nxtOSEK/samples/tttest/template.c

   1 \r
   2 #include "kernel.h"\r
   3 #include "kernel_id.h"\r
   4 #include "ecrobot_interface.h"\r
   5 \r
   6 /*--------------------------------------------------------------------------*/\r
   7 /* OSEK declarations                                                        */\r
   8 /*--------------------------------------------------------------------------*/\r
   9 DeclareEvent(BarrierEvent);\r
  10 DeclareCounter(SysTimerCnt);\r
  11 DeclareResource(mx);\r
  12 DeclareTask(LowTask);\r
  13 DeclareTask(HighTask);\r
  14 \r
  15 /*--------------------------------------------------------------------------*/\r
  16 /* Definitions                                                              */\r
  17 /*--------------------------------------------------------------------------*/\r
  18 int digits;\r
  19 \r
  20 /*--------------------------------------------------------------------------*/\r
  21 /* Function to be invoked from a category 2 interrupt                       */\r
  22 /*--------------------------------------------------------------------------*/\r
  23 void user_1ms_isr_type2()\r
  24 {\r
  25 \r
  26       SignalCounter( SysTimerCnt );\r
  27 \r
  28 }\r
  29 \r
  30 /*--------------------------------------------------------------------------*/\r
  31 /* Task information:                                                        */\r
  32 /* -----------------                                                        */\r
  33 /* Name    : LowTask                                                        */\r
  34 /* Priority: 2                                                              */\r
  35 /* Typ     : EXTENDED TASK                                                  */\r
  36 /* Schedule: preemptive                                                     */\r
  37 /*--------------------------------------------------------------------------*/\r
  38 int lowtaskcount;\r
  39 int hightaskcount;\r
  40 TASK(LowTask)\r
  41 {\r
  42     int hcount, lcount;\r
  43 \r
  44     while(1)\r
  45         {\r
  46           for (hcount = 0; hcount < 10; hcount++) {\r
  47                   digits--;\r
  48                   GetResource(mx);\r
  49 \r
  50                   ecrobot_debug1(digits, lowtaskcount, hightaskcount);\r
  51               /* The following loop is to wait for the ISR triggered by ecrobot_debug\r
  52                * (or the specific I/O statement inside ecrobot_debug) to complete\r
  53                * This is a good example to show how explicit/implicit shared resource\r
  54                * is needed to be protected against concurrent accesses from multiple Tasks\r
  55                    */\r
  56                   for (lcount = 0; lcount < 3200; lcount++) ;\r
  57 \r
  58                   ReleaseResource(mx);\r
  59           }\r
  60           lowtaskcount++;\r
  61 \r
  62     }\r
  63 \r
  64     TerminateTask();\r
  65 }\r
  66 \r
  67 /*--------------------------------------------------------------------------*/\r
  68 /* Task information:                                                        */\r
  69 /* -----------------                                                        */\r
  70 /* Name    : HighTask                                                       */\r
  71 /* Priority: 3                                                              */\r
  72 /* Typ     : EXTENDED TASK                                                  */\r
  73 /* Schedule: preemptive                                                     */\r
  74 /*--------------------------------------------------------------------------*/\r
  75 TASK(HighTask)\r
  76 {\r
  77         int hcount, lcount;\r
  78 \r
  79         while(1) {\r
  80                 for (hcount = 0; hcount < 10; hcount++) {\r
  81                         GetResource(mx);\r
  82 \r
  83                         ecrobot_debug2(digits, hcount, 0);\r
  84                 /* The following loop is to wait for the ISR triggered by ecrobot_debug\r
  85                  * (or the specific I/O statement inside ecrobot_debug) to complete\r
  86                  * This is a good example to show how explicit/implicit shared resource\r
  87                  * is needed to be protected against concurrent accesses from multiple Tasks\r
  88                      */\r
  89                         for (lcount = 0; lcount < 3200; lcount++) ;\r
  90 \r
  91                         ReleaseResource(mx);\r
  92                 }\r
  93                 WaitEvent(BarrierEvent);\r
  94         ClearEvent(BarrierEvent);\r
  95         digits = 0;\r
  96         hightaskcount++;\r
  97     }\r
  98 \r
  99     TerminateTask();\r
 100 }\r