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jsauermann |
/*******************************************************************************
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********************************************************************************
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** **
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** TASK SWITCHING **
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** **
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********************************************************************************
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*******************************************************************************/
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enum
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{
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TASK_RUNNING = 0x00,
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TASK_BLOCKED = 0x01,
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TASK_SLEEPING = 0x02,
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TASK_SUSPENDED = 0x04
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};
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typedef struct _task Task;
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typedef struct _semaphore Semaphore;
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struct _task
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{
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// members required at initialization...
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//
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Task * next_task;
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int * stack_pointer;
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char status;
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unsigned char priority;
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const char * name;
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char * stack_bottom;
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char * stack_top;
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// members used later on
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//
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char sema_ret;
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unsigned char saved_priority;
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Semaphore * waiting_for;
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Task * next_waiting_task;
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int sleep_count;
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};
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extern Task * current_task;
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extern Task task_idle;
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struct _semaphore
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{
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int counter;
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Task * next_waiting;
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Task * last_waiting;
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const char * name;
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};
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Semaphore rx_sema = { 0, 0, 0, "rx_semaphore" };
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Semaphore t2_control = { 0, 0, 0, "task 2 control" };
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Semaphore t3_control = { 0, 0, 0, "task 3 control" };
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Semaphore serial_out = { 1, 0, 0, "serial out" };
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Semaphore tx_sema = { 16, 0, 0, "tx_semaphore" };
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void switch_tasks() // interrupts disabled !
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{
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Task * next = 0;
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Task * t = current_task;
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/* for performance reasons, we hand-code the following:
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do { if ( !(t = t->next_task)->status // t is running and
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&& (!next // no next found so far,
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|| t->priority > next->priority // or t has higher priority
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)
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) next = t;
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} while (t != current_task);
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*/
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ASM("
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st_loop:
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MOVE 0(SP), RR ; RR = t
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MOVE (RR), RR ; RR = t->next_task
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MOVE RR, 0(SP) ; t = t->next_task
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ADD RR, #4 ; RR = & t->status
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MOVE (RR), RS ; RR = t->status
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JMP RRNZ, st_next_task ; jump if (status != 0)
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;
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MOVE 2(SP), RR ; RR = next
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JMP RRZ, st_accept ; jump if (next == 0)
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;
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ADD RR, #5 ; RR = & next->priority
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MOVE (RR), RS ; RR = next->priority
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MOVE RR, LL ; LL = next->priority
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MOVE 0(SP), RR ; RR = t
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ADD RR, #5 ; RR = & t->priority
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MOVE (RR), RS ; RR = t->priority
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24 |
jsauermann |
SGE LL, RR ; RR = (next->priority >= t->priority)
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2 |
jsauermann |
JMP RRNZ, st_next_task ; jump if (next->priority > t->priority)
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st_accept: ;
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MOVE 0(SP), RR ; RR = t
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MOVE RR, 2(SP) ; next = t
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st_next_task: ;
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MOVE 0(SP), RR ; RR = t
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MOVE (Ccurrent_task), LL ; LL = current_task
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SNE LL, RR ; RR = (t != current_task)
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JMP RRNZ, st_loop ;
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");
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if (current_task != next)
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{
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current_task->stack_pointer = (int *)ASM(" LEA 0(SP), RR");
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current_task = next;
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current_task->stack_pointer; ASM(" MOVE RR, SP");
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}
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}
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//-----------------------------------------------------------------------------
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void P(Semaphore * sema)
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{
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ASM(" DI");
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if (--sema->counter < 0)
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{
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// this task blocks
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//
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current_task->waiting_for = sema;
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current_task->next_waiting_task = 0;
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current_task->status |= TASK_BLOCKED;
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if (sema->next_waiting) // some tasks blocked already on sema
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sema->last_waiting->next_waiting_task = current_task;
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else // first task blocked on sema
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sema->next_waiting = current_task;
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sema->last_waiting = current_task;
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switch_tasks();
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}
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ASM(" RETI");
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}
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//-----------------------------------------------------------------------------
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//
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// return non-zero if timeout occured
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//
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char P_timed(Semaphore * sema, unsigned int ticks)
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{
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char ret = 0;
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ASM(" DI");
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if (--sema->counter < 0)
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{
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// this task blocks
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//
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current_task->waiting_for = sema;
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current_task->sleep_count = ticks;
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current_task->next_waiting_task = 0;
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current_task->status |= TASK_BLOCKED | TASK_SLEEPING;
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current_task->sema_ret = 0;
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if (sema->next_waiting) // some tasks blocked already on sema
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sema->last_waiting->next_waiting_task = current_task;
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else // first task blocked on sema
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sema->next_waiting = current_task;
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switch_tasks();
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ret = current_task->sema_ret;
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}
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ASM(" EI");
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return ret;
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}
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//-----------------------------------------------------------------------------
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//
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// return non-zero if task switch required
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//
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char Vint(Semaphore * sema) // interrupts disabled !
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{
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Task * next = sema->next_waiting;
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++sema->counter;
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if (next) // waiting queue not empty: remove first waiting
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{
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next->status &= ~(TASK_BLOCKED | TASK_SLEEPING);
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sema->next_waiting = next->next_waiting_task;
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if (!sema->next_waiting) sema->last_waiting = 0;
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return next->priority > current_task->priority;
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}
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return 0;
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}
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//-----------------------------------------------------------------------------
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void V(Semaphore * sema)
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{
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ASM(" DI");
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if (Vint(sema)) switch_tasks();
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ASM(" RETI");
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}
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/*******************************************************************************
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********************************************************************************
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** **
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** INTERRUPT HANDLERS **
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** **
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********************************************************************************
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*******************************************************************************/
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unsigned char serial_in_buffer[16];
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unsigned char serial_in_get = 0;
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unsigned char serial_in_put = 0;
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unsigned int serial_in_overflows = 0;
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char rx_interrupt()
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{
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char c = ASM(" IN (IN_RX_DATA), RU");
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if (rx_sema.counter < sizeof(serial_in_buffer))
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{
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serial_in_buffer[serial_in_put] = c;
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if (++serial_in_put >= sizeof(serial_in_buffer)) serial_in_put = 0;
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return Vint(&rx_sema);
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}
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else
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{
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++serial_in_overflows;
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return 0;
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}
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}
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//-----------------------------------------------------------------------------
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unsigned char serial_out_buffer[16];
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unsigned char serial_out_get = 0;
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unsigned char serial_out_put = 0;
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char tx_interrupt()
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{
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if (tx_sema.counter < sizeof(serial_out_buffer))
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{
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serial_out_buffer[serial_out_get];
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ASM(" OUT R, (OUT_TX_DATA)");
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if (++serial_out_get >= sizeof(serial_out_buffer)) serial_out_get = 0;
