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);
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382 | }
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383 | break;
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384 | default:
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385 | /* ä¸è¨ã®ã³ãã³ã以å¤ã®å ´åï¼å¦çã¯è¡ããªã */
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386 | break;
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387 | }
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388 | }
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389 | } /* TaskProk */
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390 |
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391 | /*
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392 | * ã³ãã³ãåä¿¡å¦ç
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393 | */
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394 | uint8
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395 | GetCommand(void)
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396 | {
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397 | uint8 command; /* ã³ãã³ãåä¿¡ãããã¡ */
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398 |
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399 | /*
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400 | * ã³ãã³ããåä¿¡ããã¾ã§ã«ã¼ã
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401 | */
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402 | command = '\0';
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403 | do {
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---|
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 |
|
---|