[172] | 1 | /*
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| 2 | * TOPPERS ATK2
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| 3 | * Toyohashi Open Platform for Embedded Real-Time Systems
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| 4 | * Automotive Kernel Version 2
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| 5 | *
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| 6 | * Copyright (C) 2000-2003 by Embedded and Real-Time Systems Laboratory
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| 7 | * Toyohashi Univ. of Technology, JAPAN
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| 8 | * Copyright (C) 2004-2015 by Center for Embedded Computing Systems
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| 9 | * Graduate School of Information Science, Nagoya Univ., JAPAN
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| 10 | * Copyright (C) 2011-2015 by FUJI SOFT INCORPORATED, JAPAN
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| 11 | * Copyright (C) 2011-2013 by Spansion LLC, USA
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| 12 | * Copyright (C) 2011-2015 by NEC Communication Systems, Ltd., JAPAN
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| 13 | * Copyright (C) 2011-2015 by Panasonic Advanced Technology Development Co., Ltd., JAPAN
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| 14 | * Copyright (C) 2011-2014 by Renesas Electronics Corporation, JAPAN
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| 15 | * Copyright (C) 2011-2015 by Sunny Giken Inc., JAPAN
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| 16 | * Copyright (C) 2011-2015 by TOSHIBA CORPORATION, JAPAN
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| 17 | * Copyright (C) 2004-2015 by Witz Corporation
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| 18 | * Copyright (C) 2014-2015 by AISIN COMCRUISE Co., Ltd., JAPAN
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| 19 | * Copyright (C) 2014-2015 by eSOL Co.,Ltd., JAPAN
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| 20 | * Copyright (C) 2014-2015 by SCSK Corporation, JAPAN
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| 21 | * Copyright (C) 2015 by SUZUKI MOTOR CORPORATION
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| 22 | *
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| 23 | * ä¸è¨èä½æ¨©è
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| 24 | ã¯ï¼ä»¥ä¸ã®(1)ã(4)ã®æ¡ä»¶ãæºããå ´åã«éãï¼æ¬ã½ããã¦ã§
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| 25 | * ã¢ï¼æ¬ã½ããã¦ã§ã¢ãæ¹å¤ãããã®ãå«ãï¼ä»¥ä¸åãï¼ã使ç¨ã»è¤è£½ã»æ¹
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| 26 | * å¤ã»åé
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| 27 | å¸ï¼ä»¥ä¸ï¼å©ç¨ã¨å¼ã¶ï¼ãããã¨ãç¡åã§è¨±è«¾ããï¼
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| 28 | * (1) æ¬ã½ããã¦ã§ã¢ãã½ã¼ã¹ã³ã¼ãã®å½¢ã§å©ç¨ããå ´åã«ã¯ï¼ä¸è¨ã®èä½
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| 29 | * 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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| 30 | * ã¹ã³ã¼ãä¸ã«å«ã¾ãã¦ãããã¨ï¼
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| 31 | * (2) æ¬ã½ããã¦ã§ã¢ãï¼ã©ã¤ãã©ãªå½¢å¼ãªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
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| 32 | * ç¨ã§ããå½¢ã§åé
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| 33 | å¸ããå ´åã«ã¯ï¼åé
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| 34 | å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨
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| 35 | * è
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| 36 | ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®èä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨
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| 37 | * ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
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| 38 | * (3) æ¬ã½ããã¦ã§ã¢ãï¼æ©å¨ã«çµã¿è¾¼ããªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
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| 39 | * ç¨ã§ããªãå½¢ã§åé
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| 40 | å¸ããå ´åã«ã¯ï¼æ¬¡ã®ããããã®æ¡ä»¶ãæºããã
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| 41 | * ã¨ï¼
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| 42 | * (a) åé
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| 43 | å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨è
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| 44 | ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®è
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| 45 | * ä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
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| 46 | * (b) åé
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| 47 | å¸ã®å½¢æ
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| 48 | ãï¼å¥ã«å®ããæ¹æ³ã«ãã£ã¦ï¼TOPPERSããã¸ã§ã¯ãã«
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| 49 | * å ±åãããã¨ï¼
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| 50 | * (4) æ¬ã½ããã¦ã§ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæ
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| 51 | * 害ãããï¼ä¸è¨èä½æ¨©è
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| 52 | ããã³TOPPERSããã¸ã§ã¯ããå
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| 53 | 責ãããã¨ï¼
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| 54 | * ã¾ãï¼æ¬ã½ããã¦ã§ã¢ã®ã¦ã¼ã¶ã¾ãã¯ã¨ã³ãã¦ã¼ã¶ããã®ãããªãç
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| 55 | * ç±ã«åºã¥ãè«æ±ãããï¼ä¸è¨èä½æ¨©è
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| 56 | ããã³TOPPERSããã¸ã§ã¯ãã
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| 57 | * å
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| 58 | 責ãããã¨ï¼
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| 59 | *
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| 60 | * æ¬ã½ããã¦ã§ã¢ã¯ï¼AUTOSARï¼AUTomotive Open System ARchitectureï¼ä»
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| 61 | * æ§ã«åºã¥ãã¦ããï¼ä¸è¨ã®è¨±è«¾ã¯ï¼AUTOSARã®ç¥ç財ç£æ¨©ã許諾ãããã®ã§
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| 62 | * ã¯ãªãï¼AUTOSARã¯ï¼AUTOSARä»æ§ã«åºã¥ããã½ããã¦ã§ã¢ãåç¨ç®çã§å©
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| 63 | * ç¨ããè
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| 64 | ã«å¯¾ãã¦ï¼AUTOSARãã¼ããã¼ã«ãªããã¨ãæ±ãã¦ããï¼
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| 65 | *
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| 66 | * æ¬ã½ããã¦ã§ã¢ã¯ï¼ç¡ä¿è¨¼ã§æä¾ããã¦ãããã®ã§ããï¼ä¸è¨èä½æ¨©è
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| 67 | ã
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| 68 | * ãã³TOPPERSããã¸ã§ã¯ãã¯ï¼æ¬ã½ããã¦ã§ã¢ã«é¢ãã¦ï¼ç¹å®ã®ä½¿ç¨ç®ç
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| 69 | * ã«å¯¾ããé©åæ§ãå«ãã¦ï¼ãããªãä¿è¨¼ãè¡ããªãï¼ã¾ãï¼æ¬ã½ããã¦ã§
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| 70 | * ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæ害ã«é¢ãã¦ãï¼ã
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| 71 | * ã®è²¬ä»»ãè² ããªãï¼
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| 72 | *
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| 73 | * $Id: sample2.c 425 2015-12-07 08:06:19Z witz-itoyo $
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| 74 | */
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| 75 |
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| 76 | /*