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return Vint(&tx_sema);
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}
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else
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{
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ASM(" MOVE #0x05, RR"); // RxInt and TimerInt
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ASM(" OUT R, (OUT_INT_MASK)");
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return 0;
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}
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}
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//-----------------------------------------------------------------------------
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unsigned int milliseconds = 0;
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unsigned int seconds_low = 0;
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unsigned int seconds_mid = 0;
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unsigned int seconds_high = 0;
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unsigned char seconds_changed = 0;
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void timer_interrupt()
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{
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Task * t = current_task;
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Semaphore * s;
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Task * ts;
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ASM(" OUT R, (OUT_RESET_TIMER)");
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if (++milliseconds == 1000)
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{
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milliseconds = 0;
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seconds_changed = 0xFF;
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if (++seconds_low == 0)
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{
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if (++seconds_mid == 0) ++seconds_high;
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}
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}
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| 270 |
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do {
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if (!--(t->sleep_count) && (t->status & TASK_SLEEPING))
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{
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t->status &= ~TASK_SLEEPING;
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if (t->status & TASK_BLOCKED) // timed P
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{
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t->status &= ~TASK_BLOCKED;
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t->sema_ret = -1;
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s = t->waiting_for;
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++s->counter;
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ts = s->next_waiting;
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if (t == ts) // t is first waiting
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{
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| 283 |
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if (t == s->last_waiting)
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{ // t is also last (thus, the only) waiting
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s->next_waiting = 0;
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| 286 |
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s->last_waiting = 0;
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| 287 |
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}
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| 288 |
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else
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| 289 |
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{ // t is first of several waiting (thus, not last)
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s->next_waiting = t->next_waiting_task;
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| 291 |
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}
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| 292 |
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}
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| 293 |
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else // t is subsequent waiting
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| 294 |
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{
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| 295 |
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while (t != ts->next_waiting_task)
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| 296 |
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ts = ts->next_waiting_task;
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| 297 |
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ts->next_waiting_task = t->next_waiting_task;
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| 298 |
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if (t == s->last_waiting) // t is last waiting
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s->last_waiting = ts; // now ts is last waiting
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| 300 |
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}
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| 301 |
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}
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| 302 |
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}
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| 303 |
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} while (current_task != (t = t->next_task));
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| 304 |
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}
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| 305 |
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//-----------------------------------------------------------------------------
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| 306 |
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void interrupt()
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| 307 |
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{
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| 308 |
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char ts_1 = 0;
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| 309 |
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char ts_2 = 0;
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| 310 |
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| 311 |
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ASM(" MOVE RR, -(SP)");
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| 312 |
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ASM(" MOVE LL, RR");
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| 313 |
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ASM(" MOVE RR, -(SP)");
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| 314 |
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| 315 |
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if (ASM(" IN (IN_STATUS), RU") & 0x10) ts_1 = rx_interrupt();
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| 316 |
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if (ASM(" IN (IN_STATUS), RU") & 0x20) ts_2 = tx_interrupt();
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| 317 |
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if (ASM(" IN (IN_STATUS), RU") & 0x40)
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| 318 |
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{ timer_interrupt(); ts_1 = -1; }
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| 319 |
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| 320 |
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if (ts_1 | ts_2) switch_tasks();
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| 321 |
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| 322 |
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ASM(" MOVE (SP)+, RR");
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| 323 |
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ASM(" MOVE RR, LL");
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| 324 |
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ASM(" MOVE (SP)+, RR");
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| 325 |
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ASM(" ADD SP, #2");
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| 326 |
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ASM(" RETI");
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| 327 |
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}
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| 328 |
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//-----------------------------------------------------------------------------
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| 329 |
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void sleep(int millisecs)
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| 330 |
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{
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| 331 |
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ASM(" DI");
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| 332 |
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current_task->sleep_count = millisecs;
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| 333 |
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current_task->status = TASK_SLEEPING;
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| 334 |
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switch_tasks();
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| 335 |
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ASM(" RETI");
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| 336 |
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}
|
| 337 |
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//-----------------------------------------------------------------------------
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| 338 |
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void deschedule()
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| 339 |
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{
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| 340 |
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ASM(" DI");
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| 341 |
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switch_tasks();
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| 342 |
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ASM(" RETI");
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| 343 |
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}
|
| 344 |
|
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/*******************************************************************************
|
| 345 |
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********************************************************************************
|
| 346 |
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** **
|
| 347 |
|
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** UTILITY FUNCTIONS **
|
| 348 |
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** **
|
| 349 |
|
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********************************************************************************
|
| 350 |
|
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*******************************************************************************/
|
| 351 |
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|
| 352 |
|
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int strlen(const char * buffer)
|
| 353 |
|
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{
|
| 354 |
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const char * from = buffer;
|
| 355 |
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| 356 |
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while (*buffer) buffer++;
|
| 357 |
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| 358 |
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return buffer - from;
|
| 359 |
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}
|
| 360 |
|
|
/*******************************************************************************
|
| 361 |
|
|
********************************************************************************
|
| 362 |
|
|
** **
|
| 363 |
|
|
** SERIAL OUTPUT **
|
| 364 |
|
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** **
|
| 365 |
|
|
********************************************************************************
|
| 366 |
|
|
*******************************************************************************/
|
| 367 |
|
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|
| 368 |
|
|
int putchr(char c)
|
| 369 |
|
|
{
|
| 370 |
|
|
P(&tx_sema); // get free position
|
| 371 |
|
|
|
| 372 |
|
|
serial_out_buffer[serial_out_put] = c;
|
| 373 |
|
|
if (++serial_out_put >= sizeof(serial_out_buffer)) serial_out_put = 0;
|
| 374 |
|
|
ASM(" MOVE #0x07, RR"); // RxInt and TxInt and TimerInt
|
| 375 |
|
|
ASM(" OUT R, (OUT_INT_MASK)");
|
| 376 |
|
|
1;
|
| 377 |
|
|
}
|
| 378 |
|
|
//-----------------------------------------------------------------------------
|
| 379 |
|
|
void print_n(char c, int count)
|
| 380 |
|
|
{
|
| 381 |
|
|
for (; count > 0; --count) putchr(c);
|
| 382 |
|
|
}
|
| 383 |
|
|
//-----------------------------------------------------------------------------
|
| 384 |
|
|
void print_string(const char * buffer)
|
| 385 |
|
|
{
|
| 386 |
|
|
while (*buffer) putchr(*buffer++);
|
| 387 |
|
|
}
|
| 388 |
|
|
//-----------------------------------------------------------------------------
|
| 389 |
|
|
void print_hex(char * dest, unsigned int value, const char * hex)
|
| 390 |
|
|
{
|
| 391 |
|
|
if (value >= 0x1000) *dest++ = hex[(value >> 12) & 0x0F];
|
| 392 |
|
|
if (value >= 0x100) *dest++ = hex[(value >> 8) & 0x0F];
|
| 393 |
|
|
if (value >= 0x10) *dest++ = hex[(value >> 4) & 0x0F];
|
| 394 |
|
|
*dest++ = hex[value & 0x0F];
|
| 395 |
|
|
*dest = 0;
|
| 396 |
|
|
}
|
| 397 |
|
|
//-----------------------------------------------------------------------------
|
| 398 |
|
|
void print_unsigned(char * dest, unsigned int value)
|
| 399 |
|
|
{
|
| 400 |
|
|
if (value >= 10000) *dest++ = '0' + (value / 10000);
|
| 401 |
|
|
if (value >= 1000) *dest++ = '0' + (value / 1000) % 10;
|
| 402 |
|
|
if (value >= 100) *dest++ = '0' + (value / 100) % 10;
|
| 403 |
|
|
if (value >= 10) *dest++ = '0' + (value / 10) % 10;
|
| 404 |
|
|
*dest++ = '0' + value % 10;
|
| 405 |
|
|
*dest = 0;
|
| 406 |
|
|
}
|
| 407 |
|
|
//-----------------------------------------------------------------------------
|
| 408 |
|
|
int print_item(const char * buffer, char flags, char sign, char pad,
|
| 409 |
|
|
const char * alt, int field_w, int min_w, char min_p)
|
| 410 |
|
|
{
|
| 411 |
|
|
// [fill] [sign] [alt] [pad] [buffer] [fill]
|
| 412 |
|
|
// ----------- len -----------
|
| 413 |
|
|
int filllen = 0;
|
| 414 |
|
|
int signlen = 0;
|
| 415 |
|
|
int altlen = 0;
|
| 416 |
|
|
int padlen = 0;
|
| 417 |
|
|
int buflen = strlen(buffer);
|
| 418 |
|
|
int len;
|
| 419 |
|
|
int i;
|
| 420 |
|
|
|
| 421 |
|
|
if (min_w > buflen) padlen = min_w - buflen;
|
| 422 |
|
|
if (sign) signlen = 1;
|
| 423 |
|
|
if (alt && (flags & 0x01)) altlen = strlen(alt);
|
| 424 |
|
|
|
| 425 |
|
|
len = signlen + altlen + padlen + buflen;
|
| 426 |
|
|
|
| 427 |
|
|
if (0x02 & ~flags) print_n(pad, field_w - len); // right align
|
| 428 |
|
|
|
| 429 |
|
|
if (sign) putchr(sign);
|
| 430 |
|
|
if (alt)
|
| 431 |
|
|
{
|
| 432 |
|
|
if (flags & 0x01) print_string(alt);
|
| 433 |
|
|
}
|
| 434 |
|
|
|
| 435 |
|
|
for (i = 0; i < padlen; i++) putchr(min_p);
|
| 436 |
|
|
print_string(buffer);
|
| 437 |
|
|
|
| 438 |
|
|
if (0x02 & flags) print_n(pad, field_w - len); // left align
|
| 439 |
|
|
|
| 440 |
|
|
return len;
|
| 441 |
|
|
}
|
| 442 |
|
|
//-----------------------------------------------------------------------------
|
| 443 |
|
|
int printf(const char * format, ...)
