nxtOSEK/samples_c/petest/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 DeclareCounter( SysTimerCnt );\r
  10 DeclareResource(lcd);\r
  11 DeclareTask(LowTask);\r
  12 DeclareTask(HighTask);\r
  13 \r
  14 /*--------------------------------------------------------------------------*/\r
  15 /* Definitions                                                              */\r
  16 /*--------------------------------------------------------------------------*/\r
  17 int digits;\r
  18 \r
  19 /*--------------------------------------------------------------------------*/\r
  20 /* Function to be invoked from a category 2 interrupt                       */\r
  21 /*--------------------------------------------------------------------------*/\r
  22 void user_1ms_isr_type2(void)\r
  23 {\r
  24         StatusType ercd;\r
  25         \r
  26         /*\r
  27          *  Increment OSEK Alarm System Timer Count\r
  28      */\r
  29         ercd = SignalCounter( SysTimerCnt );\r
  30         if( ercd != E_OK ){\r
  31                 ShutdownOS( ercd );\r
  32         }\r
  33 }\r
  34 \r
  35 /*--------------------------------------------------------------------------*/\r
  36 /* Task information:                                                        */\r
  37 /* -----------------                                                        */\r
  38 /* Name    : LowTask                                                        */\r
  39 /* Priority: 2                                                              */\r
  40 /* Typ     : EXTENDED TASK                                                  */\r
  41 /* Schedule: preemptive                                                     */\r
  42 /*--------------------------------------------------------------------------*/\r
  43 TASK(LowTask)\r
  44 {\r
  45     int hcount, lcount;\r
  46 \r
  47         for (hcount = 0; hcount < 10; hcount++) {\r
  48                 digits--;\r
  49                 GetResource(lcd);\r
  50 \r
  51                 ecrobot_debug1(digits, hcount, 0);\r
  52             /* The following loop is to wait for the ISR triggered by ecrobot_debug\r
  53              * (or the specific I/O statement inside ecrobot_debug) to complete\r
  54              * This is a good example to show how explicit/implicit shared resource\r
  55              * is needed to be protected against concurrent accesses from multiple Tasks\r
  56                  */\r
  57                 for (lcount = 0; lcount < 3200; lcount++) ;\r
  58 \r
  59                 ReleaseResource(lcd);\r
  60         }\r
  61 \r
  62         ChainTask(LowTask);\r
  63 \r
  64 }\r
  65 \r
  66 /*--------------------------------------------------------------------------*/\r
  67 /* Task information:                                                        */\r
  68 /* -----------------                                                        */\r
  69 /* Name    : HighTask                                                       */\r
  70 /* Priority: 3                                                              */\r
  71 /* Typ     : EXTENDED TASK                                                  */\r
  72 /* Schedule: preemptive                                                     */\r
  73 /*--------------------------------------------------------------------------*/\r
  74 TASK(HighTask)\r
  75 {\r
  76         int hcount, lcount;\r
  77 \r
  78         for (hcount = 0; hcount < 10; hcount++) {\r
  79                 GetResource(lcd);\r
  80 \r
  81                 ecrobot_debug2(digits, hcount, 0);\r
  82             /* The following loop is to wait for the ISR triggered by ecrobot_debug\r
  83              * (or the specific I/O statement inside ecrobot_debug) to complete\r
  84              * This is a good example to show how explicit/implicit shared resource\r
  85              * is needed to be protected against concurrent accesses from multiple Tasks\r
  86                  */\r
  87         for (lcount = 0; lcount < 3200; lcount++) ;\r
  88 \r
  89                 ReleaseResource(lcd);\r
  90         }\r
  91         digits=0;\r
  92         \r
  93         TerminateTask();\r
  94 }\r
  95 \r