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prepare waters for experiments

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This commit is contained in:
Alwin Berger 2023-02-06 10:40:21 +01:00
parent 0fda681119
commit 0973a2c89d
5 changed files with 416 additions and 2 deletions
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4
FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/FreeRTOSConfig.h
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@ -51,7 +51,7 @@ extern void vAssertCalled( void );
#define configUSE_IDLE_HOOK 1
#define configUSE_TICK_HOOK 1
#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
#define configCPU_CLOCK_HZ ( ( unsigned long ) 20000000 )
#define configCPU_CLOCK_HZ ( ( unsigned long ) 62500000 ) // icount shift 4
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 2000 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 900 ) )
@ -61,7 +61,7 @@ extern void vAssertCalled( void );
#define configIDLE_SHOULD_YIELD 1
#define configUSE_CO_ROUTINES 0
#define configMAX_PRIORITIES ( 10 )
#define configMAX_PRIORITIES ( 15 )
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
#define configTIMER_QUEUE_LENGTH 20
#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )

6
FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/Makefile
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@ -88,6 +88,11 @@ ifeq ($(LIFT_DEMO), 1)
SOURCE_FILES += main_lift.c
CFLAGS := -DmainCREATE_LIFT_DEMO=1
else
ifeq ($(WATERS_DEMO), 1)
SOURCE_FILES += main_waters.c
CFLAGS := -DmainCREATE_WATERS_DEMO=1
else
SOURCE_FILES += main_blinky.c
@ -99,6 +104,7 @@ endif
endif
endif
endif
endif
DEFINES := -DQEMU_SOC_MPS2 -DHEAP3

24
FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/arbitrary_loads.c Normal file
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@ -0,0 +1,24 @@
#ifndef ARB_LOAD_C
#define ARB_LOAD_C 1
volatile long _NONSENSE_VAR = 0;
#define NS_PER_INS (1000000000 / configCPU_CLOCK_HZ) // 20MHz
#define INS_PER_LOOP 5 // got this multiplier by testing with the goal of getting a 100 ms or 100 tick period
#define INS_PER_PRINT 117 // got this multiplier by testing with the goal of getting a 100 ms or 100 tick period, 2 digits
#define GLOBAL_WCET_MULT 1 // Multiplier to increase all waiting periods to make the schedule more tight an force preemptions
#define WASTE_TIME(X) for (int i=0; i<=((X*GLOBAL_WCET_MULT)/(NS_PER_INS*INS_PER_LOOP)); i++) {_NONSENSE_VAR+=i;}
#define PRINT_TIME(X,Y) for (int i=0; i<=((X*GLOBAL_WCET_MULT)/((NS_PER_INS*INS_PER_PRINT))); i++) {puts(Y);}
// #define PRINT_TIME(X,Y) WASTE_TIME(X)
#define CLAMP_FLOOR(X,LB) ((X>LB)*X+(X<=LB)*LB)
#define CLAMP_CEILING(X,UB) ((X>UB)*UB+(X<=UB)*X)
#define CLAMP(X,LB,UB) CLAMP_CEILING(CLAMP_FLOOR(X,LB),UB) // branch-less clamping
#define A (unsigned int)2000000011 // prime
#define M (unsigned int)4000000007 // prime
#define C (unsigned int)1283612343
static unsigned int rng_seed = 2345745;
#define RNG rng_seed+=((A*((rng_seed+=C)-C)+C) % M)
#define RNG_FROM(X) ((A*X+C) % M)
#define CHANCE_1_IN_POWOF2(X,Y) (RNG_FROM(X)<(M>>Y))
#endif

8
FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/main.c
View File

@ -87,6 +87,10 @@ int main()
{
main_lift();
}
#elif ( mainCREATE_WATERS_DEMO == 1 )
{
main_waters();
}
#else
{
#error "Invalid Selection...\nPlease Select a Demo application from the main command"
@ -147,6 +151,10 @@ void vApplicationIdleHook( void )
* blinky demo does not use the idle task hook. */
vFullDemoIdleFunction();
}
#elif ( mainCREATE_WATERS_DEMO == 1 )
{
vWatersIdleFunction();
}
#endif
}
/*-----------------------------------------------------------*/

376
FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/main_waters.c Normal file
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@ -0,0 +1,376 @@
/*
* FreeRTOS V202111.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* 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.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#include <FreeRTOS.h>
#include <task.h>
#include <queue.h>
#include <stdio.h>
/*
TMR Demo with retry
prvSamplerTask will read 4 Bytes of Input into a buffer, unlocks xMutexInput
prvReplicateA and prvReplicateB wait on xMutexInput to average the Inputs and
sum up all numbers up to the Input.