|
| 444 |
|
|
{
|
| 445 |
|
|
const char ** args = 1 + &format;
|
| 446 |
|
|
int len = 0;
|
| 447 |
|
|
char c;
|
| 448 |
|
|
char flags;
|
| 449 |
|
|
char sign;
|
| 450 |
|
|
char pad;
|
| 451 |
|
|
const char * alt;
|
| 452 |
|
|
int field_w;
|
| 453 |
|
|
int min_w;
|
| 454 |
|
|
unsigned int * which_w;
|
| 455 |
|
|
char buffer[12];
|
| 456 |
|
|
|
| 457 |
|
|
while (c = *format++)
|
| 458 |
|
|
{
|
| 459 |
|
|
if (c != '%') { len +=putchr(c); continue; }
|
| 460 |
|
|
|
| 461 |
|
|
flags = 0;
|
| 462 |
|
|
sign = 0;
|
| 463 |
|
|
pad = ' ';
|
| 464 |
|
|
field_w = 0;
|
| 465 |
|
|
min_w = 0;
|
| 466 |
|
|
which_w = &field_w;
|
| 467 |
|
|
for (;;)
|
| 468 |
|
|
{
|
| 469 |
|
|
switch(c = *format++)
|
| 470 |
|
|
{
|
| 471 |
|
|
case 'X': print_hex(buffer, (unsigned int)*args++,
|
| 472 |
|
|
"0123456789ABCDEF");
|
| 473 |
|
|
len += print_item(buffer, flags, sign, pad,
|
| 474 |
|
|
"0X", field_w, min_w, '0');
|
| 475 |
|
|
break;
|
| 476 |
|
|
|
| 477 |
|
|
case 'd': if (((int)*args) < 0)
|
| 478 |
|
|
{
|
| 479 |
|
|
sign = '-';
|
| 480 |
|
|
*args = (char *)(- ((int)*args));
|
| 481 |
|
|
}
|
| 482 |
|
|
print_unsigned(buffer, ((int)*args++));
|
| 483 |
|
|
len += print_item(buffer, flags, sign, pad,
|
| 484 |
|
|
"", field_w, min_w, '0');
|
| 485 |
|
|
break;
|
| 486 |
|
|
|
| 487 |
|
|
case 's': len += print_item(*args++, flags & 0x02, 0, ' ',
|
| 488 |
|
|
"", field_w, min_w, ' ');
|
| 489 |
|
|
break;
|
| 490 |
|
|
|
| 491 |
|
|
case 'u': print_unsigned(buffer, (unsigned int)*args++);
|
| 492 |
|
|
len += print_item(buffer, flags, sign, pad,
|
| 493 |
|
|
"", field_w, min_w, '0');
|
| 494 |
|
|
break;
|
| 495 |
|
|
|
| 496 |
|
|
case 'x': print_hex(buffer, (unsigned int)*args++,
|
| 497 |
|
|
"0123456789abcdef");
|
| 498 |
|
|
len += print_item(buffer, flags, sign, pad,
|
| 499 |
|
|
"0x", field_w, min_w, '0');
|
| 500 |
|
|
break;
|
| 501 |
|
|
|
| 502 |
|
|
case 'c': len += putchr((int)*args++); break;
|
| 503 |
|
|
|
| 504 |
|
|
case '#': flags |= 0x01; continue;
|
| 505 |
|
|
case '-': flags |= 0x02; continue;
|
| 506 |
|
|
case ' ': if (!sign) sign = ' '; continue;
|
| 507 |
|
|
case '+': sign = '+'; continue;
|
| 508 |
|
|
case '.': which_w = &min_w; continue;
|
| 509 |
|
|
|
| 510 |
|
|
case '0': if (*which_w) *which_w *= 10;
|
| 511 |
|
|
else pad = '0';
|
| 512 |
|
|
continue;
|
| 513 |
|
|
|
| 514 |
|
|
case '1': *which_w = 10 * *which_w + 1; continue;
|
| 515 |
|
|
case '2': *which_w = 10 * *which_w + 2; continue;
|
| 516 |
|
|
case '3': *which_w = 10 * *which_w + 3; continue;
|
| 517 |
|
|
case '4': *which_w = 10 * *which_w + 4; continue;
|
| 518 |
|
|
case '5': *which_w = 10 * *which_w + 5; continue;
|
| 519 |
|
|
case '6': *which_w = 10 * *which_w + 6; continue;
|
| 520 |
|
|
case '7': *which_w = 10 * *which_w + 7; continue;
|
| 521 |
|
|
case '8': *which_w = 10 * *which_w + 8; continue;
|
| 522 |
|
|
case '9': *which_w = 10 * *which_w + 9; continue;
|
| 523 |
|
|
case '*': *which_w = (int)*args++; continue;
|
| 524 |
|
|
|
| 525 |
|
|
case 0: format--; // premature end of format
|
| 526 |
|
|
break;
|
| 527 |
|
|
|
| 528 |
|
|
default: len += putchr(c);
|
| 529 |
|
|
break;
|
| 530 |
|
|
}
|
| 531 |
|
|
break;
|
| 532 |
|
|
}
|
| 533 |
|
|
}
|
| 534 |
|
|
return len;
|
| 535 |
|
|
}
|
| 536 |
|
|
/*******************************************************************************
|
| 537 |
|
|
********************************************************************************
|
| 538 |
|
|
** **
|
| 539 |
|
|
** SERIAL INPUT **
|
| 540 |
|
|
** **
|
| 541 |
|
|
********************************************************************************
|
| 542 |
|
|
*******************************************************************************/
|
| 543 |
|
|
|
| 544 |
|
|
int getchr()
|
| 545 |
|
|
{
|
| 546 |
|
|
char c;
|
| 547 |
|
|
|
| 548 |
|
|
P(&rx_sema);
|
| 549 |
|
|
|
| 550 |
|
|
c = serial_in_buffer[serial_in_get];
|
| 551 |
|
|
if (++serial_in_get >= sizeof(serial_in_buffer)) serial_in_get = 0;
|
| 552 |
|
|
return c;
|
| 553 |
|
|
}
|
| 554 |
|
|
