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sample1.c@ 61

Last change on this file since 61 was 61, checked in by ertl-honda, 11 years ago
ASP for EWARM のコミット．
File size: 14.5 KB

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1	/*
2	* TOPPERS/ASP Kernel
3	* Toyohashi Open Platform for Embedded Real-Time Systems/
4	* Advanced Standard Profile Kernel
5	*
6	* Copyright (C) 2000-2003 by Embedded and Real-Time Systems Laboratory
7	* Toyohashi Univ. of Technology, JAPAN
8	* Copyright (C) 2004-2010 by Embedded and Real-Time Systems Laboratory
9	* Graduate School of Information Science, Nagoya Univ., JAPAN
10	*
11	* ãLì ÒÍCÈºÌ(1)`(4)Ìðð½·êÉÀèC{\tgEF
12	* Ai{\tgEFAðüÏµ½àÌðÜÞDÈº¯¶jðgpE¡»Eü
13	* ÏEÄzziÈºCpÆÄÔj·é±Æð³Åø·éD
14	* (1) {\tgEFAð\[XR[hÌ`Åp·éêÉÍCãLÌì
15	* \¦C±Ìpð¨æÑºLÌ³ÛØKèªC»ÌÜÜÌ`Å\[
16	* XR[hÉÜÜêÄ¢é±ÆD
17	* (2) {\tgEFAðCCu`®ÈÇC¼Ì\tgEFAJÉg
18	* pÅ«é`ÅÄzz·éêÉÍCÄzzÉº¤hL
19	gip
20	* Ò}j
21	AÈÇjÉCãLÌì \¦C±Ìpð¨æÑºL
22	* Ì³ÛØKèðfÚ·é±ÆD
23	* (3) {\tgEFAðC@íÉgÝÞÈÇC¼Ì\tgEFAJÉg
24	* pÅ«È¢`ÅÄzz·éêÉÍCÌ¢¸ê©Ìðð½·±
25	* ÆD
26	* (a) ÄzzÉº¤hL
27	gipÒ}j
28	AÈÇjÉCãLÌ
29	* ì \¦C±Ìpð¨æÑºLÌ³ÛØKèðfÚ·é±ÆD
30	* (b) ÄzzÌ`ÔðCÊÉèßéû@ÉæÁÄCTOPPERSvWFNgÉ
31	* ñ·é±ÆD
32	* (4) {\tgEFAÌpÉæè¼ÚIÜ½ÍÔÚIÉ¶¶é¢©Èé¹
33	* Q©çàCãLì Ò¨æÑTOPPERSvWFNgðÆÓ·é±ÆD
34	* Ü½C{\tgEFAÌ[UÜ½ÍGh[U©çÌ¢©Èé
35	* RÉîÃ¿©çàCãLì Ò¨æÑTOPPERSvWFNgð
36	* ÆÓ·é±ÆD
37	*
38	* {\tgEFAÍC³ÛØÅñ³êÄ¢éàÌÅ éDãLì Ò¨
39	* æÑTOPPERSvWFNgÍC{\tgEFAÉÖµÄCÁèÌgpÚI
40	* ÉÎ·éK«àÜßÄC¢©ÈéÛØàsíÈ¢DÜ½C{\tgEF
41	* AÌpÉæè¼ÚIÜ½ÍÔÚIÉ¶¶½¢©Èé¹QÉÖµÄàC»
42	* ÌÓCðíÈ¢D
43	*
44	* @(#) $Id: sample1.c 1797 2010-06-07 04:24:19Z ertl-hiro $
45	*/
46
47	/*
48	* TvvO(1)Ì{Ì
49	*
50	* ASPJ[lÌî{IÈ®ìðmF·é½ßÌTvvOD
51	*
52	* vOÌTv:
53	*
54	* [UC^tF[Xðó¯ÂC^XNi^XNID: MAIN_TASKCD
55	* æx: MAIN_PRIORITYjÆC3ÂÌÀñÀs³êé^XNi^XNID:
56	* TASK1`TASK3CúDæx: MID_PRIORITYjÅ\¬³êéDÜ½CN®ü
57	* úª2bÌüúnhiüúnhID: CYCHDR1jðp¢éD
58	*
59	* ÀñÀs³êé^XNÍCtask_loopñó[vðÀs·éxÉC^XNª
60	* ÀsÅ é±Æð çí·bZ[Wð\¦·éD
61	*
62	* üúnhÍCOÂÌDæxiHIGH_PRIORITYCMID_PRIORITYC
63	* LOW_PRIORITYjÌfBL
64	[ðñ]³¹éDvOÌN®¼ãÍC
65	* üúnhÍâ~óÔÉÈÁÄ¢éD
66	*
67	* C^XNÍCVAI/O\|[g©çÌ¶üÍðs¢i¶üÍð
68	* ÒÁÄ¢éÔÍCÀñÀs³êé^XNªÀs³êÄ¢éjCüÍ³ê½
69	* ¶ÉÎµ½ðÀs·éDüÍ³ê½¶ÆÌÖWÍÌÊèD
70	* Control-CÜ½Í'Q'ªüÍ³êéÆCvOðI¹·éD
71	*
72	* '1' : ÎÛ^XNðTASK1ÉØè·¦éiúÝèjD
