%% - Michal Sojka <sojkam1@fel.cvut.cz>
%% - Michal Horn <hornmich@fel.cvut.cz>
%%
-%% 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.
+%% Permission is hereby granted, free of charge, to any person
+%% obtaining a copy of this software and associated documentation
+%% files (the "Software"), to deal in the Software without
+%% restriction, including without limitation the rights to use,
+%% copy, modify, merge, publish, distribute, sublicense, and/or sell
+%% copies of the Software, and to permit persons to whom the
+%% Software is furnished to do so, subject to the following
+%% conditions:
+
+%% The above copyright notice and this permission notice shall be
+%% included in all copies or substantial portions of the Software.
+
+%% THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+%% EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+%% OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+%% NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+%% HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+%% WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+%% FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+%% OTHER DEALINGS IN THE SOFTWARE.
%%
%% File : rpp_mrmain.tlc
%% Abstract:
%assign CompiledModel.GenerateSampleERTMain = TLC_FALSE
%endif
-
%assign cFile = LibCreateSourceFile("Source", "Custom", "ert_main")
+ %if LibIsSingleTasking()
+ %assign taskCount = 1
+ %assign firstTask = 0
+ %else
+ %assign taskCount = numSampleTimes - tid01Eq
+ %assign firstTask = tid01Eq
+ %endif
+
%%%%%%%%
%openfile tmpBuf
/* External mode header file */
#include "ext_work.h"
#include <drv/sci.h>
+ #include <drv/emac.h>
%endif
%closefile tmpBuf
/* Definitions */
#define STEP_SIZE_MILLIS (%<CompiledModel.FundamentalStepSize>*1000.0)
- #define NUM_SAMPLE_TIMES %<numSampleTimes>
+ #define NUM_TASKS %<taskCount>
#define CONTROL_PRIORITY (configMAX_PRIORITIES - 1)
%% Worker task priority assignment - rate transition block
%% requires rate monotonic priority assignment
- %foreach i = numSampleTimes - tid01Eq
- #define WORKING%<i + tid01Eq>_PRIORITY (configMAX_PRIORITIES - %<2 + i>)
+ %foreach i = taskCount
+ #define WORKING%<i + firstTask>_PRIORITY (configMAX_PRIORITIES - %<2 + i>)
%endforeach
%if extMode == 1
#define EXTMODE_PRIORITY IDLE_PRIORITY /* Extmode not used */
%endif
- %foreach i = numSampleTimes - tid01Eq
- %assign j = i + tid01Eq
+ %foreach i = taskCount
+ %assign j = i + firstTask
#if (WORKING%<j>_PRIORITY <= EXTMODE_PRIORITY) || (WORKING%<j>_PRIORITY >= CONTROL_PRIORITY)
#error Too many tasks. Increase configMAX_PRIORITIES.
#endif
static xSemaphoreHandle ext_mode_ready = NULL;
%endif
static uint32_t steps_control = 0;
- static uint32_t steps_working[NUM_SAMPLE_TIMES];
+ static uint32_t steps_working[NUM_TASKS];
boolean_t overrun_flag = FALSE;
- static sub_rate_t sub_rate[NUM_SAMPLE_TIMES];
+ static sub_rate_t sub_rate[NUM_TASKS];
static boolean_t simulationFinished = 0;
%closefile tmpBuf
*/
void control_task(void* p)
{
- uint32_t i;
- %% Variables used by LibCallSetEventForThisBaseStep (static => zero initialized)
- static uint32_t taskCounter[NUM_SAMPLE_TIMES];
- static boolean_t eventFlags[NUM_SAMPLE_TIMES];
- static boolean_t OverrunFlags[NUM_SAMPLE_TIMES];
+ %if !LibIsSingleTasking()
+ uint32_t i = 0;
- (void)OverrunFlags; /* Not used in multitasking mode, but required by TLC macro */
+ %% Variables used by LibCallSetEventForThisBaseStep (static => zero initialized)
+ static uint32_t taskCounter[NUM_TASKS];
+ static boolean_t eventFlags[NUM_TASKS];
+ static boolean_t OverrunFlags[NUM_TASKS];
+
+ (void)OverrunFlags; /* Not used in multitasking mode, but required by TLC macro */
+ %endif
steps_control = 0;
%if extMode == 1
xSemaphoreTake(ext_mode_ready, portMAX_DELAY);
%endif
+ /* Initialize model */
+ %<LibCallModelInitialize()>\
+
+ /* Start periodic execution */
static const portTickType freq_ticks = STEP_SIZE_MILLIS / portTICK_RATE_MS;
portTickType last_wake_time = xTaskGetTickCount();
/* Wait until next step */
vTaskDelayUntil(&last_wake_time, freq_ticks);