//-----------------------------------------------------------------------------
|
| 555 |
|
|
int getchr_timed(unsigned int ticks)
|
| 556 |
|
|
{
|
| 557 |
|
|
char c;
|
| 558 |
|
|
|
| 559 |
|
|
c = P_timed(&rx_sema, ticks);
|
| 560 |
|
|
if (c) return -1; // if rx_sema timed out
|
| 561 |
|
|
|
| 562 |
|
|
c = serial_in_buffer[serial_in_get];
|
| 563 |
|
|
if (++serial_in_get >= sizeof(serial_in_buffer)) serial_in_get = 0;
|
| 564 |
|
|
return c;
|
| 565 |
|
|
}
|
| 566 |
|
|
//-----------------------------------------------------------------------------
|
| 567 |
10 |
jsauermann |
char peekchr()
|
| 568 |
2 |
jsauermann |
{
|
| 569 |
10 |
jsauermann |
char ret;
|
| 570 |
|
|
|
| 571 |
2 |
jsauermann |
P(&rx_sema);
|
| 572 |
10 |
jsauermann |
ret = serial_in_buffer[serial_in_get];
|
| 573 |
2 |
jsauermann |
V(&rx_sema);
|
| 574 |
|
|
|
| 575 |
10 |
jsauermann |
return ret;
|
| 576 |
2 |
jsauermann |
}
|
| 577 |
|
|
//-----------------------------------------------------------------------------
|
| 578 |
|
|
char getnibble(char echo)
|
| 579 |
|
|
{
|
| 580 |
|
|
char c = peekchr();
|
| 581 |
|
|
int ret = -1;
|
| 582 |
|
|
|
| 583 |
|
|
if ((c >= '0') && (c <= '9')) ret = c - '0';
|
| 584 |
|
|
else if ((c >= 'A') && (c <= 'F')) ret = c - 0x37;
|
| 585 |
|
|
else if ((c >= 'a') && (c <= 'f')) ret = c - 0x57;
|
| 586 |
|
|
|
| 587 |
|
|
if (ret != -1) // valid hex char
|
| 588 |
|
|
{
|
| 589 |
|
|
getchr();
|
| 590 |
|
|
if (echo) putchr(c);
|
| 591 |
|
|
}
|
| 592 |
|
|
return ret;
|
| 593 |
|
|
}
|
| 594 |
|
|
//-----------------------------------------------------------------------------
|
| 595 |
|
|
int gethex(char echo)
|
| 596 |
|
|
{
|
| 597 |
|
|
int ret = 0;
|
| 598 |
|
|
char c;
|
| 599 |
|
|
|
| 600 |
|
|
while ((c = getnibble(echo)) != -1) ret = (ret << 4) | c;
|
| 601 |
|
|
return ret;
|
| 602 |
|
|
}
|
| 603 |
|
|
/*******************************************************************************
|
| 604 |
|
|
********************************************************************************
|
| 605 |
|
|
** **
|
| 606 |
|
|
** main and its helpers **
|
| 607 |
|
|
** **
|
| 608 |
|
|
********************************************************************************
|
| 609 |
|
|
*******************************************************************************/
|
| 610 |
|
|
|
| 611 |
|
|
//-----------------------------------------------------------------------------
|
| 612 |
|
|
void init_stack()
|
| 613 |
|
|
{
|
| 614 |
|
|
char * bottom = current_task->stack_bottom;
|
| 615 |
|
|
|
| 616 |
|
|
while (bottom < (char *)ASM(" LEA 0(SP), RR")) *bottom++ = 'S';
|
| 617 |
|
|
}
|
| 618 |
|
|
//-----------------------------------------------------------------------------
|
| 619 |
|
|
|
| 620 |
|
|
extern char * end_text;
|
| 621 |
|
|
|
| 622 |
16 |
jsauermann |
void init_unused() // must ONLY be called by idle task
|
| 623 |
2 |
jsauermann |
{
|
| 624 |
|
|
char * cp = current_task->stack_bottom;
|
| 625 |
|
|
|
| 626 |
|
|
while (--cp >= (char *)&end_text) *cp = ' ';
|
| 627 |
|
|
}
|
| 628 |
|
|
//-----------------------------------------------------------------------------
|
| 629 |
|
|
int stack_used(Task * t)
|
| 630 |
|
|
{
|
| 631 |
|
|
char * bottom = t->stack_bottom;
|
| 632 |
|
|
|
| 633 |
|
|
while (*bottom == 'S') bottom++;
|
| 634 |
|
|
return t->stack_top - bottom;
|
| 635 |
|
|
}
|
| 636 |
|
|
//-----------------------------------------------------------------------------
|
| 637 |
|
|
void show_sema(Semaphore * s)
|
| 638 |
|
|
{
|
| 639 |
|
|
Task * t;
|
| 640 |
|
|
|
| 641 |
|
|
printf("%-20s %4d ", s->name, s->counter);
|
| 642 |
|
|
if (s->counter < 0)
|
| 643 |
|
|
{
|
| 644 |
|
|
for (t = s->next_waiting; t; t = t->next_waiting_task)
|
| 645 |
|
|
{
|
| 646 |
|
|
printf("%s -> ", t->name);
|
| 647 |
|
|
if (t == s->last_waiting) printf("0");
|
| 648 |
|
|
}
|
| 649 |
|
|
}
|
| 650 |
|
|
else
|
| 651 |
|
|
{
|
| 652 |
|
|
printf("none.");
|
| 653 |
|
|
}
|
| 654 |
|
|
printf("\r\n");
|
| 655 |
|
|
}
|
| 656 |
|
|
//-----------------------------------------------------------------------------