ReplicateA will fail if mod 11 = 0, but only once
ReplicateB will fail if mod 12 = 0
ReplicateC also exists and will never fail, does not run by default
Each Replicate outputs to it's own queue
prvVoterTask will wait on ReplicateA&B
If they disagree ReplicateC will be started by mutex.
If all the Replicates disagree now the sampler will be engaged once more
*/
// include tacle benches
#include "arbitrary_loads.c"
__attribute__((noinline)) static void trigger_Qemu_break( void )
{
puts("Trigger");
while (1) {
}
}
// Begin Input Stuff
volatile unsigned char FUZZ_INPUT[4096] = {0xa,0xb,0xc,0xd,0xe,0xf};
volatile uint32_t FUZZ_LENGTH = 4096;
volatile uint32_t FUZZ_POINTER = 0;
// Read the Byte of Input, if the Input is exausted trigger the breakpoint instead
static unsigned char fuzz_char_next(void) {
// printf("Get next Input from %lx \n",FUZZ_INPUT);
if (FUZZ_POINTER < FUZZ_LENGTH) {
FUZZ_POINTER++;
// printf("Input no. %d %x\n",FUZZ_POINTER-1,FUZZ_INPUT[FUZZ_POINTER-1]);
return FUZZ_INPUT[FUZZ_POINTER-1];
} else {
// puts("End of Input");
// Exausted inputs early
trigger_Qemu_break();
}
}
static uint16_t fuzz_short_next(void) {
unsigned char field[2];
field[0]=fuzz_char_next();
field[1]=fuzz_char_next();
uint16_t* sf = (uint16_t*) field;
return *sf;
}
static uint32_t fuzz_long_next(void) {
unsigned char field[4];
field[0]=fuzz_char_next();
field[1]=fuzz_char_next();
field[2]=fuzz_char_next();
field[3]=fuzz_char_next();
uint32_t* sf = (uint32_t*) field;
return *sf;
}
// End Input Stuff
static void prvTask31( void * pvParameters );
static void prvTask78( void * pvParameters );
static void prvTask90( void * pvParameters );
static void prvTask397( void * pvParameters );
static void prvTask400( void * pvParameters );
static void prvTask416( void * pvParameters );
static void prvTask579( void * pvParameters );
static void prvTask1009( void * pvParameters );
static void prvTask1107( void * pvParameters );
static void prvTask1129( void * pvParameters );
// Priorities using rate-monotonic scheduling
// ties are decided favoring short wcets
#define mainTASK_31_PRIO ( tskIDLE_PRIORITY + 1 )
#define mainTASK_78_PRIO ( tskIDLE_PRIORITY + 5 )
#define mainTASK_90_PRIO ( tskIDLE_PRIORITY + 8 )
#define mainTASK_397_PRIO ( tskIDLE_PRIORITY + 10 )
#define mainTASK_400_PRIO ( tskIDLE_PRIORITY + 9 )
#define mainTASK_416_PRIO ( tskIDLE_PRIORITY + 4 )
#define mainTASK_579_PRIO ( tskIDLE_PRIORITY + 7 )
#define mainTASK_1009_PRIO ( tskIDLE_PRIORITY + 6 )
#define mainTASK_1107_PRIO ( tskIDLE_PRIORITY + 2 )
#define mainTASK_1129_PRIO ( tskIDLE_PRIORITY + 3 )
#define TASK_31_MESSAGE "01"
#define TASK_78_MESSAGE "05"
#define TASK_90_MESSAGE "08"
#define TASK_397_MESSAGE "10"
#define TASK_400_MESSAGE "09"
#define TASK_416_MESSAGE "04"
#define TASK_579_MESSAGE "07"
#define TASK_1009_MESSAGE "06"
#define TASK_1107_MESSAGE "02"
#define TASK_1129_MESSAGE "03"
// Handles for direct messages
static TaskHandle_t xTask31 = NULL;
static TaskHandle_t xTask78 = NULL;
static TaskHandle_t xTask90 = NULL;
static TaskHandle_t xTask397 = NULL;