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| 77 | * éä¿¡é ¼OSã¢ããªã±ã¼ã·ã§ã³æå±ãµã³ãã«ããã°ã©ã ã®æ¬ä½
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| 78 | *
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| 79 | * ãµã³ãã«ããã°ã©ã ã®åä½ã¯sample1.cã®ã³ã¡ã³ãåç
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| 80 | §
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| 81 | * æ¬ãã¡ã¤ã«ã¯éä¿¡é ¼OSã¢ããªã±ã¼ã·ã§ã³ã«æå±ãã¦ãã
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| 82 | * ãªãã¸ã§ã¯ããè¨è¿°ãã¦ãã
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| 83 | */
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| 84 |
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| 85 | #include "sample.h"
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| 86 | #include "sample2.h"
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| 87 | #include "Ioc.h"
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| 88 |
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| 89 | #define GetHwCnt(x, y)
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| 90 |
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| 91 | /*
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| 92 | * å
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| 93 | é¨é¢æ°ãããã¿ã¤ã宣è¨
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| 94 | */
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| 95 | uint8 GetCommand(void);
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| 96 | void PutActTsk(uint8 task_no);
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| 97 | void PutActNonPriTsk(void);
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| 98 | void PutTermTsk(uint8 task_no);
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| 99 | void PutChainTsk(uint8 from_task_no, uint8 to_task_no);
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| 100 | void PutSchedule(void);
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| 101 | void PutTaskID(void);
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| 102 | void PutTaskState(uint8 task_no);
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| 103 | void PutDisAllInt(void);
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| 104 | void PutSusAllInt(void);
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| 105 | void PutSusOSInt(void);
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| 106 | void PutHwCnt3(void);
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| 107 | void PutGetCntRes(void);
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| 108 | void PutGetTskRes(void);
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| 109 | void PutRelTskRes(void);
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| 110 | void PutSetEvt(uint8 task_no);
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| 111 | void PutClrEvt(uint8 task_no);
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| 112 | void PutGetEvt(uint8 task_no);
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| 113 | void PutWaitEvt(uint8 task_no);
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| 114 | void PutArmBase(void);
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| 115 | void PutArmTick(void);
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| 116 | void PutSetRel(uint8 alarm_no, uint8 tick_no, uint8 cycle_no);
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| 117 | void PutCanArm(void);
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| 118 | void PutAppMode(void);
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| 119 | void schedule_table_sample_routine(void);
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| 120 |
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| 121 | TASK(IocTask1);
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| 122 | TASK(IocTask2);
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| 123 | static void IocProk1(void);
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| 124 | static uint8 GetCommandNoWait2(void);
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| 125 |
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| 126 | /*
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| 127 | * APIã¨ã©ã¼ãã°ãã¯ã
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| 128 | *
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| 129 | * ErrorHookãæå¹ã®å ´åã¯ErrorHookãã
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| 130 | * ã¨ã©ã¼ãã°ãåºåã, ErrorHookãç¡å¹ã®å ´åã¯
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| 131 | * 以ä¸ã®ãã¯ãããã¨ã©ã¼ãã°åºåãè¡ã
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| 132 | */
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| 133 | #if defined(CFG_USE_ERRORHOOK)
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| 134 | #define error_log(api) (api)
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| 135 | #define error_log_ioc(api) (api)
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| 136 | #else /* !defined( CFG_USE_ERRORHOOK ) */
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| 137 | #define error_log(api) \
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| 138 | { \
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| 139 | StatusType ercd; \
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| 140 | ercd = api; /* åAPIå®è¡ */ \
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| 141 | if (ercd != E_OK) { \
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| 142 | syslog(LOG_INFO, "Error:%d", atk2_strerror(ercd)); \
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| 143 | } \
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| 144 | }
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| 145 |
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| 146 | #define error_log_ioc(api) \
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| 147 | { \
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| 148 | StatusType ercd; \
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| 149 | ercd = api; /* åAPIå®è¡ */ \
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| 150 | if (ercd != E_OK) { \
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| 151 | syslog(LOG_INFO, "Error:%d", atk2_ioc_strerror(ercd)); \
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| 152 | } \
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| 153 | }
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| 154 | #endif /* defined( CFG_USE_ERRORHOOK ) */
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| 155 |
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| 156 | /*
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| 157 | * å
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| 158 | é¨ãã¼ã¿ãããã¡
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| 159 | */
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| 160 | volatile uint8 command_tbl[14]; /* ã³ãã³ãå¼æ¸¡ããã¼ãã« */
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| 161 |
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| 162 | /*
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| 163 | * å
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| 164 | é¨å®æ°ãã¼ã¿ãã¼ãã«
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| 165 | */
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| 166 | /* ç¡å¹ã¤ãã³ããã¹ã¯å¤ */
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| 167 | #define invalid_mask (EventMaskType) (0)
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| 168 |