|
| 657 |
|
|
|
| 658 |
|
|
unsigned char loader[] =
|
| 659 |
|
|
{
|
| 660 |
|
|
// 0xF8, 0x18, 0x00, 0x4F, 0xFC, 0x00, 0xA0, 0x08,
|
| 661 |
|
|
// 0x6E, 0x0E, 0x24, 0x1A, 0x00, 0x03, 0x07, 0x00,
|
| 662 |
|
|
// 0xF8, 0x32, 0x9E, 0x4F, 0x05, 0xF0, 0x9E, 0x00,
|
| 663 |
|
|
// 0xE8, 0x01,
|
| 664 |
|
|
|
| 665 |
|
|
0x2E, 0x01, 0x11, 0x01, 0x3D, 0x03,
|
| 666 |
|
|
0x32, 0x1E, 0x2E, 0x00, 0x07, 0x2E, 0x01, 0x11,
|
| 667 |
|
|
0x02, 0x03, 0x3D, 0x1E, 0x65, 0x02, 0x2F, 0x00,
|
| 668 |
|
|
0x07, 0x02, 0x59, 0x1E, 0x61, 0x02, 0xA1, 0x5D,
|
| 669 |
|
|
0x02, 0xB1, 0x47, 0x0F, 0x05, 0x3D, 0x1E, 0x2B,
|
| 670 |
|
|
0x01, 0x61, 0x02, 0x47, 0x03, 0x4C, 0x1E, 0x07,
|
| 671 |
|
|
0x05, 0x32, 0x1E, 0x0F, 0x65, 0x00, 0x29, 0x30,
|
| 672 |
|
|
0x04, 0x71, 0x1E, 0xF8, 0xFF, 0x00, 0x02, 0xBB,
|
| 673 |
|
|
0x1E, 0x65, 0x00, 0x27, 0x39, 0x04, 0x7F, 0x1E,
|
| 674 |
|
|
0x65, 0x00, 0xF7, 0x30, 0x02, 0xBB, 0x1E, 0x65,
|
| 675 |
|
|
0x00, 0x29, 0x41, 0x04, 0x8C, 0x1E, 0xF8, 0xFF,
|
| 676 |
|
|
0x00, 0x02, 0xBB, 0x1E, 0x65, 0x00, 0x27, 0x46,
|
| 677 |
|
|
0x04, 0x9A, 0x1E, 0x65, 0x00, 0xF7, 0x37, 0x02,
|
| 678 |
|
|
0xBB, 0x1E, 0x65, 0x00, 0x29, 0x61, 0x04, 0xA7,
|
| 679 |
|
|
0x1E, 0xF8, 0xFF, 0x00, 0x02, 0xBB, 0x1E, 0x65,
|
| 680 |
|
|
0x00, 0x27, 0x66, 0x04, 0xB5, 0x1E, 0x65, 0x00,
|
| 681 |
|
|
0xF7, 0x57, 0x02, 0xBB, 0x1E, 0xF8, 0xFF, 0x00,
|
| 682 |
|
|
0x02, 0xBB, 0x1E, 0x2B, 0x01, 0x07, 0x05, 0x60,
|
| 683 |
|
|
0x1E, 0x0F, 0x2D, 0x65, 0x01, 0x18, 0xFF, 0x00,
|
| 684 |
|
|
0x04, 0xE3, 0x1E, 0x05, 0x60, 0x1E, 0x5F, 0x00,
|
| 685 |
|
|
0x65, 0x00, 0x18, 0xFF, 0x00, 0x04, 0xE3, 0x1E,
|
| 686 |
|
|
0x65, 0x01, 0x52, 0x04, 0x43, 0x65, 0x00, 0x31,
|
| 687 |
|
|
0x02, 0xED, 0x1E, 0xF8, 0xC7, 0x1F, 0x0E, 0x05,
|
| 688 |
|
|
0x49, 0x1E, 0x2B, 0x02, 0x00, 0x2B, 0x02, 0x07,
|
| 689 |
|
|
0x2D, 0x2C, 0x2D, 0x2D, 0x2D, 0x2D, 0xF8, 0xDA,
|
| 690 |
|
|
0x1F, 0x0E, 0x05, 0x49, 0x1E, 0x2B, 0x02, 0x05,
|
| 691 |
|
|
0x32, 0x1E, 0x5F, 0x00, 0x19, 0x3A, 0x03, 0xFF,
|
| 692 |
|
|
0x1E, 0xC0, 0x5F, 0x02, 0x05, 0xBE, 0x1E, 0x5F,
|
| 693 |
|
|
0x00, 0x65, 0x02, 0x43, 0x65, 0x00, 0x58, 0x5F,
|
| 694 |
|
|
0x02, 0x65, 0x00, 0x5F, 0x06, 0x05, 0xBE, 0x1E,
|
| 695 |
|
|
0x5F, 0x00, 0x65, 0x02, 0x43, 0x65, 0x00, 0x58,
|
| 696 |
|
|
0x5F, 0x02, 0x65, 0x00, 0x52, 0x08, 0x5D, 0x04,
|
| 697 |
|
|
0x05, 0xBE, 0x1E, 0x5F, 0x00, 0x65, 0x02, 0x43,
|
| 698 |
|
|
0x65, 0x00, 0x58, 0x5F, 0x02, 0x61, 0x04, 0x43,
|
| 699 |
|
|
0x65, 0x00, 0x31, 0x5D, 0x04, 0x05, 0xBE, 0x1E,
|
| 700 |
|
|
0x5F, 0x00, 0x65, 0x02, 0x43, 0x65, 0x00, 0x58,
|
| 701 |
|
|
0x5F, 0x02, 0x65, 0x00, 0x5F, 0x03, 0xC0, 0x5F,
|
| 702 |
|
|
0x01, 0x02, 0x7C, 0x1F, 0x05, 0xBE, 0x1E, 0x5F,
|
| 703 |
|
|
0x00, 0x65, 0x00, 0x0F, 0x65, 0x02, 0x0E, 0x61,
|
| 704 |
|
|
0x07, 0x0B, 0x58, 0x43, 0x09, 0x45, 0x65, 0x02,
|
| 705 |
|
|
0x43, 0x65, 0x00, 0x58, 0x5F, 0x02, 0x65, 0x01,
|
| 706 |
|
|
0xA1, 0x5F, 0x01, 0xB1, 0x65, 0x01, 0x43, 0x65,
|
| 707 |
|
|
0x06, 0x3C, 0x03, 0x5C, 0x1F, 0x05, 0xBE, 0x1E,
|
| 708 |
|
|
0x5F, 0x00, 0x65, 0x02, 0x43, 0x65, 0x00, 0x58,
|
| 709 |
|
|
0x5F, 0x02, 0x65, 0x02, 0x04, 0x9A, 0x1F, 0x02,
|
| 710 |
|
|
0xB8, 0x1F, 0xF9, 0x2E, 0x0F, 0x05, 0x3D, 0x1E,
|
| 711 |
|
|
0x2B, 0x01, 0x65, 0x03, 0x17, 0x01, 0x04, 0xB5,
|
| 712 |
|
|
0x1F, 0xF8, 0xE4, 0x1F, 0x0E, 0x05, 0x49, 0x1E,
|
| 713 |
|
|
0x2B, 0x02, 0x61, 0x04, 0x06, 0x02, 0xFF, 0x1E,
|
| 714 |
|
|
0xF8, 0xEE, 0x1F, 0x0E, 0x05, 0x49, 0x1E, 0x2B,
|
| 715 |
|
|
0x02, 0x02, 0xF6, 0x1E, 0x2B, 0x07, 0x07, 0x0D,
|
| 716 |
|
|
0x0A, 0x45, 0x52, 0x52, 0x4F, 0x52, 0x3A, 0x20,
|
| 717 |
|
|
0x6E, 0x6F, 0x74, 0x20, 0x68, 0x65, 0x78, 0x0D,
|
| 718 |
|
|
0x0A, 0x00, 0x0D, 0x0A, 0x4C, 0x4F, 0x41, 0x44,
|
| 719 |
|
|
0x20, 0x3E, 0x20, 0x00, 0x0D, 0x0A, 0x44, 0x4F,
|
| 720 |
|
|
0x4E, 0x45, 0x2E, 0x0D, 0x0A, 0x00, 0x0D, 0x0A,
|
| 721 |
|
|
0x43, 0x48, 0x45, 0x43, 0x4B, 0x53, 0x55, 0x4D,
|
| 722 |
|
|
0x20, 0x45, 0x52, 0x52, 0x4F, 0x52, 0x2E, 0x00,
|
| 723 |
|
|
};
|
| 724 |
|
|
|
| 725 |
|
|
void load_image()
|
| 726 |
|
|
{
|
| 727 |
|
|
unsigned char * from = (unsigned char *)&loader;
|
| 728 |
|
