AutosarOS
App.c
Go to the documentation of this file.
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 = GetResource(Res1);
35  assert(stat == E_OK);
36 
37  stat = ActivateTask(Task2);
38  assert(stat == E_OK);
39 
40  stat = ActivateTask(Task3);
41  assert(stat == E_OK);
42 
43  stat = ReleaseResource(Res1);
44  assert(stat == E_OK);
45 
46  stat = TerminateTask();
47  assert(stat == E_OK);
48 }
49 
50 TASK(Task2)
51 {
52  StatusType stat = TerminateTask();
53  assert(stat == E_OK);
54 }
55 
56 TASK(Task3)
57 {
58  StatusType stat = TerminateTask();
59  assert(stat == E_OK);
60 }
61 
62 extern void StartupHook(void)
63 {
64  DDRB = 0xFF; // PB as output
65  PORTB = 0xFF; // keep all LEDs off
66 
67  DDRD = 0x00; // PD as input
68  PORTD = 0xFF; // enable PU on PD
69 
70 #if defined (__AVR_ATmega32__)
71 
72 #elif defined (__AVR_ATmega128__) || defined (__AVR_ATmega1284__)
73  /* Timer 2 */
74 #if defined (OS_CONFIG_SIM) && OS_CONFIG_SIM == true
75 #if defined (__AVR_ATmega128__)
76  TCCR2 = (1 << CS20); // Enable Timer2 with Prescaler 1
77  TIMSK |= 1 << TOIE2; // Enable Overflow Interrupt (Timer2)
78 #else /* defined (__AVR_ATmega128__) */
79  TCCR2B = (1 << CS20); // Enable Timer2 with Prescaler 1
80  TIMSK2 |= 1 << TOIE2; // Enable Overflow Interrupt (Timer2)
81 #endif /* defined (__AVR_ATmega128__) */
82 #endif /* defined (OS_CONFIG_SIM) && OS_CONFIG_SIM == true */
83 #else /* defined (__AVR_ATmega32__) */
84 #error Unknown CPU defined!
85 #endif /* defined (__AVR_ATmega32__) */
86 
87  uint8_t t = 0;
88 
89  while (t < 6) {
90  uint8_t r = PORTB;
91  r ^= (1 << 7);
92  PORTB = r;
93  DELAY_MS(50);
94  t++;
95  }
96 }
97 
98 extern void ShutdownHook(StatusType error)
99 {
100  DDRB = 0xFF; // PB as output
101  PORTB = 0xFF; // keep all LEDs off
102 
103  for (uint8_t i = 0; i < 11; i++) {
104  PORTB ^= 0xFF;
105  DELAY_MS(1000);
106  }
107 }
108 
109 extern void PreTaskHook(void)
110 {
111  TaskType task;
112  GetTaskID(&task);
113  TaskStateType state = SUSPENDED;
114  GetTaskState(task, &state);
115 }
116 
117 extern void PostTaskHook(void)
118 {
119  TaskType task;
120  GetTaskID(&task);
121  TaskStateType state = SUSPENDED;
122  GetTaskState(task, &state);
123 }
124 
125 extern void ErrorHook(StatusType error)
126 {
127 
128 }
129 
130 ISR(TIMER2_OVF_vect)
131 {
132 
133 }
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
ActivateTask
#define ActivateTask
Definition: OS_API.h:78
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
ReleaseResource
#define ReleaseResource
Definition: OS_API.h:71
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.
GetResource
#define GetResource
Definition: OS_API.h:70