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Line 1... |
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/*******************************************************************************
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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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SGE LL, RR ; RR = (next->priority >= t->priority)
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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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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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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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s->last_waiting = 0;
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}
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else
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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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}
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}
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else // t is subsequent waiting
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{
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while (t != ts->next_waiting_task)
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ts = ts->next_waiting_task;
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ts->next_waiting_task = t->next_waiting_task;
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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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}
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}
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}
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} while (current_task != (t = t->next_task));
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}
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//-----------------------------------------------------------------------------
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void interrupt()
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{
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char ts_1 = 0;
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char ts_2 = 0;
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ASM(" MOVE RR, -(SP)");
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ASM(" MOVE LL, RR");
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ASM(" MOVE RR, -(SP)");
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if (ASM(" IN (IN_STATUS), RU") & 0x10) ts_1 = rx_interrupt();
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if (ASM(" IN (IN_STATUS), RU") & 0x20) ts_2 = tx_interrupt();
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if (ASM(" IN (IN_STATUS), RU") & 0x40)
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{ timer_interrupt(); ts_1 = -1; }
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if (ts_1 | ts_2) switch_tasks();
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ASM(" MOVE (SP)+, RR");
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ASM(" MOVE RR, LL");
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ASM(" MOVE (SP)+, RR");
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ASM(" ADD SP, #2");
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ASM(" RETI");
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}
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//-----------------------------------------------------------------------------
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void sleep(int millisecs)
|
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{
|
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ASM(" DI");
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current_task->sleep_count = millisecs;
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current_task->status = TASK_SLEEPING;
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switch_tasks();
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ASM(" RETI");
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}
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//-----------------------------------------------------------------------------
|
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void deschedule()
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{
|
|
ASM(" DI");
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switch_tasks();
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ASM(" RETI");
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}
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/*******************************************************************************
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|
********************************************************************************
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|
** **
|
|
** UTILITY FUNCTIONS **
|
|
** **
|
|
********************************************************************************
|
|
*******************************************************************************/
|
|
|
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int strlen(const char * buffer)
|
|
{
|
|
const char * from = buffer;
|
|
|
|
while (*buffer) buffer++;
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|
|
|
return buffer - from;
|
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}
|
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/*******************************************************************************
|
|
********************************************************************************
|
|
** **
|
|
** SERIAL OUTPUT **
|
|
** **
|
|
********************************************************************************
|
|
*******************************************************************************/
|
|
|
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int putchr(char c)
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{
|
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P(&tx_sema); // get free position
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|
|
serial_out_buffer[serial_out_put] = c;
|
|
if (++serial_out_put >= sizeof(serial_out_buffer)) serial_out_put = 0;
|
|
ASM(" MOVE #0x07, RR"); // RxInt and TxInt and TimerInt
|
|
ASM(" OUT R, (OUT_INT_MASK)");
|
|
1;
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
void print_n(char c, int count)
|
|
{
|
|
for (; count > 0; --count) putchr(c);
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
void print_string(const char * buffer)
|
|
{
|
|
while (*buffer) putchr(*buffer++);
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
void print_hex(char * dest, unsigned int value, const char * hex)
|
|
{
|
|
if (value >= 0x1000) *dest++ = hex[(value >> 12) & 0x0F];
|
|
if (value >= 0x100) *dest++ = hex[(value >> 8) & 0x0F];
|
|
if (value >= 0x10) *dest++ = hex[(value >> 4) & 0x0F];
|
|
*dest++ = hex[value & 0x0F];
|
|
*dest = 0;
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
void print_unsigned(char * dest, unsigned int value)
|
|
{
|
|
if (value >= 10000) *dest++ = '0' + (value / 10000);
|
|
if (value >= 1000) *dest++ = '0' + (value / 1000) % 10;
|
|
if (value >= 100) *dest++ = '0' + (value / 100) % 10;
|
|
if (value >= 10) *dest++ = '0' + (value / 10) % 10;
|
|
*dest++ = '0' + value % 10;
|
|
*dest = 0;
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
int print_item(const char * buffer, char flags, char sign, char pad,
|
|
const char * alt, int field_w, int min_w, char min_p)
|
|
{
|
|
// [fill] [sign] [alt] [pad] [buffer] [fill]
|
|
// ----------- len -----------
|
|
int filllen = 0;
|
|
int signlen = 0;
|
|
int altlen = 0;
|
|
int padlen = 0;
|
|
int buflen = strlen(buffer);
|
|
int len;
|
|
int i;
|
|
|
|
if (min_w > buflen) padlen = min_w - buflen;
|
|
if (sign) signlen = 1;
|
|
if (alt && (flags & 0x01)) altlen = strlen(alt);
|
|
|
|
len = signlen + altlen + padlen + buflen;
|
|
|
|
if (0x02 & ~flags) print_n(pad, field_w - len); // right align
|
|
|
|
if (sign) putchr(sign);
|
|
if (alt)
|
|
{
|
|
if (flags & 0x01) print_string(alt);
|
|
}
|
|
|
|
for (i = 0; i < padlen; i++) putchr(min_p);
|
|
print_string(buffer);
|
|
|
|
if (0x02 & flags) print_n(pad, field_w - len); // left align
|
|
|
|
return len;
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
int printf(const char * format, ...)