|
unsigned char * to = (unsigned char *)0x2000 - sizeof(loader);
|
| 729 |
|
|
int len = sizeof(loader);
|
| 730 |
|
|
|
| 731 |
|
|
printf("Loading image...\r\n");
|
| 732 |
|
|
while (tx_sema.counter < sizeof(serial_out_buffer)) ;
|
| 733 |
|
|
ASM(" DI");
|
| 734 |
|
|
ASM(" MOVE #0x00, RR"); // disable ints
|
| 735 |
|
|
ASM(" OUT R, (OUT_INT_MASK)"); // disable int sources
|
| 736 |
|
|
for (; len; --len) *to++ = *from++;
|
| 737 |
|
|
to; ASM(" MOVE RR, SP");
|
| 738 |
|
|
ASM(" JMP 0x1EF0\t\t; &main");
|
| 739 |
|
|
}
|
| 740 |
|
|
//-----------------------------------------------------------------------------
|
| 741 |
|
|
void show_semas()
|
| 742 |
|
|
{
|
| 743 |
|
|
printf("\r\nSemaphore Count Waiting tasks\r\n");
|
| 744 |
|
|
print_n('-', 79); printf("\r\n");
|
| 745 |
|
|
show_sema(&serial_out);
|
| 746 |
|
|
show_sema(&rx_sema);
|
| 747 |
|
|
show_sema(&tx_sema);
|
| 748 |
|
|
show_sema(&t2_control);
|
| 749 |
|
|
show_sema(&t3_control);
|
| 750 |
|
|
print_n('=', 79); printf("\r\n");
|
| 751 |
|
|
|
| 752 |
|
|
if (serial_in_overflows)
|
| 753 |
|
|
printf("\r\n\r\nSerial Overflows: %u\r\n\r\n", serial_in_overflows);
|
| 754 |
|
|
}
|
| 755 |
|
|
//-----------------------------------------------------------------------------
|
| 756 |
|
|
void show_tasks()
|
| 757 |
|
|
{
|
| 758 |
|
|
Task * t = &task_idle;
|
| 759 |
|
|
|
| 760 |
10 |
jsauermann |
printf("\r\nTask name Prio PC Stack Size Used "
|
| 761 |
|
|
"Next waiting Status\r\n");
|
| 762 |
2 |
jsauermann |
print_n('-', 79); printf("\r\n");
|
| 763 |
|
|
|
| 764 |
|
|
do {
|
| 765 |
10 |
jsauermann |
printf("%-16s %4d %4X %4X %5d %5d ",
|
| 766 |
|
|
t->name, t->priority, t->stack_pointer[2], t->stack_pointer,
|
| 767 |
2 |
jsauermann |
t->stack_top - t->stack_bottom, stack_used(t));
|
| 768 |
|
|
if (t->next_waiting_task) printf("%-16s ", t->next_waiting_task);
|
| 769 |
|
|
else printf("none. ");
|
| 770 |
|
|
if (t->status == 0) printf("RUN ");
|
| 771 |
|
|
if (t->status & TASK_SUSPENDED) printf("SUSP ");
|
| 772 |
|
|
if (t->status & TASK_SLEEPING) printf("SLEEP %d ms ",
|
| 773 |
|
|
t->sleep_count);
|
| 774 |
|
|
if (t->status & TASK_BLOCKED ) printf("BLKD on %s ",
|
| 775 |
|
|
t->waiting_for->name);
|
| 776 |
|
|
printf("\r\n");
|
| 777 |
|
|
|
| 778 |
|
|
t = t->next_task;
|
| 779 |
|
|
} while (t != &task_idle);
|
| 780 |
|
|
|
| 781 |
|
|
print_n('=', 79); printf("\r\n");
|
| 782 |
|
|
}
|
| 783 |
|
|
//-----------------------------------------------------------------------------
|
| 784 |
|
|
|
| 785 |
|
|
void show_time()
|
| 786 |
|
|
{
|
| 787 |
|
|
unsigned int sl;
|
| 788 |
|
|
unsigned int sm;
|
| 789 |
|
|
unsigned int sh;
|
| 790 |
|
|
|
| 791 |
|
|
do { seconds_changed = 0;
|
| 792 |
|
|
sl = seconds_low;
|
| 793 |
|
|
sm = seconds_mid;
|
| 794 |
|
|
sh = seconds_high;
|
| 795 |
|
|
} while (seconds_changed);
|
| 796 |
|
|
|
| 797 |
|
|
printf("Uptime is %4.4X%4.4X%4.4X seconds\r\n", sh, sm, sl);
|
| 798 |
|
|
}
|
| 799 |
|
|
//-----------------------------------------------------------------------------
|
| 800 |
|
|
void display_memory(unsigned char * address)
|
| 801 |
|
|
{
|
| 802 |
|
|
char c;
|
| 803 |
|
|
int row;
|
| 804 |
|
|
int col;
|
| 805 |
|
|
|
| 806 |
|
|
for (row = 0; row < 16; row++)
|
| 807 |
|
|
{
|
| 808 |
|
|
printf("%4.4X:", address);
|
| 809 |
|
|
for (col = 0; col < 16; col++) printf(" %2.2X", *address++);
|
| 810 |
|
|
address -= 16;
|
| 811 |
|
|
printf(" - ");
|
| 812 |
|
|
for (col = 0; col < 16; col++)
|
| 813 |
|
|
{
|
| 814 |
|
|
c = *address++;
|
| 815 |
|
|
if (c < ' ') putchr('.');
|
| 816 |
|
|
else if (c < 0x7F) putchr(c);
|
| 817 |
|
|
else putchr('.');
|
| 818 |
|
|
}
|
| 819 |
|
|
printf("\r\n");
|
| 820 |
|
|
}
|
| 821 |
|
|
}
|
| 822 |
|
|
//-----------------------------------------------------------------------------
|
| 823 |
|
|
//
|
| 824 |
|
|
// main() is the idle task. main() MUST NOT BLOCK, but could do
|
| 825 |
|
|
// some non-blocking background jobs. It is safer, though, to do
|
| 826 |
10 |
jsauermann |
// nothing in main()'s for() loop.
