int main(void)
{
StartOS(OSDEFAULTAPPMODE);
return 0;
}
FUNC(int, OS_CODE) main(void)
{
StartOS(OSDEFAULTAPPMODE);
return 0;
}
int main(void)
{
StartOS(AppMode1);
return 0;
}
FUNC(int, OS_APPL_CODE) main(void)
{
initBoard(BUTTON_NOIT);
StartOS(OSDEFAULTAPPMODE);
return 0;
}
sword main(void)
{
sword swReturn;
// USER CODE BEGIN (Main,2)
// USER CODE END
swReturn = 0;
switch(RESET_INDICATOR)
{
case WATCHDOG_RESET: // the last reset was a watchdog triggered
// (hardware) reset
// USER CODE BEGIN (Main,3)
// USER CODE END
case SOFTWARE_RESET: // the last reset was an internally
// triggered software reset
// USER CODE BEGIN (Main,4)
// USER CODE END
case ESR0_RESET: // the last reset was an externally
// triggered hardware reset (#ESR0 pin)
// USER CODE BEGIN (Main,4.1)
// USER CODE END
case ESR1_RESET: // the last reset was an externally
// triggered hardware reset (#ESR1 pin)
// USER CODE BEGIN (Main,4.2)
// USER CODE END
case POWERON_RESET: // the last reset was an externally
// triggered power on reset (#POR pin)
// USER CODE BEGIN (Main,5)
// USER CODE END
default:
// USER CODE BEGIN (Main,6)
// USER CODE END
MAIN_vInit();
}
// USER CODE BEGIN (Main,7)
StartOS(OSDEFAULTAPPMODE);
// USER CODE END
return(swReturn);
} // End of function main
void main (void)
{
InitApp();
StartOS(OSDEFAULTAPPMODE);
}
SINT main(void)
{
#ifdef NO_RUN_ENTER_STOP_EXIT
init_OS_flag(); /* this should be called before device init */
nxt_device_init();
ecrobot_initDeviceStatus(); // added 10/28/2010 to fix a bug by tchikama
ecrobot_init_nxtstate();
if (execution_mode() == EXECUTED_FROM_FLASH)
{
/*
* Call buttons_get() because ecrobot_get_button_state() has button bouncer.
* The button bouncer requires multiple periodical calls to make it work, but
* in this case, only single call (no while loop), so buttons_get is called.
*/
if ((buttons_get() & 0x0F) == (ENTER_PRESSED | STOP_PRESSED))
{
/* set flash request and shut down the NXT
* at the next start, NXT BIOS will be executed.
*/
display_clear(0);
display_goto_xy(0, 0);
display_string("PWR ON: NXT BIOS");
display_update();
systick_wait_ms(1000);
set_flash_request();
display_clear(1);
systick_wait_ms(10);
nxt_lcd_power_down(); /* reset LCD hardware */
systick_wait_ms(10);
while(1)
{
nxt_avr_power_down();
}
}
}
/* device init should be called prior to running the application */
ecrobot_device_initialize();
ecrobot_setDeviceInitialized();
nxt_motor_set_count(NXT_PORT_A, 0);
nxt_motor_set_count(NXT_PORT_B, 0);
nxt_motor_set_count(NXT_PORT_C, 0);
cpp_constructor();
display_clear(1);
systick_wait_ms(10);
#ifdef NXT_JSP
interrupts_get_and_disable();
#else
disable_int(); /* set_OS_flag and Start OS have to be atomic */
#endif
set_OS_flag(); /* this shoud be called before starting OS */
#ifdef NXT_JSP
lejos_osek_run(); /* start TOPPERS JSP */
#else
StartOS(1); /* start TOPPERS OSEK */
#endif
/* never reached here */
#else
/*
* Default start up sequence
*/
U32 st;
U32 last_act_time = 0;
U32 flash_req_cnt = 0;
init_OS_flag(); /* this should be called before device init */
nxt_device_init();
ecrobot_initDeviceStatus(); // added 10/28/2010 to fix a bug by tchikama
ecrobot_init_nxtstate();
show_splash_screen();
show_main_screen();
display_status_bar(1); /* clear status bar */
add_status_info(execution_mode());
display_status_bar(0); /* update status bar */
while(1)
{
/* device init should be called prior to running the application */
ecrobot_device_initialize();
ecrobot_setDeviceInitialized();
/* check the buttons every 10msec */
st = systick_get_ms();
if (st >= last_act_time + 10)
{
last_act_time = st;
ecrobot_poll_nxtstate();
display_status_bar(0);
/*
* executed in FLASH: setup for the application flash
* executed in SRAM: no effect
*/
if ((ecrobot_get_button_state() == (ENTER_PRESSED | STOP_PRESSED)) &&
(execution_mode() == EXECUTED_FROM_FLASH))
{
flash_req_cnt++;
/* keep pusing ENTER + STOP buttons more than 1000msec */
if (flash_req_cnt >= 100)
{
/* set flash request and shut down the NXT
* at the next start, NXT BIOS will be executed.
