-%% Copyright (C) 2013 Czech Technical University in Prague
+%% Copyright (C) 2013-2015 Czech Technical University in Prague
%%
%% Authors:
%% - Carlos Jenkins <carlos@jenkins.co.cr>
+%% - Michal Sojka <sojkam1@fel.cvut.cz>
%%
-%% This program is free software; you can redistribute it and/or modify
-%% it under the terms of the GNU General Public License as published by
-%% the Free Software Foundation; either version 2 of the License, or
-%% (at your option) any later version.
-%%
-%% This program is distributed in the hope that it will be useful,
-%% but WITHOUT ANY WARRANTY; without even the implied warranty of
-%% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-%% GNU General Public License for more details.
-%%
-%% You should have received a copy of the GNU General Public License
-%% along with this program. If not, see <http://www.gnu.org/licenses/>.
+%% This document contains proprietary information belonging to Czech
+%% Technical University in Prague. Passing on and copying of this
+%% document, and communication of its contents is not permitted
+%% without prior written authorization.
%%
%% File : rpp_srmain.tlc
%% Abstract:
-%% Custom file processing to generate a "main" file.
+%% Custom TLC file to generate an RPP "main" file.
+%%
+%% This file generates the "main" file for the RPP target on top of the RPP
+%% library and the FreeRTOS operating system.
+%%
+%% The sr prefix is standard to mark Single Tasking main, which is the case. See
+%% rpp_file_process.m description above for more information about this.
%%
%% References:
%% Example in <matlabroot>/rtw/c/tlc/mw/bareboard_srmain.tlc
%%%%%%%%
%openfile tmpBuf
- /* Standard includes */
- #include <stdbool.h>
-
- /* Kernel includes */
- #include "FreeRTOS.h"
- #include "task.h"
- #include "semphr.h"
-
/* Model includes */
#include "%<LibGetMdlPubHdrBaseName()>.h"
+ /* RPP runtime includes */
+ #include "rpp_simulink_runtime.h"
+
+ %if extMode == 1
+ /* External mode header file */
+ #include "ext_work.h"
+ #include <drv/sci.h>
+ %endif
+
%closefile tmpBuf
%<LibSetSourceFileSection(cFile, "Includes", tmpBuf)>
%%%%%%%%
%%%%%%%%
%openfile tmpBuf
+ /* Definitions */
#define STEP_SIZE_MILLIS (%<CompiledModel.FundamentalStepSize>*1000.0)
- #define CONTROL_PRIORITY 2
- #define WORKING_PRIORITY 1
+ #define CONTROL_PRIORITY 3
+ #define WORKING_PRIORITY 2
+ #define EXTMODE_PRIORITY 1
%closefile tmpBuf
%<LibSetSourceFileSection(cFile, "Defines", tmpBuf)>
%%%%%%%%
%openfile tmpBuf
- bool WORKING = false;
- bool SHUTDOWN = false;
- xSemaphoreHandle step_signal = NULL;
+ static boolean_t working = FALSE;
+ static xSemaphoreHandle step_signal = NULL;
+ static xSemaphoreHandle initialized_signal = NULL;
+ %if extMode == 1
+ static xSemaphoreHandle ext_mode_ready = NULL;
+ %endif
+ static uint32_t steps_control = 0;
+ static uint32_t steps_working = 0;
+ boolean_t overrun_flag = FALSE;
%closefile tmpBuf
%<LibSetSourceFileSection(cFile, "Declarations", tmpBuf)>
/**
* Model step control and overrun detection task.
