void fin_task(intptr_t unused) { ter_tsk(BT_RECV_TASK); ter_tsk(MAIN_TASK); ter_tsk(AVOID_TASK); ter_tsk(COLOR_TASK); ter_tsk(WALK_TASK); ev3_motor_stop(sensors->LEFT_P, true); ev3_motor_stop(sensors->RIGHT_P, true); }
/** TELNETデーモン・タスクの停止 * @param tskno Telnetタスク番号( 0〜(TELNET_DAEMON_TASK_COUNT-1) ) ****************************************************************************** */ ER TELNET_Stop( ID tskno ) { ER errcd; errcd = ter_tsk( TELNET_DAEMON_FIRST_TASK + tskno ); /* タスク停止 */ return( errcd ); }
ER GPSRec_Close(void) { if (!bGPSRecOpened) return E_SYS; #if (RECEIVE_FROM_UART2) if (uart2_close() == E_OK) #else if (uart_close() == E_OK) #endif debug_msg(("UART2: close success\r\n")); else debug_err(("UART2: close fail!\r\n")); debug_msg("Terminate GPS receive task\r\n"); ter_tsk(GPSRECEIVE_ID); loc_cpu(); bGPSRecOpened = FALSE; unl_cpu(); return E_OK; }
// メインタスク void main_task(VP_INT exinf) { serial_ctl_por(TASK_PORTID, (IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV)); syslog(LOG_NOTICE,"Sample program starts (exinf = %d)", exinf); std::atexit(finish); try { for (;;) { for (ID semid = 1; semid <= 5; semid++) p_fork[semid - 1] = new fork(semid); for (ID tskid = 1; tskid <= 5; tskid++) act_tsk(tskid); char c; do { serial_rea_dat(TASK_PORTID, &c, 1); if (c == 'a') std::abort(); } while (c != 'q' && c != 'Q'); for (ID tskid = 1; tskid <= 5; tskid++) { ter_tsk(tskid); } for (ID semid = 1; semid <= 5; semid++) { delete p_fork[semid - 1]; p_fork[semid - 1] = 0; } do { syslog(LOG_NOTICE, "restart? [y|n] "); serial_rea_dat(TASK_PORTID, &c, 1); } while (c != 'y' && c != 'n'); if (c == 'n') break; } syslog(LOG_NOTICE, "multitask test succeeded"); } catch (std::bad_alloc&) { syslog(LOG_NOTICE, "multitask test failed"); } std::exit(0); }
void task2(intptr_t exinf) { ER_UINT ercd; check_point(42); ercd = loc_mtx(MTX4); check_ercd(ercd, E_OK); check_point(46); ercd = unl_mtx(MTX4); check_ercd(ercd, E_OK); check_point(55); ercd = wup_tsk(TASK4); check_ercd(ercd, E_OK); check_point(57); ercd = wup_tsk(TASK5); check_ercd(ercd, E_OK); check_point(67); ercd = wup_tsk(TASK5); check_ercd(ercd, E_OK); check_point(70); ercd = wup_tsk(TASK3); check_ercd(ercd, E_OK); check_point(72); ercd = wup_tsk(TASK1); check_ercd(ercd, E_OK); check_point(75); ercd = wup_tsk(TASK4); check_ercd(ercd, E_OK); check_point(77); ercd = wup_tsk(TASK5); check_ercd(ercd, E_OK); check_point(104); ercd = ini_mtx(MTX1); check_ercd(ercd, E_OK); check_point(106); ercd = ter_tsk(TASK1); check_ercd(ercd, E_OK); check_finish(107); check_point(0); }
/** Close Play Sound task Close Play Sound task. Return value is listed below: E_SYS: Task is already closed E_OK: No error @param void @return ER */ ER LensCtrl_Close(void) { if (bLensCtrlOpened == FALSE) { return E_SYS; } bLensCtrlOpened = FALSE; ter_tsk(LENSCTRLTSK_ID); return E_OK; }
void task2(intptr_t exinf) { ER ercd; check_point(5); check_state(false, false, TIPM_ENAALL, false, false, true); check_point(6); ercd = ter_tsk(TASK1); check_ercd(ercd, E_OK); check_point(7); ercd = act_tsk(TASK1); check_ercd(ercd, E_OK); check_point(8); ercd = ext_tsk(); check_ercd(ercd, E_OK); check_point(0); }
/* * 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 */ HRTCNT hrtcnt1, hrtcnt2; 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. */ #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 * 400LU / (ulong_t)(stime2 - stime1) * 1000LU; #endif /* TASK_LOOP */ /* * タスクの起動 */ SVC_PERROR(act_tsk(TASK1)); SVC_PERROR(act_tsk(TASK2)); SVC_PERROR(act_tsk(TASK3)); /* * 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_ter(%d)", tskno); SVC_PERROR(ras_ter(tskid)); 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, 5000000)"); SVC_PERROR(sta_alm(ALMHDR1, 5000000)); break; case 'B': syslog(LOG_INFO, "#stp_alm(1)"); SVC_PERROR(stp_alm(ALMHDR1)); break; case 'V': hrtcnt1 = fch_hrt(); hrtcnt2 = fch_hrt(); syslog(LOG_NOTICE, "hrtcnt1 = %tu, hrtcnt2 = %tu", hrtcnt1, hrtcnt2); break; case 'o': #ifdef TOPPERS_SUPPORT_OVRHDR syslog(LOG_INFO, "#sta_ovr(%d, 2000000)", tskno); SVC_PERROR(sta_ovr(tskid, 2000000)); #else /* TOPPERS_SUPPORT_OVRHDR */ syslog(LOG_NOTICE, "sta_ovr is not supported."); #endif /* TOPPERS_SUPPORT_OVRHDR */ break; case 'O': #ifdef TOPPERS_SUPPORT_OVRHDR syslog(LOG_INFO, "#stp_ovr(%d)", tskno); SVC_PERROR(stp_ovr(tskid)); #else /* TOPPERS_SUPPORT_OVRHDR */ syslog(LOG_NOTICE, "stp_ovr is not supported."); #endif /* TOPPERS_SUPPORT_OVRHDR */ 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 */ default: break; } } while (c != '\003' && c != 'Q'); syslog(LOG_NOTICE, "Sample program ends."); SVC_PERROR(ext_ker()); assert(0); }
void task1(intptr_t exinf) { ER_UINT ercd; T_RTSK rtsk; T_RMTX rmtx; test_start(__FILE__); set_bit_func(bit_kernel); check_point(1); ercd = act_tsk(TASK2); check_ercd(ercd, E_OK); ercd = sta_alm(ALM1, TEST_TIME_CP); check_ercd(ercd, E_OK); ercd = slp_tsk(); check_ercd(ercd, E_OK); check_point(4); ercd = loc_cpu(); check_ercd(ercd, E_OK); ercd = ras_ter(TASK2); check_ercd(ercd, E_CTX); ercd = unl_cpu(); check_ercd(ercd, E_OK); check_point(5); ercd = ras_ter(0U); check_ercd(ercd, E_ID); ercd = ras_ter(TNUM_TSKID + 1); check_ercd(ercd, E_ID); ercd = ras_ter(TASK1); check_ercd(ercd, E_ILUSE); ercd = ras_ter(TASK3); check_ercd(ercd, E_OBJ); check_point(6); ercd = ref_tsk(TASK2, &rtsk); check_ercd(ercd, E_OK); check_assert(rtsk.tskstat == TTS_RDY); check_point(7); ercd = ras_ter(TASK2); check_ercd(ercd, E_OK); check_point(8); ercd = ref_tsk(TASK2, &rtsk); check_ercd(ercd, E_OK); check_assert(rtsk.tskstat == TTS_DMT); check_point(9); ercd = act_tsk(TASK3); check_ercd(ercd, E_OK); check_point(12); ercd = ref_tsk(TASK3, &rtsk); check_ercd(ercd, E_OK); check_assert(rtsk.tskstat == TTS_WAI); ercd = ref_mtx(MTX1, &rmtx); check_ercd(ercd, E_OK); check_assert(rmtx.htskid == TASK3); check_assert(rmtx.wtskid == TSK_NONE); check_point(13); ercd = ras_ter(TASK3); check_ercd(ercd, E_OK); check_point(14); ercd = ref_tsk(TASK3, &rtsk); check_ercd(ercd, E_OK); check_assert(rtsk.tskstat == TTS_DMT); ercd = ref_mtx(MTX1, &rmtx); check_ercd(ercd, E_OK); check_assert(rmtx.htskid == TSK_NONE); check_assert(rmtx.wtskid == TSK_NONE); check_point(15); ercd = act_tsk(TASK3); check_ercd(ercd, E_OK); check_point(18); ercd = act_tsk(TASK4); check_ercd(ercd, E_OK); check_point(20); ercd = ref_tsk(TASK3, &rtsk); check_ercd(ercd, E_OK); check_assert(rtsk.tskstat == TTS_WAI); ercd = ref_mtx(MTX1, &rmtx); check_ercd(ercd, E_OK); check_assert(rmtx.htskid == TASK3); check_assert(rmtx.wtskid == TASK4); check_point(21); ercd = ras_ter(TASK3); check_ercd(ercd, E_OK); check_point(24); ercd = act_tsk(TASK2); check_ercd(ercd, E_OK); ercd = act_tsk(TASK2); check_ercd(ercd, E_OK); check_point(25); ercd = ref_tsk(TASK2, &rtsk); check_ercd(ercd, E_OK); check_assert(rtsk.tskstat == TTS_RDY); check_assert(rtsk.actcnt == 1U); check_point(26); ercd = ras_ter(TASK2); check_ercd(ercd, E_OK); check_point(27); ercd = ref_tsk(TASK2, &rtsk); check_ercd(ercd, E_OK); check_assert(rtsk.tskstat == TTS_RDY); check_assert(rtsk.actcnt == 0U); check_point(28); ercd = act_tsk(TASK3); check_ercd(ercd, E_OK); check_point(30); ercd = act_tsk(TASK3); check_ercd(ercd, E_OK); check_point(31); ercd = ref_tsk(TASK3, &rtsk); check_ercd(ercd, E_OK); check_assert(rtsk.tskstat == TTS_WAI); check_assert(rtsk.actcnt == 1U); check_point(32); ercd = ras_ter(TASK3); check_ercd(ercd, E_OK); check_point(34); ercd = act_tsk(TASK2); check_ercd(ercd, E_OK); ercd = slp_tsk(); check_ercd(ercd, E_OK); check_point(36); ercd = ref_tsk(TASK2, &rtsk); check_ercd(ercd, E_OK); check_assert(rtsk.tskstat == TTS_RDY); check_assert(rtsk.raster == false); check_assert(rtsk.dister == true); check_point(37); ercd = ras_ter(TASK2); check_ercd(ercd, E_OK); check_point(38); ercd = ref_tsk(TASK2, &rtsk); check_ercd(ercd, E_OK); check_assert(rtsk.tskstat == TTS_RDY); check_assert(rtsk.raster == true); check_assert(rtsk.dister == true); check_point(39); ercd = ter_tsk(TASK2); check_ercd(ercd, E_OK); ercd = act_tsk(TASK2); check_ercd(ercd, E_OK); check_point(40); ercd = ref_tsk(TASK2, &rtsk); check_ercd(ercd, E_OK); check_assert(rtsk.tskstat == TTS_RDY); check_assert(rtsk.raster == false); check_assert(rtsk.dister == false); ercd = tslp_tsk(TEST_TIME_CP); check_ercd(ercd, E_TMOUT); check_point(42); ercd = ref_tsk(TASK2, &rtsk); check_ercd(ercd, E_OK); check_assert(rtsk.tskstat == TTS_WAI); check_assert(rtsk.raster == false); check_assert(rtsk.dister == true); check_point(43); ercd = ras_ter(TASK2); check_ercd(ercd, E_OK); check_point(44); ercd = ref_tsk(TASK2, &rtsk); check_ercd(ercd, E_OK); check_assert(rtsk.tskstat == TTS_RDY); check_assert(rtsk.raster == true); check_assert(rtsk.dister == true); ercd = slp_tsk(); check_ercd(ercd, E_OK); check_point(46); ercd = act_tsk(TASK3); check_ercd(ercd, E_OK); check_point(48); ercd = ref_tsk(TASK3, &rtsk); check_ercd(ercd, E_OK); check_assert(rtsk.tskstat == TTS_WAI); check_assert(rtsk.raster == false); check_assert(rtsk.dister == true); check_point(49); ercd = ras_ter(TASK3); check_ercd(ercd, E_OK); check_point(52); ercd = ref_tsk(TASK3, &rtsk); check_ercd(ercd, E_OK); check_assert(rtsk.tskstat == TTS_DMT); check_point(53); ercd = act_tsk(TASK3); check_ercd(ercd, E_OK); check_point(55); ercd = ref_tsk(TASK3, &rtsk); check_ercd(ercd, E_OK); check_assert(rtsk.tskstat == TTS_SUS); check_point(56); ercd = ras_ter(TASK3); check_ercd(ercd, E_OK); check_point(58); ercd = ref_tsk(TASK3, &rtsk); check_ercd(ercd, E_OK); check_assert(rtsk.tskstat == TTS_DMT); check_finish(59); check_point(0); }
/* メインタスク */ void main_task(intptr_t unused) { signed char forward; /* 前後進命令 */ signed char turn; /* 旋回命令 */ signed char pwm_L, pwm_R; /* 左右モータPWM出力 */ /* LCD画面表示 */ ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE); ev3_lcd_draw_string("ミヤウチ", 0, CALIB_FONT_HEIGHT*1); /* センサー入力ポートの設定 */ ev3_sensor_config(sonar_sensor, ULTRASONIC_SENSOR); ev3_sensor_config(color_sensor, COLOR_SENSOR); ev3_color_sensor_get_reflect(color_sensor); /* 反射率モード */ ev3_sensor_config(touch_sensor, TOUCH_SENSOR); ev3_sensor_config(gyro_sensor, GYRO_SENSOR); /* モーター出力ポートの設定 */ ev3_motor_config(left_motor, LARGE_MOTOR); ev3_motor_config(right_motor, LARGE_MOTOR); ev3_motor_config(tail_motor, LARGE_MOTOR); ev3_motor_reset_counts(tail_motor); //キャリブレイト 白取得 printf("Press the touch sensor to measure light intensity of WHITE.\n"); while(!ev3_touch_sensor_is_pressed(touch_sensor)); while(ev3_touch_sensor_is_pressed(touch_sensor)); int white = ev3_color_sensor_get_reflect(color_sensor); printf("WHITE light intensity: %d.\n", white); //キャリブレイト 黒取得 printf("Press the touch sensor to measure light intensity of BLACK.\n"); while(!ev3_touch_sensor_is_pressed(touch_sensor)); while(ev3_touch_sensor_is_pressed(touch_sensor)); int black = ev3_color_sensor_get_reflect(color_sensor); printf("BLACK light intensity: %d.\n", black); //PID制御 float lasterror = 0, integral = 0; float midpoint = (white - black) / 2 + black; /* Open Bluetooth file */ bt = ev3_serial_open_file(EV3_SERIAL_BT); assert(bt != NULL); /* Bluetooth通信タスクの起動 */ act_tsk(BT_TASK); ev3_led_set_color(LED_ORANGE); /* 初期化完了通知 */ /* スタート待機 */ while(1) { //尻尾さげる tail_control(TAIL_ANGLE_STAND_UP); if (bt_cmd == 1) { //リモートスタート break; } if (ev3_touch_sensor_is_pressed(touch_sensor) == 1) { //タッチセンサが押された break; } tslp_tsk(1); } /* 走行モーターエンコーダーリセット */ ev3_motor_reset_counts(left_motor); ev3_motor_reset_counts(right_motor); /* ジャイロセンサーリセット */ ev3_gyro_sensor_reset(gyro_sensor); balancer.init(GYRO_OFFSET); // <1> /* スタート(LED緑色) */ ev3_led_set_color(LED_GREEN); while(1) { int32_t motor_ang_l, motor_ang_r; int gyro, volt; if (ev3_button_is_pressed(BACK_BUTTON)) break; tail_control(TAIL_ANGLE_DRIVE); /* バランス走行用角度に制御 */ forward = 30; float error = midpoint - ev3_color_sensor_get_reflect(color_sensor); integral = error + integral * 0.5; turn = 0.07 * error + 0.3 * integral + 1 * (error - lasterror); // float steer = 0.07 * error + 0.3 * integral + 1 * (error - lasterror); // ev3_motor_steer(left_motor, right_motor, 10, steer); lasterror = error; tslp_tsk(1); /* 倒立振子制御API に渡すパラメータを取得する */ motor_ang_l = ev3_motor_get_counts(left_motor); motor_ang_r = ev3_motor_get_counts(right_motor); gyro = ev3_gyro_sensor_get_rate(gyro_sensor); volt = ev3_battery_voltage_mV(); /* 倒立振子制御APIを呼び出し、倒立走行するための */ /* 左右モータ出力値を得る */ balancer.setCommand(forward, turn); // <1> balancer.update(gyro, motor_ang_r, motor_ang_l, volt); // <2> pwm_L = balancer.getPwmRight(); // <3> pwm_R = balancer.getPwmLeft(); // <3> /* EV3ではモーター停止時のブレーキ設定が事前にできないため */ /* 出力0時に、その都度設定する */ if (pwm_L == 0) { ev3_motor_stop(left_motor, true); } else { ev3_motor_set_power(left_motor, (int)pwm_L); } if (pwm_R == 0) { ev3_motor_stop(right_motor, true); } else { ev3_motor_set_power(right_motor, (int)pwm_R); } tslp_tsk(4); /* 4msec周期起動 */ } ev3_motor_stop(left_motor, false); ev3_motor_stop(right_motor, false); ter_tsk(BT_TASK); fclose(bt); ext_tsk(); }
void task1( unsigned int arg ) { ER ercd; int tests = 0; CYG_TEST_INFO( "Task 1 running" ); ercd = dis_dsp(); CYG_TEST_CHECK( E_OK == ercd, "dis_dsp bad ercd" ); ercd = sta_tsk( 2, 22222 ); CYG_TEST_CHECK( E_OK == ercd, "sta_tsk bad ercd" ); ercd = chg_pri( 2, 5 ); CYG_TEST_CHECK( E_OK == ercd, "chg_pri bad ercd" ); ercd = ena_dsp(); CYG_TEST_CHECK( E_OK == ercd, "ena_dsp bad ercd" ); ercd = dly_tsk( 10 ); CYG_TEST_CHECK( E_OK == ercd, "dly_tsk bad ercd" ); #ifdef CYGPKG_UITRON_MEMPOOLFIXED_CREATE_DELETE tests++; #ifdef CYGSEM_UITRON_BAD_PARAMS_RETURN_ERRORS ercd = del_mpf( -6 ); CYG_TEST_CHECK( E_ID == ercd, "del_mpf bad ercd !E_ID" ); ercd = del_mpf( 99 ); CYG_TEST_CHECK( E_ID == ercd, "del_mpf bad ercd !E_ID" ); ercd = cre_mpf( -6, &t_cmpf ); CYG_TEST_CHECK( E_ID == ercd, "cre_mpf bad ercd !E_ID" ); ercd = cre_mpf( 99, &t_cmpf ); CYG_TEST_CHECK( E_ID == ercd, "cre_mpf bad ercd !E_ID" ); #endif // we can test bad param error returns // try a pre-existing object // [first get a valid block from it for the freeing test later] ercd = pget_blf( &vp, 3 ); CYG_TEST_CHECK( E_OK == ercd, "pget_blf bad ercd" ); ercd = cre_mpf( 3, &t_cmpf ); CYG_TEST_CHECK( E_OBJ == ercd, "cre_mpf bad ercd !E_OBJ" ); // delete it so we can play ercd = del_mpf( 3 ); CYG_TEST_CHECK( E_OK == ercd, "del_mpf bad ercd" ); // check it is deleted ercd = rel_blf( 3, vp ); // vp did come from this pool CYG_TEST_CHECK( E_NOEXS == ercd, "rel_blf bad ercd !E_NOEXS" ); ercd = pget_blf( &vp, 3 ); CYG_TEST_CHECK( E_NOEXS == ercd, "pget_blf bad ercd !E_NOEXS" ); ercd = tget_blf( &vp, 3, 10 ); CYG_TEST_CHECK( E_NOEXS == ercd, "tget_blf bad ercd !E_NOEXS" ); ercd = get_blf( &vp, 3 ); CYG_TEST_CHECK( E_NOEXS == ercd, "get_blf bad ercd !E_NOEXS" ); ercd = ref_mpf( &t_rmpf, 3 ); CYG_TEST_CHECK( E_NOEXS == ercd, "ref_mpf bad ercd !E_NOEXS" ); #ifdef CYGSEM_UITRON_BAD_PARAMS_RETURN_ERRORS // now try creating it (badly) #ifndef CYGSEM_UITRON_PARAMS_NULL_IS_GOOD_PTR ercd = cre_mpf( 3, NULL ); CYG_TEST_CHECK( E_PAR == ercd, "cre_mpf bad ercd !E_PAR" ); #endif ercd = cre_mpf( 3, NADR ); CYG_TEST_CHECK( E_PAR == ercd, "cre_mpf bad ercd !E_PAR" ); t_cmpf.mpfatr = 0xfff; ercd = cre_mpf( 3, &t_cmpf ); CYG_TEST_CHECK( E_RSATR == ercd, "cre_mpf bad ercd !E_RSATR" ); #endif // we can test bad param error returns t_cmpf.mpfatr = 0; t_cmpf.mpfcnt = 10000; t_cmpf.blfsz = 100; ercd = cre_mpf( 3, &t_cmpf ); CYG_TEST_CHECK( E_NOMEM == ercd, "cre_mpf bad ercd" ); t_cmpf.mpfcnt = 100; t_cmpf.blfsz = 100000; ercd = cre_mpf( 3, &t_cmpf ); CYG_TEST_CHECK( E_NOMEM == ercd, "cre_mpf bad ercd" ); // now create it well t_cmpf.mpfatr = 0; t_cmpf.mpfcnt = 10; t_cmpf.blfsz = 100; ercd = cre_mpf( 3, &t_cmpf ); CYG_TEST_CHECK( E_OK == ercd, "cre_mpf bad ercd" ); // and check we can use it ercd = pget_blf( &vp, 3 ); CYG_TEST_CHECK( E_OK == ercd, "pget_blf bad ercd" ); ercd = tget_blf( &vp, 3, 10 ); CYG_TEST_CHECK( E_OK == ercd, "tget_blf bad ercd" ); ercd = get_blf( &vp, 3 ); CYG_TEST_CHECK( E_OK == ercd, "get_blf bad ercd" ); ercd = rel_blf( 3, vp ); // vp did come from new pool CYG_TEST_CHECK( E_OK == ercd, "rel_blf bad ercd" ); ercd = rel_blf( 3, vp ); // vp already freed CYG_TEST_CHECK( E_PAR == ercd, "rel_blf bad ercd !E_PAR" ); ercd = ref_mpf( &t_rmpf, 3 ); CYG_TEST_CHECK( E_OK == ercd, "ref_mpf bad ercd" ); // In order to wait on the pools, we must first consume all they have: while ( E_OK == (ercd = pget_blf( &vp, 1 )) ) /* nothing */; CYG_TEST_CHECK( E_TMOUT == ercd, "pget_blf bad ercd !E_TMOUT" ); while ( E_OK == (ercd = tget_blf( &vp, 2, 1 )) ) /* nothing */; CYG_TEST_CHECK( E_TMOUT == ercd, "tget_blf bad ercd !E_TMOUT" ); // now wait while task 2 deletes the wait objects ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = get_blf( &vp, 1 ); CYG_TEST_CHECK( E_DLT == ercd, "get_blf bad ercd !E_DLT" ); ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = tget_blf( &vp, 2, 20 ); CYG_TEST_CHECK( E_DLT == ercd, "tget_blf bad ercd !E_DLT" ); // check they are deleted ercd = get_blf( &vp, 1 ); CYG_TEST_CHECK( E_NOEXS == ercd, "get_blf bad ercd !E_NOEXS" ); ercd = pget_blf( &vp, 2 ); CYG_TEST_CHECK( E_NOEXS == ercd, "pget_blf bad ercd !E_NOEXS" ); // re-create and do it again t_cmpf.mpfcnt = 90; t_cmpf.blfsz = 20; ercd = cre_mpf( 1, &t_cmpf ); CYG_TEST_CHECK( E_OK == ercd, "cre_mpf bad ercd" ); t_cmpf.mpfcnt = 5; t_cmpf.blfsz = 200; ercd = cre_mpf( 2, &t_cmpf ); CYG_TEST_CHECK( E_OK == ercd, "cre_mpf bad ercd" ); // In order to wait on the pools, we must first consume all they have: while ( E_OK == (ercd = pget_blf( &vp, 1 )) ) /* nothing */; CYG_TEST_CHECK( E_TMOUT == ercd, "pget_blf bad ercd !E_TMOUT" ); while ( E_OK == (ercd = tget_blf( &vp, 2, 1 )) ) /* nothing */; CYG_TEST_CHECK( E_TMOUT == ercd, "tget_blf bad ercd !E_TMOUT" ); // now wait while task 2 deletes the wait objects ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = get_blf( &vp, 1 ); CYG_TEST_CHECK( E_DLT == ercd, "get_blf bad ercd !E_DLT" ); ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = tget_blf( &vp, 2, 10 ); CYG_TEST_CHECK( E_DLT == ercd, "tget_blf bad ercd !E_DLT" ); // check they are deleted ercd = tget_blf( &vp, 1, 1 ); CYG_TEST_CHECK( E_NOEXS == ercd, "get_blf bad ercd !E_NOEXS" ); ercd = get_blf( &vp, 2 ); CYG_TEST_CHECK( E_NOEXS == ercd, "pget_blf bad ercd !E_NOEXS" ); CYG_TEST_PASS("create/delete fixed mempools"); #endif // CYGPKG_UITRON_MEMPOOLFIXED_CREATE_DELETE #ifdef CYGPKG_UITRON_MEMPOOLVAR_CREATE_DELETE tests++; #ifdef CYGSEM_UITRON_BAD_PARAMS_RETURN_ERRORS ercd = del_mpl( -6 ); CYG_TEST_CHECK( E_ID == ercd, "del_mpl bad ercd !E_ID" ); ercd = del_mpl( 99 ); CYG_TEST_CHECK( E_ID == ercd, "del_mpl bad ercd !E_ID" ); ercd = cre_mpl( -6, &t_cmpl ); CYG_TEST_CHECK( E_ID == ercd, "cre_mpl bad ercd !E_ID" ); ercd = cre_mpl( 99, &t_cmpl ); CYG_TEST_CHECK( E_ID == ercd, "cre_mpl bad ercd !E_ID" ); #endif // we can test bad param error returns // try a pre-existing object // [first get a valid block from it for the freeing test later] ercd = pget_blk( &vp, 3, 100 ); CYG_TEST_CHECK( E_OK == ercd, "pget_blk bad ercd" ); ercd = cre_mpl( 3, &t_cmpl ); CYG_TEST_CHECK( E_OBJ == ercd, "cre_mpl bad ercd !E_OBJ" ); // delete it so we can play ercd = del_mpl( 3 ); CYG_TEST_CHECK( E_OK == ercd, "del_mpl bad ercd" ); // check it is deleted ercd = rel_blk( 3, vp ); // vp did come from this pool CYG_TEST_CHECK( E_NOEXS == ercd, "rel_blk bad ercd !E_NOEXS" ); ercd = pget_blk( &vp, 3, 100 ); CYG_TEST_CHECK( E_NOEXS == ercd, "pget_blk bad ercd !E_NOEXS" ); ercd = tget_blk( &vp, 3, 100, 10 ); CYG_TEST_CHECK( E_NOEXS == ercd, "tget_blk bad ercd !E_NOEXS" ); ercd = get_blk( &vp, 3, 100 ); CYG_TEST_CHECK( E_NOEXS == ercd, "get_blk bad ercd !E_NOEXS" ); ercd = ref_mpl( &t_rmpl, 3 ); CYG_TEST_CHECK( E_NOEXS == ercd, "ref_mpl bad ercd !E_NOEXS" ); #ifdef CYGSEM_UITRON_BAD_PARAMS_RETURN_ERRORS // now try creating it (badly) #ifndef CYGSEM_UITRON_PARAMS_NULL_IS_GOOD_PTR ercd = cre_mpl( 3, NULL ); CYG_TEST_CHECK( E_PAR == ercd, "cre_mpl bad ercd !E_PAR" ); #endif ercd = cre_mpl( 3, NADR ); CYG_TEST_CHECK( E_PAR == ercd, "cre_mpl bad ercd !E_PAR" ); t_cmpl.mplatr = 0xfff; ercd = cre_mpl( 3, &t_cmpl ); CYG_TEST_CHECK( E_RSATR == ercd, "cre_mpl bad ercd !E_RSATR" ); #endif // we can test bad param error returns t_cmpl.mplatr = 0; t_cmpl.mplsz = 100000000; ercd = cre_mpl( 3, &t_cmpl ); CYG_TEST_CHECK( E_NOMEM == ercd, "cre_mpl bad ercd" ); // now create it well t_cmpl.mplatr = 0; t_cmpl.mplsz = 1000; ercd = cre_mpl( 3, &t_cmpl ); CYG_TEST_CHECK( E_OK == ercd, "cre_mpl bad ercd" ); // and check we can use it ercd = pget_blk( &vp, 3, 100 ); CYG_TEST_CHECK( E_OK == ercd, "pget_blk bad ercd" ); ercd = pget_blk( &vp, 3, 100000000 ); // way too large CYG_TEST_CHECK( E_TMOUT == ercd, "pget_blk bad ercd !E_TMOUT" ); ercd = tget_blk( &vp, 3, 100, 10 ); CYG_TEST_CHECK( E_OK == ercd, "tget_blk bad ercd" ); ercd = get_blk( &vp, 3, 100 ); CYG_TEST_CHECK( E_OK == ercd, "get_blk bad ercd" ); ercd = rel_blk( 3, vp ); // vp did come from new pool CYG_TEST_CHECK( E_OK == ercd, "rel_blk bad ercd" ); ercd = rel_blk( 3, vp ); // vp already freed CYG_TEST_CHECK( E_PAR == ercd, "rel_blk bad ercd !E_PAR" ); ercd = ref_mpl( &t_rmpl, 3 ); CYG_TEST_CHECK( E_OK == ercd, "ref_mpl bad ercd" ); // In order to wait on the pools, we must first consume all they have: while ( E_OK == (ercd = pget_blk( &vp, 1, 100 )) ) /* nothing */; CYG_TEST_CHECK( E_TMOUT == ercd, "pget_blk bad ercd !E_TMOUT" ); while ( E_OK == (ercd = tget_blk( &vp, 2, 100, 1 )) ) /* nothing */; CYG_TEST_CHECK( E_TMOUT == ercd, "tget_blk bad ercd !E_TMOUT" ); // now wait while task 2 deletes the wait objects ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = get_blk( &vp, 1, 200 ); CYG_TEST_CHECK( E_DLT == ercd, "get_blk bad ercd !E_DLT" ); ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = tget_blk( &vp, 2, 100, 20 ); CYG_TEST_CHECK( E_DLT == ercd, "tget_blk bad ercd !E_DLT" ); // check they are deleted ercd = get_blk( &vp, 1, 200 ); CYG_TEST_CHECK( E_NOEXS == ercd, "get_blk bad ercd !E_NOEXS" ); ercd = pget_blk( &vp, 2, 20 ); CYG_TEST_CHECK( E_NOEXS == ercd, "pget_blk bad ercd !E_NOEXS" ); // re-create and do it again ercd = cre_mpl( 1, &t_cmpl ); CYG_TEST_CHECK( E_OK == ercd, "cre_mpl bad ercd" ); ercd = cre_mpl( 2, &t_cmpl ); CYG_TEST_CHECK( E_OK == ercd, "cre_mpl bad ercd" ); // In order to wait on the pools, we must first consume all they have: while ( E_OK == (ercd = pget_blk( &vp, 1, 20 )) ) /* nothing */; CYG_TEST_CHECK( E_TMOUT == ercd, "pget_blk bad ercd !E_TMOUT" ); while ( E_OK == (ercd = tget_blk( &vp, 2, 400, 1 )) ) /* nothing */; CYG_TEST_CHECK( E_TMOUT == ercd, "tget_blk bad ercd !E_TMOUT" ); // now wait while task 2 deletes the wait objects ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = get_blk( &vp, 1, 200 ); CYG_TEST_CHECK( E_DLT == ercd, "get_blk bad ercd !E_DLT" ); ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = tget_blk( &vp, 2, 500, 20 ); CYG_TEST_CHECK( E_DLT == ercd, "tget_blk bad ercd !E_DLT" ); // check they are deleted ercd = tget_blk( &vp, 1, 200, 1 ); CYG_TEST_CHECK( E_NOEXS == ercd, "get_blk bad ercd !E_NOEXS" ); ercd = get_blk( &vp, 2, 20 ); CYG_TEST_CHECK( E_NOEXS == ercd, "pget_blk bad ercd !E_NOEXS" ); CYG_TEST_PASS("create/delete variable mempools"); #endif // CYGPKG_UITRON_MEMPOOLVAR_CREATE_DELETE ercd = ter_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "ter_tsk bad ercd" ); ercd = dly_tsk( 5 ); CYG_TEST_CHECK( E_OK == ercd, "dly_tsk bad ercd" ); // all done if ( 0 == tests ) { CYG_TEST_NA( "No objects have create/delete enabled" ); } else { CYG_TEST_EXIT( "All done" ); } ext_tsk(); }
static ER _dmloader_rmv_ldm(ID ldm_can_id) { // TODO: hard coded & should check ldm_can status if (ldm_can_id != 1) return E_ID; T_LDM_CAN *ldm_can = &ldm_cans[ldm_can_id - 1]; ER ercd; ercd = loc_mtx(DMLOADER_MTX); if(ercd != E_OK) { syslog(LOG_ERROR, "%s(): Acquire mutex failed.", __FUNCTION__); goto error_exit; } if (ldm_can->status != LDM_CAN_RUNNING) { syslog(LOG_ERROR, "%s(): LDM container is not running.", __FUNCTION__); ercd = E_OBJ; goto error_exit; } // Destroy all EV3CYCs destroy_all_ev3cyc(); // Deletion 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(): RMV MOD_CFG_ENTRY TSFN_CRE_TSK", __FUNCTION__); ID tskid = *(ID*)ent->retvalptr; ter_tsk(tskid); ercd = del_tsk(tskid); assert(ercd == E_OK); break; } case TSFN_CRE_SEM: { syslog(LOG_DEBUG, "%s(): RMV MOD_CFG_ENTRY TSFN_CRE_SEM", __FUNCTION__); ID semid = *(ID*)ent->retvalptr; ercd = del_sem(semid); assert(ercd == E_OK); break; } case TSFN_CRE_FLG: { syslog(LOG_DEBUG, "%s(): RMV MOD_CFG_ENTRY TSFN_CRE_FLG", __FUNCTION__); ID flgid = *(ID*)ent->retvalptr; ercd = del_flg(flgid); assert(ercd == E_OK); break; } default: syslog(LOG_ERROR, "%s(): Unsupported static function code %d.", __FUNCTION__, ent->sfncd); ercd = E_OBJ; goto error_exit; } } ldm_can->status = LDM_CAN_FREE; // TODO: clean ldm_can error_exit: unl_mtx(DMLOADER_MTX); return ercd; }
static int __ui_ter_tsk(struct pt_regs *regs) { ID tskid = __xn_reg_arg1(regs); return ter_tsk(tskid); }
/* * 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); }
/* * タスクコマンド */ static UW task_command(B *command) { INT point=0; B cmd=-1; UW w; int no, count; BOOL result=TRUE; ER ercd = E_OK; if(current_tskid == MONTASK){ /* モニタ自体の制御はできない */ printf(" Can't control the monitor!!\n"); return 0; } count = sizeof(mon_task) / sizeof(struct SUBCOMMAND_TABLE); if(command[point]){ for(no = 0 ; no < count ; no++){ if(compare_word(mon_task[no].subcommand, command, 0)){ skip_word(command, &point); cmd = mon_task[no].type; break; } } } switch(cmd){ case MONTASK_ACTIVE: /* 起動要求(act_tsk) */ ercd = act_tsk(current_tskid); printf(" execute act_tsk(%d)", current_tskid); break; case MONTASK_TERM: /* 強制終了(ter_tsk) */ ercd = ter_tsk(current_tskid); printf(" execute ter_tsk(%d)", current_tskid); break; case MONTASK_SUSPEND: /* 待ち要求(sus_tsk) */ ercd = sus_tsk(current_tskid); printf(" execute sus_tsk(%d)", current_tskid); break; case MONTASK_RESUME: /* 待ち再開(rsm_tsk) */ ercd = rsm_tsk(current_tskid); printf(" execute rsm_tsk(%d)", current_tskid); break; case MONTASK_RELEASE: /* 待ち解除(rel_wai) */ ercd = rel_wai(current_tskid); printf(" execute rel_wai(%d)", current_tskid); break; case MONTASK_WAKEUP: /* タスク起床(wup_tsk) */ ercd = wup_tsk(current_tskid); printf(" execute wup_tsk(%d)", current_tskid); break; case MONTASK_PRIORITY: /* 優先度変更(chg_pri) */ if(get_value(command, &point, &w, DEC_BASE)){ ercd = chg_pri(current_tskid, w); printf(" execute chg_pri(%d, %d)", current_tskid, w); } else result = FALSE; break; default: result = FALSE; break; } if(result){ printf(" :: result = %s !\n", (VP_INT)itron_strerror(ercd)); tslp_tsk(100); /* スイッチング */ } return 0; }
void task3(intptr_t exinf) { ER_UINT ercd; check_point(3); ercd = snd_mbf(MBF1, string2, 26); check_ercd(ercd, E_OK); check_point(7); ercd = snd_mbf(MBF1, string3, 10); check_ercd(ercd, E_OK); check_point(9); ercd = rcv_mbf(MBF1, buf1); check_ercd(ercd, 10); check_assert(strncmp(buf1, string3, 10) == 0); check_point(10); ercd = act_tsk(TASK2); check_ercd(ercd, E_OK); check_point(12); ercd = wup_tsk(TASK1); check_ercd(ercd, E_OK); check_point(14); ercd = ter_tsk(TASK2); check_ercd(ercd, E_OK); check_point(17); ercd = snd_mbf(MBF1, string2, 26); check_ercd(ercd, E_OK); check_point(22); ercd = snd_mbf(MBF1, string3, 10); check_ercd(ercd, E_OK); check_point(25); ercd = rcv_mbf(MBF1, buf1); check_ercd(ercd, 10); check_assert(strncmp(buf1, string3, 10) == 0); check_point(26); ercd = wup_tsk(TASK2); check_ercd(ercd, E_OK); check_point(28); ercd = wup_tsk(TASK1); check_ercd(ercd, E_OK); check_point(30); ercd = rel_wai(TASK2); check_ercd(ercd, E_OK); check_point(33); ercd = snd_mbf(MBF1, string2, 26); check_ercd(ercd, E_OK); check_point(40); ercd = snd_mbf(MBF1, string3, 10); check_ercd(ercd, E_OK); check_point(44); ercd = rcv_mbf(MBF1, buf1); check_ercd(ercd, 10); check_assert(strncmp(buf1, string3, 10) == 0); check_point(45); ercd = wup_tsk(TASK2); check_ercd(ercd, E_OK); check_point(47); ercd = wup_tsk(TASK1); check_ercd(ercd, E_OK); check_point(49); ercd = sta_alm(ALM1, 1000U); check_ercd(ercd, E_OK); ercd = slp_tsk(); check_ercd(ercd, E_OK); check_point(53); ercd = snd_mbf(MBF1, string2, 26); check_ercd(ercd, E_OK); check_point(57); ercd = snd_mbf(MBF1, string3, 10); check_ercd(ercd, E_OK); check_point(59); ercd = rcv_mbf(MBF1, buf1); check_ercd(ercd, 10); check_assert(strncmp(buf1, string3, 10) == 0); check_point(60); ercd = wup_tsk(TASK2); check_ercd(ercd, E_OK); check_point(62); ercd = wup_tsk(TASK1); check_ercd(ercd, E_OK); check_point(64); ercd = slp_tsk(); check_ercd(ercd, E_OK); check_point(0); }
