void rtExtModeTornadoStartup(RTWExtModeInfo *ei,
int_T numSampTimes,
boolean_T *stopReqPtr,
int_T priority,
int32_T stack_size,
SEM_ID startStopSem)
{
uploadSem = semBCreate(SEM_Q_PRIORITY, SEM_EMPTY);
commSem = semBCreate(SEM_Q_PRIORITY, SEM_FULL);
pktSem = semBCreate(SEM_Q_PRIORITY, SEM_FULL);
rt_ExtModeInit();
extern_pkt_tid = taskSpawn("tExternPkt",
priority+(numSampTimes), VX_FP_TASK, stack_size, (FUNCPTR)rt_PktServer,
(int_T) ei, (int_T) numSampTimes, (int_T) stopReqPtr, 0, 0, 0, 0, 0, 0, 0);
if (extern_pkt_tid == ERROR) {
#ifndef EXTMODE_DISABLEPRINTF
printf("handle taskpawn error");
#endif
}
extern_upload_tid = taskSpawn("tExternUpload",
priority+(numSampTimes)+1,VX_FP_TASK, stack_size,(FUNCPTR)rt_UploadServer,
(int_T) numSampTimes, 0, 0, 0, 0, 0, 0, 0, 0, 0);
if (extern_upload_tid == ERROR) {
#ifndef EXTMODE_DISABLEPRINTF
printf("handle taskpawn error");
#endif
}
/*
* Pause until receive model start packet - if external mode.
* Make sure the external mode tasks are running so that
* we are listening for commands from the host.
*/
if (ExtWaitForStartPkt()) {
#ifndef EXTMODE_DISABLEPRINTF
printf("\nWaiting for start packet from host.\n");
#endif
semTake(startStopSem, WAIT_FOREVER);
}
modelStatus = TARGET_STATUS_RUNNING;
}
/* Function ====================================================================
* Pause the process (w/o hogging the cpu) until receive start packet
* from the host. The packet/upload server must continue to process
* events (otherwise the host would not be able to communicate with the target).
*/
void rtExtModeWaitForStartPkt(RTWExtModeInfo *ei,
int_T numSampTimes,
boolean_T *stopReqPtr)
{
/*
* Pause until receive model start packet.
*/
if (ExtWaitForStartPkt()) {
while(!startModel && !(*stopReqPtr)) {
rt_ExtModeSleep(0L, 375000L);
rt_PktServerWork(ei,numSampTimes,stopReqPtr);
#ifndef EXTMODE_DISABLESIGNALMONITORING
rt_UploadServerWork(numSampTimes);
#endif
}
}
if (modelStatus != TARGET_STATUS_PAUSED) {
modelStatus = TARGET_STATUS_RUNNING;
} else {
/* leave in pause mode */
}
}
// External mode startup function
void rtExtModeC6000Startup( RTWExtModeInfo *ei,
int_T numSampTimes,
boolean_T *stopReqPtr)
{
Task_Params attr;
Task_Params_init(&attr);
Semaphore_Params sem_params;
Semaphore_Params_init(&sem_params);
sem_params.mode = ti_sysbios_knl_Semaphore_Mode_BINARY;
sExtStepArgs.ei = ei;
sExtStepArgs.numSampTimes = numSampTimes;
sExtStepArgs.stopReqPtr = stopReqPtr;
attr.arg1 = (UArg) &sExtStepArgs;
// Set external mode state to
extmodeSimStatus = EXTMODE_STARTUP;
// Initialize semaphores used for external mode
// communication
uploadSem = Semaphore_create(1, &sem_params, NULL);
extStartStopSem = Semaphore_create(1, NULL, NULL);
// Pause until Ethernet network initialization completes
//waitNetworkStartup();
extmodeSimStatus = EXTMODE_NET_INITIALIZED;
// Initialize user data structure
rtExtModeInitUD();
rt_ExtModeInit();
// Create external mode task
attr.priority = 1;
attr.stack = (Ptr) &stack_pkt_tid[0];
attr.stackSize = EXT_MODE_TSK_STACK_SIZE;
extern_pkt_tid = Task_create( (Task_FuncPtr) rtExtModeOneStep,
&attr, NULL );
if (extern_pkt_tid == NULL)
{
printf("handle taskpawn error");
}
/*
* Pause until receive model start packet - if external mode.
* Make sure the external mode tasks are running so that
* we are listening for commands from the host.
*/
extmodeSimStatus = EXTMODE_WAITING_START_PACKET;
modelStatus = TARGET_STATUS_WAITING_TO_START;
if (ExtWaitForStartPkt())
{
printf("\nWaiting for start packet from host.\n");
// rt_PktServerWork() function posts a semaphore when
// it receives start packet from host
// this function in turn runs as part of rt_PktServer task
//Semaphore_pend(extStartStopSem, BIOS_WAIT_FOREVER);
while (rt_PktServerWork(ei, numSampTimes, stopReqPtr) != EXT_MODEL_START)
{
};
}
modelStatus = TARGET_STATUS_RUNNING;
extmodeSimStatus = EXTMODE_RUNNING;
}