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| 169 | /* ã¤ãã³ããã¹ã¯ãã¼ãã« */
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| 170 | static const EventMaskType event_mask_tbl[5] = {
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| 171 | invalid_mask,
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| 172 | T2Evt,
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| 173 | T3Evt,
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| 174 | invalid_mask,
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| 175 | invalid_mask
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| 176 | };
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| 177 |
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| 178 | /* ã¿ã¹ã¯IDãã¼ãã« */
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| 179 | static const TaskType task_id_tbl[14] = {
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| 180 | Task1,
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| 181 | Task2,
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| 182 | Task3,
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| 183 | Task4,
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| 184 | Task5,
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| 185 | Task6,
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| 186 | Task7,
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| 187 | Task8,
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| 188 | Task9,
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| 189 | Task10,
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| 190 | Task11,
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| 191 | Task12,
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| 192 | Task13,
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| 193 | Task14
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| 194 | };
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| 195 |
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| 196 | /* ã¢ã©ã¼ã IDãã¼ãã« */
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| 197 | static const AlarmType alarm_id_tbl[2] = {
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| 198 | ActTskArm,
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| 199 | SetEvtArm
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| 200 | };
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| 201 |
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| 202 | /* ãã£ãã¯å¤ãã¼ãã« */
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| 203 | static const TickType tick_tbl[2] = {
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| 204 | (TickType) 500,
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| 205 | (TickType) 900
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| 206 | };
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| 207 |
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| 208 | /* ãµã¤ã¯ã«å¤ãã¼ãã« */
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| 209 | static const TickType cycle_tbl[2] = {
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| 210 | (TickType) 0,
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| 211 | (TickType) COUNTER_MIN_CYCLE
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| 212 | };
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| 213 |
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| 214 | /* ã¤ãã³ããã¹ã¯åæååãã¼ãã« */
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| 215 | static const char8 *event_name_tbl[5] = {
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| 216 | "Invalid",
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| 217 | "T2Evt",
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| 218 | "T3Evt",
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| 219 | "Invalid",
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| 220 | "Invalid"
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| 221 | };
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| 222 |
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| 223 | /* ã¿ã¹ã¯åæååãã¼ãã« */
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| 224 | static const char8 *task_name_tbl[14] = {
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| 225 | "Task1",
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| 226 | "Task2",
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| 227 | "Task3",
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| 228 | "Task4",
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| 229 | "Task5",
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| 230 | "Task6",
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| 231 | "Task7",
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| 232 | "Task8",
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| 233 | "Task9",
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| 234 | "Task10",
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| 235 | "Task11",
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| 236 | "Task12"
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| 237 | "Task13"
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| 238 | "Task14"
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| 239 | };
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| 240 |
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| 241 | /* ã¿ã¹ã¯ç¶æ
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| 242 | æååãã¼ãã« */
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| 243 | static const char8 *task_state_tbl[4] = {
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| 244 | "SUSPENDED",
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| 245 | "RUNNING",
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| 246 | "READY",
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| 247 | "WAITING"
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| 248 | };
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| 249 |
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| 250 | /* ã¢ã©ã¼ã åæååãã¼ãã« */
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| 251 | static const char8 *alarm_name_tbl[2] = {
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| 252 | "ActTskArm",
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| 253 | "SetEvtArm"
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| 254 | };
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| 255 |
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| 256 | DEFINE_VAR_USTACK(StackType, stack_1[COUNT_STK_T(0x200)], ".stack_section");
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| 257 | DEFINE_VAR_SSTACK(StackType, stack_2[COUNT_STK_T(0x200)]);
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| 258 |
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| 259 | /*
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| 260 | * æé«åªå
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| 261 | 度ã¿ã¹ã¯
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| 262 | *
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| 263 | * åã¿ã¹ã¯ã®ããªã¨ã³ãã確èªç¨
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| 264 | */
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| 265 | TASK(HighPriorityTask)
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| 266 | {
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| 267 | syslog(LOG_INFO, "HighPriorityTask ACTIVATE");
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| 268 | error_log(TerminateTask());