*/
ecrobot_device_terminate();
set_flash_request();
display_clear(1);
systick_wait_ms(10);
nxt_lcd_power_down(); /* reset LCD hardware */
systick_wait_ms(10);
while(1)
{
nxt_avr_power_down();
}
}
}
else
{
flash_req_cnt = 0;
if ((ecrobot_get_button_state() == EXIT_PRESSED) || (systick_get_ms() > SLEEP_TIME))
{
/* shut down the NXT */
ecrobot_device_terminate();
display_clear(1);
systick_wait_ms(10);
nxt_lcd_power_down(); /* reset LCD hardware */
systick_wait_ms(10);
while(1)
{
nxt_avr_power_down();
}
}
else if (ecrobot_get_button_state() == RUN_PRESSED)
{
nxt_motor_set_count(NXT_PORT_A, 0);
nxt_motor_set_count(NXT_PORT_B, 0);
nxt_motor_set_count(NXT_PORT_C, 0);
cpp_constructor();
display_clear(1);
systick_wait_ms(10);
#ifdef NXT_JSP
interrupts_get_and_disable();
#else
disable_int(); /* set_OS_flag and Start OS have to be atomic */
#endif
set_OS_flag(); /* this shoud be called before starting OS */
#ifdef NXT_JSP
lejos_osek_run(); /* start TOPPERS JSP */
#else
StartOS(1); /* start TOPPERS OSEK */
#endif
/* never reached here */
}
}
}
}
#endif
return 0;
}
FUNC(int, AUTOMATIC) main()
{
StartOS(OSDEFAULTAPPMODE);
return 0;
}
int main (void)
{
InitApp();
StartOS(OSDEFAULTAPPMODE);
return 0;
}
/**
* Initialize EcuM.
*/
void EcuM_Init(void) {
Std_ReturnType status;
set_current_state(ECUM_STATE_STARTUP_ONE);
// Initialize drivers that are needed to determine PostBuild configuration
EcuM_AL_DriverInitZero();
// Initialize the OS
InitOS();
// Setup interrupts
Os_IsrInit();
// Determine PostBuild configuration
EcuM_World.config = EcuM_DeterminePbConfiguration();
// TODO: Check consistency of PB configuration
// Initialize drivers needed before the OS-starts
EcuM_AL_DriverInitOne(EcuM_World.config);
// Determine the reset/wakeup reason
switch (Mcu_GetResetReason()) {
case MCU_POWER_ON_RESET:
EcuM_SetWakeupEvent(ECUM_WKSOURCE_POWER);
break;
case MCU_SW_RESET:
EcuM_SetWakeupEvent(ECUM_WKSOURCE_RESET);
break;
case MCU_RESET_UNDEFINED:
break;
case MCU_WATCHDOG_RESET:
EcuM_SetWakeupEvent(ECUM_WKSOURCE_INTERNAL_WDG);
break;
default:
assert(0);
break;
}
// Moved this here because EcuM_SelectShutdownTarget needs us to be initilized.
EcuM_World.initiated = TRUE;
// Set default shutdown target
status = EcuM_SelectShutdownTarget(
EcuM_World.config->EcuMDefaultShutdownTarget,
EcuM_World.config->EcuMDefaultSleepMode);/** @req EcuM2181 */
if (status != E_OK) {
//TODO: Report error.
