[302] | 1 | /*
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| 2 | * TOPPERS Software
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| 3 | * Toyohashi Open Platform for Embedded Real-Time Systems
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| 4 | *
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| 5 | * Copyright (C) 2014-2015 by Embedded and Real-Time Systems Laboratory
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| 6 | * Graduate School of Information Science, Nagoya Univ., JAPAN
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| 7 | *
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| 8 | * ä¸è¨èä½æ¨©è
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| 9 | ã¯ï¼ä»¥ä¸ã®(1)ã(4)ã®æ¡ä»¶ãæºããå ´åã«éãï¼æ¬ã½ããã¦ã§
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| 10 | * ã¢ï¼æ¬ã½ããã¦ã§ã¢ãæ¹å¤ãããã®ãå«ãï¼ä»¥ä¸åãï¼ã使ç¨ã»è¤è£½ã»æ¹
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| 11 | * å¤ã»åé
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| 12 | å¸ï¼ä»¥ä¸ï¼å©ç¨ã¨å¼ã¶ï¼ãããã¨ãç¡åã§è¨±è«¾ããï¼
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| 13 | * (1) æ¬ã½ããã¦ã§ã¢ãã½ã¼ã¹ã³ã¼ãã®å½¢ã§å©ç¨ããå ´åã«ã¯ï¼ä¸è¨ã®èä½
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| 14 | * 権表示ï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨ã®ç¡ä¿è¨¼è¦å®ãï¼ãã®ã¾ã¾ã®å½¢ã§ã½ã¼
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| 15 | * ã¹ã³ã¼ãä¸ã«å«ã¾ãã¦ãããã¨ï¼
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| 16 | * (2) æ¬ã½ããã¦ã§ã¢ãï¼ã©ã¤ãã©ãªå½¢å¼ãªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
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| 17 | * ç¨ã§ããå½¢ã§åé
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| 18 | å¸ããå ´åã«ã¯ï¼åé
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| 19 | å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨
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| 20 | * è
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| 21 | ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®èä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨
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| 22 | * ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
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| 23 | * (3) æ¬ã½ããã¦ã§ã¢ãï¼æ©å¨ã«çµã¿è¾¼ããªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
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| 24 | * ç¨ã§ããªãå½¢ã§åé
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| 25 | å¸ããå ´åã«ã¯ï¼æ¬¡ã®ããããã®æ¡ä»¶ãæºããã
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| 26 | * ã¨ï¼
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| 27 | * (a) åé
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| 28 | å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨è
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| 29 | ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®è
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| 30 | * ä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
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| 31 | * (b) åé
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| 32 | å¸ã®å½¢æ
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| 33 | ãï¼å¥ã«å®ããæ¹æ³ã«ãã£ã¦ï¼TOPPERSããã¸ã§ã¯ãã«
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| 34 | * å ±åãããã¨ï¼
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| 35 | * (4) æ¬ã½ããã¦ã§ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæ
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| 36 | * 害ãããï¼ä¸è¨èä½æ¨©è
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| 37 | ããã³TOPPERSããã¸ã§ã¯ããå
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| 38 | 責ãããã¨ï¼
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| 39 | * ã¾ãï¼æ¬ã½ããã¦ã§ã¢ã®ã¦ã¼ã¶ã¾ãã¯ã¨ã³ãã¦ã¼ã¶ããã®ãããªãç
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| 40 | * ç±ã«åºã¥ãè«æ±ãããï¼ä¸è¨èä½æ¨©è
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| 41 | ããã³TOPPERSããã¸ã§ã¯ãã
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| 42 | * å
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| 43 | 責ãããã¨ï¼
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| 44 | *
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| 45 | * æ¬ã½ããã¦ã§ã¢ã¯ï¼ç¡ä¿è¨¼ã§æä¾ããã¦ãããã®ã§ããï¼ä¸è¨èä½æ¨©è
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| 46 | ã
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| 47 | * ãã³TOPPERSããã¸ã§ã¯ãã¯ï¼æ¬ã½ããã¦ã§ã¢ã«é¢ãã¦ï¼ç¹å®ã®ä½¿ç¨ç®ç
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| 48 | * ã«å¯¾ããé©åæ§ãå«ãã¦ï¼ãããªãä¿è¨¼ãè¡ããªãï¼ã¾ãï¼æ¬ã½ããã¦ã§
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| 49 | * ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæ害ã«é¢ãã¦ãï¼ã
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| 50 | * ã®è²¬ä»»ãè² ããªãï¼
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| 51 | *
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| 52 | * $Id: hrt_systim4.c 310 2015-02-08 13:46:46Z ertl-hiro $
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| 53 | */
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| 54 |
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| 55 | /*
