X-Git-Url: https://rtime.felk.cvut.cz/gitweb/arc.git/blobdiff_plain/07bbcb79799c461e4dc58be060a0c3e01f466c97..60966c493db6916acb0f8d9beaa9c1e77c206ef2:/boards/ti_tms570ls/examples/tms570_hdk_can/Tasks.c

diff --git a/boards/ti_tms570ls/examples/tms570_hdk_can/Tasks.c b/boards/ti_tms570ls/examples/tms570_hdk_can/Tasks.c
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+/*
+* Configuration of module: Os (Tasks.c)
+*
+* Created by:              
+* Copyright:               
+*
+* Configured for (MCU):    TMS570
+*
+* Module vendor:           ArcCore
+* Generator version:       2.0.34
+*
+* Generated by Arctic Studio (http://arccore.com) 
+*           on Tue Jul 05 15:02:10 CEST 2011
+*/
+
+#include "Os.h"
+#include "EcuM.h"
+#include "Com.h"
+#include "CanIf.h"
+#include "Dio.h"
+
+// #define USE_LDEBUG_PRINTF // Uncomment this to turn debug statements on.
+#include "debug.h"
+
+// Tasks
+void OsIdle( void ) {
+	while(1);
+}
+
+void StartupTask( void ) {
+
+	EcuM_StartupTwo();
+
+	CanIf_InitController(CANIF_Channel_1, CANIF_Channel_1_CONFIG_0);
+	CanIf_SetControllerMode(CANIF_Channel_1, CANIF_CS_STARTED);
+	CanIf_InitController(CANIF_Channel_2, CANIF_Channel_2_CONFIG_0);
+	CanIf_SetControllerMode(CANIF_Channel_2, CANIF_CS_STARTED);
+	//Com_IpduGroupStart(CanDbImportedPdus, 1);
+	Com_IpduGroupStart(ComPduGroup, 0);
+
+	SetEvent(TASK_ID_StepTask, EVENT_MASK_StepEvent);
+
+	TerminateTask();
+}
+
+void MainTask( void ) {
+	Com_MainFunctionTx();	// Com_MainFunctionRx();
+	Com_MainFunctionRx();	// Com_MainFunctionTx();
+	TerminateTask();
+}
+
+// Task that toggles the LED
+Dio_LevelType level = 1;
+void BlinkerTask( void ) {
+	level = !level;
+	Dio_WriteChannel(DIO_CHANNEL_NAME_LED_CHANNEL, level);
+	TerminateTask();
+}
+
+// Hooks
+#define ERROR_LOG_SIZE 20
+
+struct LogBad_s {
+	uint32_t param1;
+	uint32_t param2;
+	uint32_t param3;
+	TaskType taskId;
+	OsServiceIdType serviceId;
+	StatusType error;
+};
+
+void ErrorHook ( StatusType Error ) {
+
+	TaskType task;
+	static struct LogBad_s LogBad[ERROR_LOG_SIZE];
+	static uint8_t ErrorCount = 0;
+	GetTaskID(&task);
+	OsServiceIdType service = OSErrorGetServiceId();
+	
+	LDEBUG_PRINTF("## ErrorHook err=%d\n",Error);
+
+	/* Log the errors in a buffer for later review */
+	LogBad[ErrorCount].param1 = os_error.param1;
+	LogBad[ErrorCount].param2 = os_error.param2;
+	LogBad[ErrorCount].param3 = os_error.param3;
+	LogBad[ErrorCount].serviceId = service;
+	LogBad[ErrorCount].taskId = task;
+	LogBad[ErrorCount].error = Error;
+
+	ErrorCount++;
+
+	// Stall if buffer is full.
+	while(ErrorCount >= ERROR_LOG_SIZE);
+
+}
+
+void PostTaskHook ( void ) {
+	TaskType task;
+	GetTaskID(&task);
+	LDEBUG_PRINTF("## PreTaskHook, taskid=%d\n",task);
+}
+
+void PreTaskHook ( void ) {
+	TaskType task;
+	GetTaskID(&task);
+	LDEBUG_PRINTF("## PreTaskHook, taskid=%d\n",task);
+}
+
+void ShutdownHook ( StatusType Error ) {
+	LDEBUG_PRINTF("## ShutdownHook\n");
+	while(1);
+}
+
+void StartupHook ( void ) {
+	LDEBUG_PRINTF("## StartupHook\n");
+}