}
// Set default application mode
status = EcuM_SelectApplicationMode(
EcuM_World.config->EcuMDefaultAppMode);
if (status != E_OK) {
//TODO: Report error.
}
#if defined(USE_COMM)
EcuM_World.run_comm_requests = 0;
#endif
EcuM_World.run_requests = 0;
EcuM_World.postrun_requests = 0;
// Start this baby up
AppModeType appMode;
status = EcuM_GetApplicationMode(&appMode);
if (status != E_OK) {
//TODO: Report error.
}
StartOS(appMode); /** @req EcuM2141 */
}
///******** OS_Launch ***************
// start the scheduler, enable interrupts
// Inputs: number of 20ns clock cycles for each time slice
// (maximum of 24 bits)
// Outputs: none (does not return)
void OS_Launch(uint32_t theTimeSlice){
NVIC_ST_RELOAD_R = theTimeSlice - 1; // reload value
NVIC_ST_CTRL_R = 0x00000007; // enable, core clock and interrupt arm
StartOS(); // start on the first task
}
int main(void)
{
/*test_hal_init();*/
StartOS(OSDEFAULTAPPMODE);
return 0;
}
/***************************************************************************************************
* *
* PRE-TEST SETUP OF EXPECTED RESULTS *
* *
***************************************************************************************************/
int do_test() {
int i;
init_testevents();
first_run_TaskJ = 1;
DEFINE_TESTEVENT("Before StartOS");
#ifdef USESTARTUPHOOK
DEFINE_TESTEVENT("StartupHook");
#endif
/* TaskA and TaskB are autostarted. TaskB is higher priority than TaskB so should run first */
#ifdef USEPRETASKHOOK
DEFINE_TESTEVENT("PreTaskHook");
DEFINE_TESTEVENT("TaskB");
#endif
DEFINE_TESTEVENT("Start B");
DEFINE_TESTEVENT("Unlock resource to switch to C");
define_task_switch(TaskB, TaskC);
DEFINE_TESTEVENT("Start C");
DEFINE_TESTEVENT("End C");
define_task_switch(TaskC, TaskB);
DEFINE_TESTEVENT("Back in B (1)");
DEFINE_TESTEVENT("Still in B (1)");
define_task_switch(TaskB, TaskC);
DEFINE_TESTEVENT("Start C");
DEFINE_TESTEVENT("End C");
define_task_switch(TaskC, TaskB);
DEFINE_TESTEVENT("Back in B (2)");
DEFINE_TESTEVENT("Still in B (2)");
define_task_switch(TaskB, TaskC);
DEFINE_TESTEVENT("Start C");
DEFINE_TESTEVENT("End C");
define_task_switch(TaskC, TaskB);
DEFINE_TESTEVENT("Back in B (3)");
DEFINE_TESTEVENT("Still in B (3)");
DEFINE_TESTEVENT("Start X");
DEFINE_TESTEVENT("End X");
define_task_switch(TaskB, TaskC);
DEFINE_TESTEVENT("Start C");
DEFINE_TESTEVENT("End C");
define_task_switch(TaskC, TaskB);
DEFINE_TESTEVENT("Back in B (4)");
DEFINE_TESTEVENT("Still in B (4)");
if(cat1_interrupts_cat2()) {
DEFINE_TESTEVENT("Running cat1");
}
DEFINE_TESTEVENT("Still in B (4a)");
if(!cat1_interrupts_cat2()) {
DEFINE_TESTEVENT("Running cat1");
}
DEFINE_TESTEVENT("Start X");
DEFINE_TESTEVENT("End X");
define_task_switch(TaskB, TaskC);
DEFINE_TESTEVENT("Start C");
DEFINE_TESTEVENT("End C");
define_task_switch(TaskC, TaskB);
DEFINE_TESTEVENT("Back in B (5)");
DEFINE_TESTEVENT("Still in B (5)");