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| 269 | } /* TASK( HighPriorityTask ) */
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| 270 |
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| 271 | /*
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| 272 | * 並åå®è¡ã¿ã¹ã¯1
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| 273 | */
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| 274 | TASK(Task1)
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| 275 | {
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| 276 | TaskProk(0U);
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| 277 | } /* TASK( Task1 ) */
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| 278 |
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| 279 |
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| 280 | /*
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| 281 | * 並åå®è¡ã¿ã¹ã¯2
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| 282 | */
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| 283 | TASK(Task2)
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| 284 | {
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| 285 | TaskProk(1U);
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| 286 | } /* TASK( Task2 ) */
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| 287 |
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| 288 |
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| 289 | /*
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| 290 | * 並åå®è¡ã¿ã¹ã¯3
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| 291 | */
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| 292 | TASK(Task3)
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| 293 | {
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| 294 | TaskProk(2U);
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| 295 | } /* TASK( Task3 ) */
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| 296 |
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| 297 |
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| 298 | /*
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| 299 | * 並åå®è¡ã¿ã¹ã¯4
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| 300 | */
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| 301 | TASK(Task4)
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| 302 | {
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| 303 | TaskProk(3U);
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| 304 | } /* TASK( Task4 ) */
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| 305 |
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| 306 |
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| 307 | /*
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| 308 | * 並åå®è¡ã¿ã¹ã¯5
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| 309 | */
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| 310 | TASK(Task5)
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| 311 | {
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| 312 | TaskProk(4U);
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| 313 | } /* TASK( Task5 ) */
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| 314 |
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| 315 |
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| 316 | /*
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| 317 | * 並åå®è¡ã¿ã¹ã¯å
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| 318 | é¨å¦ç
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| 319 | *
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| 320 | * ã¡ã¤ã³ã¿ã¹ã¯ããéç¥ãããã³ãã³ããã¨ã®å¦çå®è¡
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| 321 | */
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| 322 | void
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| 323 | TaskProk(uint8 task_no)
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| 324 | {
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| 325 | uint8 command; /* ã³ãã³ãéé¿ãããã¡ */
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| 326 | InterruptNumberType intno;
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| 327 |
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| 328 | /*
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| 329 | * ã¿ã¹ã¯èµ·åãã°åºå
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| 330 | */
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| 331 | syslog(LOG_INFO, "%s ACTIVATE", task_name_tbl[task_no]);
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| 332 | intno = 52U;
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| 333 | CallTrustedFunction(tfnt5, (TrustedFunctionParameterRefType)&intno);
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| 334 |
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| 335 | /*
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| 336 | * ã³ãã³ãå®è¡ã«ã¼ã
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| 337 | */
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| 338 | while (1) {
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| 339 |
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| 340 | /*
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| 341 | * ã³ãã³ãåå¾
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| 342 | */
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| 343 | while (command_tbl[task_no] == '\0') {
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| 344 | }
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| 345 | command = command_tbl[task_no];
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| 346 | command_tbl[task_no] = 0U;
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| 347 |
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| 348 | /*
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| 349 | * ã³ãã³ãå¤å®
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| 350 | */
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| 351 | switch (command) {
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| 352 | case 'A':
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| 353 | PutTermTsk(task_no);
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| 354 | break;
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| 355 | case '!':
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| 356 | case '"':
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| 357 | case '#':
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| 358 | case '$':
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| 359 | case '%':
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| 360 | PutChainTsk(task_no, (command - '!'));
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| 361 | break;
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| 362 | case 'z':
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| 363 | PutTaskID();
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| 364 | break;
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| 365 | case 'k':
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| 366 | PutGetTskRes();
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| 367 | break;
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| 368 | case 'K':
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| 369 | PutRelTskRes();
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| 370 | break;
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| 371 | case 'i':
