+++ /dev/null
-%% Copyright (C) 2013-2015 Czech Technical University in Prague
-%%
-%% Authors:
-%% - Carlos Jenkins <carlos@jenkins.co.cr>
-%% - Michal Sojka <sojkam1@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.
-%%
-%% File : rpp_srmain.tlc
-%% Abstract:
-%% 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
-
- /* 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)
- {
-
- 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);
-
- 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);
- }
-
- %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);
- }
- #endif
-
- %closefile tmpBuf
- %<LibSetSourceFileSection(cFile, "Functions", tmpBuf)>
- %%%%%%%%
-
-%endfunction
projects / jenkicar / rpp-simulink.git / commitdiff