DEFINE_TESTEVENT("Resuming OS interrupts");
DEFINE_TESTEVENT("Resuming all interrupts");
if(cat1_interrupts_cat2() || cat1_precedes_cat2()) {
DEFINE_TESTEVENT("Running cat1");
DEFINE_TESTEVENT("Start X");
DEFINE_TESTEVENT("End X");
define_task_switch(TaskB, TaskC);
}
else {
DEFINE_TESTEVENT("Start X");
DEFINE_TESTEVENT("End X");
define_task_switch(TaskB, TaskC);
DEFINE_TESTEVENT("Running cat1");
}
DEFINE_TESTEVENT("Start C");
DEFINE_TESTEVENT("End C");
define_task_switch(TaskC, TaskB);
DEFINE_TESTEVENT("Back in B (6)");
DEFINE_TESTEVENT("Still in B (6)");
DEFINE_TESTEVENT("Resuming OS interrupts");
DEFINE_TESTEVENT("Enabling all interrupts");
if(cat1_interrupts_cat2() || cat1_precedes_cat2()) {
DEFINE_TESTEVENT("Running cat1");
DEFINE_TESTEVENT("Start X");
DEFINE_TESTEVENT("End X");
define_task_switch(TaskB, TaskC);
}
else {
DEFINE_TESTEVENT("Start X");
DEFINE_TESTEVENT("End X");
define_task_switch(TaskB, TaskC);
DEFINE_TESTEVENT("Running cat1");
}
define_task_switch(TaskB, TaskC);
DEFINE_TESTEVENT("Start C");
DEFINE_TESTEVENT("End C");
define_task_switch(TaskC, TaskB);
DEFINE_TESTEVENT("Back in B (7)");
DEFINE_TESTEVENT("End B");
define_task_switch(TaskB, TaskJ);
DEFINE_TESTEVENT("Start J");
DEFINE_TESTEVENT("Chain J");
define_task_switch(TaskJ, TaskI);
DEFINE_TESTEVENT("Start I");
DEFINE_TESTEVENT("End I");
define_task_switch(TaskI, TaskJ);
define_task_switch(TaskJ, TaskJ);
DEFINE_TESTEVENT("Start J");
DEFINE_TESTEVENT("End J");
define_task_switch(TaskJ, TaskA);
DEFINE_TESTEVENT("Start A");
DEFINE_TESTEVENT("Activating D");
define_task_switch(TaskA, TaskD);
DEFINE_TESTEVENT("Start D");
DEFINE_TESTEVENT("Activate E");
DEFINE_TESTEVENT("D continues");
define_task_switch(TaskD, TaskE);
DEFINE_TESTEVENT("Start E");
DEFINE_TESTEVENT("End E");
define_task_switch(TaskE, TaskD);
DEFINE_TESTEVENT("Back in D");
DEFINE_TESTEVENT("End D");
define_task_switch(TaskD, TaskE);
DEFINE_TESTEVENT("Start E");
DEFINE_TESTEVENT("End E");
define_task_switch(TaskE, TaskA);
DEFINE_TESTEVENT("Activating F");
define_task_switch(TaskA, TaskF);
DEFINE_TESTEVENT("Start F");
DEFINE_TESTEVENT("F continues");
define_task_switch(TaskF, TaskE);
DEFINE_TESTEVENT("Start E");
DEFINE_TESTEVENT("End E");
define_task_switch(TaskE, TaskF);
DEFINE_TESTEVENT("End F");
define_task_switch(TaskF, TaskA);
DEFINE_TESTEVENT("Back in A (1)");
#ifndef OPTIMIZED_QUEUEING
DEFINE_TESTEVENT("Activating G and H");
#endif
DEFINE_TESTEVENT("Activating I");
DEFINE_TESTEVENT("Letting go of scheduler");
define_task_switch(TaskA, TaskI);
DEFINE_TESTEVENT("Start I");
DEFINE_TESTEVENT("End I");
define_task_switch(TaskI, TaskI);
DEFINE_TESTEVENT("Start I");
DEFINE_TESTEVENT("End I");
define_task_switch(TaskI, TaskI);
DEFINE_TESTEVENT("Start I");
DEFINE_TESTEVENT("End I");
define_task_switch(TaskI, TaskI);
DEFINE_TESTEVENT("Start I");
DEFINE_TESTEVENT("End I");
