copter with polynomes over rng, don't rng regular input
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39d2851bcc
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@ -149,6 +149,12 @@ ifeq ($(COPTER_DEMO), 1)
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CFLAGS := -DmainCOPTER_DEMO=1
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else
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ifeq ($(POLYCOPTER_DEMO), 1)
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SOURCE_FILES += main_polycopter.c
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CFLAGS := -DmainPOLYCOPTER_DEMO=1
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CFLAGS += -Wno-overflow
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else
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ifeq ($(RELEASE_DEMO), 1)
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SOURCE_FILES += main_release.c
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@ -177,6 +183,7 @@ endif
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endif
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endif
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endif
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endif
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ifeq ($(IGNORE_BYTES), 1)
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CFLAGS += -D IGNORE_BYTES=1
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@ -1,6 +1,9 @@
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#ifndef ARB_LOAD_C
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#define ARB_LOAD_C 1
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#include <limits.h>
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#include <stdint.h>
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// Time wasters =====
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volatile long _NONSENSE_VAR = 0;
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#define QEMU_SHIFT 5
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@ -22,9 +25,9 @@ volatile long _NONSENSE_VAR = 0;
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// #define PRINT_TIME(X,Y) WASTE_TIME(X)
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// Clamps ===========
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#define CLAMP_FLOOR(X,LB) ((X>LB)*X+(X<=LB)*LB)
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#define CLAMP_CEILING(X,UB) ((X>UB)*UB+(X<=UB)*X)
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#define CLAMP(X,LB,UB) CLAMP_CEILING(CLAMP_FLOOR(X,LB),UB) // branch-less clamping
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#define CLAMP_FLOOR(X,LB) ((((X)>(LB))*(X))+(((X)<=(LB))*(LB)))
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#define CLAMP_CEILING(X,UB) (((X)>(UB))*(UB)+((X)<=(UB))*(X))
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#define CLAMP(X,LB,UB) CLAMP_CEILING((CLAMP_FLOOR(X,LB)),UB) // branch-less clamping
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// Random numbers ===
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// glibc
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@ -33,16 +36,137 @@ volatile long _NONSENSE_VAR = 0;
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#define M 0x80000000ull
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#define C 12345ull
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static unsigned long long rng_seed = 2345745ull;
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#define RNG rng_seed+=((A*((rng_seed+=C)-C)+C) % M)
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#define RNG rng_seed=((A*rng_seed+C) % M)
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#define RNG_FROM(X) ((A*(X)+C) % M)
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// Challanges =======
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#define CHANCE_1_IN_POWOF2(X,Y) (RNG_FROM(X)<(M>>Y)) // assume the type of x has more than y bits
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// Branchless polynomes
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// polynomes
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#define IF_ELSE(X,Y,Z) ((X) ? (Y) : (Z))
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// #define IF_ELSE(X,Y,Z) (((X)*(Y))+((!(X))*(Z))) // branchless, takes a huge hit on performance
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#define SADD(X,Y) IF_ELSE(((int32_t)(Y))<0, IF_ELSE(((int32_t)(X))<INT_MIN-((int32_t)(Y)), INT_MIN, ((int32_t)(X))+((int32_t)Y)), IF_ELSE(((int32_t)(X))>INT_MAX-((int32_t)(Y)), INT_MAX, ((int32_t)(X))+((int32_t)(Y))))
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#define SSUB(X,Y) IF_ELSE(((int32_t)(Y))<0, IF_ELSE(((int32_t)(X))<INT_MAX+((int32_t)(Y)), ((int32_t)(X))-((int32_t)Y), INT_MAX), IF_ELSE(((int32_t)(X))>INT_MIN+((int32_t)(Y)), ((int32_t)(X))-((int32_t)(Y)), INT_MIN))
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#define ABS_DIFF(X,Y) (IF_ELSE(((int32_t)(X)<(int32_t)(Y)),(SSUB(Y,X)),(SSUB(X,Y))))
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#define SQUARE(X) ((X)*(X))
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#define AVG(X,Y) (((X)/2)+((Y)/2))
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#define U_ABS_DIFF(X,Y) (__uint32_t)(((__uint32_t)X<(__uint32_t)Y)*((__uint32_t)Y-(__uint32_t)X)+((__uint32_t)X>=(__uint32_t)Y)*((__uint32_t)X-(__uint32_t)Y))
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#define CHECKED_SQUARE(X, OFF) (U_ABS_DIFF(X,OFF)<=0x0000FFFF)*(U_ABS_DIFF(X,OFF)*U_ABS_DIFF(X,OFF))
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#define HILL(X, OFF, H, W) (U_ABS_DIFF(X/((__uint32_t)W),OFF/((__uint32_t)W))<=0x0000FFFF)*(H>=CHECKED_SQUARE(X/((__uint32_t)W), (OFF/(__uint32_t)W)))*(H-CHECKED_SQUARE(X/((__uint32_t)W), (OFF/(__uint32_t)W)))
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#define CHECKED_SQUARE(X) IF_ELSE((X)<=0x0000B504,SQUARE(X), INT_MAX) // int32_t safe
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#define LIN(X,N,D,C) (C+((N)*((X)/(D))))
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int32_t hill(int32_t x, int32_t off, int32_t h, int32_t w) {
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return CLAMP_FLOOR(SSUB(h,CHECKED_SQUARE(ABS_DIFF(x,off)/w)),0);
