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