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| 56 | * ã·ã¹ãã æå»ç®¡çæ©è½ã®ãã¹ã(4)
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| 57 | *
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| 58 | * ããã¹ãã®ç®çã
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| 59 | *
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| 60 | * é«å解è½ã¿ã¤ãã¢ã¸ã¥ã¼ã«ã®æ§è³ªãç°ãªãå ´åã®ãã¹ãï¼é«å解è½ã¿ã¤ã
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| 61 | * ã¢ã¸ã¥ã¼ã«ã®æ§è³ªã表ã3ã¤ã®å®æ°ãåç
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| 62 | §ãã¦ããç®æã網ç¾
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| 63 | çã«ãã¹ãã
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| 64 | * ãï¼
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| 65 | *
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| 66 | * ããã¹ãé
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| 67 | ç®ã
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| 68 | *
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| 69 | * (A) update_current_evttimã§TCYC_HRTCNTãåç
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| 70 | §ãã¦ããç®æã®ãã¹ã
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| 71 | * (A-1) ã«ã¦ã³ãå¤ãå¨åãã¦ããªãå ´å
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| 72 | * (A-2) ã«ã¦ã³ãå¤ãå¨åãã¦ããå ´å
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| 73 | * (A-3) ã«ã¦ã³ãå¤ãååã¨åãå ´åï¼å¢çã®ã±ã¼ã¹ï¼
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| 74 | * (B) calc_current_evttim_ubï¼TSTEP_HRTCNTãåç
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| 75 | §ãã¦ããï¼ãå¼ã³åºã
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| 76 | * ã¦ããå¦çã®ãã¹ã
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| 77 | * (B-1) tmevtb_enqueueã§ã®ã¿ã¤ã ã¤ãã³ãã®çºçæå»ã®è¨ç®
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| 78 | * (B-2) tmevt_lefttimã§ã®ã¿ã¤ã ã¤ãã³ããçºçããã¾ã§ã®æéã®è¨ç®
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| 79 | * (C) set_hrt_eventã§HRTCNT_BOUNDãåç
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| 80 | §ãã¦ããç®æã®ãã¹ã
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| 81 | * (C-1) ç»é²ããã¦ããã¿ã¤ã ã¤ãã³ãããªãæ
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| 82 | * (C-2) å
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| 83 | é ã®ã¿ã¤ã ã¤ãã³ãã¾ã§ã®æéãHRTCNT_BOUNDãè¶
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| 84 | ããæ
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| 85 | * (C-3) å
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| 86 | é ã®ã¿ã¤ã ã¤ãã³ãã¾ã§ã®æéãHRTCNT_BOUND以ä¸ã®æ
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| 87 | *
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| 88 | * ã使ç¨ãªã½ã¼ã¹ã
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| 89 | *
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| 90 | * é«å解è½ã¿ã¤ãã¢ã¸ã¥ã¼ã«ã®æ§è³ªï¼HRT_CONFIG2
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| 91 | * TCYC_HRTCNT (0x10000U * 10U)
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| 92 | * TSTEP_HRTCNT 10U
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| 93 | * HRTCNT_BOUND (0x10000U * 9U)
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| 94 | *
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| 95 | * TASK1: ä¸åªå
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| 96 | 度ã¿ã¹ã¯ï¼ã¡ã¤ã³ã¿ã¹ã¯ï¼æåããèµ·å
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| 97 | * ALM1: ã¢ã©ã¼ã ãã³ãã©
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| 98 | * ALM2: ã¢ã©ã¼ã ãã³ãã©
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| 99 | * ALM3: ã¢ã©ã¼ã ãã³ãã©
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| 100 | *
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| 101 | * ãè£è¶³èª¬æã
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| 102 | *
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| 103 | * 以ä¸ã®ãã¹ãã·ã¼ã±ã³ã¹ã®ã³ã¡ã³ãä¸ã§ï¼ãçºçï¼xxxãã¨ã¯ï¼é«å解è½ã¿
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| 104 | * ã¤ãã®ã«ã¦ã³ãå¤ãxxxã«ãªã£ãæã«ã¿ã¤ã ã¤ãã³ããçºçãããã¨ãæå³
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| 105 | * ããï¼ã¿ã¤ã ã¤ãã³ãã®ã¤ãã³ãçºçæå»ã§ã¯ãªãï¼
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| 106 | *
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| 107 | * ããã¹ãã·ã¼ã±ã³ã¹ã
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| 108 | *
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| 109 | * == START ==
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| 110 | * // ã«ã¼ãã«èµ·åï¼é«å解è½ã¿ã¤ãã®ã«ã¦ã³ãå¤ã¨ã¤ãã³ãæå»ã¯10ããã
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| 111 | * 1: [target_hrt_get_current -> 10U]
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| 112 | * 2: [target_hrt_set_event <- HRTCNT_EMPTY]
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| 113 | * == TASK1ï¼åªå
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| 114 | 度ï¼ä¸ï¼==
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| 115 | * // ã¿ã¤ã ã¤ãã³ãã2ã¤ç»é²
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| 116 | * 3: sta_alm(ALM1, 100U)
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| 117 | * 4: [target_hrt_get_current -> 20U] ... (A-1) // çºçï¼130