*/
- void control_task(void *p) {
+ void control_task(void* p)
+ {
+
+ xSemaphoreTake(initialized_signal, portMAX_DELAY);
+ %if extMode == 1
+ xSemaphoreTake(ext_mode_ready, portMAX_DELAY);
+ %endif
static const portTickType freq_ticks = STEP_SIZE_MILLIS / portTICK_RATE_MS;
portTickType last_wake_time = xTaskGetTickCount();
- while(!SHUTDOWN) {
-
- // Wait until next step
+ %% This condition has been added because of the warning:
+ %% "ert_main.c", line 46: warning #238-D: controlling expression is constant
+ %% caused by the expression (void*) 0 passed to the while statement. The rtmGetStopRequested
+ %% macro is defined to this constant if and only if the GenerateSampleERTMain is not set. So
+ %% The condition is not needed in this case as well.
+ %%
+ %% See <MATLAB_ROOT>/rtw/c/tlc/mw/rtmspecmacs.tlc at line 198.
+
+ %if !GenerateSampleERTMain
+ while (rtmGetErrorStatus(%<modelName>_M) == NULL) {
+ %else
+ while (rtmGetErrorStatus(%<modelName>_M) == NULL && !rtmGetStopRequested(%<modelName>_M)) {
+ %endif
+ /* Wait until next step */
vTaskDelayUntil(&last_wake_time, freq_ticks);
- if(WORKING) {
- // Overrun detected
- %<LibSetRTModelErrorStatus("\"Overrun\"")>;
- // FIXME: Call overrun routine
+ if (working) {
+ /* Overrun detected */
+ overrun_flag = TRUE;
} else {
- // Release semaphore
+ /* Release semaphore */
xSemaphoreGive(step_signal);
}
+ steps_control++;
+
+ %if extMode == 1
+ rtExtModeCheckEndTrigger();
+ %endif
}
/**
* Model step logic execution task.
*/
- void working_task(void *p) {
-
- while(!SHUTDOWN) {
+ void working_task(void* p)
+ {
+ /* Initialize model */
+ %<LibCallModelInitialize()>\
+ /* Step the model for any subrate */
+ xSemaphoreGive(initialized_signal);
- // Lock semaphore
- if(xSemaphoreTake(step_signal, portMAX_DELAY)) {
- WORKING = true;
+ while (1) {
+ if (xSemaphoreTake(step_signal, portMAX_DELAY)) {
+ working = TRUE;
%<LibCallModelStep(0)>\
- WORKING = false;
+ steps_working++;
+ working = FALSE;
}
}
- /* In case of shutdown, delete this task */
- vTaskDelete(NULL);
+ %% /* In case of shutdown, delete this task */
+ %% vTaskDelete(NULL);
}
+ %if extMode == 1
+ void ext_mode_comm_task(void* p)
+ {
+ drv_sci_set_crlf_conv_en(FALSE); /* Disable CR->CRLF conversion */
+
+ %<SLibGenERTExtModeInit()>
+ xSemaphoreGive(ext_mode_ready);
+
+ while (rtmGetErrorStatus(%<modelName>_M) == NULL && !rtmGetStopRequested(%<modelName>_M)) {
+ rtExtModeOneStep(rtmGetRTWExtModeInfo(%<modelName>_M), %<numSampleTimes>, (boolean_T *)&rtmGetStopRequested(%<modelName>_M));
+ }
+ rtExtModeShutdown(%<numSampleTimes>);
+ /* In case of shutdown, delete this task */
+ vTaskDelete(NULL);
+ }
+ %endif
/**
* Hardware initialization, task spawning and OS scheduler start.
