static ER
handle_module_cfg_tab(T_LDM_CAN *ldm_can) {
// TODO: check cfg table memory
assert(ldm_can->cfg_entry_num > 0 && ldm_can->cfg_table != NULL);
assert(probe_ldm_memory(ldm_can->cfg_table, sizeof(MOD_CFG_ENTRY) * ldm_can->cfg_entry_num, ldm_can));
ER_ID ercd = E_OK;
// Creation stage
for(SIZE i = 0; i < ldm_can->cfg_entry_num && ercd == E_OK; ++i) {
MOD_CFG_ENTRY *ent = &ldm_can->cfg_table[i];
switch(ent->sfncd) {
case TSFN_CRE_TSK: {
syslog(LOG_DEBUG, "%s(): MOD_CFG_ENTRY TSFN_CRE_TSK", __FUNCTION__);
assert(probe_ldm_memory(ent->argument, sizeof(T_CTSK), ldm_can));
assert(probe_ldm_memory(ent->retvalptr, sizeof(ID), ldm_can));
T_CTSK pk_ctsk = *(T_CTSK*)ent->argument;
assert(probe_ldm_memory(pk_ctsk.stk, pk_ctsk.stksz, ldm_can)); // Check user stack
assert(pk_ctsk.sstk == NULL); // Check system stack
pk_ctsk.tskatr &= ~TA_ACT; // Clear TA_ACT
assert(get_atrdomid(pk_ctsk.tskatr) == TDOM_SELF); // Check original DOMID
pk_ctsk.tskatr |= TA_DOM(ldm_can->domid); // Set new DOMID
pk_ctsk.task = app_tsk_wrapper; // Use task wrapper
pk_ctsk.exinf = (intptr_t)ent->argument;
ercd = acre_tsk(&pk_ctsk);
assert(ercd > 0);
if(ercd > 0) {
// Store ID
*(ID*)ent->retvalptr = ercd;
// Setup task exception routine
T_DTEX dtex;
dtex.texatr = TA_NULL;
dtex.texrtn = app_tex_rtn;
ercd = def_tex(ercd, &dtex);
assert(ercd == E_OK);
#if defined(DEBUG)
syslog(LOG_NOTICE, "%s(): Task (tid = %d) created.", __FUNCTION__, *(ID*)ent->retvalptr);
#endif
ercd = E_OK;
}
break; }
case TSFN_CRE_SEM: {
syslog(LOG_DEBUG, "%s(): MOD_CFG_ENTRY TSFN_CRE_SEM", __FUNCTION__);
assert(probe_ldm_memory(ent->argument, sizeof(T_CSEM), ldm_can));
assert(probe_ldm_memory(ent->retvalptr, sizeof(ID), ldm_can));
T_CSEM pk_csem = *(T_CSEM*)ent->argument;
// TODO: check pk_csem
ercd = acre_sem(&pk_csem);
assert(ercd > 0);
if(ercd > 0) {
// Store ID
*(ID*)ent->retvalptr = ercd;
#if defined(DEBUG)
syslog(LOG_NOTICE, "%s(): Semaphore (id = %d) is created.", __FUNCTION__, *(ID*)ent->retvalptr);
#endif
ercd = E_OK;
}
break; }
case TSFN_CRE_FLG: {
syslog(LOG_DEBUG, "%s(): MOD_CFG_ENTRY TSFN_CRE_FLG", __FUNCTION__);
assert(probe_ldm_memory(ent->argument, sizeof(T_CFLG), ldm_can));
assert(probe_ldm_memory(ent->retvalptr, sizeof(ID), ldm_can));
T_CFLG pk_cflg = *(T_CFLG*)ent->argument;
// TODO: check pk_csem
ercd = acre_flg(&pk_cflg);
assert(ercd > 0);
if(ercd > 0) {
// Store ID
*(ID*)ent->retvalptr = ercd;
#if defined(DEBUG)
syslog(LOG_NOTICE, "%s(): Event flag (id = %d) is created.", __FUNCTION__, *(ID*)ent->retvalptr);
#endif
ercd = E_OK;
}
break; }
default:
syslog(LOG_ERROR, "%s(): Unsupported static function code %d.", __FUNCTION__, ent->sfncd);
ercd = E_OBJ;
}
}
// Rollback stage
// TODO: implement this
assert(ercd == E_OK);
syslog(LOG_DEBUG, "%s(): text paddr: 0x%x, data paddr: 0x%x", __FUNCTION__, ldm_can->text_mempool, ldm_can->data_mempool);
// Acting stage
for(SIZE i = 0; i < ldm_can->cfg_entry_num; ++i) {
MOD_CFG_ENTRY *ent = &ldm_can->cfg_table[i];
switch(ent->sfncd) {
case TSFN_CRE_TSK: {
T_CTSK pk_ctsk = *(T_CTSK*)ent->argument;
if(pk_ctsk.tskatr & TA_ACT) {
ercd = act_tsk(*(ID*)ent->retvalptr);
assert(ercd == E_OK);
}
break; }
default:
syslog(LOG_ERROR, "%s(): Unsupported static function code %d.", __FUNCTION__, ent->sfncd);
}
}
return ercd;
}
/*
* 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);
}