- /* Check subrate overrun, set rates that need to run this time step*/
- %<LibCallSetEventForThisBaseStep("eventFlags")>\
+ %if !LibIsSingleTasking()
+ /* Mark rates that need to run this time step */
+ %<LibCallSetEventForThisBaseStep("eventFlags")>\
+ %endif
- /* Trigger sub-rate threads */
- %foreach j = numSampleTimes - tid01Eq
- %assign i = j + tid01Eq
+ /* Trigger working threads */
+ %foreach j = taskCount
+ %assign i = j + firstTask
%assign s = CompiledModel.SampleTime[i].PeriodAndOffset[0]
%assign o = CompiledModel.SampleTime[i].PeriodAndOffset[1]
/* Sampling rate %<i>, sample time = %<s>, offset = %<o> */
%endforeach
- for (i = %<tid01Eq>; i < NUM_SAMPLE_TIMES; i++) {
- if (i == 0 || eventFlags[i]) {
- eventFlags[i] = FALSE;
- uint32_t step_sem_value = uxQueueMessagesWaiting(sub_rate[i].sem);
+ %if LibIsSingleTasking()
+ %assign i = "0"
+ %else
+ %assign i = "i"
+ for (%<i> = %<firstTask>; %<i> < NUM_TASKS; %<i>++) {
+ if (%<i> == 0 || eventFlags[%<i>]) {
+ eventFlags[%<i>] = FALSE;
+ %endif
+ uint32_t step_sem_value = uxQueueMessagesWaiting(sub_rate[%<i>].sem);
if (step_sem_value) {
%% Commented out so that overrun does stop the whole execution
%% rtmSetErrorStatus(%<modelName>_M, "Overrun");
overrun_flag = TRUE;
- break;
- }
- if (xSemaphoreGive(sub_rate[i].sem) == pdFALSE) {
- rpp_sci_printk("ERROR: Task %d semaphore 1 give.\n", i);
- while (1) ;
- }
- if (xSemaphoreGive(sub_rate[i].sem) == pdFALSE) {
- rpp_sci_printk("ERROR: Task %d semaphore 2 give.\n", i);
- while (1) ;
+ continue;
}
+ xSemaphoreGive(sub_rate[%<i>].sem);
+ xSemaphoreGive(sub_rate[%<i>].sem);
+ %if !LibIsSingleTasking()
}
}
+ %endif
steps_control++;
simulationFinished = 1;
/* Final step */
- for (i = %<tid01Eq>; i < NUM_SAMPLE_TIMES; i++) {
- xSemaphoreGive(sub_rate[i].sem);
- xSemaphoreGive(sub_rate[i].sem);
+ %if !LibIsSingleTasking()
+ for (%<i> = %<firstTask>; %<i> < NUM_TASKS; %<i>++) {
+ %endif
+ xSemaphoreGive(sub_rate[%<i>].sem);
+ xSemaphoreGive(sub_rate[%<i>].sem);
+ %if !LibIsSingleTasking()
}
+ %endif
/* In case of shutdown, delete this task */
vTaskDelete(NULL);
}
- %foreach j = numSampleTimes - tid01Eq
- %assign i = j + tid01Eq
+ %foreach j = taskCount
+ %assign i = j + firstTask
/**
* Model step logic execution task for sample time %<CompiledModel.SampleTime[i].ClockTickStepSize>.
*/
void ext_mode_comm_task(void* p)
{
drv_sci_set_crlf_conv_en(FALSE); /* Disable CR->CRLF conversion */
+ rtParseArgsForExtMode(0, NULL);
%<SLibGenERTExtModeInit()>
xSemaphoreGive(ext_mode_ready);
%endif
rpp_sci_init();
+ %if extMode == 1
+ rpp_eth_init();
+ %endif
+
// Speed up the SCI
rpp_sci_setup(115200);
- /* Initialize model */
- %<LibCallModelInitialize()>\
-
%if rppPrintMeta
%assign model_info = SPRINTF("'%s' - %s (TLC %s)\\r\\n", LibGetMdlPubHdrBaseName(), TLC_TIME, TLC_VERSION)
rpp_sci_printk("%<model_info>");
%endif
-
+
%if extMode == 1
vSemaphoreCreateBinary(ext_mode_ready);
xSemaphoreTake(ext_mode_ready, 0);
%endif
- %foreach j = numSampleTimes - tid01Eq
- %assign i = j + tid01Eq
+ %foreach j = taskCount
+ %assign i = j + firstTask
%assign s = CompiledModel.SampleTime[i].PeriodAndOffset[0]
%assign o = CompiledModel.SampleTime[i].PeriodAndOffset[1]
}
/* Starting loop %<i> thread for sample time = %<s>s, offset = %<o>s. */
- if (xTaskCreate(working_task%<i>,
- "working_task%<i>",
- %<rppModelTaskStack>,
- NULL,
- WORKING%<i>_PRIORITY,
+ if (xTaskCreate(working_task%<i>, "working_task%<i>",
+ %<rppModelTaskStack>, NULL, WORKING%<i>_PRIORITY,
&sub_rate[%<i>].thread ) != pdPASS) {
rpp_sci_printk("ERROR: Cannot spawn working task %<i>.\r\n");
while (1);
/* Create tasks to step model and model task */
- if (xTaskCreate(control_task,
- "control_task",
- %<rppModelTaskStack>,
- NULL,
- CONTROL_PRIORITY,
+ if (xTaskCreate(control_task, "control_task",
+ %<rppModelTaskStack>, NULL, CONTROL_PRIORITY,
NULL) != pdPASS) {
rpp_sci_printk("ERROR: Cannot spawn control task.\r\n");
while (1);
%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");
projects / jenkicar / rpp-simulink.git / blobdiff