|
| 827 |
2 |
jsauermann |
//
|
| 828 |
|
|
int main()
|
| 829 |
|
|
{
|
| 830 |
16 |
jsauermann |
int i;
|
| 831 |
|
|
|
| 832 |
|
|
init_unused();
|
| 833 |
|
|
init_stack();
|
| 834 |
|
|
|
| 835 |
|
|
ASM(" MOVE #0x00, RR"); // disable all interrupt sources
|
| 836 |
|
|
ASM(" OUT R, (OUT_INT_MASK)");
|
| 837 |
|
|
|
| 838 |
|
|
// we dont know the value of the interrupt disable counter,
|
| 839 |
|
|
// so we force it to zero (i.e. interrupts enabled)
|
| 840 |
|
|
//
|
| 841 |
|
|
for (i = 0; i < 16; ++i) ASM(" EI"); // decrement int disable counter
|
| 842 |
|
|
|
| 843 |
2 |
jsauermann |
ASM(" MOVE #0x05, RR"); // enable Rx and timer interrupts
|
| 844 |
|
|
ASM(" OUT R, (OUT_INT_MASK)");
|
| 845 |
16 |
jsauermann |
|
| 846 |
2 |
jsauermann |
deschedule();
|
| 847 |
|
|
|
| 848 |
|
|
for (;;) ASM(" HALT");
|
| 849 |
|
|
}
|
| 850 |
|
|
//-----------------------------------------------------------------------------
|
| 851 |
|
|
int main_1(int argc, char * argv[])
|
| 852 |
|
|
{
|
| 853 |
|
|
int c;
|
| 854 |
|
|
char last_c;
|
| 855 |
|
|
unsigned char * address;
|
| 856 |
|
|
int value;
|
| 857 |
|
|
|
| 858 |
16 |
jsauermann |
ASM(" EI");
|
| 859 |
|
|
|
| 860 |
2 |
jsauermann |
init_stack();
|
| 861 |
|
|
|
| 862 |
|
|
for (;;)
|
| 863 |
|
|
{
|
| 864 |
|
|
P(&serial_out);
|
| 865 |
|
|
printf("READY\r");
|
| 866 |
|
|
V(&serial_out);
|
| 867 |
|
|
|
| 868 |
|
|
last_c = c;
|
| 869 |
|
|
c = getchr_timed(60000);
|
| 870 |
|
|
if (c == -1) // time out
|
| 871 |
|
|
{
|
| 872 |
|
|
P(&serial_out);
|
| 873 |
|
|
printf("%s is bored.\r\n", current_task->name);
|
| 874 |
|
|
V(&serial_out);
|
| 875 |
|
|
continue;
|
| 876 |
|
|
}
|
| 877 |
|
|
|
| 878 |
|
|
P(&serial_out);
|
| 879 |
|
|
switch(c)
|
| 880 |
|
|
{
|
| 881 |
|
|
case '\r':
|
| 882 |
|
|
case '\n':
|
| 883 |
|
|
if (last_c == 'd')
|
| 884 |
|
|
{
|
| 885 |
|
|
address += 0x100;
|
| 886 |
|
|
putchr('\r');
|
| 887 |
|
|
display_memory(address);
|
| 888 |
|
|
c = 'd';
|
| 889 |
|
|
}
|
| 890 |
|
|
break;
|
| 891 |
|
|
|
| 892 |
|
|
case '2':
|
| 893 |
|
|
V(&t2_control);
|
| 894 |
|
|
printf("Task 2 kicked\r\n");
|
| 895 |
|
|
break;
|
| 896 |
|
|
|
| 897 |
|
|
case '3':
|
| 898 |
|
|
V(&t3_control);
|
| 899 |
|
|
sleep(100);
|
| 900 |
|
|
P(&t3_control);
|
| 901 |
|
|
printf("Task 3 enabled for 100 ms\r\n");
|
| 902 |
|
|
break;
|
| 903 |
|
|
|
| 904 |
|
|
case 'b':
|
| 905 |
|
|
0; ASM(" OUT R, (OUT_START_CLK_CTR)");
|
| 906 |
|
|
deschedule();
|
| 907 |
|
|
ASM(" OUT R, (OUT_STOP_CLK_CTR)");
|
| 908 |
|
|
value = (ASM(" IN (IN_CLK_CTR_HIGH), RU") << 8)
|
| 909 |
|
|
| ASM(" IN (IN_CLK_CTR_LOW), RU");
|
| 910 |
|
|
printf("deschedule took %d CLKs = %d us\r\n",
|
| 911 |
|
|
value, (value + 10)/20);
|
| 912 |
|
|
break;
|
| 913 |
|
|
|
| 914 |
|
|
case 'c':
|
| 915 |
|
|
show_time();
|
| 916 |
|
|
break;
|
| 917 |
|
|
|
| 918 |
|
|
case 'd':
|
| 919 |
|
|
last_c = 'd';
|
| 920 |
|
|
printf("Display ");
|
| 921 |
|
|
address = (unsigned char *)gethex(1);
|
| 922 |
|
|
printf("\r\n");
|
| 923 |
|
|
getchr();
|
| 924 |
|
|
display_memory(address);
|
| 925 |
|
|
break;
|
| 926 |
|
|
|
| 927 |
|
|
case 'e':
|
| 928 |
|
|
printf("LEDs ");
|
| 929 |
|
|
gethex(1); ASM(" OUT R, (OUT_LEDS)");
|
| 930 |
|
|
printf("\r\n");
|
| 931 |
|
|
getchr();
|
| 932 |
|
|
break;
|
| 933 |
|
|
|
| 934 |
|
|
case 'm':
|
| 935 |
|
|
printf("Memory ");
|
| 936 |
|
|
address = (unsigned char *)gethex(1);
|
| 937 |
|
|
printf(" Value ");
|
| 938 |
|
|
getchr();
|
| 939 |
|
|
*address = gethex(1);
|
| 940 |
|
|
getchr();
|
| 941 |
|
|
printf("\r\n");
|
| 942 |
|
|
break;
|
| 943 |
|
|
|
| 944 |
|
|
case 's':
|
| 945 |
|
|
printf("DIP switch is 0x%X\r\n",
|
| 946 |
|
|
ASM(" IN (IN_DIP_SWITCH), RU"));
|
| 947 |
|
|
break;
|
| 948 |
|
|
|
| 949 |
|
|
case 't':
|
| 950 |
|
|
printf("Temperature is %d degrees Celsius\r\n",
|
| 951 |
|
|
ASM(" IN (IN_TEMPERAT), RU"));
|
| 952 |
|
|
break;
|
| 953 |
|
|
|
| 954 |
|
|
case 'H': printf("Halted.\r\n");
|
| 955 |
|
|
while (tx_sema.counter < sizeof(serial_out_buffer)) ;
|
| 956 |
|
|
ASM(" DI");
|
| 957 |
|
|
ASM(" HALT");
|
| 958 |
|
|
break;
|
| 959 |
|
|
|
| 960 |
|
|
case 'I':
|
| 961 |
|
|
load_image();
|
| 962 |
|
|
break;
|
| 963 |
|
|
|
| 964 |
|
|
case 'S':
|
| 965 |
|
|
show_semas();
|
| 966 |
|
|
break;
|
| 967 |
|
|
|
| 968 |
|
|
case 'T':
|
| 969 |
|
|
show_tasks();
|
| 970 |
|
|
break;
|
| 971 |
|
|
|
| 972 |
|
|
default:
|
| 973 |
|
|
printf("Help: \r\n"
|
| 974 |
|
|
"2 - kick task 2\r\n"
|
| 975 |
|
|
"3 - kick task 3\r\n"
|
| 976 |
|
|
"I - load image\r\n"
|
| 977 |
|
|
"S - show semaphores\r\n"
|
| 978 |
|
|
"T - show tasks\r\n"
|
| 979 |
|
|
"b - measure task switch (deschedule)\r\n"
|
| 980 |
|
|
"c - show time\r\n"
|
| 981 |
|
|
"d - display memory\r\n"
|
| 982 |
|
|
"e - set LEDs\r\n"
|
| 983 |
|
|
"m - modify memory\r\n"
|
| 984 |
|
|
"s - read DIP switch\r\n"
|
| 985 |
|
|
"t - read temperature\r\n"
|
| 986 |
|
|
"H - HALT (forever)\r\n"
|
| 987 |