|
|
{
|
|
const char ** args = 1 + &format;
|
|
int len = 0;
|
|
char c;
|
|
char flags;
|
|
char sign;
|
|
char pad;
|
|
const char * alt;
|
|
int field_w;
|
|
int min_w;
|
|
unsigned int * which_w;
|
|
char buffer[12];
|
|
|
|
while (c = *format++)
|
|
{
|
|
if (c != '%') { len +=putchr(c); continue; }
|
|
|
|
flags = 0;
|
|
sign = 0;
|
|
pad = ' ';
|
|
field_w = 0;
|
|
min_w = 0;
|
|
which_w = &field_w;
|
|
for (;;)
|
|
{
|
|
switch(c = *format++)
|
|
{
|
|
case 'X': print_hex(buffer, (unsigned int)*args++,
|
|
"0123456789ABCDEF");
|
|
len += print_item(buffer, flags, sign, pad,
|
|
"0X", field_w, min_w, '0');
|
|
break;
|
|
|
|
case 'd': if (((int)*args) < 0)
|
|
{
|
|
sign = '-';
|
|
*args = (char *)(- ((int)*args));
|
|
}
|
|
print_unsigned(buffer, ((int)*args++));
|
|
len += print_item(buffer, flags, sign, pad,
|
|
"", field_w, min_w, '0');
|
|
break;
|
|
|
|
case 's': len += print_item(*args++, flags & 0x02, 0, ' ',
|
|
"", field_w, min_w, ' ');
|
|
break;
|
|
|
|
case 'u': print_unsigned(buffer, (unsigned int)*args++);
|
|
len += print_item(buffer, flags, sign, pad,
|
|
"", field_w, min_w, '0');
|
|
break;
|
|
|
|
case 'x': print_hex(buffer, (unsigned int)*args++,
|
|
"0123456789abcdef");
|
|
len += print_item(buffer, flags, sign, pad,
|
|
"0x", field_w, min_w, '0');
|
|
break;
|
|
|
|
case 'c': len += putchr((int)*args++); break;
|
|
|
|
case '#': flags |= 0x01; continue;
|
|
case '-': flags |= 0x02; continue;
|
|
case ' ': if (!sign) sign = ' '; continue;
|
|
case '+': sign = '+'; continue;
|
|
case '.': which_w = &min_w; continue;
|
|
|
|
case '0': if (*which_w) *which_w *= 10;
|
|
else pad = '0';
|
|
continue;
|
|
|
|
case '1': *which_w = 10 * *which_w + 1; continue;
|
|
case '2': *which_w = 10 * *which_w + 2; continue;
|
|
case '3': *which_w = 10 * *which_w + 3; continue;
|
|
case '4': *which_w = 10 * *which_w + 4; continue;
|
|
case '5': *which_w = 10 * *which_w + 5; continue;
|
|
case '6': *which_w = 10 * *which_w + 6; continue;
|
|
case '7': *which_w = 10 * *which_w + 7; continue;
|
|
case '8': *which_w = 10 * *which_w + 8; continue;
|
|
case '9': *which_w = 10 * *which_w + 9; continue;
|
|
case '*': *which_w = (int)*args++; continue;
|
|
|
|
case 0: format--; // premature end of format
|
|
break;
|
|
|
|
default: len += putchr(c);
|
|
break;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
return len;
|
|
}
|
|
/*******************************************************************************
|
|
********************************************************************************
|
|
** **
|
|
** SERIAL INPUT **
|
|
** **
|
|