*/
void main(void)
{
- /* Initialize model */
- %<LibCallModelInitialize()>\
- _enable_IRQ();
+ /* Initialize RPP board */
+ %if EXISTS(::rpp_ain_present)
+ rpp_adc_init();
+ %endif
+ %if EXISTS(::rpp_aout_present)
+ rpp_dac_init();
+ %endif
+ %if EXISTS(::rpp_din_present)
+ rpp_din_init();
+ %endif
+ %if EXISTS(::rpp_hbr_present)
+ rpp_hbr_init();
+ %endif
+ %if EXISTS(::rpp_irc_present)
+ rpp_irc_init();
+ %endif
+ %if EXISTS(::rpp_lout_present)
+ rpp_lout_init();
+ %endif
+ %if EXISTS(::rpp_mout_present)
+ rpp_mout_init();
+ %endif
+ %if EXISTS(::rpp_sdr_present)
+ rpp_sdr_init();
+ %endif
+ %if EXISTS(::rpp_gio_in_present) || EXISTS(::rpp_gio_out_present)
+ rpp_gio_init(RPP_GIO_PORT_ALL);
+ %endif
+ rpp_sci_init();
+
+ // Speed up the SCI
+ rpp_sci_setup(115200);
+
+ %if rppPrintMeta
+ %assign model_info = SPRINTF("'%s' - %s (TLC %s)\\r\\n", LibGetMdlPubHdrBaseName(), TLC_TIME, TLC_VERSION)
+ rpp_sci_printk("%<model_info>");
+ %endif
/* Create and lock semaphore */
vSemaphoreCreateBinary(step_signal);
xSemaphoreTake(step_signal, 0);
+ vSemaphoreCreateBinary(initialized_signal);
+ xSemaphoreTake(initialized_signal, 0);
+ %if extMode == 1
+ vSemaphoreCreateBinary(ext_mode_ready);
+ xSemaphoreTake(ext_mode_ready, 0);
+ %endif
+
+ /* Create tasks to step model and model task */
+ if (xTaskCreate(control_task, "control_task",
+ configMINIMAL_STACK_SIZE, NULL, CONTROL_PRIORITY, NULL) != pdPASS) {
+ rpp_sci_printk("ERROR: Cannot spawn control task.\r\n");
+ return;
+ }
+ if (xTaskCreate(working_task, "working_task",
+ %<rppModelTaskStack>, NULL, WORKING_PRIORITY, NULL) != pdPASS) {
+ rpp_sci_printk("ERROR: Cannot spawn model task.\r\n"
+ );
+ return;
+ }
+ %if extMode == 1
+ /* External mode */
+ rtParseArgsForExtMode(0, NULL);
+
+ if (xTaskCreate(ext_mode_comm_task, "ext_mode_comm_task", 1024, NULL, EXTMODE_PRIORITY, NULL) != pdPASS) {
+ rpp_sci_printk("ERROR: Cannot spawn model task.\r\n");
+ return;
+ }
+ %endif
- /* Create tasks to step model and start scheduler */
- xTaskCreate(control_task, (signed char*) "control_task", 128, NULL,
- CONTROL_PRIORITY, NULL);
- xTaskCreate(working_task, (signed char*) "working_task", %<rppModelTaskStack>, NULL,
- WORKING_PRIORITY, NULL);
+ /* Start FreeRTOS Scheduler */
vTaskStartScheduler();
- // We should never get here
- %<LibCallModelTerminate()>\
- while(true) {
- }
+ /* We should never get here */
+ %<LibCallModelTerminate()>
+ rpp_sci_printk("ERROR: Problem allocating memory for idle task.\r\n");
}
+ #if configUSE_MALLOC_FAILED_HOOK == 1
/**
* FreeRTOS malloc() failed hook.
*/
- void vApplicationMallocFailedHook(void) {
- // FIXME: Implement.
- }
+ void vApplicationMallocFailedHook(void) {
+ rpp_sci_printk("ERROR: Memory allocation failed.\r\n");
+ }
+ #endif
+
+ #if configCHECK_FOR_STACK_OVERFLOW > 0
/**
* FreeRTOS stack overflow hook.
*/
- void vApplicationStackOverflowHook(xTaskHandle xTask,
- signed portCHAR *pcTaskName) {
- // FIXME: Implement.
+ void vApplicationStackOverflowHook(xTaskHandle xTask, signed portCHAR *pcTaskName)
+ {
+ rpp_sci_printk("ERROR: Stack overflow : \"%s\".\r\n", pcTaskName);
}
+ #endif
%closefile tmpBuf
%<LibSetSourceFileSection(cFile, "Functions", tmpBuf)>
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