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| 118 | * 5: [target_hrt_set_event <- 110U] ... (B-1)(C-3)
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| 119 | * 6: sta_alm(ALM2, 105U)
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| 120 | * 7: [target_hrt_get_current -> 20U] ... (A-3) // çºçï¼135
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| 121 | * 8: DO(target_raise_hrt_int(1U))
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| 122 | * slp_tsk()
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| 123 | * == HRT_HANDLER ==
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| 124 | * 9: [target_hrt_get_current -> 130U] // ALM1ãçºç
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| 125 | * == ALM1-1ï¼1åç®ï¼==
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| 126 | * 10: wup_tsk(TASK1)
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| 127 | * RETURN
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| 128 | * 11: [target_hrt_get_current -> 130U] ... (A-3)
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| 129 | * 12: [target_hrt_set_event <- 5U] ... (B-1)
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| 130 | * == TASK1ï¼ç¶ãï¼== // ALM2ã¾ã§ã®æéã¯5
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| 131 | * 13: DO(target_raise_hrt_int(0U))
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| 132 | * == HRT_HANDLER ==
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| 133 | * 14: [target_hrt_get_current -> 140U] // ALM2ãçºç
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| 134 | * == ALM2-1ï¼1åç®ï¼==
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| 135 | * 15: RETURN
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| 136 | * // ã¿ã¤ã ã¤ãã³ãããªããªã£ãå ´å
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| 137 | * 16: [target_hrt_get_current -> 150U]
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| 138 | * 17: [target_hrt_set_event <- HRTCNT_EMPTY] ... (C-1)
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| 139 | * == TASK1ï¼ç¶ãï¼==
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| 140 | * // çºçæå»ã¾ã§ã®é·ãã¿ã¤ã ã¤ãã³ããç»é²
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| 141 | * 18: sta_alm(ALM1, 1000000U)
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| 142 | * 19: [target_hrt_get_current -> 160U] // çºçï¼1000170
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| 143 | * 20: [target_hrt_set_event <- HRTCNT_BOUND] ... (C-2)
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| 144 | * 21: ref_alm(ALM1, &ralm)
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| 145 | * 22: [target_hrt_get_current -> 170U]
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| 146 | * 23: assert(ralm.lefttim == 999990U)
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| 147 | * // ããã§é·ãæéãçµéããã¨æ³å®
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| 148 | * 24: DO(target_raise_hrt_int(0U))
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| 149 | * == HRT_HANDLER ==
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| 150 | * 25: [target_hrt_get_current -> 600000U]
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| 151 | * 26: [target_hrt_set_event <- 400170U]
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| 152 | * == TASK1ï¼ç¶ãï¼==
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| 153 | * // ããã§é·ãæéãçµéããã¨æ³å®
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| 154 | * 27: DO(target_raise_hrt_int(0U))
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| 155 | * == HRT_HANDLER ==
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| 156 | * 28: [target_hrt_get_current -> 344810U] ... (A-2) // ALM1ãçºç
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| 157 | * == ALM1-2ï¼2åç®ï¼==
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| 158 | * 29: RETURN
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| 159 | * 30: [target_hrt_get_current -> 344810U]
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| 160 | * 31: [target_hrt_set_event <- HRTCNT_EMPTY]
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| 161 | * == TASK1ï¼ç¶ãï¼==
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| 162 | * 32: END
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| 163 | */
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| 164 |
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| 165 | #include <kernel.h>
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| 166 | #include <t_syslog.h>
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| 167 | #include "syssvc/test_svc.h"
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| 168 | #include "kernel_cfg.h"
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| 169 | #include "hrt_systim4.h"
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| 170 | #include "target_timer.h"
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| 171 |
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| 172 | #if defined(HRT_CONFIG1) || !defined(HRT_CONFIG2)
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| 173 | #error Compiler option "-DHRT_CONFIG2" is missing.