********************************************************************************
|
|
*******************************************************************************/
|
|
|
|
int getchr()
|
|
{
|
|
char c;
|
|
|
|
P(&rx_sema);
|
|
|
|
c = serial_in_buffer[serial_in_get];
|
|
if (++serial_in_get >= sizeof(serial_in_buffer)) serial_in_get = 0;
|
|
return c;
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
int getchr_timed(unsigned int ticks)
|
|
{
|
|
char c;
|
|
|
|
c = P_timed(&rx_sema, ticks);
|
|
if (c) return -1; // if rx_sema timed out
|
|
|
|
c = serial_in_buffer[serial_in_get];
|
|
if (++serial_in_get >= sizeof(serial_in_buffer)) serial_in_get = 0;
|
|
return c;
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
char peekchr()
|
|
{
|
|
char ret;
|
|
|
|
P(&rx_sema);
|
|
ret = serial_in_buffer[serial_in_get];
|
|
V(&rx_sema);
|
|
|
|
return ret;
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
char getnibble(char echo)
|
|
{
|
|
char c = peekchr();
|
|
int ret = -1;
|
|
|
|
if ((c >= '0') && (c <= '9')) ret = c - '0';
|
|
else if ((c >= 'A') && (c <= 'F')) ret = c - 0x37;
|
|
else if ((c >= 'a') && (c <= 'f')) ret = c - 0x57;
|
|
|
|
if (ret != -1) // valid hex char
|
|
{
|
|
getchr();
|
|
if (echo) putchr(c);
|
|
}
|
|
return ret;
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
int gethex(char echo)
|
|
{
|
|
int ret = 0;
|
|
char c;
|
|
|
|
while ((c = getnibble(echo)) != -1) ret = (ret << 4) | c;
|
|
return ret;
|
|
}
|
|
/*******************************************************************************
|
|
********************************************************************************
|
|
** **
|
|
** main and its helpers **
|
|
** **
|
|
********************************************************************************
|
|
*******************************************************************************/
|
|
|
|
//-----------------------------------------------------------------------------
|
|
void init_stack()
|
|
{
|
|
char * bottom = current_task->stack_bottom;
|
|
|
|
while (bottom < (char *)ASM(" LEA 0(SP), RR")) *bottom++ = 'S';
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
|
|
extern char * end_text;
|
|
|
|
void init_unused() // must ONLY be called by idle task
|
|
{
|
|
char * cp = current_task->stack_bottom;
|
|
|
|
while (--cp >= (char *)&end_text) *cp = ' ';
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
int stack_used(Task * t)
|
|
{
|
|
char * bottom = t->stack_bottom;
|
|
|
|
while (*bottom == 'S') bottom++;
|
|
return t->stack_top - bottom;
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
void show_sema(Semaphore * s)
|
|
{
|
|
Task * t;