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| 372 | PutGetCntRes();
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| 373 | break;
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| 374 | case 'w':
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| 375 | if (task_no < 5U) {
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| 376 | PutClrEvt(task_no);
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| 377 | }
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| 378 | break;
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| 379 | case 'W':
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| 380 | if (task_no < 5U) {
|
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| 381 | PutWaitEvt(task_no);
|
---|
| 382 | }
|
---|
| 383 | break;
|
---|
| 384 | default:
|
---|
| 385 | /* ä¸è¨ã®ã³ãã³ã以å¤ã®å ´åï¼å¦çã¯è¡ããªã */
|
---|
| 386 | break;
|
---|
| 387 | }
|
---|
| 388 | }
|
---|
| 389 | } /* TaskProk */
|
---|
| 390 |
|
---|
| 391 | /*
|
---|
| 392 | * ã³ãã³ãåä¿¡å¦ç
|
---|
| 393 | */
|
---|
| 394 | uint8
|
---|
| 395 | GetCommand(void)
|
---|
| 396 | {
|
---|
| 397 | uint8 command; /* ã³ãã³ãåä¿¡ãããã¡ */
|
---|
| 398 |
|
---|
| 399 | /*
|
---|
| 400 | * ã³ãã³ããåä¿¡ããã¾ã§ã«ã¼ã
|
---|
| 401 | */
|
---|
| 402 | command = '\0';
|
---|
| 403 | do {
|
---|
| 404 | WaitEvent(MainEvt); /* 10msã¦ã§ã¤ã */
|
---|
| 405 | ClearEvent(MainEvt);
|
---|
| 406 | RecvPolSerialChar(&command); /* åä¿¡ãããã¡ãã¼ãªã³ã° */
|
---|
| 407 | if (command == '\n') {
|
---|
| 408 | command = '\0';
|
---|
| 409 | }
|
---|
| 410 | } while (command == '\0');
|
---|
| 411 |
|
---|
| 412 |
|
---|
| 413 | return(command);
|
---|
| 414 | } /* GetCommand */
|
---|
| 415 |
|
---|
| 416 | /*
|
---|
| 417 | * ActivateTask å®è¡ã»ãã°åºåå¦ç
|
---|
| 418 | */
|
---|
| 419 | void
|
---|
| 420 | PutActTsk(uint8 task_no)
|
---|
| 421 | {
|
---|
| 422 | struct parameter_struct local;
|
---|
| 423 |
|
---|
| 424 | syslog(LOG_INFO, "Call ActivateTask(%s)", task_name_tbl[task_no]);
|
---|
| 425 |
|
---|
| 426 | if (task_no < 5U) {
|
---|
| 427 | error_log(ActivateTask(task_id_tbl[task_no]));
|
---|
| 428 | }
|
---|
| 429 | else {
|
---|
| 430 | local.task_no = task_id_tbl[task_no];
|
---|
| 431 | CallTrustedFunction(tfnt4, &local); /* ActivateTask(task_name_tbl[task_no]) */
|
---|
| 432 | }
|
---|
| 433 |
|
---|
| 434 | } /* PutActTsk */
|
---|
| 435 |
|
---|
| 436 | /*
|
---|
| 437 | * ActivateTask å®è¡(NonPriTask)ã»ãã°åºåå¦ç
|
---|
| 438 | */
|
---|
| 439 | void
|
---|
| 440 | PutActNonPriTsk(void)
|
---|
| 441 | {
|
---|
| 442 | struct parameter_struct local;
|
---|
| 443 |
|
---|
| 444 | syslog(LOG_INFO, "Call ActivateTask(NonPriTask)");
|
---|
| 445 |
|
---|
| 446 | local.task_no = NonPriTask;
|
---|
| 447 | CallTrustedFunction(tfnt4, &local); /* ActivateTask(NonPriTask) */
|
---|
| 448 |
|
---|
| 449 | } /* PutActNonPriTsk */
|
---|
| 450 |
|
---|
| 451 | /*
|
---|
| 452 | * TerminateTask å®è¡ã»ãã°åºåå¦ç
|
---|
| 453 | */
|
---|
| 454 | void
|
---|
| 455 | PutTermTsk(uint8 task_no)
|
---|
| 456 | {
|
---|
| 457 | StatusType ercd; /* ã¨ã©ã¼ã³ã¼ã */
|
---|
| 458 |
|
---|
| 459 | syslog(LOG_INFO, "%s TERMINATE", task_name_tbl[task_no]);
|
---|
| 460 |
|
---|
| 461 | ercd = TerminateTask();
|
---|
| 462 | ShutdownOS(ercd);
|
---|
| 463 | }
|
---|
| 464 |
|
---|
| 465 | /*
|
---|
| 466 | * ChainTask å®è¡ã»ãã°åºåå¦ç
|
---|
| 467 | */
|
---|
| 468 | void
|
---|
| 469 | PutChainTsk(uint8 from_task_no, uint8 to_task_no)
|
---|
| 470 | {
|
---|
| 471 | StatusType ercd; /* ã¨ã©ã¼ã³ã¼ã */
|
---|
| 472 |
|
---|
| 473 | syslog(LOG_INFO, "Call ChainTask(%s)", task_name_tbl[to_task_no]);
|
---|
| 474 | syslog(LOG_INFO, "%s TERMINATE", task_name_tbl[from_task_no]);
|
---|
| 475 |
|
---|
| 476 | ercd = ChainTask(task_id_tbl[to_task_no]);
|
---|
| 477 | if (ercd == E_OS_LIMIT) {
|
---|
| 478 | syslog(LOG_INFO, "Call TerminateTask()");
|
---|
| 479 | syslog(LOG_INFO, "Because of ChainTask E_OS_LIMIT return");
|
---|
| 480 | ercd = TerminateTask();
|
---|
| 481 | }
|
---|
| 482 | ShutdownOS(ercd);
|
---|
| 483 | } /* PutChainTsk */
|
---|
| 484 |
|
---|
| 485 | /*
|
---|
| 486 | * Schedule å®è¡ã»ãã°åºåå¦ç
|
---|
| 487 | */
|
---|
| 488 | void
|
---|
| 489 | PutSchedule(void)
|
---|
| 490 | {
|
---|
| 491 | syslog(LOG_INFO, "Call ActivateTask(HighPriorityTask)");
|
---|
| 492 |
|
---|
| 493 | error_log(ActivateTask(HighPriorityTask));
|
---|
| 494 | syslog(LOG_INFO, "Call Schedule()");
|
---|
| 495 |
|
---|
| 496 | error_log(Schedule());
|
---|
| 497 | syslog(LOG_INFO, "Retrun Schedule()");
|
---|
| 498 | } /* PutSchedule */
|
---|
| 499 |
|
---|
| 500 | /*
|
---|
| 501 | * GetTaskID å®è¡ã»ãã°åºåå¦ç
|
---|
| 502 | */
|
---|
| 503 | void
|
---|
| 504 | PutTaskID(void)
|
---|
| 505 | {
|
---|
| 506 | TaskType task_id; /* ã¿ã¹ã¯IDåå¾ãããã¡ */
|
---|
| 507 |
|
---|
| 508 | error_log(GetTaskID(&task_id));
|
---|
| 509 |
|
---|
| 510 | syslog(LOG_INFO, "TaskID:%d", task_id);
|
---|
| 511 | } /* PutTaskID */
|
---|
| 512 |
|
---|
| 513 | /*
|
---|
| 514 | * GetTaskState å®è¡ã»ãã°åºåå¦ç
|
---|
| 515 | * Task1ãTask5ï¼Task7åå¾æã¨ã©ã¼ã¨ãªããªã
|
---|
| 516 | * Task6åå¾æã¨ã©ã¼ã¨ãªã
|
---|
| 517 | */
|
---|
| 518 | void
|
---|
| 519 | PutTaskState(uint8 task_no)
|
---|
| 520 | {
|
---|
| 521 | TaskStateType state; /* ã¿ã¹ã¯IDåå¾ãããã¡ */
|
---|
| 522 |
|
---|
| 523 | error_log(GetTaskState(task_id_tbl[task_no], &state));
|
---|
| 524 |
|
---|
| 525 | syslog(LOG_INFO, task_name_tbl[task_no]);
|
---|
| 526 | syslog(LOG_INFO, " State:%s", task_state_tbl[state]);
|
---|
| 527 | } /* PutTaskState */
|
---|
| 528 |
|
---|
| 529 | /*
|
---|
| 530 | * DisableAllInterrupts/EnableAllInterrupts å®è¡ã»ãã°åºåå¦ç
|
---|
| 531 | */
|
---|
| 532 | void
|
---|
| 533 | PutDisAllInt(void)
|
---|
| 534 | {
|
---|
| 535 | syslog(LOG_INFO, "Call DisableAllInterrupts");
|
---|
| 536 |
|
---|
| 537 | DisableAllInterrupts();
|
---|
| 538 |
|
---|
| 539 | PutHwCnt3();
|
---|
| 540 | syslog(LOG_INFO, "Call EnableAllInterrupts");
|
---|
| 541 |
|
---|
| 542 | EnableAllInterrupts();
|
---|
| 543 | } /* PutDisAllInt */
|
---|
| 544 |
|
---|
| 545 | /*
|
---|
| 546 | * SuspendAllInterrupts/ResumeAllInterrupts å®è¡ã»ãã°åºåå¦ç
|
---|
| 547 | */
|
---|
| 548 | void
|
---|
| 549 | PutSusAllInt(void)
|
---|
| 550 | {
|
---|
| 551 | syslog(LOG_INFO, "Call SuspendAllInterrupts");
|
---|
| 552 |
|
---|
| 553 | SuspendAllInterrupts();
|
---|
| 554 |
|
---|
| 555 | PutHwCnt3();
|
---|
| 556 | syslog(LOG_INFO, "Call SuspendAllInterrupts");
|
---|
| 557 |
|
---|
| 558 | SuspendAllInterrupts();
|
---|
| 559 |
|
---|
| 560 | PutHwCnt3();
|
---|
| 561 | syslog(LOG_INFO, "Call ResumeAllInterrupts");
|
---|
| 562 |
|
---|
| 563 | ResumeAllInterrupts();
|
---|
| 564 |
|
---|
| 565 | PutHwCnt3();
|
---|
| 566 | syslog(LOG_INFO, "Call ResumeAllInterrupts");
|
---|
| 567 |
|
---|
| 568 | ResumeAllInterrupts();
|
---|
| 569 | } /* PutSusAllInt */
|
---|
| 570 |
|
---|
| 571 | /*
|
---|
| 572 | * SuspendOSInterrupts/ResumeOSInterrupts å®è¡ã»ãã°åºåå¦ç
|
---|
| 573 | */
|
---|
| 574 | void
|
---|
| 575 | PutSusOSInt(void)
|
---|
| 576 | {
|
---|
| 577 | syslog(LOG_INFO, "Call SuspendOSInterrupts");
|
---|
| 578 |
|
---|
| 579 | SuspendOSInterrupts();
|
---|
| 580 |
|
---|
| 581 | PutHwCnt3();
|
---|
| 582 | syslog(LOG_INFO, "Call SuspendOSInterrupts");
|
---|
| 583 |
|
---|
| 584 | SuspendOSInterrupts();
|
---|
| 585 |
|
---|
| 586 | PutHwCnt3();
|
---|
| 587 | syslog(LOG_INFO, "Call SuspendAllInterrupts");
|
---|
| 588 |
|
---|
| 589 | SuspendAllInterrupts();