static TaskHandle_t xTask400 = NULL;
static TaskHandle_t xTask416 = NULL;
static TaskHandle_t xTask579 = NULL;
static TaskHandle_t xTask1009 = NULL;
static TaskHandle_t xTask1107 = NULL;
static TaskHandle_t xTask1129 = NULL;
void main_waters( void )
{
// puts("Main function");
/* Start the two tasks as described in the comments at the top of this
* file. */
xTaskCreate( prvTask31, /* The function that implements the task. */
"31", /* The text name assigned to the task - for debug only as it is not used by the kernel. */
configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */
NULL, /* The parameter passed to the task - not used in this case. */
mainTASK_31_PRIO, /* The priority assigned to the task. */
&xTask31 ); /* The task handle is not required, so NULL is passed. */
xTaskCreate( prvTask78, /* The function that implements the task. */
"78", /* The text name assigned to the task - for debug only as it is not used by the kernel. */
configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */
NULL, /* The parameter passed to the task - not used in this case. */
mainTASK_78_PRIO, /* The priority assigned to the task. */
&xTask78 ); /* The task handle is not required, so NULL is passed. */
xTaskCreate( prvTask90,
"90",
configMINIMAL_STACK_SIZE,
NULL,
mainTASK_90_PRIO,
&xTask90 );
// xTaskCreate( prvTask397,
// "397",
// configMINIMAL_STACK_SIZE,
// NULL,
// mainTASK_397_PRIO,
// &xTask397 );
xTaskCreate( prvTask400,
"400",
configMINIMAL_STACK_SIZE,
NULL,
mainTASK_400_PRIO,
&xTask400 );
xTaskCreate( prvTask416,
"416",
configMINIMAL_STACK_SIZE,
NULL,
mainTASK_416_PRIO,
&xTask416 );
xTaskCreate( prvTask579,
"579",
configMINIMAL_STACK_SIZE,
NULL,
mainTASK_579_PRIO,
&xTask579 );
xTaskCreate( prvTask1009,
"1009",
configMINIMAL_STACK_SIZE,
NULL,
mainTASK_1009_PRIO,
&xTask1009 );
xTaskCreate( prvTask1107,
"1107",
configMINIMAL_STACK_SIZE,
NULL,
mainTASK_1107_PRIO,
&xTask1107 );
xTaskCreate( prvTask1129,
"1129",
configMINIMAL_STACK_SIZE,
NULL,
mainTASK_1129_PRIO,
&xTask1129 );
/* Start the tasks and timer running. */
// puts("Start scheduler");
vTaskStartScheduler();
/* If all is well, the scheduler will now be running, and the following
* line will never be reached. If the following line does execute, then
* there was insufficient FreeRTOS heap memory available for the Idle and/or
* timer tasks to be created. See the memory management section on the
* FreeRTOS web site for more details on the FreeRTOS heap
* http://www.freertos.org/a00111.html. */
for( ; ; )
{
}
}
static void prvTask31( void * pvParameters ) {
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 100 / portTICK_PERIOD_MS;
for( ;; ){
// Actions --------------------------------------
// Exectime: f(x) = c + x
// Output: g(x) = x % 4
PRINT_TIME(48940, TASK_31_MESSAGE)
// uint16_t x = fuzz_short_next();
// PRINT_TIME(CLAMP(x, 0, 2<<11), TASK_579_MESSAGE)
// xTaskNotify(xTask1009, x % 4, eSetValueWithOverwrite);
// ---------------------------------------------
vTaskDelayUntil( &xLastWakeTime, xFrequency );}// Wait for the next cycle.