/* メインタスク */ void main_task(intptr_t unused) { signed char forward; /* 前後進命令 */ signed char turn; /* 旋回命令 */ signed char pwm_L, pwm_R; /* 左右モータPWM出力 */ static int turn = 0; /* LCD画面表示 */ ev3_lcd_fill_rect(0, 0, EV3_LCD_WIDTH, EV3_LCD_HEIGHT, EV3_LCD_WHITE); ev3_lcd_draw_string("ETミヤウチ", 0, CALIB_FONT_HEIGHT*1); /* センサー入力ポートの設定 */ ev3_sensor_config(sonar_sensor, ULTRASONIC_SENSOR); ev3_sensor_config(color_sensor, COLOR_SENSOR); ev3_color_sensor_get_reflect(color_sensor); /* 反射率モード */ ev3_sensor_config(touch_sensor, TOUCH_SENSOR); ev3_sensor_config(gyro_sensor, GYRO_SENSOR); /* モーター出力ポートの設定 */ ev3_motor_config(left_motor, LARGE_MOTOR); ev3_motor_config(right_motor, LARGE_MOTOR); ev3_motor_config(tail_motor, LARGE_MOTOR); ev3_motor_reset_counts(tail_motor); /* Open Bluetooth file */ bt = ev3_serial_open_file(EV3_SERIAL_BT); assert(bt != NULL); /* Bluetooth通信タスクの起動 */ act_tsk(BT_TASK); ev3_led_set_color(LED_ORANGE); /* 初期化完了通知 */ /* スタート待機 */ while(1) { tail_control(TAIL_ANGLE_STAND_UP); /* 完全停止用角度に制御 */ if (bt_cmd == 1) { break; /* リモートスタート */ } if (ev3_touch_sensor_is_pressed(touch_sensor) == 1) { break; /* タッチセンサが押された */ } tslp_tsk(10); /* 10msecウェイト */ } /* 走行モーターエンコーダーリセット */ ev3_motor_reset_counts(left_motor); ev3_motor_reset_counts(right_motor); /* ジャイロセンサーリセット */ ev3_gyro_sensor_reset(gyro_sensor); balancer.init(GYRO_OFFSET); // <1> ev3_led_set_color(LED_GREEN); /* スタート通知 */ /** * Main loop for the self-balance control algorithm */ while(1) { int32_t motor_ang_l, motor_ang_r; int gyro, volt; turn = (ev3_color_sensor_get_reflect(color_sensor) - (LIGHT_WHITE + LIGHT_BLACK)/2) * KP; if (ev3_button_is_pressed(BACK_BUTTON)) break; tail_control(TAIL_ANGLE_DRIVE); /* バランス走行用角度に制御 */ if (sonar_alert() == 1) /* 障害物検知 */ { forward = turn = 0; /* 障害物を検知したら停止 */ } else { forward = 30; /* 前進命令 */ if (100 < turn) { turn = 100.0; } else if (turn < -100) { turn = -100.0; } } /* 倒立振子制御API に渡すパラメータを取得する */ motor_ang_l = ev3_motor_get_counts(left_motor); motor_ang_r = ev3_motor_get_counts(right_motor); gyro = ev3_gyro_sensor_get_rate(gyro_sensor); volt = ev3_battery_voltage_mV(); /* 倒立振子制御APIを呼び出し、倒立走行するための */ /* 左右モータ出力値を得る */ balancer.setCommand(forward, turn); // <1> balancer.update(gyro, motor_ang_r, motor_ang_l, volt); // <2> pwm_L = balancer.getPwmRight(); // <3> pwm_R = balancer.getPwmLeft(); // <3> /* EV3ではモーター停止時のブレーキ設定が事前にできないため */ /* 出力0時に、その都度設定する */ if (pwm_L == 0) { ev3_motor_stop(left_motor, true); } else { ev3_motor_set_power(left_motor, (int)pwm_L); } if (pwm_R == 0) { ev3_motor_stop(right_motor, true); } else { ev3_motor_set_power(right_motor, (int)pwm_R); } tslp_tsk(4); /* 4msec周期起動 */ } ev3_motor_stop(left_motor, false); ev3_motor_stop(right_motor, false); ter_tsk(BT_TASK); fclose(bt); ext_tsk(); }
/* * main task */ void main_task(intptr_t exinf) { char_t 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 */ SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG))); syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf); /* * initialize the serial port * * If the same serial port is shared between main task and system * log task. As this serial port is already opened in system log * task, serial_opn_por will return E_OBJ which is not a real * error. */ 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))); /* * adjustment of task_loop. * * If TASK_LOOP is defined, the adjustment of task_loop will not be * done. * * If MEASURE_TWICE is defined, 2 measurements are made. The 2nd * result is adopted as the 1st is a little longer than the 2nd. */ #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 / 5; /* * activate the target tasks */ SVC_PERROR(act_tsk(TASK1)); SVC_PERROR(act_tsk(TASK2)); SVC_PERROR(act_tsk(TASK3)); /* * main loop */ 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 '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 */ default: break; } } while (c != '\003' && c != 'Q'); syslog(LOG_NOTICE, "Sample program ends."); SVC_PERROR(ext_ker()); assert(0); }
/* * メインタスク */ void main_task(intptr_t exinf) { char_t 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 */ 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 * * TASK_LOOPがマクロ定義されている場合,測定せずに,TASK_LOOPに定 * 義された値を,タスク内でのループ回数とする. * * MEASURE_TWICEがマクロ定義されている場合,1回目の測定結果を捨て * て,2回目の測定結果を使う.1回目の測定は長めの時間が出るため. */ #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 / 5; /* * タスクの起動 */ SVC_PERROR(act_tsk(TASK1)); SVC_PERROR(act_tsk(TASK2)); SVC_PERROR(act_tsk(TASK3)); /* * 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 '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 */ default: break; } } while (c != '\003' && c != 'Q'); syslog(LOG_NOTICE, "Sample program ends."); SVC_PERROR(ext_ker()); assert(0); }
void task1( unsigned int arg ) { ER ercd; int tests = 0; CYG_TEST_INFO( "Task 1 running" ); ercd = dis_dsp(); CYG_TEST_CHECK( E_OK == ercd, "dis_dsp bad ercd" ); ercd = sta_tsk( 2, 22222 ); CYG_TEST_CHECK( E_OK == ercd, "sta_tsk bad ercd" ); ercd = chg_pri( 2, 5 ); CYG_TEST_CHECK( E_OK == ercd, "chg_pri bad ercd" ); ercd = ena_dsp(); CYG_TEST_CHECK( E_OK == ercd, "ena_dsp bad ercd" ); ercd = dly_tsk( 10 ); CYG_TEST_CHECK( E_OK == ercd, "dly_tsk bad ercd" ); #ifdef CYGPKG_UITRON_SEMAS_CREATE_DELETE tests++; #ifdef CYGSEM_UITRON_BAD_PARAMS_RETURN_ERRORS ercd = del_sem( -6 ); CYG_TEST_CHECK( E_ID == ercd, "del_sem bad ercd !E_ID" ); ercd = del_sem( 99 ); CYG_TEST_CHECK( E_ID == ercd, "del_sem bad ercd !E_ID" ); ercd = cre_sem( -6, &t_csem ); CYG_TEST_CHECK( E_ID == ercd, "cre_sem bad ercd !E_ID" ); ercd = cre_sem( 99, &t_csem ); CYG_TEST_CHECK( E_ID == ercd, "cre_sem bad ercd !E_ID" ); #endif // we can test bad param error returns // try a pre-existing object ercd = cre_sem( 3, &t_csem ); CYG_TEST_CHECK( E_OBJ == ercd, "cre_sem bad ercd !E_OBJ" ); // delete it so we can play ercd = del_sem( 3 ); CYG_TEST_CHECK( E_OK == ercd, "del_sem bad ercd" ); // check it is deleted ercd = sig_sem( 3 ); CYG_TEST_CHECK( E_NOEXS == ercd, "sig_sem bad ercd !E_NOEXS" ); ercd = preq_sem( 3 ); CYG_TEST_CHECK( E_NOEXS == ercd, "preq_sem bad ercd !E_NOEXS" ); ercd = twai_sem( 3, 10 ); CYG_TEST_CHECK( E_NOEXS == ercd, "twai_sem bad ercd !E_NOEXS" ); ercd = wai_sem( 3 ); CYG_TEST_CHECK( E_NOEXS == ercd, "wai_sem bad ercd !E_NOEXS" ); ercd = ref_sem( &t_rsem, 3 ); CYG_TEST_CHECK( E_NOEXS == ercd, "ref_sem bad ercd !E_NOEXS" ); #ifdef CYGSEM_UITRON_BAD_PARAMS_RETURN_ERRORS // now try creating it (badly) #ifndef CYGSEM_UITRON_PARAMS_NULL_IS_GOOD_PTR ercd = cre_sem( 3, NULL ); CYG_TEST_CHECK( E_PAR == ercd, "cre_sem bad ercd !E_PAR" ); #endif ercd = cre_sem( 3, NADR ); CYG_TEST_CHECK( E_PAR == ercd, "cre_sem bad ercd !E_PAR" ); t_csem.sematr = 0xfff; ercd = cre_sem( 3, &t_csem ); CYG_TEST_CHECK( E_RSATR == ercd, "cre_sem bad ercd !E_RSATR" ); t_csem.sematr = 0; #endif // we can test bad param error returns ercd = cre_sem( 3, &t_csem ); CYG_TEST_CHECK( E_OK == ercd, "cre_sem bad ercd" ); // and check we can use it ercd = sig_sem( 3 ); CYG_TEST_CHECK( E_OK == ercd, "sig_sem bad ercd" ); ercd = wai_sem( 3 ); CYG_TEST_CHECK( E_OK == ercd, "wai_sem bad ercd" ); ercd = preq_sem( 3 ); CYG_TEST_CHECK( E_TMOUT == ercd, "preq_sem bad ercd !E_TMOUT" ); ercd = twai_sem( 3, 2 ); CYG_TEST_CHECK( E_TMOUT == ercd, "twai_sem bad ercd !E_TMOUT" ); ercd = ref_sem( &t_rsem, 3 ); CYG_TEST_CHECK( E_OK == ercd, "ref_sem bad ercd" ); // now wait while task 2 deletes the wait objects ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = wai_sem( 1 ); CYG_TEST_CHECK( E_DLT == ercd, "wai_sem bad ercd !E_DLT" ); ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = twai_sem( 2, 20 ); CYG_TEST_CHECK( E_DLT == ercd, "twai_sem bad ercd !E_DLT" ); // check they are deleted ercd = sig_sem( 1 ); CYG_TEST_CHECK( E_NOEXS == ercd, "sig_sem bad ercd !E_NOEXS" ); ercd = sig_sem( 2 ); CYG_TEST_CHECK( E_NOEXS == ercd, "sig_sem bad ercd !E_NOEXS" ); // re-create and do it again ercd = cre_sem( 1, &t_csem ); CYG_TEST_CHECK( E_OK == ercd, "cre_sem bad ercd" ); ercd = cre_sem( 2, &t_csem ); CYG_TEST_CHECK( E_OK == ercd, "cre_sem bad ercd" ); // now wait while task 2 deletes the wait objects again ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = wai_sem( 1 ); CYG_TEST_CHECK( E_DLT == ercd, "wai_sem bad ercd !E_DLT" ); ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = twai_sem( 2, 20 ); CYG_TEST_CHECK( E_DLT == ercd, "twai_sem bad ercd !E_DLT" ); // check they are deleted ercd = sig_sem( 1 ); CYG_TEST_CHECK( E_NOEXS == ercd, "sig_sem bad ercd !E_NOEXS" ); ercd = sig_sem( 2 ); CYG_TEST_CHECK( E_NOEXS == ercd, "sig_sem bad ercd !E_NOEXS" ); CYG_TEST_PASS("create/delete semaphores"); #endif // CYGPKG_UITRON_SEMAS_CREATE_DELETE #ifdef CYGPKG_UITRON_FLAGS_CREATE_DELETE tests++; #ifdef CYGSEM_UITRON_BAD_PARAMS_RETURN_ERRORS ercd = del_flg( -6 ); CYG_TEST_CHECK( E_ID == ercd, "del_flg bad ercd !E_ID" ); ercd = del_flg( 99 ); CYG_TEST_CHECK( E_ID == ercd, "del_flg bad ercd !E_ID" ); ercd = cre_flg( -6, &t_cflg ); CYG_TEST_CHECK( E_ID == ercd, "cre_flg bad ercd !E_ID" ); ercd = cre_flg( 99, &t_cflg ); CYG_TEST_CHECK( E_ID == ercd, "cre_flg bad ercd !E_ID" ); #endif // we can test bad param error returns // try a pre-existing object ercd = cre_flg( 3, &t_cflg ); CYG_TEST_CHECK( E_OBJ == ercd, "cre_flg bad ercd !E_OBJ" ); // delete it so we can play ercd = del_flg( 3 ); CYG_TEST_CHECK( E_OK == ercd, "del_flg bad ercd" ); // check it is deleted ercd = set_flg( 3, 0x6789 ); CYG_TEST_CHECK( E_NOEXS == ercd, "set_flg bad ercd !E_NOEXS" ); ercd = clr_flg( 3, 0x9876 ); CYG_TEST_CHECK( E_NOEXS == ercd, "clr_flg bad ercd !E_NOEXS" ); ercd = pol_flg( &scratch, 3, 0xdddd, TWF_ANDW ); CYG_TEST_CHECK( E_NOEXS == ercd, "pol_flg bad ercd !E_NOEXS" ); ercd = twai_flg( &scratch, 3, 0x4444, TWF_ORW, 10 ); CYG_TEST_CHECK( E_NOEXS == ercd, "twai_flg bad ercd !E_NOEXS" ); ercd = wai_flg( &scratch, 3, 0xbbbb, TWF_ANDW | TWF_CLR ); CYG_TEST_CHECK( E_NOEXS == ercd, "wai_flg bad ercd !E_NOEXS" ); ercd = ref_flg( &t_rflg, 3 ); CYG_TEST_CHECK( E_NOEXS == ercd, "ref_flg bad ercd !E_NOEXS" ); #ifdef CYGSEM_UITRON_BAD_PARAMS_RETURN_ERRORS // now try creating it (badly) #ifndef CYGSEM_UITRON_PARAMS_NULL_IS_GOOD_PTR ercd = cre_flg( 3, NULL ); CYG_TEST_CHECK( E_PAR == ercd, "cre_flg bad ercd !E_PAR" ); #endif ercd = cre_flg( 3, NADR ); CYG_TEST_CHECK( E_PAR == ercd, "cre_flg bad ercd !E_PAR" ); t_cflg.flgatr = 0xfff; ercd = cre_flg( 3, &t_cflg ); CYG_TEST_CHECK( E_RSATR == ercd, "cre_flg bad ercd !E_RSATR" ); #endif // we can test bad param error returns // now create it well t_cflg.flgatr = 0; t_cflg.iflgptn = 0; ercd = cre_flg( 3, &t_cflg ); CYG_TEST_CHECK( E_OK == ercd, "cre_flg bad ercd" ); // and check we can use it ercd = clr_flg( 3, 0x7256 ); CYG_TEST_CHECK( E_OK == ercd, "clr_flg bad ercd" ); ercd = set_flg( 3, 0xff ); CYG_TEST_CHECK( E_OK == ercd, "set_flg bad ercd" ); ercd = wai_flg( &scratch, 3, 0xaa, TWF_ANDW | TWF_CLR ); CYG_TEST_CHECK( E_OK == ercd, "wai_flg bad ercd" ); ercd = pol_flg( &scratch, 3, 0xaa, TWF_ANDW | TWF_CLR ); CYG_TEST_CHECK( E_TMOUT == ercd, "pol_flg bad ercd !E_TMOUT" ); ercd = twai_flg( &scratch, 3, 0xaa, TWF_ANDW | TWF_CLR, 2 ); CYG_TEST_CHECK( E_TMOUT == ercd, "twai_flg bad ercd !E_TMOUT" ); ercd = ref_flg( &t_rflg, 3 ); CYG_TEST_CHECK( E_OK == ercd, "ref_flg bad ercd" ); CYG_TEST_CHECK( 0 == t_rflg.flgptn, "ref_flg bad ercd" ); // now create it again with a preset pattern and check that we can // detect that pattern: ercd = del_flg( 3 ); CYG_TEST_CHECK( E_OK == ercd, "del_flg bad ercd" ); t_cflg.flgatr = 0; t_cflg.iflgptn = 0x1234; ercd = cre_flg( 3, &t_cflg ); CYG_TEST_CHECK( E_OK == ercd, "cre_flg bad ercd" ); // and check we can use it ercd = wai_flg( &scratch, 3, 0x1200, TWF_ANDW ); CYG_TEST_CHECK( E_OK == ercd, "wai_flg bad ercd" ); ercd = pol_flg( &scratch, 3, 0x0034, TWF_ANDW ); CYG_TEST_CHECK( E_OK == ercd, "pol_flg bad ercd" ); ercd = twai_flg( &scratch, 3, 0x1004, TWF_ANDW, 10 ); CYG_TEST_CHECK( E_OK == ercd, "twai_flg bad ercd" ); ercd = pol_flg( &scratch, 3, 0xffedcb, TWF_ORW ); CYG_TEST_CHECK( E_TMOUT == ercd, "pol_flg bad ercd !E_TMOUT" ); ercd = ref_flg( &t_rflg, 3 ); CYG_TEST_CHECK( E_OK == ercd, "ref_flg bad ercd" ); CYG_TEST_CHECK( 0x1234 == t_rflg.flgptn, "ref_flg bad ercd" ); ercd = clr_flg( 3, 0 ); ercd = ref_flg( &t_rflg, 3 ); CYG_TEST_CHECK( E_OK == ercd, "ref_flg bad ercd" ); CYG_TEST_CHECK( 0 == t_rflg.flgptn, "ref_flg bad ercd" ); // now wait while task 2 deletes the wait objects ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = wai_flg( &scratch, 1, 0xaa, TWF_ANDW ); CYG_TEST_CHECK( E_DLT == ercd, "wai_flg bad ercd !E_DLT" ); ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = twai_flg( &scratch, 2, 0x55, TWF_ANDW, 20 ); CYG_TEST_CHECK( E_DLT == ercd, "twai_flg bad ercd !E_DLT" ); // check they are deleted ercd = set_flg( 1, 0x22 ); CYG_TEST_CHECK( E_NOEXS == ercd, "set_flg bad ercd !E_NOEXS" ); ercd = clr_flg( 2, 0xdd ); CYG_TEST_CHECK( E_NOEXS == ercd, "clr_flg bad ercd !E_NOEXS" ); // re-create and do it again t_cflg.iflgptn = 0x5555; ercd = cre_flg( 1, &t_cflg ); CYG_TEST_CHECK( E_OK == ercd, "cre_flg bad ercd" ); t_cflg.iflgptn = 0; ercd = cre_flg( 2, &t_cflg ); CYG_TEST_CHECK( E_OK == ercd, "cre_flg bad ercd" ); // now wait while task 2 deletes the wait objects again ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = wai_flg( &scratch, 1, 0xaaaa, TWF_ORW | TWF_CLR ); CYG_TEST_CHECK( E_DLT == ercd, "wai_flg bad ercd !E_DLT" ); ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = twai_flg( &scratch, 2, 0xffff, TWF_ORW, 20 ); CYG_TEST_CHECK( E_DLT == ercd, "twai_flg bad ercd !E_DLT" ); // check they are deleted ercd = clr_flg( 1, 0xd00d ); CYG_TEST_CHECK( E_NOEXS == ercd, "clr_flg bad ercd !E_NOEXS" ); ercd = set_flg( 2, 0xfff00 ); CYG_TEST_CHECK( E_NOEXS == ercd, "set_flg bad ercd !E_NOEXS" ); CYG_TEST_PASS("create/delete flags"); #endif // CYGPKG_UITRON_FLAGS_CREATE_DELETE #ifdef CYGPKG_UITRON_MBOXES_CREATE_DELETE tests++; #ifdef CYGSEM_UITRON_BAD_PARAMS_RETURN_ERRORS ercd = del_mbx( -6 ); CYG_TEST_CHECK( E_ID == ercd, "del_mbx bad ercd !E_ID" ); ercd = del_mbx( 99 ); CYG_TEST_CHECK( E_ID == ercd, "del_mbx bad ercd !E_ID" ); ercd = cre_mbx( -6, &t_cmbx ); CYG_TEST_CHECK( E_ID == ercd, "cre_mbx bad ercd !E_ID" ); ercd = cre_mbx( 99, &t_cmbx ); CYG_TEST_CHECK( E_ID == ercd, "cre_mbx bad ercd !E_ID" ); #endif // we can test bad param