73	* '2' : ÎÛ^XNðTASK2ÉØè·¦éD
74	* '3' : ÎÛ^XNðTASK3ÉØè·¦éD
75	* 'a' : ÎÛ^XNðact_tskÉæèN®·éD
76	* 'A' : ÎÛ^XNÉÎ·éN®vðcan_actÉæèLZ·éD
77	* 'e' : ÎÛ^XNÉext_tskðÄÑo³¹CI¹³¹éD
78	* 't' : ÎÛ^XNðter_tskÉæè§I¹·éD
79	* '>' : ÎÛ^XNÌDæxðHIGH_PRIORITYÉ·éD
80	* '=' : ÎÛ^XNÌDæxðMID_PRIORITYÉ·éD
81	* '<' : ÎÛ^XNÌDæxðLOW_PRIORITYÉ·éD
82	* 'G' : ÎÛ^XNÌDæxðget_priÅÇÝo·D
83	* 's' : ÎÛ^XNÉslp_tskðÄÑo³¹CN°Ò¿É³¹éD
84	* 'S' : ÎÛ^XNÉtslp_tsk(10b)ðÄÑo³¹CN°Ò¿É³¹éD
85	* 'w' : ÎÛ^XNðwup_tskÉæèN°·éD
86	* 'W' : ÎÛ^XNÉÎ·éN°vðcan_wupÉæèLZ·éD
87	* 'l' : ÎÛ^XNðrel_waiÉæè§IÉÒ¿ðÉ·éD
88	* 'u' : ÎÛ^XNðsus_tskÉæè§Ò¿óÔÉ·éD
89	* 'm' : ÎÛ^XNÌ§Ò¿óÔðrsm_tskÉæèð·éD
90	* 'd' : ÎÛ^XNÉdly_tsk(10b)ðÄÑo³¹CÔoßÒ¿É³¹éD
91	* 'x' : ÎÛ^XNÉáOp^[0x0001ÌáOðv·éD
92	* 'X' : ÎÛ^XNÉáOp^[0x0002ÌáOðv·éD
93	* 'y' : ÎÛ^XNÉdis_texðÄÑo³¹C^XNáOðÖ~·éD
94	* 'Y' : ÎÛ^XNÉena_texðÄÑo³¹C^XNáOðÂ·éD
95	* 'r' : 3ÂÌDæxiHIGH_PRIORITYCMID_PRIORITYCLOW_PRIORITYjÌ
96	* fBL
97	[ðñ]³¹éD
98	* 'c' : üúnhð®ìJn³¹éD
99	* 'C' : üúnhð®ìâ~³¹éD
100	* 'b' : A[nhð5bãÉN®·éæ¤®ìJn³¹éD
101	* 'B' : A[nhð®ìâ~³¹éD
102	* 'z' : ÎÛ^XNÉCPUáOð¶³¹éi^XNðI¹³¹éjD
103	* 'Z' : ÎÛ^XNÉCPUbNóÔÅCPUáOð¶³¹éivOð
104	* I¹·éjD
105	* 'V' : get_utmÅ«\]¿pVXeð2ñÇÞD
106	* 'v' : sµ½VXeR[ð\¦·éiftHgjD
107	* 'q' : sµ½VXeR[ð\¦µÈ¢D
108	*/
109
110	#include <kernel.h>
111	#include <t_syslog.h>
112	#include <t_stdlib.h>
113	#include "syssvc/serial.h"
114	#include "syssvc/syslog.h"
115	#include "kernel_cfg.h"
116	#include "sample1.h"
117
118	/*
119	* T[rXR[ÌG[ÌOoÍ
120	*/
121	Inline void
122	svc_perror(const char file, int_t line, const char expr, ER ercd)
123	{
124	if (ercd < 0) {
125	t_perror(LOG_ERROR, file, line, expr, ercd);
126	}
127	}
128
129	#define SVC_PERROR(expr) svc_perror(__FILE__, __LINE__, #expr, (expr))
130
131	/*
132	* ÀsÀs³êé^XNÖÌbZ[WÌæ
133	*/
134	char_t message[3];
135
136	/*
137	* [vñ
138	*/
139	ulong_t task_loop; /* ^XNàÅÌ[vñ */
140	ulong_t tex_loop; /* áO[`àÅÌ[vñ */
141
142	/*
143	* ÀsÀs³êé^XN
144	*/
145	void task(intptr_t exinf)
146	{
147	volatile ulong_t i;
148	int_t n = 0;
149	int_t tskno = (int_t) exinf;
150	const char graph[] = { "\|", " +", " " };
151	char_t c;
152
153	SVC_PERROR(ena_tex());
154	while (1) {
155	syslog(LOG_NOTICE, "task%d is running (%03d). %s",
156	tskno, ++n, graph[tskno-1]);