define_task_switch(TaskI, TaskI); /* 5th run of TaskI */
DEFINE_TESTEVENT("Start I");
DEFINE_TESTEVENT("End I");
#ifndef OPTIMIZED_QUEUEING
define_task_switch(TaskI, TaskG); /* 1st run of TaskG */
DEFINE_TESTEVENT("Start G");
DEFINE_TESTEVENT("End G");
define_task_switch(TaskG, TaskH);
DEFINE_TESTEVENT("Start H");
DEFINE_TESTEVENT("End H");
define_task_switch(TaskH, TaskG); /* 2nd run of TaskG */
DEFINE_TESTEVENT("Start G");
DEFINE_TESTEVENT("End G");
define_task_switch(TaskG, TaskH);
DEFINE_TESTEVENT("Start H");
DEFINE_TESTEVENT("End H");
define_task_switch(TaskH, TaskH);
DEFINE_TESTEVENT("Start H");
DEFINE_TESTEVENT("End H");
define_task_switch(TaskH, TaskH);
DEFINE_TESTEVENT("Start H");
DEFINE_TESTEVENT("End H");
define_task_switch(TaskH, TaskH);
DEFINE_TESTEVENT("Start H");
DEFINE_TESTEVENT("End H");
define_task_switch(TaskH, TaskH);
DEFINE_TESTEVENT("Start H");
DEFINE_TESTEVENT("End H");
define_task_switch(TaskH, TaskH); /* 7th run of TaskH */
DEFINE_TESTEVENT("Start H");
DEFINE_TESTEVENT("End H");
define_task_switch(TaskH, TaskG); /* 3rd run of TaskG */
DEFINE_TESTEVENT("Start G");
DEFINE_TESTEVENT("End G");
define_task_switch(TaskG, TaskA);
#else /* non-optimized queueing */
define_task_switch(TaskI, TaskA);
#endif
DEFINE_TESTEVENT("Back in A (2)");
#ifndef OPTIMIZED_QUEUEING
DEFINE_TESTEVENT("Bulk activations");
for(i = 0; i < 7; i++) {
DEFINE_TESTEVENT("Phase start");
DEFINE_TESTEVENT("Activating G and H");
DEFINE_TESTEVENT("Activating I");
DEFINE_TESTEVENT("Activating C");
define_task_switch(TaskA, TaskI);
DEFINE_TESTEVENT("Start I");
DEFINE_TESTEVENT("End I");
define_task_switch(TaskI, TaskI);
DEFINE_TESTEVENT("Start I");
DEFINE_TESTEVENT("End I");
define_task_switch(TaskI, TaskG);
DEFINE_TESTEVENT("Start G");
DEFINE_TESTEVENT("End G");
define_task_switch(TaskG, TaskH);
DEFINE_TESTEVENT("Start H");
DEFINE_TESTEVENT("End H");
define_task_switch(TaskH, TaskG);
DEFINE_TESTEVENT("Start G");
DEFINE_TESTEVENT("End G");
define_task_switch(TaskG, TaskC);
DEFINE_TESTEVENT("Start C");
DEFINE_TESTEVENT("End C");
define_task_switch(TaskC, TaskA);
DEFINE_TESTEVENT("Phase end");
}
#endif
DEFINE_TESTEVENT("End A");
DEFINE_TESTEVENT("Calling ShutdownOS");
#ifdef USESHUTDOWNHOOK
DEFINE_TESTEVENT("ShutdownHook");
#endif
DEFINE_TESTEVENT("After StartOS");
#undef DEFINE_TESTEVENT
/************************************************************************************************
*************************BEGIN TEST AND CHECK AGAINST EXPECTED RESULTS**************************
************************************************************************************************
*/
SET_TESTEVENT("Before StartOS");
StartOS(OSDEFAULTAPPMODE);
/* Call returns after ShutDownOS() called.
*
* $Req: artf1219 $
* $Req: artf1217 $
*/
SET_TESTEVENT("After StartOS");
test_finished();
return 0;
}
void main(void) {
DisableInterrupts;
StartOS(OSDEFAULTAPPMODE);
for(;;);
}