error returns // try a pre-existing object ercd = cre_mbx( 3, &t_cmbx ); CYG_TEST_CHECK( E_OBJ == ercd, "cre_mbx bad ercd !E_OBJ" ); // delete it so we can play ercd = del_mbx( 3 ); CYG_TEST_CHECK( E_OK == ercd, "del_mbx bad ercd" ); // check it is deleted ercd = snd_msg( 3, t_msg ); CYG_TEST_CHECK( E_NOEXS == ercd, "snd_msg bad ercd !E_NOEXS" ); ercd = rcv_msg( &msg, 3 ); CYG_TEST_CHECK( E_NOEXS == ercd, "rcv_msg bad ercd !E_NOEXS" ); ercd = trcv_msg( &msg, 3, 10 ); CYG_TEST_CHECK( E_NOEXS == ercd, "trcv_msg bad ercd !E_NOEXS" ); ercd = prcv_msg( &msg, 3 ); CYG_TEST_CHECK( E_NOEXS == ercd, "prcv_msg bad ercd !E_NOEXS" ); ercd = ref_mbx( &t_rmbx, 3 ); CYG_TEST_CHECK( E_NOEXS == ercd, "ref_mbx bad ercd !E_NOEXS" ); #ifdef CYGSEM_UITRON_BAD_PARAMS_RETURN_ERRORS // now try creating it (badly) #ifndef CYGSEM_UITRON_PARAMS_NULL_IS_GOOD_PTR ercd = cre_mbx( 3, NULL ); CYG_TEST_CHECK( E_PAR == ercd, "cre_mbx bad ercd !E_PAR" ); #endif ercd = cre_mbx( 3, NADR ); CYG_TEST_CHECK( E_PAR == ercd, "cre_mbx bad ercd !E_PAR" ); t_cmbx.mbxatr = 0xfff; ercd = cre_mbx( 3, &t_cmbx ); CYG_TEST_CHECK( E_RSATR == ercd, "cre_mbx bad ercd !E_RSATR" ); t_cmbx.mbxatr = 0; #endif // we can test bad param error returns ercd = cre_mbx( 3, &t_cmbx ); CYG_TEST_CHECK( E_OK == ercd, "cre_mbx bad ercd" ); // and check we can use it ercd = snd_msg( 3, t_msg ); CYG_TEST_CHECK( E_OK == ercd, "snd_msg bad ercd" ); ercd = rcv_msg( &msg, 3 ); CYG_TEST_CHECK( E_OK == ercd, "rcv_msg bad ercd" ); ercd = trcv_msg( &msg, 3, 2 ); CYG_TEST_CHECK( E_TMOUT == ercd, "trcv_msg bad ercd !E_TMOUT" ); ercd = prcv_msg( &msg, 3 ); CYG_TEST_CHECK( E_TMOUT == ercd, "prcv_msg bad ercd !E_TMOUT" ); ercd = ref_mbx( &t_rmbx, 3 ); CYG_TEST_CHECK( E_OK == ercd, "ref_mbx bad ercd" ); // now wait while task 2 deletes the wait objects ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = rcv_msg( &msg, 1 ); CYG_TEST_CHECK( E_DLT == ercd, "wai_mbx bad ercd !E_DLT" ); ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = trcv_msg( &msg, 2, 20 ); CYG_TEST_CHECK( E_DLT == ercd, "twai_mbx bad ercd !E_DLT" ); // check they are deleted ercd = snd_msg( 1, t_msg ); CYG_TEST_CHECK( E_NOEXS == ercd, "snd_msg bad ercd !E_NOEXS" ); ercd = snd_msg( 2, t_msg ); CYG_TEST_CHECK( E_NOEXS == ercd, "snd_msg bad ercd !E_NOEXS" ); // re-create and do it again ercd = cre_mbx( 1, &t_cmbx ); CYG_TEST_CHECK( E_OK == ercd, "cre_mbx bad ercd" ); ercd = cre_mbx( 2, &t_cmbx ); CYG_TEST_CHECK( E_OK == ercd, "cre_mbx bad ercd" ); // now wait while task 2 deletes the wait objects again ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = rcv_msg( &msg, 1 ); CYG_TEST_CHECK( E_DLT == ercd, "wai_mbx bad ercd !E_DLT" ); ercd = wup_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "wup_tsk bad ercd" ); ercd = trcv_msg( &msg, 2, 20 ); CYG_TEST_CHECK( E_DLT == ercd, "twai_mbx bad ercd !E_DLT" ); // check they are deleted ercd = snd_msg( 1, t_msg ); CYG_TEST_CHECK( E_NOEXS == ercd, "snd_msg bad ercd !E_NOEXS" ); ercd = snd_msg( 2, t_msg ); CYG_TEST_CHECK( E_NOEXS == ercd, "snd_msg bad ercd !E_NOEXS" ); CYG_TEST_PASS("create/delete mboxes"); #endif // CYGPKG_UITRON_MBOXES_CREATE_DELETE ercd = ter_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "ter_tsk bad ercd" ); ercd = dly_tsk( 5 ); CYG_TEST_CHECK( E_OK == ercd, "dly_tsk bad ercd" ); // all done if ( 0 == tests ) { CYG_TEST_NA( "No objects have create/delete enabled" ); } else { CYG_TEST_EXIT( "All done" ); } ext_tsk(); }
void task1( unsigned int arg ) { ER ercd; int i; T_RSYS rsys; CYG_TEST_INFO( "Task 1 running" ); // check initial state ercd = ref_sys( &rsys ); CYG_TEST_CHECK( E_OK == ercd, "ref_sys bad ercd" ); CYG_TEST_CHECK( TSS_TSK == rsys.sysstat, "system state not TSS_TSK" ); // disable intrs and check state ercd = loc_cpu(); CYG_TEST_CHECK( E_OK == ercd, "loc_cpu bad ercd" ); ercd = ref_sys( &rsys ); CYG_TEST_CHECK( E_OK == ercd, "ref_sys bad ercd" ); CYG_TEST_CHECK( TSS_LOC == rsys.sysstat, "system state not TSS_LOC" ); #ifdef CYGSEM_UITRON_BAD_PARAMS_RETURN_ERRORS // try an illegal op ercd = dly_tsk( 10 ); CYG_TEST_CHECK( E_CTX == ercd, "dly_tsk bad ercd !E_CTX" ); #endif // CYGSEM_UITRON_BAD_PARAMS_RETURN_ERRORS // enable intrs and check state and a legal sleep ercd = unl_cpu(); CYG_TEST_CHECK( E_OK == ercd, "unl_cpu bad ercd" ); ercd = ref_sys( &rsys ); CYG_TEST_CHECK( E_OK == ercd, "ref_sys bad ercd" ); CYG_TEST_CHECK( TSS_TSK == rsys.sysstat, "system state not TSS_TSK" ); ercd = dly_tsk( 1 ); CYG_TEST_CHECK( E_OK == ercd, "dly_tsk bad ercd" ); // disable intrs and try scheduler illegal ops ercd = loc_cpu(); CYG_TEST_CHECK( E_OK == ercd, "loc_cpu bad ercd" ); ercd = ref_sys( &rsys ); CYG_TEST_CHECK( E_OK == ercd, "ref_sys bad ercd" ); CYG_TEST_CHECK( TSS_LOC == rsys.sysstat, "system state not TSS_LOC" ); #ifdef CYGSEM_UITRON_BAD_PARAMS_RETURN_ERRORS ercd = dis_dsp(); CYG_TEST_CHECK( E_CTX == ercd, "dis_dsp bad ercd !E_CTX" ); ercd = ena_dsp(); CYG_TEST_CHECK( E_CTX == ercd, "ena_dsp bad ercd !E_CTX" ); #endif // CYGSEM_UITRON_BAD_PARAMS_RETURN_ERRORS // enable again and check state ercd = unl_cpu(); CYG_TEST_CHECK( E_OK == ercd, "unl_cpu bad ercd" ); ercd = ref_sys( &rsys ); CYG_TEST_CHECK( E_OK == ercd, "ref_sys bad ercd" ); CYG_TEST_CHECK( TSS_TSK == rsys.sysstat, "system state not TSS_TSK" ); // disable the scheduler and check state ercd = dis_dsp(); CYG_TEST_CHECK( E_OK == ercd, "dis_dsp bad ercd" ); ercd = ref_sys( &rsys ); CYG_TEST_CHECK( E_OK == ercd, "ref_sys bad ercd" ); CYG_TEST_CHECK( TSS_DDSP == rsys.sysstat, "system state not TSS_DDSP" ); // disable intrs and check state ercd = loc_cpu(); CYG_TEST_CHECK( E_OK == ercd, "loc_cpu bad ercd" ); ercd = ref_sys( &rsys ); CYG_TEST_CHECK( E_OK == ercd, "ref_sys bad ercd" ); CYG_TEST_CHECK( TSS_LOC == rsys.sysstat, "system state not TSS_LOC" ); // then unlock and check state ercd = unl_cpu(); CYG_TEST_CHECK( E_OK == ercd, "unl_cpu bad ercd" ); ercd = ref_sys( &rsys ); CYG_TEST_CHECK( E_OK == ercd, "ref_sys bad ercd" ); CYG_TEST_CHECK( TSS_TSK == rsys.sysstat, "system state not TSS_TSK" ); CYG_TEST_PASS( "Interrupt dis/enabling and interactions" ); // and now we can do the rest of the test #ifdef CYGSEM_UITRON_BAD_PARAMS_RETURN_ERRORS ercd = rel_wai( 2 ); CYG_TEST_CHECK( E_OBJ == ercd, "rel_wai bad ercd !E_OBJ" ); ercd = rel_wai( 1 ); CYG_TEST_CHECK( E_OBJ == ercd, "rel_wai(me) bad ercd !E_OBJ" ); ercd = rel_wai( -6 ); CYG_TEST_CHECK( E_ID == ercd, "rel_wai bad ercd !E_ID" ); ercd = rel_wai( 99 ); CYG_TEST_CHECK( E_ID == ercd, "rel_wai bad ercd !E_ID" ); #endif // we can test bad param error returns ercd = dis_dsp(); CYG_TEST_CHECK( E_OK == ercd, "dis_dsp bad ercd" ); ercd = sta_tsk( 2, 22222 ); CYG_TEST_CHECK( E_OK == ercd, "sta_tsk bad ercd" ); ercd = chg_pri( 2, 5 ); CYG_TEST_CHECK( E_OK == ercd, "chg_pri bad ercd" ); ercd = ena_dsp(); CYG_TEST_CHECK( E_OK == ercd, "ena_dsp bad ercd" ); #ifdef CYGSEM_UITRON_BAD_PARAMS_RETURN_ERRORS ercd = rel_wai( 2 ); CYG_TEST_CHECK( E_OBJ == ercd, "rel_wai bad ercd !E_OBJ" ); ercd = rel_wai( 1 ); CYG_TEST_CHECK( E_OBJ == ercd, "rel_wai(me) bad ercd !E_OBJ" ); #endif // we can test bad param error returns ercd = wai_sem( 1 ); CYG_TEST_CHECK( E_RLWAI == ercd, "wai_sem bad ercd !E_RLWAI" ); ercd = twai_sem( 1, 20 ); CYG_TEST_CHECK( E_RLWAI == ercd, "twai_sem bad ercd !E_RLWAI" ); ercd = wai_flg( &scratch, 1, 9999, 0 ); CYG_TEST_CHECK( E_RLWAI == ercd, "wai_flg bad ercd !E_RLWAI" ); ercd = twai_flg( &scratch, 1, 9999, 0, 10 ); CYG_TEST_CHECK( E_RLWAI == ercd, "twai_flg bad ercd !E_RLWAI" ); ercd = rcv_msg( &t_msg, 1 ); CYG_TEST_CHECK( E_RLWAI == ercd, "rcv_msg bad ercd !E_RLWAI" ); ercd = trcv_msg( &t_msg, 1, 10 ); CYG_TEST_CHECK( E_RLWAI == ercd, "trcv_msg bad ercd !E_RLWAI" ); // these are loops so as to consume the whole of the mempool // in order to wait at the end for ( i = 0; i < 10; i++ ) if ( E_OK != (ercd = get_blf( &vp, 3 ) ) ) break; CYG_TEST_CHECK( E_RLWAI == ercd, "get_blf bad ercd !E_RLWAI" ); for ( i = 0; i < 10; i++ ) if ( E_OK != (ercd = tget_blf( &vp, 3, 10 ) ) ) break; CYG_TEST_CHECK( E_RLWAI == ercd, "tget_blf bad ercd !E_RLWAI" ); for ( i = 0; i < 10; i++ ) if ( E_OK != (ercd = get_blk( &vp, 1, 1000 ) ) ) break; CYG_TEST_CHECK( E_RLWAI == ercd, "get_blk bad ercd !E_RLWAI" ); for ( i = 0; i < 10; i++ ) if ( E_OK != (ercd = tget_blk( &vp, 1, 1000, 10 ) ) ) break; CYG_TEST_CHECK( E_RLWAI == ercd, "tget_blk bad ercd !E_RLWAI" ); ercd = dly_tsk( 10 ); CYG_TEST_CHECK( E_RLWAI == ercd, "dly_tsk bad ercd !E_RLWAI" ); ercd = tslp_tsk( 10 ); CYG_TEST_CHECK( E_RLWAI == ercd, "tslp_tsk bad ercd !E_RLWAI" ); ercd = slp_tsk(); CYG_TEST_CHECK( E_RLWAI == ercd, "slp_tsk bad ercd !E_RLWAI" ); ercd = ter_tsk( 2 ); CYG_TEST_CHECK( E_OK == ercd, "ter_tsk bad ercd" ); ercd = dly_tsk( 10 ); CYG_TEST_CHECK( E_OK == ercd, "dly_tsk bad ercd" ); CYG_TEST_PASS("release wait: various waiting calls"); // all done CYG_TEST_EXIT( "All done" ); ext_tsk(); }
/* * メインタスク */ void main_task(VP_INT exinf) { char c; ID tskid = TASK1; volatile UW i; INT tskno = 1; ER_UINT ercd; PRI tskpri; SYSTIM stime1, stime2; #ifndef OMIT_VGET_TIM SYSUTIM utime1, utime2; #endif /* OMIT_VGET_TIM */ vmsk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG)); syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int)exinf); syscall(serial_ctl_por(TASK_PORTID, (IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV))); /* * ループ回数の設定 */ task_loop = LOOP_REF; get_tim(&stime1); for (i = 0; i < task_loop; i++); get_tim(&stime2); task_loop = LOOP_REF * 400 / (stime2 - stime1); tex_loop = task_loop / 5; /* * タスクの起動 */ act_tsk(TASK1); act_tsk(TASK2); act_tsk(TASK3); /* * メインループ */ do { syscall(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); syscall(act_tsk(tskid)); break; case 'A': syslog(LOG_INFO, "#can_act(%d)", tskno); syscall(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); syscall(ter_tsk(tskid)); break; case '>': syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno); chg_pri(tskid, HIGH_PRIORITY); break; case '=': syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno); chg_pri(tskid, MID_PRIORITY); break; case '<': syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno); chg_pri(tskid, LOW_PRIORITY); break; case 'G': syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno); syscall(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); syscall(wup_tsk(tskid)); break; case 'W': syslog(LOG_INFO, "#can_wup(%d)", tskno); syscall(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); syscall(rel_wai(tskid)); break; case 'u': syslog(LOG_INFO, "#sus_tsk(%d)", tskno); syscall(sus_tsk(tskid)); break; case 'm': syslog(LOG_INFO, "#rsm_tsk(%d)", tskno); syscall(rsm_tsk(tskid)); break; case 'M': syslog(LOG_INFO, "#frsm_tsk(%d)", tskno); syscall(frsm_tsk(tskid)); break; case 'x': syslog(LOG_INFO, "#ras_tex(%d, 0x0001)", tskno); syscall(ras_tex(tskid, 0x0001)); break; case 'X': syslog(LOG_INFO, "#ras_tex(%d, 0x0002)", tskno); syscall(ras_tex(tskid, 0x0002)); break; case 'r': syslog(LOG_INFO, "#rot_rdq(three priorities)"); rot_rdq(HIGH_PRIORITY); rot_rdq(MID_PRIORITY); rot_rdq(LOW_PRIORITY); break; case 'c': sta_cyc(CYCHDR1); break; case 'C': stp_cyc(CYCHDR1); break; #ifndef OMIT_VGET_TIM case 'V': syscall(vxget_tim(&utime1)); syscall(vxget_tim(&utime2)); syslog(LOG_NOTICE, "utime1 = %d, utime2 = %d", (UINT) utime1, (UINT) utime2); break; #endif /* OMIT_VGET_TIM */ case 'v': vmsk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG)); break; case 'q': vmsk_log(LOG_UPTO(LOG_NOTICE), LOG_UPTO(LOG_EMERG)); break; default: break; } } while (c != '\003' && c != 'Q'); syslog(LOG_NOTICE, "Sample program ends."); kernel_exit(); }
void task1(intptr_t exinf) { ER_UINT ercd; test_start(__FILE__); set_bit_func(bit_kernel); check_point(1); ercd = act_tsk(TASK2); check_ercd(ercd, E_OK); ercd = act_tsk(TASK3); check_ercd(ercd, E_OK); ercd = tslp_tsk(1000U); check_ercd(ercd, E_TMOUT); check_point(4); ercd = ter_tsk(TASK2); check_ercd(ercd, E_OK); ercd = tslp_tsk(1000U); check_ercd(ercd, E_TMOUT); check_point(5); ercd = rcv_mbf(MBF1, buf1); check_ercd(ercd, 26); check_assert(strncmp(buf1, string2, 26) == 0); ercd = act_tsk(TASK2); check_ercd(ercd, E_OK); ercd = tslp_tsk(1000U); check_ercd(ercd, E_TMOUT); check_point(8); ercd = ter_tsk(TASK2); check_ercd(ercd, E_OK); ercd = slp_tsk(); check_ercd(ercd, E_OK); check_point(13); ercd = snd_mbf(MBF1, string3, 10); check_ercd(ercd, E_OK); check_point(15); ercd = rcv_mbf(MBF1, buf1); check_ercd(ercd, 10); check_assert(strncmp(buf1, string3, 10) == 0); ercd = act_tsk(TASK2); check_ercd(ercd, E_OK); ercd = tslp_tsk(1000U); check_ercd(ercd, E_TMOUT); check_point(18); ercd = rel_wai(TASK2); check_ercd(ercd, E_OK); ercd = tslp_tsk(1000U); check_ercd(ercd, E_TMOUT); check_point(20); ercd = rcv_mbf(MBF1, buf1); check_ercd(ercd, 26); check_assert(strncmp(buf1, string2, 26) == 0); ercd = wup_tsk(TASK2); check_ercd(ercd, E_OK); ercd = tslp_tsk(1000U); check_ercd(ercd, E_TMOUT); check_point(23); ercd = rel_wai(TASK2); check_ercd(ercd, E_OK); ercd = slp_tsk(); check_ercd(ercd, E_OK); check_point(29); ercd = snd_mbf(MBF1, string3, 10); check_ercd(ercd, E_OK); check_point(31); ercd = rcv_mbf(MBF1, buf1); check_ercd(ercd, 10); check_assert(strncmp(buf1, string3, 10) == 0); ercd = tslp_tsk(1000U); check_ercd(ercd, E_TMOUT); check_point(34); ercd = sta_alm(ALM1, 1000U); check_ercd(ercd, E_OK); ercd = slp_tsk(); check_ercd(ercd, E_OK); check_point(36); ercd = tslp_tsk(1000U); check_ercd(ercd, E_TMOUT); check_point(38); ercd = rcv_mbf(MBF1, buf1); check_ercd(ercd, 26); check_assert(strncmp(buf1, string2, 26) == 0); ercd = wup_tsk(TASK2); check_ercd(ercd, E_OK); ercd = tslp_tsk(1000U); check_ercd(ercd, E_TMOUT); check_point(41); ercd = sta_alm(ALM1, 1000U); check_ercd(ercd, E_OK); ercd = slp_tsk(); check_ercd(ercd, E_OK); check_point(48); ercd = snd_mbf(MBF1, string3, 10); check_ercd(ercd, E_OK); check_point(51); ercd = rcv_mbf(MBF1, buf1); check_ercd(ercd, 10); check_assert(strncmp(buf1, string3, 10) == 0); ercd = wup_tsk(TASK3); check_ercd(ercd, E_OK); ercd = slp_tsk(); check_ercd(ercd, E_OK); check_point(63); ercd = snd_mbf(MBF1, string3, 10); check_ercd(ercd, E_OK); check_point(65); ercd = rcv_mbf(MBF1, buf1); check_ercd(ercd, 10); check_assert(strncmp(buf1, string3, 10) == 0); ercd = slp_tsk(); check_ercd(ercd, E_OK); check_point(0); }