|
---|
| 590 |
|
---|
| 591 | PutHwCnt3();
|
---|
| 592 | syslog(LOG_INFO, "Call ResumeAllInterrupts");
|
---|
| 593 |
|
---|
| 594 | ResumeAllInterrupts();
|
---|
| 595 |
|
---|
| 596 | PutHwCnt3();
|
---|
| 597 | syslog(LOG_INFO, "Call ResumeOSInterrupts");
|
---|
| 598 |
|
---|
| 599 | ResumeOSInterrupts();
|
---|
| 600 |
|
---|
| 601 | PutHwCnt3();
|
---|
| 602 | syslog(LOG_INFO, "Call ResumeOSInterrupts");
|
---|
| 603 |
|
---|
| 604 | ResumeOSInterrupts();
|
---|
| 605 | } /* PutSusOSInt */
|
---|
| 606 |
|
---|
| 607 | /*
|
---|
| 608 | * å²è¾¼ã¿åä½ãã¹ãç¨HWã«ã¦ã³ã¿å¤ã®ãã°åºåå¦ç
|
---|
| 609 | */
|
---|
| 610 | void
|
---|
| 611 | PutHwCnt3(void)
|
---|
| 612 | {
|
---|
| 613 | uint32 isr1_cnt = 0U; /* C1ISR ã«ã¦ã³ãå¤åå¾ãããã¡ */
|
---|
| 614 | uint32 isr2_cnt = 0U; /* C2ISR ã«ã¦ã³ãå¤åå¾ãããã¡ */
|
---|
| 615 | uint8 cnt; /* åºååæ°ã«ã¦ã³ã¿ */
|
---|
| 616 |
|
---|
| 617 | for (cnt = 0U; cnt < 3U; cnt++) {
|
---|
| 618 | GetHwCnt(&isr1_cnt, &isr2_cnt);
|
---|
| 619 | syslog(LOG_INFO, "C1ISR Cnt:%d, C2ISR Cnt:%d",
|
---|
| 620 | isr1_cnt, isr2_cnt);
|
---|
| 621 | }
|
---|
| 622 | } /* PutHwCnt3 */
|
---|
| 623 |
|
---|
| 624 | /*
|
---|
| 625 | * GetResource/ReleaseResource å®è¡(å²è¾¼ã¿ã¬ãã«)ã»ãã°åºåå¦ç
|
---|
| 626 | */
|
---|
| 627 | void
|
---|
| 628 | PutGetCntRes(void)
|
---|
| 629 | {
|
---|
| 630 | syslog(LOG_INFO, "Call GetResource(CntRes)");
|
---|
| 631 | error_log(GetResource(CntRes));
|
---|
| 632 |
|
---|
| 633 | PutHwCnt3();
|
---|
| 634 | syslog(LOG_INFO, "Call ReleaseResource(CntRes)");
|
---|
| 635 |
|
---|
| 636 | error_log(ReleaseResource(CntRes));
|
---|
| 637 | } /* PutGetCntRes */
|
---|
| 638 |
|
---|
| 639 | /*
|
---|
| 640 | * GetResource å®è¡(ã¿ã¹ã¯ã¬ãã«)ã»ãã°åºåå¦ç
|
---|
| 641 | */
|
---|
| 642 | void
|
---|
| 643 | PutGetTskRes(void)
|
---|
| 644 | {
|
---|
| 645 | syslog(LOG_INFO, "Call GetResource(TskLevelRes)");
|
---|
| 646 |
|
---|
| 647 | error_log(GetResource(TskLevelRes));
|
---|
| 648 | } /* PutGetTskRes */
|
---|
| 649 |
|
---|
| 650 | /*
|
---|
| 651 | * ReleaseResource å®è¡(ã¿ã¹ã¯ã¬ãã«)ã»ãã°åºåå¦ç
|
---|
| 652 | */
|
---|
| 653 | void
|
---|
| 654 | PutRelTskRes(void)
|
---|
| 655 | {
|
---|
| 656 | syslog(LOG_INFO, "Call ReleaseResource(TskLevelRes)");
|
---|
| 657 |
|
---|
| 658 | error_log(ReleaseResource(TskLevelRes));
|
---|
| 659 | }
|
---|
| 660 |
|
---|
| 661 | /*
|
---|
| 662 | * SetEvent å®è¡ã»ãã°åºåå¦ç
|
---|
| 663 | */
|
---|
| 664 | void
|
---|
| 665 | PutSetEvt(uint8 task_no)
|
---|
| 666 | {
|
---|
| 667 | syslog(LOG_INFO, "Call SetEvent(%s, %s)",
|
---|
| 668 | task_name_tbl[task_no], event_name_tbl[task_no]);
|
---|
| 669 |
|
---|
| 670 | error_log(SetEvent(task_id_tbl[task_no], event_mask_tbl[task_no]));
|
---|
| 671 | } /* PutSetEvt */
|
---|
| 672 |
|
---|
| 673 | /*
|
---|
| 674 | * ClearEvent å®è¡ã»ãã°åºåå¦ç
|
---|
| 675 | */
|
---|
| 676 | void
|
---|
| 677 | PutClrEvt(uint8 task_no)
|
---|
| 678 | {
|
---|
| 679 | syslog(LOG_INFO, "Call ClearEvent(%s)", event_name_tbl[task_no]);
|
---|
| 680 |
|
---|
| 681 | error_log(ClearEvent(event_mask_tbl[task_no]));
|
---|
| 682 | } /* PutClrEvt */
|
---|
| 683 |
|
---|
| 684 | /*
|
---|
| 685 | * GetEvent å®è¡ã»ãã°åºåå¦ç
|
---|
| 686 | */
|
---|
| 687 | void
|
---|
| 688 | PutGetEvt(uint8 task_no)
|
---|
| 689 | {
|
---|
| 690 | EventMaskType mask; /* ã¤ãã³ããã¹ã¯åå¾ãããã¡ */
|
---|
| 691 |
|
---|
| 692 | error_log(GetEvent(task_id_tbl[task_no], &mask));
|
---|
| 693 |
|
---|
| 694 | syslog(LOG_INFO, "%s Event Mask:0x%x", task_name_tbl[task_no], mask);
|
---|
| 695 | } /* PutGetEvt */
|
---|
| 696 |
|
---|
| 697 | /*
|
---|
| 698 | * WaitEvent å®è¡ã»ãã°åºåå¦ç
|
---|
| 699 | */
|
---|
| 700 | void
|
---|
| 701 | PutWaitEvt(uint8 task_no)
|
---|
| 702 | {
|
---|
| 703 | syslog(LOG_INFO, "Call WaitEvent(%s)", event_name_tbl[task_no]);
|
---|
| 704 |
|
---|
| 705 | error_log(WaitEvent(event_mask_tbl[task_no]));
|
---|
| 706 | syslog(LOG_INFO, "Return WaitEvent(%s)", event_name_tbl[task_no]);
|
---|
| 707 | } /* PutWaitEvt */
|
---|
| 708 |
|
---|
| 709 | /*
|
---|
| 710 | * GetAlarmBase å®è¡ã»ãã°åºåå¦ç
|
---|
| 711 | */
|
---|
| 712 | void
|
---|
| 713 | PutArmBase(void)
|
---|
| 714 | {
|
---|
| 715 | AlarmBaseType info; /* ã¢ã©ã¼ã ãã¼ã¹æ
|
---|
| 716 | å ±åå¾ãããã¡ */
|
---|
| 717 |
|
---|
| 718 | error_log(GetAlarmBase(MainCycArm, &info));
|
---|
| 719 |
|
---|
| 720 | syslog(LOG_INFO, "MainCycArm Base:");
|
---|
| 721 | syslog(LOG_INFO, "\tMAXALLOWEDVALUE=%d", info.maxallowedvalue);
|
---|
| 722 | syslog(LOG_INFO, "\tTICKSPERBASE=%d", info.ticksperbase);
|
---|
| 723 | syslog(LOG_INFO, "\tMINCYCLE=%d", info.mincycle);
|
---|
| 724 | } /* PutArmBase */
|
---|
| 725 |
|
---|
| 726 | /*
|
---|
| 727 | * PutArmTick å®è¡ã»ãã°åºåå¦ç
|
---|
| 728 | */
|
---|
| 729 | void
|
---|
| 730 | PutArmTick(void)
|
---|
| 731 | {
|
---|
| 732 | TickType tick; /* æ®ããã£ãã¯åå¾ãããã¡ */
|
---|
| 733 |
|
---|
| 734 | error_log(GetAlarm(MainCycArm, &tick));
|
---|
| 735 |
|
---|
| 736 | syslog(LOG_INFO, "MainCycArm Tick:%d", tick);
|
---|
| 737 | } /* PutArmTick */
|
---|
| 738 |
|
---|
| 739 | /*
|
---|
| 740 | * SetRelAlarm å®è¡ã»ãã°åºåå¦ç
|
---|
| 741 | */
|
---|
| 742 | void
|
---|
| 743 | PutSetRel(uint8 alarm_no, uint8 tick_no, uint8 cycle_no)
|
---|
| 744 | {
|
---|
| 745 | syslog(LOG_INFO, "Call SetRelAlarm(%s, %d, %d)",
|
---|
| 746 | alarm_name_tbl[alarm_no], tick_tbl[tick_no], cycle_tbl[cycle_no]);
|
---|
| 747 |
|
---|
| 748 | error_log(SetRelAlarm(alarm_id_tbl[alarm_no],
|
---|
| 749 | tick_tbl[tick_no], cycle_tbl[cycle_no]));
|
---|
| 750 | } /* PutSetRel */
|
---|
| 751 |
|
---|
| 752 | /*
|
---|
| 753 | * CancelAlarm å®è¡ã»ãã°åºåå¦ç
|
---|
| 754 | */
|
---|
| 755 | void
|
---|
| 756 | PutCanArm(void)
|
---|
| 757 | {
|
---|
| 758 | syslog(LOG_INFO, "Call CancelAlarm(ActTskArm)");
|
---|
| 759 |
|
---|
| 760 | error_log(CancelAlarm(ActTskArm));
|
---|
| 761 | } /* PutCanArm */
|
---|
| 762 |
|
---|
| 763 | /*
|
---|
| 764 | * GetActiveApplicationMode å®è¡ã»ãã°åºåå¦ç
|
---|
| 765 | */
|
---|
| 766 | void
|
---|
| 767 | PutAppMode(void)
|
---|
| 768 | {
|
---|
| 769 | switch (GetActiveApplicationMode()) {
|
---|
| 770 | case AppMode1:
|
---|
| 771 | syslog(LOG_INFO, "ActiveApplicationMode:AppMode1");
|
---|
| 772 | break;
|
---|
| 773 | case AppMode2:
|
---|
| 774 | syslog(LOG_INFO, "ActiveApplicationMode:AppMode2");
|
---|
| 775 | break;
|
---|
| 776 | case AppMode3:
|
---|
| 777 | syslog(LOG_INFO, "ActiveApplicationMode:AppMode3");
|
---|
| 778 | break;
|
---|
| 779 | default:
|
---|
| 780 | syslog(LOG_INFO, "ActiveApplicationMode:Non");
|
---|
| 781 | break;
|
---|
| 782 | }
|
---|
| 783 | } /* PutAppMode */
|
---|
| 784 |
|
---|
| 785 | /*
|
---|
| 786 | * ã¹ã±ã¸ã¥ã¼ã«ãã¼ãã«ãã¹ãç¨ã¡ã¤ã³ã«ã¼ã
|
---|
| 787 | *
|
---|
| 788 | * ã¦ã¼ã¶ã³ãã³ãã®åä¿¡ã¨ï¼ã³ãã³ããã¨ã®å¦çå®è¡
|
---|
| 789 | */
|
---|
| 790 | void
|
---|
| 791 | schedule_table_sample_routine(void)
|
---|
| 792 | {
|
---|
| 793 | uint8 command; /* ã³ãã³ããããã¡ */
|
---|
| 794 | ScheduleTableType scheduletable_id; /* ã³ãã³ãå¼æ°ãããã¡ */
|
---|
| 795 | ScheduleTableStatusType status; /* ã¹ã±ã¸ã¥ã¼ã«ç¶æ
|
---|
| 796 | å¼æ° */
|
---|
| 797 | TickType val; /* ã«ã¦ã³ã¿ã®ç¾å¨å¤ */
|
---|
| 798 | uint8 flag = FALSE; /* ãªã¿ã¼ã³ãããå¤å®ããããã®ãã©ã° */
|
---|
| 799 |
|
---|
| 800 | syslog(LOG_INFO, "\t[ schedule table sample routine IN, press 't' OUT ]");
|
---|
| 801 | syslog(LOG_INFO, "");
|
---|
| 802 |
|
---|
| 803 | scheduletable_id = scheduletable1;
|
---|
| 804 | /*
|
---|
| 805 | * ã³ãã³ãå®è¡ã«ã¼ã