|
|
"\r\n");
|
| 988 |
|
|
}
|
| 989 |
|
|
V(&serial_out);
|
| 990 |
|
|
}
|
| 991 |
|
|
}
|
| 992 |
|
|
//-----------------------------------------------------------------------------
|
| 993 |
|
|
void main_2()
|
| 994 |
|
|
{
|
| 995 |
|
|
unsigned int all_value;
|
| 996 |
|
|
unsigned int halt_value;
|
| 997 |
|
|
unsigned int all_total;
|
| 998 |
|
|
unsigned int halt_total;
|
| 999 |
|
|
int n;
|
| 1000 |
|
|
int idle;
|
| 1001 |
|
|
|
| 1002 |
16 |
jsauermann |
ASM(" EI");
|
| 1003 |
|
|
|
| 1004 |
2 |
jsauermann |
init_stack();
|
| 1005 |
|
|
|
| 1006 |
|
|
for (;;)
|
| 1007 |
|
|
{
|
| 1008 |
|
|
P(&t2_control);
|
| 1009 |
|
|
|
| 1010 |
|
|
all_value = 0;
|
| 1011 |
|
|
halt_value = 0;
|
| 1012 |
|
|
all_total = 0;
|
| 1013 |
|
|
halt_total = 0;
|
| 1014 |
|
|
|
| 1015 |
|
|
P(&serial_out);
|
| 1016 |
|
|
printf("Measuring...\r\n");
|
| 1017 |
|
|
V(&serial_out);
|
| 1018 |
|
|
|
| 1019 |
|
|
V(&t3_control);
|
| 1020 |
|
|
for (n = 0; n < 100; n++)
|
| 1021 |
|
|
{
|
| 1022 |
|
|
sleep(1);
|
| 1023 |
|
|
0; ASM(" OUT R, (OUT_START_CLK_CTR)");
|
| 1024 |
|
|
sleep(1);
|
| 1025 |
|
|
ASM(" OUT R, (OUT_STOP_CLK_CTR)");
|
| 1026 |
|
|
all_value += (ASM(" IN (IN_CLK_CTR_HIGH), RU") << 8)
|
| 1027 |
|
|
| ASM(" IN (IN_CLK_CTR_LOW), RU");
|
| 1028 |
|
|
|
| 1029 |
|
|
all_total += all_value >> 8;
|
| 1030 |
|
|
all_value &= 0x00FF;
|
| 1031 |
|
|
|
| 1032 |
|
|
sleep(1);
|
| 1033 |
|
|
3; ASM(" OUT R, (OUT_START_CLK_CTR)");
|
| 1034 |
|
|
sleep(1);
|
| 1035 |
|
|
ASM(" OUT R, (OUT_STOP_CLK_CTR)");
|
| 1036 |
|
|
|
| 1037 |
|
|
halt_value += (ASM(" IN (IN_CLK_CTR_HIGH), RU") << 8)
|
| 1038 |
|
|
| ASM(" IN (IN_CLK_CTR_LOW), RU");
|
| 1039 |
|
|
|
| 1040 |
|
|
halt_total += halt_value >> 8;
|
| 1041 |
|
|
halt_value &= 0x00FF;
|
| 1042 |
|
|
}
|
| 1043 |
|
|
P(&t3_control);
|
| 1044 |
|
|
|
| 1045 |
|
|
P(&serial_out);
|
| 1046 |
|
|
printf("total: %d cycles\r\n", all_total);
|
| 1047 |
|
|
printf("halted: %d cycles\r\n", halt_total);
|
| 1048 |
|
|
idle = (100*(halt_total>> 8)) / (all_total >> 8);
|
| 1049 |
|
|
printf("idle: %d %%\r\n", idle);
|
| 1050 |
|
|
printf("load: %d %%\r\n", 100 - idle);
|
| 1051 |
|
|
V(&serial_out);
|
| 1052 |
|
|
}
|
| 1053 |
|
|
}
|
| 1054 |
|
|
//-----------------------------------------------------------------------------
|
| 1055 |
|
|
void main_3()
|
| 1056 |
|
|
{
|
| 1057 |
|
|
char out;
|
| 1058 |
|
|
|
| 1059 |
16 |
jsauermann |
ASM(" EI");
|
| 1060 |
|
|
|
| 1061 |
2 |
jsauermann |
init_stack();
|
| 1062 |
|
|
|
| 1063 |
|
|
for (;;)
|
| 1064 |
|
|
{
|
| 1065 |
|
|
P(&t3_control);
|
| 1066 |
|
|
V(&t3_control);
|
| 1067 |
|
|
|
| 1068 |
|
|
P(&serial_out);
|
| 1069 |
|
|
for (out = '0'; out <= '9'; ++out) putchr(out);
|
| 1070 |
|
|
for (out = 'A'; out <= 'Z'; ++out) putchr(out);
|
| 1071 |
|
|
for (out = 'a'; out <= 'z'; ++out) putchr(out);
|
| 1072 |
|
|
putchr('\r');
|
| 1073 |
|
|
putchr('\n');
|
| 1074 |
|
|
V(&serial_out);
|
| 1075 |
|
|
}
|
| 1076 |
|
|
}
|
| 1077 |
|
|
//-----------------------------------------------------------------------------
|
| 1078 |
|
|
//
|
| 1079 |
|
|
// task stacks
|
| 1080 |
|
|
//
|
| 1081 |
|
|
unsigned int stack_1[200], tos_1[3] = { 0, 0, (int)&main_1 }, top_1[0];
|
| 1082 |
|
|
unsigned int stack_2[200], tos_2[3] = { 0, 0, (int)&main_2 }, top_2[0];
|
| 1083 |
|
|
unsigned int stack_3[200], tos_3[3] = { 0, 0, (int)&main_3 }, top_3[0];
|
| 1084 |
|
|
|
| 1085 |
|
|
Task task_3 = { &task_idle, // next task
|
| 1086 |
|
|
tos_3, // current stack pointer
|
| 1087 |
|
|
TASK_RUNNING, // current state
|
| 1088 |
|
|
30 , // priority
|
| 1089 |
|
|
"Load Task ", // task name
|
| 1090 |
|
|
(char *)&stack_3, // bottom of stack
|
| 1091 |
|
|
(char *)&top_3 }; // top of stack
|
| 1092 |
|
|
|
| 1093 |
|
|
Task task_2 = { &task_3, // next task
|
| 1094 |
|
|
tos_2, // current stack pointer
|
| 1095 |
|
|
TASK_RUNNING, // current state
|
| 1096 |
|
|
40 , // priority
|
| 1097 |
|
|
"Measurement", // task name
|
| 1098 |
|
|
(char *)&stack_2, // bottom of stack
|
| 1099 |
|
|
(char *)&top_2 }; // top of stack
|
| 1100 |
|
|
|
| 1101 |
|
|
Task task_1 = { &task_2, // next task
|
| 1102 |
|
|
tos_1, // current stack pointer
|
| 1103 |
|
|
TASK_RUNNING, // current state
|
| 1104 |
|
|
50, // priority
|
| 1105 |
|
|
"Monitor", // task name
|
| 1106 |
|
|
(char *)&stack_1, // bottom of stack
|
| 1107 |
|
|
(char *)&top_1 }; // top of stack
|
| 1108 |
|
|
|
| 1109 |
|
|
Task task_idle = { &task_1, // next task
|
| 1110 |
|
|
0, // current stack pointer (N/A since running)
|
| 1111 |
|
|
TASK_RUNNING, // current state
|
| 1112 |
|
|
0, // priority
|
| 1113 |
|
|
"Idle Task", // task name
|
| 1114 |
10 |
jsauermann |
(char *)0x1F80, // bottom of stack
|
| 1115 |
|
|
(char *)0x2000 }; // top of stack
|
| 1116 |
2 |
jsauermann |
|
| 1117 |
|
|
Task * current_task = &task_idle;
|
| 1118 |
|
|
|
| 1119 |
|
|
//-----------------------------------------------------------------------------
|