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}
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int32_t valley(int32_t x, int32_t off, int32_t h, int32_t w) {
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return CLAMP_CEILING(SADD(h,CHECKED_SQUARE(ABS_DIFF(x,off)/w)),0);
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}
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#define HILL(X, OFF, H, W) hill(X, OFF, H, W)
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#define VALLEY(X, OFF, H, W) valley(X, OFF, H, W)
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// #define HILL(X, OFF, H, W) CLAMP_FLOOR(SSUB(H,CHECKED_SQUARE(ABS_DIFF(X,OFF)/W)),0)
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// #define VALLEY(X, OFF, H, W) CLAMP_CEILING(SADD(H,CHECKED_SQUARE(ABS_DIFF(X,OFF)/W)),0)
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#define STRETCH_i32(X) (X<<(8*(sizeof(int32_t)-sizeof(X)))) // stretch any integer to 32 bits
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#define JITTER(X, B) (RNG_FROM(X+B)%B)
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#define TRANSLATE_BOUNDS(X, FLB, FUB, TLB, TUB) (CLAMP(X,FLB,FUB)-FLB) / ((FUB-FLB)/(TUB-TLB)) + TLB
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#define FUNCTION_1(X) \
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HILL(X, 0, 200000, 800000) \
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+ HILL(X, (INT_MIN/4)*3, 400000, 1500000) \
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+ HILL(X, INT_MAX/2, 800000, 200000) \
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+ CLAMP_FLOOR(LIN(SSUB(X, INT_MAX/4),5,100000,0),0) \
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+ CLAMP_FLOOR(LIN(-X,5,100000,0),0) \
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+ 200000 \
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- JITTER(X, 30000)
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#define FUNCTION_2(X) \
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VALLEY(X, 0, -200000, 800000) \
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+ VALLEY(X, (INT_MIN/4)*3, -400000, 1500000) \
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+ VALLEY(X, INT_MAX/2, -800000, 200000) \
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+ CLAMP_FLOOR(LIN(SSUB(X, INT_MAX/4),5,100000,0),0) \
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+ CLAMP_FLOOR(LIN(-X,5,-100000,0),0) \
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+ 200000 \
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- JITTER(X, 30000)
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#define FUNCTION_3(X) \
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LIN(SADD(X, INT_MAX/2),5,100000,0) \
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+ LIN(-X,2,100000,0) \
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- JITTER(X, 10000)
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#define FUNCTION_4(X) \
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LIN(SADD(X, 3*(INT_MAX/8)),-30,100000,0) \
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+ LIN(SSUB(X, 3*(INT_MAX/8)),30,100000,0) \
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- JITTER(X, 10000)
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#define FUNCTION_5(X) \
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VALLEY(X, 0, -200000, 10000000) \
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+ HILL(X, 0, 42000, 5000000) \
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- JITTER(X, 1000)
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#define FUNCTION_6(X) \
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LIN(X,1,2,0) \
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+ HILL(X, -1500000000, 1000000000, 50000) \
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+ VALLEY(X, 1500000000, -1000000000, 50000) \
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- JITTER(X, 1000)
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#define FUNCTION_7(X) \
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LIN(X,1,100000,0) \
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+ HILL(X, 7*(INT_MIN/8), 140000, 200000) \
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+ HILL(X, 6*(INT_MIN/8), 100000, 200000) \
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+ HILL(X, 5*(INT_MIN/8), 80000, 200000) \
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+ HILL(X, 4*(INT_MIN/8), 60000, 200000) \
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+ HILL(X, 3*(INT_MIN/8), 70000, 200000) \
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+ HILL(X, 2*(INT_MIN/8), 80000, 200000) \
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+ HILL(X, 1*(INT_MIN/8), 90000, 200000) \
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+ HILL(X, 1*(INT_MAX/8), 90000, 200000) \
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+ HILL(X, 2*(INT_MAX/8), 80000, 200000) \
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+ HILL(X, 3*(INT_MAX/8), 70000, 200000) \
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+ HILL(X, 4*(INT_MAX/8), 60000, 200000) \
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+ HILL(X, 5*(INT_MAX/8), 50000, 200000) \
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+ HILL(X, 6*(INT_MAX/8), 40000, 200000) \
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+ HILL(X, 7*(INT_MAX/8), 30000, 200000) \
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- JITTER(X, 1000)
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#define FUNCTION_8(X) \
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(X>INT_MIN/2)*HILL((X%(INT_MAX/3)), 0, 10000000, 50000) * (ABS_DIFF(X,0)/100000000) \
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+ LIN(X, -1, 100, 0) \
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- JITTER(X, 1000)
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#define FUNCTION_9(X) \
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HILL(X, 3*(INT_MIN/4), 200000, 800000) \
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+ HILL(X, 1*(INT_MIN/4), 200000, 800000) \
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+ HILL(X, 3*(INT_MAX/4), 400000, 400000) \