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| 174 | #endif
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| 175 |
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| 176 | #define HRTCNT_EMPTY HRTCNT_BOUND
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| 177 |
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| 178 | #define target_hrt_get_current _kernel_target_hrt_get_current
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| 179 | #define target_hrt_set_event _kernel_target_hrt_set_event
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| 180 | #define target_hrt_raise_event _kernel_target_hrt_raise_event
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| 181 |
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| 182 | void
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| 183 | target_hrt_raise_event(void)
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| 184 | {
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| 185 | }
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| 186 |
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| 187 | /* DO NOT DELETE THIS LINE -- gentest depends on it. */
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| 188 |
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| 189 | static uint_t alarm1_count = 0;
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| 190 |
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| 191 | void
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| 192 | alarm1_handler(intptr_t exinf)
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| 193 | {
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| 194 | ER_UINT ercd;
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| 195 |
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| 196 | switch (++alarm1_count) {
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| 197 | case 1:
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| 198 | check_point(10);
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| 199 | ercd = wup_tsk(TASK1);
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| 200 | check_ercd(ercd, E_OK);
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| 201 |
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| 202 | return;
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| 203 |
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| 204 | check_point(0);
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| 205 |
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| 206 | case 2:
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| 207 | check_point(29);
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| 208 | return;
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| 209 |
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| 210 | check_point(0);
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| 211 |
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| 212 | default:
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| 213 | check_point(0);
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| 214 | }
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| 215 | check_point(0);
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| 216 | }
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| 217 |
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| 218 | static uint_t alarm2_count = 0;
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| 219 |
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| 220 | void
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| 221 | alarm2_handler(intptr_t exinf)
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| 222 | {
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| 223 |
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| 224 | switch (++alarm2_count) {
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| 225 | case 1:
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| 226 | check_point(15);
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| 227 | return;
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| 228 |
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| 229 | check_point(0);
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| 230 |
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| 231 | default:
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| 232 | check_point(0);
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| 233 | }
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| 234 | check_point(0);
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| 235 | }
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| 236 |
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| 237 | void
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| 238 | task1(intptr_t exinf)
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| 239 | {
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| 240 | ER_UINT ercd;
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| 241 | T_RALM ralm;
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| 242 |
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| 243 | check_point(3);
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| 244 | ercd = sta_alm(ALM1, 100U);
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| 245 | check_ercd(ercd, E_OK);
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| 246 |
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| 247 | check_point(6);
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| 248 | ercd = sta_alm(ALM2, 105U);
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| 249 | check_ercd(ercd, E_OK);
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| 250 |
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| 251 | check_point(8);
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| 252 | target_raise_hrt_int(1U);
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| 253 |
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| 254 | ercd = slp_tsk();
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| 255 | check_ercd(ercd, E_OK);
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| 256 |
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| 257 | check_point(13);
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| 258 | target_raise_hrt_int(0U);
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| 259 |
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| 260 | check_point(18);
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| 261 | ercd = sta_alm(ALM1, 1000000U);
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| 262 | check_ercd(ercd, E_OK);
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| 263 |
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| 264 | check_point(21);
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| 265 | ercd = ref_alm(ALM1, &ralm);
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| 266 | check_ercd(ercd, E_OK);
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| 267 |
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| 268 | check_point(23);
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| 269 | check_assert(ralm.lefttim == 999990U);
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| 270 |
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| 271 | check_point(24);
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| 272 | target_raise_hrt_int(0U);
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| 273 |
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| 274 | check_point(27);
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| 275 | target_raise_hrt_int(0U);
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| 276 |
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| 277 | check_finish(32);
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| 278 | check_point(0);
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| 279 | }
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| 280 |
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| 281 | static uint_t target_hrt_get_current_count = 0;
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| 282 |
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| 283 | HRTCNT
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| 284 | target_hrt_get_current(void)
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| 285 | {
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| 286 |
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| 287 | switch (++target_hrt_get_current_count) {
