static void nano_init(void *arg)
{
#if NOSCFG_FEATURE_REGISTRY != 0
REGELEM_t re;
#endif
POS_SETTASKNAME(posCurrentTask_g, "root task");
#if POSCFG_TASKSTACKTYPE == 0
posCurrentTask_g->nosstkroot = arg;
posCurrentTask_g->exithook = nos_taskExitHook;
#else
(void) arg;
#if NOSCFG_FEATURE_REGISTRY != 0
posCurrentTask_g->exithook = nos_taskExitHook;
#endif
#endif
#if NOSCFG_FEATURE_CPUUSAGE != 0
nano_initCpuUsage();
#endif
#if NOSCFG_FEATURE_REGISTRY != 0
nos_initRegistry();
#endif
#if (NOSCFG_FEATURE_CONIN != 0) || (NOSCFG_FEATURE_CONOUT != 0)
nos_initConIO();
#endif
#if NOSCFG_FEATURE_BOTTOMHALF != 0
nos_initBottomHalfs();
#endif
#if NOSCFG_FEATURE_REGISTRY != 0
re = nos_regNewSysKey(REGTYPE_TASK, "root-task");
if (re != NULL)
{
nos_regEnableSysKey(re, posTaskGetCurrent());
}
#endif
(taskparams_g.func)(taskparams_g.arg);
}
static void task1(void *arg)
{
POSTASK_t self;
POSTIMER_t timer;
VAR_t curprio;
(void) arg;
/* get handle and priority of current task */
self = posTaskGetCurrent();
curprio = posTaskGetPriority(self);
/* try to increase current priority */
posTaskSetPriority(self, curprio + 1);
curprio = posTaskGetPriority(self);
/* start the printer task */
printertask_g = startTask(task_printer, NULL, curprio + 1);
/* print first message */
print("HELLO WORLD!\n");
/* start three tasks that do busy waiting */
startTask(task_poll, " P1 ", curprio - 1);
posTaskSleep(HZ/8);
startTask(task_poll, " P2 ", curprio - 1);
posTaskSleep(HZ/8);
startTask(task_poll, " P3 ", curprio - 1);
/* register software interrupt handler */
posSoftIntSetHandler(4, softint_handler);
/* start a task that rises software interrupts */
startTask(task_softint, (void*) 4, curprio - 1);
/* allocate a flag object */
flags_g = posFlagCreate();
if (flags_g == NULL)
print("\nCan not allocate a flag object\n");
/* start flag task */
startTask(task_flag, NULL, curprio + 2);
/* allocate a semaphore object */
timersem_g = posSemaCreate(0);
if (timersem_g == NULL)
print("\nCan not allocate a semaphore\n");
/* start timer task */
startTask(task_timer, NULL, curprio + 2);
/* allocate a timer object and set the timer up */
timer = posTimerCreate();
if (timer == NULL)
print("\nCan not allocate a timer\n");
posTimerSet(timer, timersem_g, 2*HZ, 2*HZ);
/* Start the timer. The timer triggers every 2 seconds. */
posTimerStart(timer);
/* allocate a mutex object for mutex test */
mutex_g = posMutexCreate();
if (mutex_g == NULL)
print("\nCan not allocate a mutex\n");
/* start three mutex tasks */
startTask(task_mutex, ":M1 ", curprio+1);
startTask(task_mutex, ":M2 ", curprio+1);
startTask(task_mutex, ":M3 ", curprio+1);
/* allocate semaphore object for semaphore test,
allow 2 tasks to get the semaphore */
sema_g = posSemaCreate(2);
if (sema_g == NULL)
print("\nCan not allocate a semaphore\n");
/* start three semaphore tasks */
posTaskSleep(HZ/6);
startTask(task_semas, (void*) (int) '1', curprio+2);
posTaskSleep(HZ/6);
startTask(task_semas, (void*) (int) '2', curprio+2);
posTaskSleep(HZ/6);
startTask(task_semas, (void*) (int) '3', curprio+2);
/* Our main loop. We will set the flag number 2 every 3 seconds. */
for (;;)
{
/* suspend this task for 3 seconds */
posTaskSleep(3*HZ);
/* set flag number 2 */
posFlagSet(flags_g, 2);
}
}
void uosResourceDiag()
{
#if NOSCFG_FEATURE_CONOUT == 1 && NOSCFG_FEATURE_PRINTF == 1
#ifdef POS_DEBUGHELP
int taskCount = 0;
int eventCount = 0;
int i;
struct PICOTASK* task;
struct PICOEVENT* event;
#endif
#if POSCFG_ARGCHECK > 1
#if UOSCFG_NEWLIB_SYSCALLS == 1 && NOSCFG_MEM_MANAGER_TYPE != 1
uint32_t heapUsed = (char*)sbrk(0) - (char*)__heap_start;
uint32_t heapSize = (char*)__heap_end - (char*)__heap_start;
nosPrintf("Heap used: %u (%d %%)\n", heapUsed, 100 * heapUsed / heapSize);
#endif
nosPrint("Stack unused amounts:\n");
int freeStack;
unsigned char* sp;
freeStack = 0;
#ifndef unix
sp = portIrqStack;
while (*sp == PORT_STACK_MAGIC) {
++sp;
++freeStack;
}
nosPrintf(" IRQ %d\n", freeStack);
#endif
#endif
#ifdef POS_DEBUGHELP
struct PICOTASK* allTasks[POSCFG_MAX_TASKS];
const char* name;
memset(allTasks, '\0', sizeof(allTasks));
posTaskSchedLock();
task = picodeb_tasklist;
while (task != NULL) {
allTasks[taskCount] = task;
taskCount++;
task = task->next;
}
posTaskSchedUnlock();
#if POSCFG_ARGCHECK > 1
for (i = 0; i < taskCount; i++) {
task = allTasks[i];
if (task->state == task_notExisting)
continue;
freeStack = 0;
sp = task->handle->stack;
while (*sp == PORT_STACK_MAGIC) {
++sp;
++freeStack;
}
name = (task->name != NULL) ? task->name : "?";
nosPrintf(" %06X task %s %d\n", task->handle, name, freeStack);
}
#endif
posTaskSchedLock();
event = picodeb_eventlist;
while (event != NULL) {
eventCount++;
event = event->next;
}
posTaskSchedUnlock();
nosPrintf("%d tasks, %d events in use\n", taskCount, eventCount);
nosPrintf("%d tasks, %d events conf max\n", POSCFG_MAX_TASKS, POSCFG_MAX_EVENTS);
#else
#if POSCFG_ARGCHECK > 1 && POSCFG_FEATURE_GETTASK == 1
POSTASK_t current = posTaskGetCurrent();
freeStack = 0;
sp = current->stack;
while (*sp == PORT_STACK_MAGIC) {
++sp;
++freeStack;
}
nosPrintf(" current task %d\n", freeStack);
#endif
#endif
#endif
}