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+ (X<0)*LIN(X, 1, 10000, 0) \
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+ (X>0)*LIN(X, -1, 10000, 0) \
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- JITTER(X, 1000)
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#define FUNCTION_10(X) \
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+ (X<=0)*LIN(X, 1, 10000, 0) \
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+ (X>0)*LIN(X, -1, 10000, 0) \
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+ VALLEY(X, 0, -200000, 1000000) \
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+ 200000 \
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- JITTER(X, 1000)
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#define TRANSLATE_1(LB,UB) TRANSLATE_BOUNDS(x, 180000, 1000000, LB, UB) // FN 1
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#define TRANSLATE_2(LB,UB) TRANSLATE_BOUNDS(x, -500000, 390000, LB, UB) // FN 2
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#define TRANSLATE_3(LB,UB) TRANSLATE_BOUNDS(x, -8000, 80000, LB, UB) // FN 3
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#define TRANSLATE_4(LB,UB) TRANSLATE_BOUNDS(x, -480000, -250000, LB, UB) // FN 4
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#define TRANSLATE_5(LB,UB) TRANSLATE_BOUNDS(x, -193000, -155000, LB, UB) // FN 5
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#define TRANSLATE_6(LB,UB) TRANSLATE_BOUNDS(x, -400000000, 400000000, LB, UB) // FN 6
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#define TRANSLATE_7(LB,UB) TRANSLATE_BOUNDS(x, -20000, 120000, LB, UB) // FN 7
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#define TRANSLATE_8(LB,UB) TRANSLATE_BOUNDS(x, -20000000, 120000000, LB, UB) // FN 8
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#define TRANSLATE_9(LB,UB) TRANSLATE_BOUNDS(x, -200000, 220000, LB, UB) // FN 9
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#define TRANSLATE_10(LB,UB) TRANSLATE_BOUNDS(x, -10000, 150000, LB, UB) // FN 10
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#endif
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@ -81,9 +81,9 @@ static uint32_t fuzz_long_next(int tasknum) {
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uint32_t* sf = (uint32_t*) field;
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return LAST_INPUTS[NUM_TASKS]=*sf;
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}
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#define INPUT_CHAR_NEXT rng_char_next(task_id)
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#define INPUT_SHORT_NEXT rng_short_next(task_id)
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#define INPUT_LONG_NEXT rng_long_next(task_id)
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#define INPUT_CHAR_NEXT fuzz_char_next(task_id)
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#define INPUT_SHORT_NEXT fuzz_short_next(task_id)
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#define INPUT_LONG_NEXT fuzz_long_next(task_id)
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// Randomization
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volatile uint32_t RNG_STATES[NUM_TASKS] = {};
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@ -123,6 +123,10 @@ int main()
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{
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main_osek();
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}
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#elif ( mainPOLYCOPTER_DEMO == 1 )
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{
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main_osek();
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}
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#else
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{
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@ -20,17 +20,17 @@
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#ifdef IGNORE_BYTES
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#define SHORT_CALC (50)
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#define LONG_CALC (200)
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#define MAKE_OUTPUT (0)
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#else
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#define SHORT_CALC (15+RNG_CHAR_NEXT%35)
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#define LONG_CALC (50+RNG_CHAR_NEXT%150)
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#define MAKE_OUTPUT (OUTPUT_BITS(TASK_LAST_INPUT^RNG_ROLL))
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#endif
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#ifdef COPTER_DATAFLOW
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#define STATE_PLUS_DATA(X) {TASK_RNG_STATE+=(X);}
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#define MAKE_OUTPUT (OUTPUT_BITS(TASK_LAST_INPUT^TASK_RNG_STATE))
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#else
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#define STATE_PLUS_DATA(X) {}
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#define MAKE_OUTPUT (0)
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#endif
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#define HYPER_PERIOD 9
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484
FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/main_polycopter.c
Normal file
484
FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/main_polycopter.c
Normal file
@ -0,0 +1,484 @@
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#include <FreeRTOS.h>
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#include <queue.h>
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#include <semphr.h>
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#include <stdio.h>
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#include <task.h>
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#include <CMSDK_CM3.h>
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#define GLOBAL_WCET_MULT \
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1 // Multiplier to increase all waiting periods to make the schedule more
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// tight and force preemptions
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#define NUM_TASKS 15