|
|
|
|
printf("%-20s %4d ", s->name, s->counter);
|
|
if (s->counter < 0)
|
|
{
|
|
for (t = s->next_waiting; t; t = t->next_waiting_task)
|
|
{
|
|
printf("%s -> ", t->name);
|
|
if (t == s->last_waiting) printf("0");
|
|
}
|
|
}
|
|
else
|
|
{
|
|
printf("none.");
|
|
}
|
|
printf("\r\n");
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
|
|
unsigned char loader[] =
|
|
{
|
|
// 0xF8, 0x18, 0x00, 0x4F, 0xFC, 0x00, 0xA0, 0x08,
|
|
// 0x6E, 0x0E, 0x24, 0x1A, 0x00, 0x03, 0x07, 0x00,
|
|
// 0xF8, 0x32, 0x9E, 0x4F, 0x05, 0xF0, 0x9E, 0x00,
|
|
// 0xE8, 0x01,
|
|
|
|
0x2E, 0x01, 0x11, 0x01, 0x3D, 0x03,
|
|
0x32, 0x1E, 0x2E, 0x00, 0x07, 0x2E, 0x01, 0x11,
|
|
0x02, 0x03, 0x3D, 0x1E, 0x65, 0x02, 0x2F, 0x00,
|
|
0x07, 0x02, 0x59, 0x1E, 0x61, 0x02, 0xA1, 0x5D,
|
|
0x02, 0xB1, 0x47, 0x0F, 0x05, 0x3D, 0x1E, 0x2B,
|
|
0x01, 0x61, 0x02, 0x47, 0x03, 0x4C, 0x1E, 0x07,
|
|
0x05, 0x32, 0x1E, 0x0F, 0x65, 0x00, 0x29, 0x30,
|
|
0x04, 0x71, 0x1E, 0xF8, 0xFF, 0x00, 0x02, 0xBB,
|
|
0x1E, 0x65, 0x00, 0x27, 0x39, 0x04, 0x7F, 0x1E,
|
|
0x65, 0x00, 0xF7, 0x30, 0x02, 0xBB, 0x1E, 0x65,
|
|
0x00, 0x29, 0x41, 0x04, 0x8C, 0x1E, 0xF8, 0xFF,
|
|
0x00, 0x02, 0xBB, 0x1E, 0x65, 0x00, 0x27, 0x46,
|
|
0x04, 0x9A, 0x1E, 0x65, 0x00, 0xF7, 0x37, 0x02,
|
|
0xBB, 0x1E, 0x65, 0x00, 0x29, 0x61, 0x04, 0xA7,
|
|
0x1E, 0xF8, 0xFF, 0x00, 0x02, 0xBB, 0x1E, 0x65,
|
|
0x00, 0x27, 0x66, 0x04, 0xB5, 0x1E, 0x65, 0x00,
|
|
0xF7, 0x57, 0x02, 0xBB, 0x1E, 0xF8, 0xFF, 0x00,
|
|
0x02, 0xBB, 0x1E, 0x2B, 0x01, 0x07, 0x05, 0x60,
|
|
0x1E, 0x0F, 0x2D, 0x65, 0x01, 0x18, 0xFF, 0x00,
|
|
0x04, 0xE3, 0x1E, 0x05, 0x60, 0x1E, 0x5F, 0x00,
|
|
0x65, 0x00, 0x18, 0xFF, 0x00, 0x04, 0xE3, 0x1E,
|
|
0x65, 0x01, 0x52, 0x04, 0x43, 0x65, 0x00, 0x31,
|
|
0x02, 0xED, 0x1E, 0xF8, 0xC7, 0x1F, 0x0E, 0x05,
|
|
0x49, 0x1E, 0x2B, 0x02, 0x00, 0x2B, 0x02, 0x07,
|
|
0x2D, 0x2C, 0x2D, 0x2D, 0x2D, 0x2D, 0xF8, 0xDA,
|
|
0x1F, 0x0E, 0x05, 0x49, 0x1E, 0x2B, 0x02, 0x05,
|
|
0x32, 0x1E, 0x5F, 0x00, 0x19, 0x3A, 0x03, 0xFF,
|
|
0x1E, 0xC0, 0x5F, 0x02, 0x05, 0xBE, 0x1E, 0x5F,
|
|
0x00, 0x65, 0x02, 0x43, 0x65, 0x00, 0x58, 0x5F,
|
|
0x02, 0x65, 0x00, 0x5F, 0x06, 0x05, 0xBE, 0x1E,
|
|
0x5F, 0x00, 0x65, 0x02, 0x43, 0x65, 0x00, 0x58,
|
|
0x5F, 0x02, 0x65, 0x00, 0x52, 0x08, 0x5D, 0x04,
|
|
0x05, 0xBE, 0x1E, 0x5F, 0x00, 0x65, 0x02, 0x43,
|
|
0x65, 0x00, 0x58, 0x5F, 0x02, 0x61, 0x04, 0x43,
|
|
0x65, 0x00, 0x31, 0x5D, 0x04, 0x05, 0xBE, 0x1E,
|
|
0x5F, 0x00, 0x65, 0x02, 0x43, 0x65, 0x00, 0x58,
|
|
0x5F, 0x02, 0x65, 0x00, 0x5F, 0x03, 0xC0, 0x5F,
|
|
0x01, 0x02, 0x7C, 0x1F, 0x05, 0xBE, 0x1E, 0x5F,
|
|
0x00, 0x65, 0x00, 0x0F, 0x65, 0x02, 0x0E, 0x61,
|
|
0x07, 0x0B, 0x58, 0x43, 0x09, 0x45, 0x65, 0x02,