157	for (i = 0; i < task_loop; i++);
158	c = message[tskno-1];
159	message[tskno-1] = 0;
160	switch (c) {
161	case 'e':
162	syslog(LOG_INFO, "#%d#ext_tsk()", tskno);
163	SVC_PERROR(ext_tsk());
164	assert(0);
165	case 's':
166	syslog(LOG_INFO, "#%d#slp_tsk()", tskno);
167	SVC_PERROR(slp_tsk());
168	break;
169	case 'S':
170	syslog(LOG_INFO, "#%d#tslp_tsk(10000)", tskno);
171	SVC_PERROR(tslp_tsk(10000));
172	break;
173	case 'd':
174	syslog(LOG_INFO, "#%d#dly_tsk(10000)", tskno);
175	SVC_PERROR(dly_tsk(10000));
176	break;
177	case 'y':
178	syslog(LOG_INFO, "#%d#dis_tex()", tskno);
179	SVC_PERROR(dis_tex());
180	break;
181	case 'Y':
182	syslog(LOG_INFO, "#%d#ena_tex()", tskno);
183	SVC_PERROR(ena_tex());
184	break;
185	#ifdef CPUEXC1
186	case 'z':
187	syslog(LOG_NOTICE, "#%d#raise CPU exception", tskno);
188	RAISE_CPU_EXCEPTION;
189	break;
190	case 'Z':
191	SVC_PERROR(loc_cpu());
192	syslog(LOG_NOTICE, "#%d#raise CPU exception", tskno);
193	RAISE_CPU_EXCEPTION;
194	SVC_PERROR(unl_cpu());
195	break;
196	#endif /* CPUEXC1 */
197	default:
198	break;
199	}
200	}
201	}
202
203	/*
204	* ÀsµÄÀs³êé^XNpÌ^XNáO[`
205	*/
206	void tex_routine(TEXPTN texptn, intptr_t exinf)
207	{
208	volatile ulong_t i;
209	int_t tskno = (int_t) exinf;
210
211	syslog(LOG_NOTICE, "task%d receives exception 0x%04x.", tskno, texptn);
212	for (i = 0; i < tex_loop; i++);
213
214	if ((texptn & 0x8000U) != 0U) {
215	syslog(LOG_INFO, "#%d#ext_tsk()", tskno);
216	SVC_PERROR(ext_tsk());
217	assert(0);
218	}
219	}
220
221	/*
222	* CPUáOnh
223	*/
224	#ifdef CPUEXC1
225
226	void
227	cpuexc_handler(void *p_excinf)
228	{
229	ID tskid;
230
231	syslog(LOG_NOTICE, "CPU exception handler (p_excinf = %08p).", p_excinf);
232	if (sns_ctx() != true) {
233	syslog(LOG_WARNING,
234	"sns_ctx() is not true in CPU exception handler.");
235	}
236	if (sns_dpn() != true) {
237	syslog(LOG_WARNING,
238	"sns_dpn() is not true in CPU exception handler.");
239	}
240	syslog(LOG_INFO, "sns_loc = %d sns_dsp = %d sns_tex = %d",
241	sns_loc(), sns_dsp(), sns_tex());
242	syslog(LOG_INFO, "xsns_dpn = %d xsns_xpn = %d",
243	xsns_dpn(p_excinf), xsns_xpn(p_excinf));
244
245	if (xsns_xpn(p_excinf)) {
246	syslog(LOG_NOTICE, "Sample program ends with exception.");
