-%% Copyright (C) 2013 Czech Technical University in Prague
+%% Copyright (C) 2013-2015 Czech Technical University in Prague
%%
%% Authors:
-%% - Carlos Jenkins <carlos@jenkins.co.cr>
+%% - 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.
-%% Reference: ???
+%% 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
%selectfile NULL_FILE
%function FcnSingleTaskingMain() void
- %if GenerateSampleERTMain
- %assign CompiledModel.GenerateSampleERTMain = TLC_FALSE
- %endif
-
- %assign cFile = LibCreateSourceFile("Source", "Custom", "ert_main")
- %openfile tmpBuf
- %closefile tmpBuf
-
- %<LibSetSourceFileSection(cFile, "Includes", tmpBuf)>
- %openfile tmpBuf
- /* OS includes */
- #include "FreeRTOS.h"
- #include "os_task.h"
-
- /* Common includes */
- #include "sys_common.h"
- #include "system.h"
-
- /* Library includes */
- // FIXME: Implement conditional #include's
- %% IF GIO (General Input/Outputs)
- %% IF HOUT (PWM outputs)
- %% IF MOUT (Motor outputs)
- %% IF ADC (Analog to Digital Converter)
- %% IF SCI (Serial Communication Interface)
- %% IF CAN (CAN Bus)
- %% IF SDRAM
-
- /* Model includes */
- #include "%<LibGetMdlPubHdrBaseName()>.h"
- %closefile tmpBuf
-
- %<LibSetSourceFileSection(cFile, "Declarations", tmpBuf)>
- %openfile tmpBuf
+ %if GenerateSampleERTMain
+ %assign CompiledModel.GenerateSampleERTMain = TLC_FALSE
+ %endif
- void main(void)
+
+ %assign cFile = LibCreateSourceFile("Source", "Custom", "ert_main")
+
+
+ %%%%%%%%
+ %openfile tmpBuf
+
+ /* 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 3
+ #define WORKING_PRIORITY 2
+ #define EXTMODE_PRIORITY 1
+
+ %closefile tmpBuf
+ %<LibSetSourceFileSection(cFile, "Defines", tmpBuf)>
+ %%%%%%%%
+
+
+ %%%%%%%%
+ %openfile tmpBuf
+
+ 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)>
+ %%%%%%%%
+
+
+ %%%%%%%%
+ %openfile tmpBuf
+
+ /**
+ * Model step control and overrun detection task.
+ */
+ void control_task(void* p)
{
- /* Initialize peripherals */
- // FIXME: Implement conditional init()'s
- _enable_IRQ();
+ 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();
+
+ %% 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 */
+ overrun_flag = TRUE;
+ } else {
+ /* Release semaphore */
+ xSemaphoreGive(step_signal);
+ }
+ steps_control++;
+
+ %if extMode == 1
+ rtExtModeCheckEndTrigger();
+ %endif
+
+ }
+
+ /* In case of shutdown, delete this task */
+ vTaskDelete(NULL);
+ }
+
+ /**
+ * Model step logic execution task.
+ */
+ void working_task(void* p)
+ {
/* Initialize model */
%<LibCallModelInitialize()>\
+ /* Step the model for any subrate */
+ xSemaphoreGive(initialized_signal);
- /* Create task to step model and start scheduler */
- // FIXME: Implement OS task for model step
- vTaskStartScheduler();
+ while (1) {
+ if (xSemaphoreTake(step_signal, portMAX_DELAY)) {
+ working = TRUE;
+ %<LibCallModelStep(0)>\
+ steps_working++;
+ working = FALSE;
+ }
+ }
+
+ %% /* In case of shutdown, delete this task */
+ %% vTaskDelete(NULL);
+ }
- // We should never get here
- %<LibCallModelTerminate()>\
- while(1){
+ %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 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
+
+ /* Start FreeRTOS Scheduler */
+ vTaskStartScheduler();
+
+ /* 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) {
+ 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)
+ {
+ rpp_sci_printk("ERROR: Stack overflow : \"%s\".\r\n", pcTaskName);
}
- %closefile tmpBuf
+ #endif
- %<LibSetSourceFileSection(cFile, "Functions", tmpBuf)>
+ %closefile tmpBuf
+ %<LibSetSourceFileSection(cFile, "Functions", tmpBuf)>
+ %%%%%%%%
%endfunction
projects / jenkicar / rpp-simulink.git / blobdiff