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 = GetEvent(Task1, NULL);
35  assert(stat == E_OS_PARAM_POINTER);
36 
37  stat = TerminateTask();
38  assert(stat == E_OK);
39 }
40 
41 extern void StartupHook(void)
42 {
43  DDRB = 0xFF; // PB as output
44  PORTB = 0xFF; // keep all LEDs off
45 
46  DDRD = 0x00; // PD as input
47  PORTD = 0xFF; // enable PU on PD
48 
49 #if defined (__AVR_ATmega32__)
50 
51 #elif defined (__AVR_ATmega128__) || defined (__AVR_ATmega1284__)
52  /* Timer 2 */
53 #if defined (OS_CONFIG_SIM) && OS_CONFIG_SIM == true
54 #if defined (__AVR_ATmega128__)
55  TCCR2 = (1 << CS20); // Enable Timer2 with Prescaler 1
56  TIMSK |= 1 << TOIE2; // Enable Overflow Interrupt (Timer2)
57 #else /* defined (__AVR_ATmega128__) */
58  TCCR2B = (1 << CS20); // Enable Timer2 with Prescaler 1
59  TIMSK2 |= 1 << TOIE2; // Enable Overflow Interrupt (Timer2)
60 #endif /* defined (__AVR_ATmega128__) */
61 #endif /* defined (OS_CONFIG_SIM) && OS_CONFIG_SIM == true */
62 #else /* defined (__AVR_ATmega32__) */
63 #error Unknown CPU defined!
64 #endif /* defined (__AVR_ATmega32__) */
65 
66  uint8_t t = 0;
67 
68  while (t < 6) {
69  uint8_t r = PORTB;
70  r ^= (1 << 7);
71  PORTB = r;
72  DELAY_MS(50);
73  t++;
74  }
75 }
76 
77 extern void ShutdownHook(StatusType error)
78 {
79  DDRB = 0xFF; // PB as output
80  PORTB = 0xFF; // keep all LEDs off
81 
82  for (uint8_t i = 0; i < 11; i++) {
83  PORTB ^= 0xFF;
84  DELAY_MS(1000);
85  }
86 }
87 
88 extern void PreTaskHook(void)
89 {
90  TaskType task;
91  GetTaskID(&task);
92  TaskStateType state = SUSPENDED;
93  GetTaskState(task, &state);
94 }
95 
96 extern void PostTaskHook(void)
97 {
98  TaskType task;
99  GetTaskID(&task);
100  TaskStateType state = SUSPENDED;
101  GetTaskState(task, &state);
102 }
103 
104 extern void ErrorHook(StatusType error)
105 {
106 
107 }
108 
109 ISR(TIMER2_OVF_vect)
110 {
111 
112 }
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.
TASK
TASK(Idle)
Definition: App.c:33
E_OK
@ E_OK
Definition: Types.h:40
DELAY_MS
#define DELAY_MS(ms)
Definition: App.c:24
ISR
ISR(INT0_vect)
Definition: App.c:806
PreTaskHook
void PreTaskHook(void)
PreTask hook function.
Definition: App.c:768
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.
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.
GetEvent
#define GetEvent
Definition: OS_API.h:47
E_OS_PARAM_POINTER
@ E_OS_PARAM_POINTER
Definition: Types.h:50