247	SVC_PERROR(ext_ker());
248	assert(0);
249	}
250
251	SVC_PERROR(iget_tid(&tskid));
252	SVC_PERROR(iras_tex(tskid, 0x8000U));
253	}
254
255	#endif /* CPUEXC1 */
256
257	/*
258	* üúnh
259	*
260	* HIGH_PRIORITYCMID_PRIORITYCLOW_PRIORITY ÌeDæxÌfBL
261	[
262	* ðñ]³¹éD
263	*/
264	void cyclic_handler(intptr_t exinf)
265	{
266	SVC_PERROR(irot_rdq(HIGH_PRIORITY));
267	SVC_PERROR(irot_rdq(MID_PRIORITY));
268	SVC_PERROR(irot_rdq(LOW_PRIORITY));
269	}
270
271	/*
272	* A[nh
273	*
274	* HIGH_PRIORITYCMID_PRIORITYCLOW_PRIORITY ÌeDæxÌfBL
275	[
276	* ðñ]³¹éD
277	*/
278	void alarm_handler(intptr_t exinf)
279	{
280	SVC_PERROR(irot_rdq(HIGH_PRIORITY));
281	SVC_PERROR(irot_rdq(MID_PRIORITY));
282	SVC_PERROR(irot_rdq(LOW_PRIORITY));
283	}
284
285	/*
286	* C^XN
287	*/
288	void main_task(intptr_t exinf)
289	{
290	char_t c;
291	ID tskid = TASK1;
292	int_t tskno = 1;
293	ER_UINT ercd;
294	PRI tskpri;
295	#ifndef TASK_LOOP
296	volatile ulong_t i;
297	SYSTIM stime1, stime2;
298	#endif /* TASK_LOOP */
299	#ifdef TOPPERS_SUPPORT_GET_UTM
300	SYSUTM utime1, utime2;
301	#endif /* TOPPERS_SUPPORT_GET_UTM */
302
303	SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG)));
304	syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);
305
306	/*
307	* VA\|[gÌú»
308	*
309	* VXeO^XNÆ¯¶VA\|[gðg¤êÈÇCVA
310	* \|[gªI[vÏÝÌêÉÍ±±ÅE_OBJG[ÉÈéªCxáÍ
311	* È¢D
312	*/
313	ercd = serial_opn_por(TASK_PORTID);
314	if (ercd < 0 && MERCD(ercd) != E_OBJ) {
315	syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.",
316	itron_strerror(ercd), SERCD(ercd));
317	}
318	SVC_PERROR(serial_ctl_por(TASK_PORTID,
319	(IOCTL_CRLF \| IOCTL_FCSND \| IOCTL_FCRCV)));
320
321	/*
322	* [vñÌÝè
323	*
324	* TASK_LOOPª}Nè`³êÄ¢éêCªè¹¸ÉCTASK_LOOPÉè
325	* `³ê½lðC^XNàÅÌ[vñÆ·éD
326	*
327	* MEASURE_TWICEª}Nè`³êÄ¢éêC1ñÚÌªèÊðÌÄ
328	* ÄC2ñÚÌªèÊðg¤D1ñÚÌªèÍ·ßÌÔªoé½ßD
329	*/
330	#ifdef TASK_LOOP
331	task_loop = TASK_LOOP;
332	#else /* TASK_LOOP */
333
334	#ifdef MEASURE_TWICE
335	task_loop = LOOP_REF;
336	SVC_PERROR(get_tim(&stime1));
337	for (i = 0; i < task_loop; i++);
338	SVC_PERROR(get_tim(&stime2));
339	#endif /* MEASURE_TWICE */
340
341	task_loop = LOOP_REF;
342	SVC_PERROR(get_tim(&stime1));
343	for (i = 0; i < task_loop; i++);