|
|
0x43, 0x65, 0x00, 0x58, 0x5F, 0x02, 0x65, 0x01,
|
|
0xA1, 0x5F, 0x01, 0xB1, 0x65, 0x01, 0x43, 0x65,
|
|
0x06, 0x3C, 0x03, 0x5C, 0x1F, 0x05, 0xBE, 0x1E,
|
|
0x5F, 0x00, 0x65, 0x02, 0x43, 0x65, 0x00, 0x58,
|
|
0x5F, 0x02, 0x65, 0x02, 0x04, 0x9A, 0x1F, 0x02,
|
|
0xB8, 0x1F, 0xF9, 0x2E, 0x0F, 0x05, 0x3D, 0x1E,
|
|
0x2B, 0x01, 0x65, 0x03, 0x17, 0x01, 0x04, 0xB5,
|
|
0x1F, 0xF8, 0xE4, 0x1F, 0x0E, 0x05, 0x49, 0x1E,
|
|
0x2B, 0x02, 0x61, 0x04, 0x06, 0x02, 0xFF, 0x1E,
|
|
0xF8, 0xEE, 0x1F, 0x0E, 0x05, 0x49, 0x1E, 0x2B,
|
|
0x02, 0x02, 0xF6, 0x1E, 0x2B, 0x07, 0x07, 0x0D,
|
|
0x0A, 0x45, 0x52, 0x52, 0x4F, 0x52, 0x3A, 0x20,
|
|
0x6E, 0x6F, 0x74, 0x20, 0x68, 0x65, 0x78, 0x0D,
|
|
0x0A, 0x00, 0x0D, 0x0A, 0x4C, 0x4F, 0x41, 0x44,
|
|
0x20, 0x3E, 0x20, 0x00, 0x0D, 0x0A, 0x44, 0x4F,
|
|
0x4E, 0x45, 0x2E, 0x0D, 0x0A, 0x00, 0x0D, 0x0A,
|
|
0x43, 0x48, 0x45, 0x43, 0x4B, 0x53, 0x55, 0x4D,
|
|
0x20, 0x45, 0x52, 0x52, 0x4F, 0x52, 0x2E, 0x00,
|
|
};
|
|
|
|
void load_image()
|
|
{
|
|
unsigned char * from = (unsigned char *)&loader;
|
|
unsigned char * to = (unsigned char *)0x2000 - sizeof(loader);
|
|
int len = sizeof(loader);
|
|
|
|
printf("Loading image...\r\n");
|
|
while (tx_sema.counter < sizeof(serial_out_buffer)) ;
|
|
ASM(" DI");
|
|
ASM(" MOVE #0x00, RR"); // disable ints
|
|
ASM(" OUT R, (OUT_INT_MASK)"); // disable int sources
|
|
for (; len; --len) *to++ = *from++;
|
|
to; ASM(" MOVE RR, SP");
|
|
ASM(" JMP 0x1EF0\t\t; &main");
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
void show_semas()
|
|
{
|
|
printf("\r\nSemaphore Count Waiting tasks\r\n");
|
|
print_n('-', 79); printf("\r\n");
|
|
show_sema(&serial_out);
|
|
show_sema(&rx_sema);
|
|
show_sema(&tx_sema);
|
|
show_sema(&t2_control);
|
|
show_sema(&t3_control);
|
|
print_n('=', 79); printf("\r\n");
|
|
|
|
if (serial_in_overflows)
|
|
printf("\r\n\r\nSerial Overflows: %u\r\n\r\n", serial_in_overflows);
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
void show_tasks()
|
|
{
|
|
Task * t = &task_idle;
|
|
|
|
printf("\r\nTask name Prio PC Stack Size Used "
|
|
"Next waiting Status\r\n");
|
|
print_n('-', 79); printf("\r\n");
|
|
|
|
do {
|
|
printf("%-16s %4d %4X %4X %5d %5d ",
|
|
t->name, t->priority, t->stack_pointer[2], t->stack_pointer,
|
|
t->stack_top - t->stack_bottom, stack_used(t));
|
|
if (t->next_waiting_task) printf("%-16s ", t->next_waiting_task);
|
|
else printf("none. ");
|
|
if (t->status == 0) printf("RUN ");
|
|
if (t->status & TASK_SUSPENDED) printf("SUSP ");
|
|
if (t->status & TASK_SLEEPING) printf("SLEEP %d ms ",
|
|
t->sleep_count);
|
|
if (t->status & TASK_BLOCKED ) printf("BLKD on %s ",