|
---|
| 806 | */
|
---|
| 807 | while (1) {
|
---|
| 808 |
|
---|
| 809 | WaitEvent(MainEvt); /* 10msã®ä½æ¥æéå¾
|
---|
| 810 | ã¡ */
|
---|
| 811 | ClearEvent(MainEvt);
|
---|
| 812 |
|
---|
| 813 | /*
|
---|
| 814 | * å
|
---|
| 815 | ¥åã³ãã³ãåå¾
|
---|
| 816 | */
|
---|
| 817 | syslog(LOG_INFO, "Input Command:");
|
---|
| 818 | command = GetCommand();
|
---|
| 819 | syslog(LOG_INFO, "%c", command);
|
---|
| 820 |
|
---|
| 821 | /*
|
---|
| 822 | * ã³ãã³ãå¤å®
|
---|
| 823 | */
|
---|
| 824 | switch (command) {
|
---|
| 825 | case '1':
|
---|
| 826 | scheduletable_id = scheduletable1;
|
---|
| 827 | break;
|
---|
| 828 | case '2':
|
---|
| 829 | scheduletable_id = scheduletable2;
|
---|
| 830 | break;
|
---|
| 831 | case 'i':
|
---|
| 832 | IncrementCounter(SchtblSampleCnt);
|
---|
| 833 | val = 0U;
|
---|
| 834 | GetCounterValue(SchtblSampleCnt, &val);
|
---|
| 835 | if ((val % 5U) == 0U) {
|
---|
| 836 | syslog(LOG_INFO, "\tGetCounterValue(SchtblSampleCnt ) = %d", val);
|
---|
| 837 | }
|
---|
| 838 | break;
|
---|
| 839 | case 's':
|
---|
| 840 | syslog(LOG_INFO, "\tStartScheduleTableRel(scheduletable%d, 5)", scheduletable_id + 1U);
|
---|
| 841 | error_log(StartScheduleTableRel(scheduletable_id, 5U));
|
---|
| 842 | break;
|
---|
| 843 | case 'S':
|
---|
| 844 | syslog(LOG_INFO, "\tStartScheduleTableAbs(scheduletable%d, 5)", scheduletable_id + 1U);
|
---|
| 845 | error_log(StartScheduleTableAbs(scheduletable_id, 5U));
|
---|
| 846 | break;
|
---|
| 847 | case 'f':
|
---|
| 848 | syslog(LOG_INFO, "\tStopScheduleTable(scheduletable%d)", scheduletable_id + 1U);
|
---|
| 849 | error_log(StopScheduleTable(scheduletable_id));
|
---|
| 850 | break;
|
---|
| 851 | case 'n':
|
---|
| 852 | syslog(LOG_INFO, "\tNextScheduleTable(scheduletable%d, scheduletable%d)", scheduletable_id + 1U, scheduletable2 + 1U);
|
---|
| 853 | error_log(NextScheduleTable(scheduletable_id, scheduletable2));
|
---|
| 854 | break;
|
---|
| 855 | case 'N':
|
---|
| 856 | syslog(LOG_INFO, "\tNextScheduleTable(scheduletable%d, scheduletable%d)", scheduletable_id + 1U, scheduletable1 + 1U);
|
---|
| 857 | error_log(NextScheduleTable(scheduletable_id, scheduletable1));
|
---|
| 858 | break;
|
---|
| 859 | case 'g':
|
---|
| 860 | status = 0U;
|
---|
| 861 | syslog(LOG_INFO, "\tGetScheduleTableStatus(scheduletable%d, status)", scheduletable_id + 1U);
|
---|
| 862 | error_log(GetScheduleTableStatus(scheduletable_id, &status));
|
---|
| 863 | syslog(LOG_INFO, "\tstatus = %d", status);
|
---|
| 864 | break;
|
---|
| 865 | case 't':
|
---|
| 866 | syslog(LOG_INFO, "\t[ schedule table sample routine OUT, press 't' IN ]");
|
---|
| 867 | flag = TRUE;
|
---|
| 868 | break;
|
---|
| 869 | default:
|
---|
| 870 | /* ã³ãã³ããä¸è¨ã®ã±ã¼ã¹ä»¥å¤ãªãå¦çã¯è¡ããªã */
|
---|
| 871 | break;
|
---|
| 872 | }
|
---|
| 873 | /* ãã©ã°ãç«ã£ã¦ããå ´åï¼ãªã¿ã¼ã³ãã */
|
---|
| 874 | if (flag == TRUE) {
|
---|
| 875 | return;
|
---|
| 876 | }
|
---|
| 877 | }
|
---|
| 878 | } /* schedule_table_sample_routine */
|
---|
| 879 |
|
---|
| 880 | /*
|
---|
| 881 | * ã¹ã±ã¸ã¥ã¼ã«ãã¼ãã«ç¢ºèªç¨ã¿ã¹ã¯6
|
---|
| 882 | */
|
---|
| 883 | TASK(Task10)
|
---|
| 884 | {
|
---|
| 885 | /*
|
---|
| 886 | * ã¿ã¹ã¯èµ·åãã°åºå
|
---|
| 887 | */
|
---|
| 888 | syslog(LOG_INFO, "Task10 ACTIVATE");
|
---|
| 889 | WaitEvent(T10Evt);
|
---|
| 890 | syslog(LOG_INFO, "Task10 FINISH");
|
---|
| 891 | TerminateTask();
|
---|
| 892 | } /* TASK( Task10 ) */
|
---|
| 893 |
|
---|
| 894 |
|
---|
| 895 | /*
|
---|
| 896 | * ã¹ã±ã¸ã¥ã¼ã«ãã¼ãã«ç¢ºèªç¨ã¿ã¹ã¯7
|
---|
| 897 | */
|
---|
| 898 | TASK(Task11)
|
---|
| 899 | {
|
---|
| 900 | /*
|
---|
| 901 | * ã¿ã¹ã¯èµ·åãã°åºå
|
---|
| 902 | */
|
---|
| 903 | syslog(LOG_INFO, "Task11 ACTIVATE");
|
---|
| 904 | WaitEvent(T11Evt);
|
---|
| 905 | syslog(LOG_INFO, "Task11 FINISH");
|
---|
| 906 | TerminateTask();
|
---|
| 907 | } /* TASK( Task11 ) */
|
---|
| 908 |
|
---|
| 909 |
|
---|
| 910 | /*
|
---|
| 911 | * ã¹ã±ã¸ã¥ã¼ã«ãã¼ãã«ç¢ºèªç¨ã¿ã¹ã¯8
|
---|
| 912 | */
|
---|
| 913 | TASK(Task12)
|
---|
| 914 | {
|
---|
| 915 | /*
|
---|
| 916 | * ã¿ã¹ã¯èµ·åãã°åºå
|
---|
| 917 | */
|
---|
| 918 | syslog(LOG_INFO, "Task12 ACTIVATE");
|
---|
| 919 | WaitEvent(T12Evt);
|
---|
| 920 | syslog(LOG_INFO, "Task12 FINISH");
|
---|
| 921 | TerminateTask();
|
---|
| 922 | } /* TASK( Task12 ) */
|
---|
| 923 |
|
---|
| 924 | /*
|
---|
| 925 | * ä¿¡é ¼é¢æ°åä½ç¢ºèªç¨ã¿ã¹ã¯11
|
---|
| 926 | */
|
---|
| 927 | TASK(Task13)
|
---|
| 928 | {
|
---|
| 929 | struct parameter_struct local;
|
---|
| 930 | sint32 pp = 10;
|
---|
| 931 |
|
---|
| 932 | local.name1 = (sint32 *) &pp;
|
---|
| 933 | local.name2 = 2;
|
---|
| 934 |
|
---|
| 935 | CallTrustedFunction(tfnt1, &local); /* 10*2 + 2 = 22 */
|
---|
| 936 | syslog(LOG_NOTICE, "Task13 tfnt1 ret = %d", local.return_value);
|
---|
| 937 |
|
---|
| 938 | TerminateTask();
|
---|
| 939 | } /* TASK( Task13 ) */
|
---|
| 940 |
|
---|
| 941 | /*
|
---|
| 942 | * ä¿¡é ¼é¢æ°åä½ç¢ºèªç¨ã¿ã¹ã¯12
|
---|
| 943 | */
|
---|
| 944 | TASK(Task14)
|
---|
| 945 | {
|
---|
| 946 | struct parameter_struct local;
|
---|
| 947 | sint32 pp = 20;
|
---|
| 948 |
|
---|
| 949 | local.name1 = (sint32 *) &pp;
|
---|
| 950 | local.name2 = 4;
|
---|
| 951 |
|
---|
| 952 | CallTrustedFunction(tfnt2, &local); /* 20*4 + 4 = 84 */
|
---|
| 953 | syslog(LOG_NOTICE, "Task14 tfnt2 ret = %d", local.return_value);
|
---|
| 954 |
|
---|
| 955 | } /* TASK( Task14 ) */
|
---|
| 956 |
|
---|
| 957 | /*
|
---|
| 958 | * éä¿¡é ¼OSã¢ããªã±ã¼ã·ã§ã³éã¢ã¯ã»ã¹æ¨©ç¢ºèªç¨ã¿ã¹ã¯
|
---|
| 959 | */
|
---|
| 960 | TASK(Task8)
|
---|
| 961 | {
|
---|
| 962 | TaskStateType state;
|
---|
| 963 | /*
|
---|
| 964 | * ã¿ã¹ã¯èµ·åãã°åºå
|
---|
| 965 | */
|
---|
| 966 | syslog(LOG_INFO, "Task8 ACTIVATE");
|
---|
| 967 | /*fatal_line_num++;*/
|
---|
| 968 | if (E_OK == GetTaskState(Task1, &state)) {
|
---|
| 969 | syslog(LOG_INFO, "GetTaskState(Task1, &state), state = %s", task_state_tbl[state]);
|
---|
| 970 | }
|
---|
| 971 | EnableInterruptSource(C2ISR_for_52);
|
---|
| 972 | EnableInterruptSource(C2ISR_for_53);
|
---|
| 973 | AllowAccess();
|
---|
| 974 | syslog(LOG_INFO, "Task8 FINISH");
|
---|
| 975 | TerminateTask();
|
---|
| 976 | } /* TASK( Task8 ) */
|
---|
| 977 |
|
---|
| 978 | /*
|
---|
| 979 | * éä¿¡é ¼OSã¢ããªã±ã¼ã·ã§ã³éã¢ã¯ã»ã¹æ¨©ç¢ºèªç¨ã¿ã¹ã¯
|
---|
| 980 | */
|
---|
| 981 | TASK(Task9)
|
---|
| 982 | {
|
---|
| 983 | TaskStateType state;
|
---|
| 984 | /*
|
---|
| 985 | * ã¿ã¹ã¯èµ·åãã°åºå
|
---|
| 986 | */
|
---|
| 987 | syslog(LOG_INFO, "Task9 ACTIVATE");
|
---|
| 988 | if (E_OK == GetTaskState(Task2, &state)) {
|
---|
| 989 | syslog(LOG_INFO, "GetTaskState(Task2, &state), state = %s", task_state_tbl[state]);
|
---|
| 990 | }
|
---|
| 991 | syslog(LOG_INFO, "Task9 FINISH");
|
---|
| 992 | TerminateTask();
|
---|
| 993 | } /* TASK( Task8 ) */
|
---|
| 994 |
|
---|
| 995 | /*
|
---|
| 996 | * IOC確èªç¨ã¿ã¹ã¯1
|
---|
| 997 | */
|
---|
| 998 | TASK(IocTask1)
|
---|
| 999 | {
|
---|
| 1000 | syslog(LOG_INFO, "IocTask1 ACTIVATE");
|
---|
| 1001 |
|
---|
| 1002 | IocProk1();
|
---|
| 1003 |
|
---|
| 1004 | syslog(LOG_INFO, "IocTask1 TERMINATE");
|
---|
| 1005 |
|
---|
| 1006 | TerminateTask();
|
---|
| 1007 | } /* TASK( IocTask1 ) */
|
---|
| 1008 |
|
---|
| 1009 | /*
|
---|
| 1010 | * IOC確èªç¨ã¿ã¹ã¯2
|
---|
| 1011 | */
|
---|
| 1012 | TASK(IocTask2)
|
---|
| 1013 | {
|
---|
| 1014 | syslog(LOG_INFO, "IocTask2 ACTIVATE");
|
---|
| 1015 |
|
---|
| 1016 | IocProk1();
|
---|
| 1017 |
|
---|
| 1018 | syslog(LOG_INFO, "IocTask2 TERMINATE");