344	SVC_PERROR(get_tim(&stime2));
345	task_loop = LOOP_REF * 400UL / (stime2 - stime1);
346
347	#endif /* TASK_LOOP */
348	tex_loop = task_loop / 5;
349
350	/*
351	* ^XNÌN®
352	*/
353	SVC_PERROR(act_tsk(TASK1));
354	SVC_PERROR(act_tsk(TASK2));
355	SVC_PERROR(act_tsk(TASK3));
356
357	/*
358	* C[v
359	*/
360	do {
361	SVC_PERROR(serial_rea_dat(TASK_PORTID, &c, 1));
362	switch (c) {
363	case 'e':
364	case 's':
365	case 'S':
366	case 'd':
367	case 'y':
368	case 'Y':
369	case 'z':
370	case 'Z':
371	message[tskno-1] = c;
372	break;
373	case '1':
374	tskno = 1;
375	tskid = TASK1;
376	break;
377	case '2':
378	tskno = 2;
379	tskid = TASK2;
380	break;
381	case '3':
382	tskno = 3;
383	tskid = TASK3;
384	break;
385	case 'a':
386	syslog(LOG_INFO, "#act_tsk(%d)", tskno);
387	SVC_PERROR(act_tsk(tskid));
388	break;
389	case 'A':
390	syslog(LOG_INFO, "#can_act(%d)", tskno);
391	SVC_PERROR(ercd = can_act(tskid));
392	if (ercd >= 0) {
393	syslog(LOG_NOTICE, "can_act(%d) returns %d", tskno, ercd);
394	}
395	break;
396	case 't':
397	syslog(LOG_INFO, "#ter_tsk(%d)", tskno);
398	SVC_PERROR(ter_tsk(tskid));
399	break;
400	case '>':
401	syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno);
402	SVC_PERROR(chg_pri(tskid, HIGH_PRIORITY));
403	break;
404	case '=':
405	syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno);
406	SVC_PERROR(chg_pri(tskid, MID_PRIORITY));
407	break;
408	case '<':
409	syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno);
410	SVC_PERROR(chg_pri(tskid, LOW_PRIORITY));
411	break;
412	case 'G':
413	syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno);
414	SVC_PERROR(ercd = get_pri(tskid, &tskpri));
415	if (ercd >= 0) {
416	syslog(LOG_NOTICE, "priority of task %d is %d", tskno, tskpri);
417	}
418	break;
419	case 'w':
420	syslog(LOG_INFO, "#wup_tsk(%d)", tskno);
421	SVC_PERROR(wup_tsk(tskid));
422	break;
423	case 'W':
424	syslog(LOG_INFO, "#can_wup(%d)", tskno);
425	SVC_PERROR(ercd = can_wup(tskid));
426	if (ercd >= 0) {
427	syslog(LOG_NOTICE, "can_wup(%d) returns %d", tskno, ercd);
428	}
429	break;
430	case 'l':
431	syslog(LOG_INFO, "#rel_wai(%d)", tskno);
432	SVC_PERROR(rel_wai(tskid));
433	break;
434	case 'u':
435	syslog(LOG_INFO, "#sus_tsk(%d)", tskno);
436	SVC_PERROR(sus_tsk(tskid));