|
|
t->waiting_for->name);
|
|
printf("\r\n");
|
|
|
|
t = t->next_task;
|
|
} while (t != &task_idle);
|
|
|
|
print_n('=', 79); printf("\r\n");
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
|
|
void show_time()
|
|
{
|
|
unsigned int sl;
|
|
unsigned int sm;
|
|
unsigned int sh;
|
|
|
|
do { seconds_changed = 0;
|
|
sl = seconds_low;
|
|
sm = seconds_mid;
|
|
sh = seconds_high;
|
|
} while (seconds_changed);
|
|
|
|
printf("Uptime is %4.4X%4.4X%4.4X seconds\r\n", sh, sm, sl);
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
void display_memory(unsigned char * address)
|
|
{
|
|
char c;
|
|
int row;
|
|
int col;
|
|
|
|
for (row = 0; row < 16; row++)
|
|
{
|
|
printf("%4.4X:", address);
|
|
for (col = 0; col < 16; col++) printf(" %2.2X", *address++);
|
|
address -= 16;
|
|
printf(" - ");
|
|
for (col = 0; col < 16; col++)
|
|
{
|
|
c = *address++;
|
|
if (c < ' ') putchr('.');
|
|
else if (c < 0x7F) putchr(c);
|
|
else putchr('.');
|
|
}
|
|
printf("\r\n");
|
|
}
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
//
|
|
// main() is the idle task. main() MUST NOT BLOCK, but could do
|
|
// some non-blocking background jobs. It is safer, though, to do
|
|
// nothing in main()'s for() loop.
|
|
//
|
|
int main()
|
|
{
|
|
int i;
|
|
|
|
init_unused();
|
|
init_stack();
|
|
|
|
ASM(" MOVE #0x00, RR"); // disable all interrupt sources
|
|
ASM(" OUT R, (OUT_INT_MASK)");
|
|
|
|
// we dont know the value of the interrupt disable counter,
|
|
// so we force it to zero (i.e. interrupts enabled)
|
|
//
|
|
for (i = 0; i < 16; ++i) ASM(" EI"); // decrement int disable counter
|
|
|
|
ASM(" MOVE #0x05, RR"); // enable Rx and timer interrupts
|
|
ASM(" OUT R, (OUT_INT_MASK)");
|
|
|
|
deschedule();
|
|
|
|
for (;;) ASM(" HALT");
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
int main_1(int argc, char * argv[])
|
|
{
|
|
int c;
|
|
char last_c;
|
|
unsigned char * address;
|
|
int value;
|
|
|
|
ASM(" EI");
|
|
|
|
init_stack();
|
|
|
|
for (;;)
|
|
{
|
|
P(&serial_out);
|
|
printf("READY\r");
|
|
V(&serial_out);
|
|
|
|
last_c = c;
|
|
c = getchr_timed(60000);
|
|
if (c == -1) // time out
|
|
{
|
|
P(&serial_out);
|
|
printf("%s is bored.\r\n", current_task->name);
|
|
V(&serial_out);
|
|
continue;
|
|
}
|
|
|
|
P(&serial_out);
|
|
switch(c)
|
|
{
|
|
case '\r':
|
|
case '\n':
|
|
if (last_c == 'd')
|
|
{
|
|
address += 0x100;
|
|
putchr('\r');
|
|
display_memory(address);
|
|
c = 'd';
|
|
}
|
|
break;
|
|
|
|
case '2':
|
|
V(&t2_control);
|
|
printf("Task 2 kicked\r\n");
|
|
break;
|
|
|
|
case '3':
|
|
V(&t3_control);
|
|
sleep(100);