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| 288 | case 1:
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| 289 | test_start(__FILE__);
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| 290 |
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| 291 | check_point(1);
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| 292 | return(10U);
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| 293 |
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| 294 | check_point(0);
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| 295 |
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| 296 | case 2:
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| 297 | check_point(4);
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| 298 | return(20U);
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| 299 |
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| 300 | check_point(0);
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| 301 |
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| 302 | case 3:
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| 303 | check_point(7);
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| 304 | return(20U);
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| 305 |
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| 306 | check_point(0);
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| 307 |
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| 308 | case 4:
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| 309 | check_point(9);
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| 310 | return(130U);
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| 311 |
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| 312 | check_point(0);
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| 313 |
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| 314 | case 5:
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| 315 | check_point(11);
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| 316 | return(130U);
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| 317 |
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| 318 | check_point(0);
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| 319 |
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| 320 | case 6:
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| 321 | check_point(14);
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| 322 | return(140U);
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| 323 |
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| 324 | check_point(0);
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| 325 |
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| 326 | case 7:
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| 327 | check_point(16);
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| 328 | return(150U);
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| 329 |
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| 330 | check_point(0);
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| 331 |
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| 332 | case 8:
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| 333 | check_point(19);
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| 334 | return(160U);
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| 335 |
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| 336 | check_point(0);
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| 337 |
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| 338 | case 9:
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| 339 | check_point(22);
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| 340 | return(170U);
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| 341 |
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| 342 | check_point(0);
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| 343 |
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| 344 | case 10:
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| 345 | check_point(25);
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| 346 | return(600000U);
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| 347 |
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| 348 | check_point(0);
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| 349 |
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| 350 | case 11:
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| 351 | check_point(28);
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| 352 | return(344810U);
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| 353 |
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| 354 | check_point(0);
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| 355 |
|
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| 356 | case 12:
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| 357 | check_point(30);
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| 358 | return(344810U);
|
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| 359 |
|
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| 360 | check_point(0);
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| 361 |
|
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| 362 | default:
|
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| 363 | check_point(0);
|
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| 364 | }
|
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| 365 | check_point(0);
|
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| 366 | return(0U);
|
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| 367 | }
|
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| 368 |
|
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| 369 | static uint_t target_hrt_set_event_count = 0;
|
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| 370 |
|
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| 371 | void
|
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| 372 | target_hrt_set_event(HRTCNT hrtcnt)
|
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| 373 | {
|
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| 374 |
|
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| 375 | switch (++target_hrt_set_event_count) {
|
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| 376 | case 1:
|
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| 377 | check_point(2);
|
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| 378 | check_assert(hrtcnt == HRTCNT_EMPTY);
|
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| 379 |
|
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| 380 | return;
|
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| 381 |
|
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| 382 | check_point(0);
|
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| 383 |
|
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| 384 | case 2:
|
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| 385 | check_point(5);
|
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| 386 | check_assert(hrtcnt == 110U);
|
---|
| 387 |
|
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| 388 | return;
|
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| 389 |
|
---|
| 390 | check_point(0);
|
---|
| 391 |
|
---|
| 392 | case 3:
|
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| 393 | check_point(12);
|
---|
| 394 | check_assert(hrtcnt == 5U);
|
---|
| 395 |
|
---|
| 396 | return;
|
---|
| 397 |
|
---|
| 398 | check_point(0);
|
---|
| 399 |
|
---|
| 400 | case 4:
|
---|
| 401 | check_point(17);
|
---|
| 402 | check_assert(hrtcnt == HRTCNT_EMPTY);
|
---|
| 403 |
|
---|
| 404 | return;
|
---|
| 405 |
|
---|
| 406 | check_point(0);
|
---|
| 407 |
|
---|
| 408 | case 5:
|
---|
| 409 | check_point(20);
|
---|
| 410 | check_assert(hrtcnt == HRTCNT_BOUND);
|
---|
| 411 |
|
---|
| 412 | return;
|
---|
| 413 |
|
---|
| 414 | check_point(0);
|
---|
| 415 |
|
---|
| 416 | case 6:
|
---|
| 417 | check_point(26);
|
---|
| 418 | check_assert(hrtcnt == 400170U);
|
---|
| 419 |
|
---|
| 420 | return;
|
---|
| 421 |
|
---|
| 422 | check_point(0);
|
---|
| 423 |
|
---|
| 424 | case 7:
|
---|
| 425 | check_point(31);
|
---|
| 426 | check_assert(hrtcnt == HRTCNT_EMPTY);
|
---|
| 427 |
|
---|
| 428 | return;
|
---|
| 429 |
|
---|
| 430 | check_point(0);
|
---|
| 431 |
|
---|
| 432 | default:
|
---|
| 433 | check_point(0);
|
---|
| 434 | }
|
---|
| 435 | check_point(0);
|
---|
| 436 | }
|
---|