AutosarOS
App.c
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1 
14 #include "assert.h"
15 
16 #include "OS_API.h"
17 
18 #include <avr/io.h>
19 #include <util/delay.h>
20 
21 #if defined (OS_CONFIG_SIM) && OS_CONFIG_SIM == true
22 #define DELAY_MS(ms)
23 #else
24 #define DELAY_MS(ms) _delay_ms(ms)
25 #endif /* defined (OS_CONFIG_SIM) && OS_CONFIG_SIM == true */
26 
27 TASK(Idle)
28 {
29  while (1);
30 }
31 
32 TASK(Task1)
33 {
34  StatusType stat = SetRelAlarm(Alarm1, 1, 0);
35  assert(stat == E_OK);
36 
37  stat = IncrementCounter(Counter1);
38  assert(stat == E_OK);
39 
40  TaskStateType state = SUSPENDED;
41  stat = GetTaskState(Task2, &state);
42  assert(stat == E_OK && state == READY);
43 
44  stat = TerminateTask();
45  assert(stat == E_OK);
46 }
47 
48 TASK(Task2)
49 {
50  StatusType stat = TerminateTask();
51  assert(stat == E_OK);
52 }
53 
54 extern void StartupHook(void)
55 {
56  DDRB = 0xFF; // PB as output
57  PORTB = 0xFF; // keep all LEDs off
58 
59  DDRD = 0x00; // PD as input
60  PORTD = 0xFF; // enable PU on PD
61 
62 #if defined (__AVR_ATmega32__)
63 
64 #elif defined (__AVR_ATmega128__) || defined (__AVR_ATmega1284__)
65  /* Timer 2 */
66 #if defined (OS_CONFIG_SIM) && OS_CONFIG_SIM == true
67 #if defined (__AVR_ATmega128__)
68  TCCR2 = (1 << CS20); // Enable Timer2 with Prescaler 1
69  TIMSK |= 1 << TOIE2; // Enable Overflow Interrupt (Timer2)
70 #else /* defined (__AVR_ATmega128__) */
71  TCCR2B = (1 << CS20); // Enable Timer2 with Prescaler 1
72  TIMSK2 |= 1 << TOIE2; // Enable Overflow Interrupt (Timer2)
73 #endif /* defined (__AVR_ATmega128__) */
74 #endif /* defined (OS_CONFIG_SIM) && OS_CONFIG_SIM == true */
75 #else /* defined (__AVR_ATmega32__) */
76 #error Unknown CPU defined!
77 #endif /* defined (__AVR_ATmega32__) */
78 
79  uint8_t t = 0;
80 
81  while (t < 6) {
82  uint8_t r = PORTB;
83  r ^= (1 << 7);
84  PORTB = r;
85  DELAY_MS(50);
86  t++;
87  }
88 }
89 
90 extern void ShutdownHook(StatusType error)
91 {
92  DDRB = 0xFF; // PB as output
93  PORTB = 0xFF; // keep all LEDs off
94 
95  for (uint8_t i = 0; i < 11; i++) {
96  PORTB ^= 0xFF;
97  DELAY_MS(1000);
98  }
99 }
100 
101 extern void PreTaskHook(void)
102 {
103  TaskType task;
104  GetTaskID(&task);
105  TaskStateType state = SUSPENDED;
106  GetTaskState(task, &state);
107 }
108 
109 extern void PostTaskHook(void)
110 {
111  TaskType task;
112  GetTaskID(&task);
113  TaskStateType state = SUSPENDED;
114  GetTaskState(task, &state);
115 }
116 
117 extern void ErrorHook(StatusType error)
118 {
119 
120 }
121 
122 ISR(TIMER2_OVF_vect)
123 {
124 
125 }
TaskType
enum tasks_e TaskType
Type for task reference.
Definition: TaskTypes.h:29
StatusType
enum StatusType_e StatusType
Type for status.
ErrorHook
void ErrorHook(StatusType error)
PostTask hook function.
Definition: App.c:784
StartupHook
void StartupHook(void)
Definition: App.c:702
GetTaskState
#define GetTaskState
Definition: OS_API.h:83
assert.h
Assert macros and functions.
IncrementCounter
#define IncrementCounter
Definition: OS_API.h:36
DELAY_MS
#define DELAY_MS(ms)
Definition: App.c:24
TASK
TASK(Idle)
Definition: App.c:33
E_OK
@ E_OK
Definition: Types.h:40
ISR
ISR(INT0_vect)
Definition: App.c:806
PreTaskHook
void PreTaskHook(void)
PreTask hook function.
Definition: App.c:768
READY
@ READY
The task is ready to be scheduled.
Definition: TaskTypes.h:60
assert
#define assert(expression)
Definition: assert.h:37
SUSPENDED
@ SUSPENDED
The task is suspended and will not be scheduled.
Definition: TaskTypes.h:58
TerminateTask
#define TerminateTask
Definition: OS_API.h:80
OS_API.h
Operating System API.
SetRelAlarm
#define SetRelAlarm
Definition: OS_API.h:27
GetTaskID
#define GetTaskID
Definition: OS_API.h:82
PostTaskHook
void PostTaskHook(void)
PostTask hook function.
Definition: App.c:776
ShutdownHook
void ShutdownHook(StatusType error)
Definition: App.c:757
TaskStateType
enum OsTaskState_e TaskStateType
Task state.