|
|
P(&t3_control);
|
|
printf("Task 3 enabled for 100 ms\r\n");
|
|
break;
|
|
|
|
case 'b':
|
|
0; ASM(" OUT R, (OUT_START_CLK_CTR)");
|
|
deschedule();
|
|
ASM(" OUT R, (OUT_STOP_CLK_CTR)");
|
|
value = (ASM(" IN (IN_CLK_CTR_HIGH), RU") << 8)
|
|
| ASM(" IN (IN_CLK_CTR_LOW), RU");
|
|
printf("deschedule took %d CLKs = %d us\r\n",
|
|
value, (value + 10)/20);
|
|
break;
|
|
|
|
case 'c':
|
|
show_time();
|
|
break;
|
|
|
|
case 'd':
|
|
last_c = 'd';
|
|
printf("Display ");
|
|
address = (unsigned char *)gethex(1);
|
|
printf("\r\n");
|
|
getchr();
|
|
display_memory(address);
|
|
break;
|
|
|
|
case 'e':
|
|
printf("LEDs ");
|
|
gethex(1); ASM(" OUT R, (OUT_LEDS)");
|
|
printf("\r\n");
|
|
getchr();
|
|
break;
|
|
|
|
case 'm':
|
|
printf("Memory ");
|
|
address = (unsigned char *)gethex(1);
|
|
printf(" Value ");
|
|
getchr();
|
|
*address = gethex(1);
|
|
getchr();
|
|
printf("\r\n");
|
|
break;
|
|
|
|
case 's':
|
|
printf("DIP switch is 0x%X\r\n",
|
|
ASM(" IN (IN_DIP_SWITCH), RU"));
|
|
break;
|
|
|
|
case 't':
|
|
printf("Temperature is %d degrees Celsius\r\n",
|
|
ASM(" IN (IN_TEMPERAT), RU"));
|
|
break;
|
|
|
|
case 'H': printf("Halted.\r\n");
|
|
while (tx_sema.counter < sizeof(serial_out_buffer)) ;
|
|
ASM(" DI");
|
|
ASM(" HALT");
|
|
break;
|
|
|
|
case 'I':
|
|
load_image();
|
|
break;
|
|
|
|
case 'S':
|
|
show_semas();
|
|
break;
|
|
|
|
case 'T':
|
|
show_tasks();
|
|
break;
|
|
|
|
default:
|
|
printf("Help: \r\n"
|
|
"2 - kick task 2\r\n"
|
|
"3 - kick task 3\r\n"
|
|
"I - load image\r\n"
|
|
"S - show semaphores\r\n"
|
|
"T - show tasks\r\n"
|
|
"b - measure task switch (deschedule)\r\n"
|
|
"c - show time\r\n"
|
|
"d - display memory\r\n"
|
|
"e - set LEDs\r\n"
|
|
"m - modify memory\r\n"
|
|
"s - read DIP switch\r\n"
|
|
"t - read temperature\r\n"
|
|
"H - HALT (forever)\r\n"
|
|
"\r\n");
|
|
}
|
|
V(&serial_out);
|
|
}
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
void main_2()
|
|
{
|
|
unsigned int all_value;
|
|
unsigned int halt_value;
|
|
unsigned int all_total;
|
|
unsigned int halt_total;
|
|
int n;
|
|
int idle;
|
|
|
|
ASM(" EI");
|
|
|
|
init_stack();
|
|
|
|
for (;;)
|
|
{
|
|
P(&t2_control);
|
|
|
|
all_value = 0;
|
|
halt_value = 0;
|
|
all_total = 0;
|
|
halt_total = 0;
|
|
|
|
P(&serial_out);
|
|
printf("Measuring...\r\n");
|
|
V(&serial_out);
|
|
|
|
V(&t3_control);
|
|
for (n = 0; n < 100; n++)
|
|
{
|
|
sleep(1);
|
|
0; ASM(" OUT R, (OUT_START_CLK_CTR)");
|
|
sleep(1);
|
|
ASM(" OUT R, (OUT_STOP_CLK_CTR)");
|
|
all_value += (ASM(" IN (IN_CLK_CTR_HIGH), RU") << 8)
|
|
| ASM(" IN (IN_CLK_CTR_LOW), RU");
|
|
|
|
