clearing the flags.
*/
DisableInterrupts;
CLEAR_WATCHDOG_FLGS();
EnableInterrupts;
} else {
/* not all of the watchdog flags are set
* so watchdog cannot be kicked yet
*/
}
}
void _initLEDs(void) {
SET_LEDS_OUTPUT();
SET_LEDS(LED_OFF);
}