437	break;
438	case 'm':
439	syslog(LOG_INFO, "#rsm_tsk(%d)", tskno);
440	SVC_PERROR(rsm_tsk(tskid));
441	break;
442	case 'x':
443	syslog(LOG_INFO, "#ras_tex(%d, 0x0001U)", tskno);
444	SVC_PERROR(ras_tex(tskid, 0x0001U));
445	break;
446	case 'X':
447	syslog(LOG_INFO, "#ras_tex(%d, 0x0002U)", tskno);
448	SVC_PERROR(ras_tex(tskid, 0x0002U));
449	break;
450	case 'r':
451	syslog(LOG_INFO, "#rot_rdq(three priorities)");
452	SVC_PERROR(rot_rdq(HIGH_PRIORITY));
453	SVC_PERROR(rot_rdq(MID_PRIORITY));
454	SVC_PERROR(rot_rdq(LOW_PRIORITY));
455	break;
456	case 'c':
457	syslog(LOG_INFO, "#sta_cyc(1)");
458	SVC_PERROR(sta_cyc(CYCHDR1));
459	break;
460	case 'C':
461	syslog(LOG_INFO, "#stp_cyc(1)");
462	SVC_PERROR(stp_cyc(CYCHDR1));
463	break;
464	case 'b':
465	syslog(LOG_INFO, "#sta_alm(1, 5000)");
466	SVC_PERROR(sta_alm(ALMHDR1, 5000));
467	break;
468	case 'B':
469	syslog(LOG_INFO, "#stp_alm(1)");
470	SVC_PERROR(stp_alm(ALMHDR1));
471	break;
472
473	case 'V':
474	#ifdef TOPPERS_SUPPORT_GET_UTM
475	SVC_PERROR(get_utm(&utime1));
476	SVC_PERROR(get_utm(&utime2));
477	syslog(LOG_NOTICE, "utime1 = %ld, utime2 = %ld",
478	(ulong_t) utime1, (ulong_t) utime2);
479	#else /* TOPPERS_SUPPORT_GET_UTM */
480	syslog(LOG_NOTICE, "get_utm is not supported.");
481	#endif /* TOPPERS_SUPPORT_GET_UTM */
482	break;
483
484	case 'v':
485	SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO),
486	LOG_UPTO(LOG_EMERG)));
487	break;
488	case 'q':
489	SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_NOTICE),
490	LOG_UPTO(LOG_EMERG)));
491	break;
492
493	#ifdef BIT_KERNEL
494	case ' ':
495	SVC_PERROR(loc_cpu());
496	{
497	extern ER bit_kernel(void);
498
499	SVC_PERROR(ercd = bit_kernel());
500	if (ercd >= 0) {
501	syslog(LOG_NOTICE, "bit_kernel passed.");
502	}
503	}
504	SVC_PERROR(unl_cpu());
505	break;
506	#endif /* BIT_KERNEL */
507
508	default:
509	break;
510	}
511	} while (c != '\003' && c != 'Q');
512
513	syslog(LOG_NOTICE, "Sample program ends.");
514	SVC_PERROR(ext_ker());
515	assert(0);
516	}

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source: asp_ewarm/asp-1.7.0/target/stm32_discovery_EWARM2/sample_workspace/src/sample1.c@ 61

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