all_total += all_value >> 8;
|
|
all_value &= 0x00FF;
|
|
|
|
sleep(1);
|
|
3; ASM(" OUT R, (OUT_START_CLK_CTR)");
|
|
sleep(1);
|
|
ASM(" OUT R, (OUT_STOP_CLK_CTR)");
|
|
|
|
halt_value += (ASM(" IN (IN_CLK_CTR_HIGH), RU") << 8)
|
|
| ASM(" IN (IN_CLK_CTR_LOW), RU");
|
|
|
|
halt_total += halt_value >> 8;
|
|
halt_value &= 0x00FF;
|
|
}
|
|
P(&t3_control);
|
|
|
|
P(&serial_out);
|
|
printf("total: %d cycles\r\n", all_total);
|
|
printf("halted: %d cycles\r\n", halt_total);
|
|
idle = (100*(halt_total>> 8)) / (all_total >> 8);
|
|
printf("idle: %d %%\r\n", idle);
|
|
printf("load: %d %%\r\n", 100 - idle);
|
|
V(&serial_out);
|
|
}
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
void main_3()
|
|
{
|
|
char out;
|
|
|
|
ASM(" EI");
|
|
|
|
init_stack();
|
|
|
|
for (;;)
|
|
{
|
|
P(&t3_control);
|
|
V(&t3_control);
|
|
|
|
P(&serial_out);
|
|
for (out = '0'; out <= '9'; ++out) putchr(out);
|
|
for (out = 'A'; out <= 'Z'; ++out) putchr(out);
|
|
for (out = 'a'; out <= 'z'; ++out) putchr(out);
|
|
putchr('\r');
|
|
putchr('\n');
|
|
V(&serial_out);
|
|
}
|
|
}
|
|
//-----------------------------------------------------------------------------
|
|
//
|
|
// task stacks
|
|
//
|
|
unsigned int stack_1[200], tos_1[3] = { 0, 0, (int)&main_1 }, top_1[0];
|
|
unsigned int stack_2[200], tos_2[3] = { 0, 0, (int)&main_2 }, top_2[0];
|
|
unsigned int stack_3[200], tos_3[3] = { 0, 0, (int)&main_3 }, top_3[0];
|
|
|
|
Task task_3 = { &task_idle, // next task
|
|
tos_3, // current stack pointer
|
|
TASK_RUNNING, // current state
|
|
30 , // priority
|
|
"Load Task ", // task name
|
|
(char *)&stack_3, // bottom of stack
|
|
(char *)&top_3 }; // top of stack
|
|
|
|
Task task_2 = { &task_3, // next task
|
|
tos_2, // current stack pointer
|
|
TASK_RUNNING, // current state
|
|
40 , // priority
|
|
"Measurement", // task name
|
|
(char *)&stack_2, // bottom of stack
|
|
(char *)&top_2 }; // top of stack
|
|
|
|
Task task_1 = { &task_2, // next task
|
|
tos_1, // current stack pointer
|
|
TASK_RUNNING, // current state
|
|
50, // priority
|
|
"Monitor", // task name
|
|
(char *)&stack_1, // bottom of stack
|
|
(char *)&top_1 }; // top of stack
|
|
|
|
Task task_idle = { &task_1, // next task
|
|
0, // current stack pointer (N/A since running)
|
|
TASK_RUNNING, // current state
|
|
0, // priority
|
|
"Idle Task", // task name
|
|
(char *)0x1F80, // bottom of stack
|
|
(char *)0x2000 }; // top of stack
|
|
|
|
Task * current_task = &task_idle;
|
|
|
|
//-----------------------------------------------------------------------------
|
|
|
No newline at end of file
|
No newline at end of file
|