}
static void prvTask78( void * pvParameters ) {
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 10 / portTICK_PERIOD_MS;
for( ;; ){
// Actions --------------------------------------
// Exectime: f(x) = c + x
// Output: g(x) = x % 4
PRINT_TIME(76035, TASK_78_MESSAGE)
// uint16_t x = fuzz_short_next();
// PRINT_TIME(CLAMP(x, 0, 2<<11), TASK_579_MESSAGE)
// xTaskNotify(xTask1009, x % 4, eSetValueWithOverwrite);
// ---------------------------------------------
vTaskDelayUntil( &xLastWakeTime, xFrequency );}
}
static void prvTask90( void * pvParameters ) {
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 2 / portTICK_PERIOD_MS;
for( ;; ){
// Actions --------------------------------------
// Exectime: f(x) = c + x
// Output: g(x) = x % 4
PRINT_TIME(20045, TASK_90_MESSAGE)
// uint16_t x = fuzz_short_next();
// PRINT_TIME(CLAMP(x, 0, 2<<11), TASK_579_MESSAGE)
// xTaskNotify(xTask1009, x % 4, eSetValueWithOverwrite);
// ---------------------------------------------
vTaskDelayUntil( &xLastWakeTime, xFrequency );}
}
static void prvTask397( void * pvParameters ) {
for( ;; ){
ulTaskNotifyTake(pdTRUE,portMAX_DELAY);
PRINT_TIME(5830, TASK_397_MESSAGE);}
}
static void prvTask400( void * pvParameters ) {
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 2 / portTICK_PERIOD_MS;
for( ;; ){
// Actions --------------------------------------
// Exectime: f(x) = c + x
// Output: g(x) = x % 4
PRINT_TIME(1765, TASK_400_MESSAGE)
// uint16_t x = fuzz_short_next();
// PRINT_TIME(CLAMP(x, 0, 2<<11), TASK_579_MESSAGE)
// xTaskNotify(xTask1009, x % 4, eSetValueWithOverwrite);
// ---------------------------------------------
vTaskDelayUntil( &xLastWakeTime, xFrequency );}
}
static void prvTask416( void * pvParameters ) {
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 10 / portTICK_PERIOD_MS;
for( ;; ){
// Actions --------------------------------------
// Exectime: f(x) = c + x
// Output: g(x) = x % 4
PRINT_TIME(126955, TASK_416_MESSAGE)
// uint16_t x = fuzz_short_next();
// PRINT_TIME(CLAMP(x, 0, 2<<11), TASK_579_MESSAGE)
// xTaskNotify(xTask1009, x % 4, eSetValueWithOverwrite);
// ---------------------------------------------
vTaskDelayUntil( &xLastWakeTime, xFrequency );}
}
static void prvTask579( void * pvParameters ) {
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 10 / portTICK_PERIOD_MS;
for( ;; ){
// Actions --------------------------------------
// Exectime: f(x) = c + x
// Output: g(x) = x % 4
PRINT_TIME(2460, TASK_579_MESSAGE)
// uint16_t x = fuzz_short_next();
// PRINT_TIME(CLAMP(x, 0, 2<<11), TASK_579_MESSAGE)
// xTaskNotify(xTask1009, x % 4, eSetValueWithOverwrite);
// ---------------------------------------------
vTaskDelayUntil( &xLastWakeTime, xFrequency );}
}
static void prvTask1009( void * pvParameters ) {
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 10 / portTICK_PERIOD_MS;
for( ;; ){
// Actions --------------------------------------
// int y = ulTaskNotifyTake(pdFALSE, 0);
PRINT_TIME(51485, TASK_1009_MESSAGE);
// ---------------------------------------------
vTaskDelayUntil( &xLastWakeTime, xFrequency );}
}
static void prvTask1107( void * pvParameters ) {
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 50 / portTICK_PERIOD_MS;
for( ;; ){
// Actions --------------------------------------
// Exectime: f(x) = c + x
// Output: g(x) = x % 4
PRINT_TIME(76865, TASK_1107_MESSAGE)
// uint16_t x = fuzz_short_next();
// PRINT_TIME(CLAMP(x, 0, 2<<11), TASK_579_MESSAGE)
// xTaskNotify(xTask1009, x % 4, eSetValueWithOverwrite);
// ---------------------------------------------
vTaskDelayUntil( &xLastWakeTime, xFrequency );}
}
static void prvTask1129( void * pvParameters ) {
int period_counter = 2;
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 10 / portTICK_PERIOD_MS;
for( ;; ){
// Actions --------------------------------------
// Exectime: f(x) = c + x
// Output: g(x) = x % 4
PRINT_TIME(145040, TASK_1129_MESSAGE)
if (--period_counter==0) {puts("End");}
// uint16_t x = fuzz_short_next();
// PRINT_TIME(CLAMP(x, 0, 2<<11), TASK_579_MESSAGE)
// xTaskNotify(xTask1009, x % 4, eSetValueWithOverwrite);
// ---------------------------------------------
vTaskDelayUntil( &xLastWakeTime, xFrequency );}
}
void vWatersIdleFunction() {
for (int i; i<1000; i++) {
puts("0 ");
}
}
void isr_starter( void )
{
}
/*-----------------------------------------------------------*/