|
---|
| 1019 |
|
---|
| 1020 | TerminateTask();
|
---|
| 1021 | } /* TASK( IocTask2 ) */
|
---|
| 1022 |
|
---|
| 1023 | /*
|
---|
| 1024 | * IOC確èªç¨ã¿ã¹ã¯å
|
---|
| 1025 | é¨å¦ç
|
---|
| 1026 | *
|
---|
| 1027 | */
|
---|
| 1028 | static void
|
---|
| 1029 | IocProk1(void)
|
---|
| 1030 | {
|
---|
| 1031 | uint8 api; /* ã³ãã³ãåä¿¡ãããã¡(API) */
|
---|
| 1032 | uint8 data[3]; /* éä¿¡ãããã¡ */
|
---|
| 1033 |
|
---|
| 1034 | volatile sint32 i;
|
---|
| 1035 | Std_ReturnType ercd;
|
---|
| 1036 |
|
---|
| 1037 | syslog(LOG_INFO, "Select IOC API:");
|
---|
| 1038 | api = GetCommandNoWait2();
|
---|
| 1039 | #ifndef OMIT_ECHO
|
---|
| 1040 | syslog(LOG_INFO, "%c", api);
|
---|
| 1041 | #endif /* OMIT_ECHO */
|
---|
| 1042 |
|
---|
| 1043 | switch (api) {
|
---|
| 1044 | case '1':
|
---|
| 1045 | syslog(LOG_INFO, "Input send data:");
|
---|
| 1046 | data[0] = GetCommandNoWait2();
|
---|
| 1047 | #ifndef OMIT_ECHO
|
---|
| 1048 | syslog(LOG_INFO, "%c", data[0]);
|
---|
| 1049 | #endif /* OMIT_ECHO */
|
---|
| 1050 | syslog(LOG_INFO, "Call IocSend_IOC_QUE_0");
|
---|
| 1051 | error_log_ioc(IocSend_IOC_QUE_0(data[0]));
|
---|
| 1052 | break;
|
---|
| 1053 | case '2':
|
---|
| 1054 | syslog(LOG_INFO, "Input send data:");
|
---|
| 1055 | data[0] = GetCommandNoWait2();
|
---|
| 1056 | #ifndef OMIT_ECHO
|
---|
| 1057 | syslog(LOG_INFO, "%c", data[0]);
|
---|
| 1058 | #endif /* OMIT_ECHO */
|
---|
| 1059 |
|
---|
| 1060 | syslog(LOG_INFO, "Call IocSend_IOC_QUE_1");
|
---|
| 1061 | error_log_ioc(IocSend_IOC_QUE_1(data[0]));
|
---|
| 1062 | break;
|
---|
| 1063 | case '3':
|
---|
| 1064 | for (i = 0; i < 3U; i++) {
|
---|
| 1065 | syslog(LOG_INFO, "Input send data%d:", i);
|
---|
| 1066 | data[i] = GetCommandNoWait2();
|
---|
| 1067 | #ifndef OMIT_ECHO
|
---|
| 1068 | syslog(LOG_INFO, "%c", data[i]);
|
---|
| 1069 | #endif /* OMIT_ECHO */
|
---|
| 1070 | }
|
---|
| 1071 | syslog(LOG_INFO, "Call IocWriteGroup_IOC_DEQUE");
|
---|
| 1072 | error_log_ioc(IocWriteGroup_IOC_DEQUE(data[0], data[1], data[2]));
|
---|
| 1073 | break;
|
---|
| 1074 | case '4':
|
---|
| 1075 | syslog(LOG_INFO, "Call IocReceive_IOC_QUE");
|
---|
| 1076 | ercd = IocReceive_IOC_QUE(&data[0]);
|
---|
| 1077 | #if !defined(CFG_USE_ERRORHOOK)
|
---|
| 1078 | if (ercd != E_OK) {
|
---|
| 1079 | syslog(LOG_INFO, "Error:%d", atk2_ioc_strerror(ercd));
|
---|
| 1080 | }
|
---|
| 1081 | #endif /* !defined( CFG_USE_ERRORHOOK ) */
|
---|
| 1082 | if ((ercd == IOC_E_OK) || (ercd == IOC_E_LOST_DATA)) {
|
---|
| 1083 | syslog(LOG_INFO, "recv data:%c", data[0]);
|
---|
| 1084 | }
|
---|
| 1085 | break;
|
---|
| 1086 | case '5':
|
---|
| 1087 | syslog(LOG_INFO, "Call IocReadGroup_IOC_DEQUE");
|
---|
| 1088 | error_log_ioc(IocReadGroup_IOC_DEQUE(&data[0], &data[1], &data[2]));
|
---|
| 1089 | for (i = 0; i < 3U; i++) {
|
---|
| 1090 | syslog(LOG_INFO, "recv data%d:%c", i, data[i]);
|
---|
| 1091 | }
|
---|
| 1092 | break;
|
---|
| 1093 | case '6':
|
---|
| 1094 | syslog(LOG_INFO, "Call IocEmptyQueue_IOC_QUE");
|
---|
| 1095 | error_log_ioc(IocEmptyQueue_IOC_QUE());
|
---|
| 1096 | break;
|
---|
| 1097 | default:
|
---|
| 1098 | syslog(LOG_INFO, "undefined command");
|
---|
| 1099 | break;
|
---|
| 1100 | }
|
---|
| 1101 | } /* IocProk1 */
|
---|
| 1102 |
|
---|
| 1103 | /*
|
---|
| 1104 | * ã³ãã³ãåä¿¡å¦ç(ã¦ã§ã¤ãç¡ã)
|
---|
| 1105 | */
|
---|
| 1106 | uint8
|
---|
| 1107 | GetCommandNoWait2(void)
|
---|
| 1108 | {
|
---|
| 1109 | uint8 command; /* ã³ãã³ãåä¿¡ãããã¡ */
|
---|
| 1110 |
|
---|
| 1111 | /*
|
---|
| 1112 | * ã³ãã³ããåä¿¡ããã¾ã§ã«ã¼ã
|
---|
| 1113 | */
|
---|
| 1114 | command = '\0';
|
---|
| 1115 | do {
|
---|
| 1116 | RecvPolSerialChar(&command); /* åä¿¡ãããã¡ãã¼ãªã³ã° */
|
---|
| 1117 | if (command == '\n') {
|
---|
| 1118 | command = '\0';
|
---|
| 1119 | }
|
---|
| 1120 | } while (command == '\0');
|
---|
| 1121 |
|
---|
| 1122 |
|
---|
| 1123 | return(command);
|
---|
| 1124 | } /* GetCommandNoWait2 */
|
---|
| 1125 |
|
---|
| 1126 |
|
---|
| 1127 | /*
|
---|
| 1128 | * ActivateTask(IOCç¨) å®è¡ã»ãã°åºåå¦ç
|
---|
| 1129 | */
|
---|
| 1130 | void
|
---|
| 1131 | PutActIocTsk(void)
|
---|
| 1132 | {
|
---|
| 1133 | uint8 command; /* ã³ãã³ãåä¿¡ãããã¡ */
|
---|
| 1134 |
|
---|
| 1135 | syslog(LOG_INFO, "Select IocTask:");
|
---|
| 1136 | command = GetCommand();
|
---|
| 1137 | #ifndef OMIT_ECHO
|
---|
| 1138 | syslog(LOG_INFO, "%c", command);
|
---|
| 1139 | #endif /* OMIT_ECHO */
|
---|
| 1140 |
|
---|
| 1141 | switch (command) {
|
---|
| 1142 | case '1':
|
---|
| 1143 | error_log(ActivateTask(IocTask1));
|
---|
| 1144 | break;
|
---|
| 1145 | case '2':
|
---|
| 1146 | error_log(ActivateTask(IocTask2));
|
---|
| 1147 | break;
|
---|
| 1148 | case '3':
|
---|
| 1149 | error_log(CallTrustedFunction(actioctask3, NULL));
|
---|
| 1150 | break;
|
---|
| 1151 | case '4':
|
---|
| 1152 | error_log(CallTrustedFunction(actioctask4, NULL));
|
---|
| 1153 | break;
|
---|
| 1154 | default:
|
---|
| 1155 | syslog(LOG_INFO, "undefined command");
|
---|
| 1156 | break;
|
---|
| 1157 | }
|
---|
| 1158 | } /* PutActIocTsk */
|
---|
| 1159 |
|
---|
| 1160 | TRUSTEDFUNCTION(TRUSTED_actioctask3, FunctionIndex, FunctionParams)
|
---|
| 1161 | {
|
---|
| 1162 | error_log(ActivateTask(IocTask3));
|
---|
| 1163 |
|
---|
| 1164 | return(E_OK);
|
---|
| 1165 | }
|
---|
| 1166 |
|
---|
| 1167 | TRUSTEDFUNCTION(TRUSTED_actioctask4, FunctionIndex, FunctionParams)
|
---|
| 1168 | {
|
---|
| 1169 | error_log(ActivateTask(IocTask4));
|
---|
| 1170 |
|
---|
| 1171 | return(E_OK);
|
---|
| 1172 | }
|
---|
| 1173 |
|
---|
| 1174 | extern void *p_runosap;
|
---|
| 1175 | ISR(C2ISR_for_52)
|
---|
| 1176 | {
|
---|
| 1177 | InterruptNumberType intno;
|
---|
| 1178 |
|
---|
| 1179 | syslog(LOG_NOTICE, "ISR 52 activated");
|
---|
| 1180 | intno = 52U;
|
---|
| 1181 | CallTrustedFunction(tfnt6, (TrustedFunctionParameterRefType)&intno);
|
---|
| 1182 | /*Sample1ClearIntRequest(170U);*/
|
---|
| 1183 | intno = 53U;
|
---|
| 1184 | CallTrustedFunction(tfnt5, (TrustedFunctionParameterRefType)&intno);
|
---|
| 1185 | /*Sample1RaiseInterrupt(171U);*/
|
---|
| 1186 | #if 0
|
---|
| 1187 | p_runosap = 0xffffffff;
|
---|
| 1188 | #endif
|
---|
| 1189 | syslog(LOG_NOTICE, "ISR 52 terminated");
|
---|
| 1190 | }
|
---|
| 1191 | ISR(C2ISR_for_53)
|
---|
| 1192 | {
|
---|
| 1193 | InterruptNumberType intno;
|
---|
| 1194 |
|
---|
| 1195 | syslog(LOG_NOTICE, "ISR 53 activated");
|
---|
| 1196 | intno = 53U;
|
---|
| 1197 | CallTrustedFunction(tfnt6, (TrustedFunctionParameterRefType)&intno);
|
---|
| 1198 | #if 0
|
---|
| 1199 | p_runosap = 0xffffffff;
|
---|
| 1200 | #endif
|
---|
| 1201 | #if 0
|
---|
| 1202 | TerminateApplication(NT_osap2, NO_RESTART);
|
---|
| 1203 | #endif
|
---|
| 1204 | #if 1
|
---|
| 1205 | TerminateApplication(NT_osap2, RESTART);
|
---|
| 1206 | #endif
|
---|
| 1207 | /*Sample1ClearIntRequest(171U);*/
|
---|
| 1208 | syslog(LOG_NOTICE, "ISR 53 terminated");
|
---|
| 1209 | }
|
---|
| 1210 |
|
---|
| 1211 | TRUSTEDFUNCTION(TRUSTED_ClearInt, FunctionIndex, FunctionParams)
|
---|
| 1212 | {
|
---|
| 1213 | Sample1ClearIntRequest(*((InterruptNumberType *)FunctionParams));
|
---|
| 1214 |
|
---|
| 1215 | return(E_OK);
|
---|
| 1216 | }
|
---|
| 1217 |
|
---|
| 1218 | TRUSTEDFUNCTION(TRUSTED_RaiseInt, FunctionIndex, FunctionParams)
|
---|
| 1219 | {
|
---|
| 1220 | Sample1RaiseInterrupt(*((InterruptNumberType *)FunctionParams));
|
---|
| 1221 |
|
---|
| 1222 | return(E_OK);
|
---|
| 1223 | }
|
---|
| 1224 |
|
---|
| 1225 |
|
---|