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#include "fuzzhelper.c"
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#ifdef INSERT_WC
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#include "wcinput.h"
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#endif
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// #define SHORT_CALC 50
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// #define LONG_CALC 200
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#ifdef IGNORE_BYTES
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#define SHORT_CALC (50)
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#define LONG_CALC (200)
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#else
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#define SHORT_CALC (15+RNG_CHAR_NEXT%35)
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#define LONG_CALC (50+RNG_CHAR_NEXT%150)
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#endif
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#ifdef COPTER_DATAFLOW
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#define STATE_PLUS_DATA(X) {TASK_RNG_STATE+=(X);}
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#define MAKE_OUTPUT (OUTPUT_BITS(TASK_LAST_INPUT^TASK_RNG_STATE))
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#else
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#define STATE_PLUS_DATA(X) {}
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#define MAKE_OUTPUT (0)
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#endif
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#define HYPER_PERIOD 9
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#define SIMULATE_PERIODS 4
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static TickType_t initial_release_time = 0;
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static TaskHandle_t xTaskTimeSupervisor = NULL;
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static void timing_supervisor_task( void * pvParameters ) {
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initial_release_time = xTaskGetTickCount(); // The highest priority task sets the initial time
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TickType_t xLastWakeTime = initial_release_time;
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const TickType_t xFrequency = (SIMULATE_PERIODS * HYPER_PERIOD) / portTICK_PERIOD_MS;
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trigger_job_done();
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xTaskDelayUntil( &xLastWakeTime, xFrequency );
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trigger_job_done();
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trigger_Qemu_break();
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for( ;; ){}
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}
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static void prv_SignalGatherInitiateTask(void *pvParameters);
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static TaskHandle_t xTask_SignalGatherInitiateTask = NULL;
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static void prv_SignalGatherFinishedTask(void *pvParameters);
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static TaskHandle_t xTask_SignalGatherFinishedTask = NULL;
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static void prv_SignalGatherTimeoutTask(void *pvParameters);
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static TaskHandle_t xTask_SignalGatherTimeoutTask = NULL;
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static void prv_SignalProcessingActuateTask(void *pvParameters);
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static TaskHandle_t xTask_SignalProcessingActuateTask = NULL;
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static void prv_SignalProcessingAttitudeTask(void *pvParameters);
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static TaskHandle_t xTask_SignalProcessingAttitudeTask = NULL;
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// static void prv_ActuateTask(void *pvParameters);
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// static TaskHandle_t xTask_ActuateTask = NULL;
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static void prv_FlightControlTask(void *pvParameters);
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static TaskHandle_t xTask_FlightControlTask = NULL;
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static void prv_FlightControlAttitudeTask(void *pvParameters);
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static TaskHandle_t xTask_FlightControlAttitudeTask = NULL;
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static void prv_FlightControlActuateTask(void *pvParameters);
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static TaskHandle_t xTask_FlightControlActuateTask = NULL;
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static void prv_MavlinkSendTask(void *pvParameters);
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static TaskHandle_t xTask_MavlinkSendTask = NULL;
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static void prv_CopterControlTask(void *pvParameters);
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static TaskHandle_t xTask_CopterControlTask = NULL;
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static void prv_MavlinkRecvHandler(void *pvParameters);
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static TaskHandle_t xTask_MavlinkRecvHandler = NULL;
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/*
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WCETs (including overheads) rounded up to full us:
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SGFinish: 630
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SGInitiate: 630
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SGTimeout: 423
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SPActuate: 208
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SPAttitude: 206
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FCActuate: 206
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FCAttitude: 208
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FC: 411
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MSend: 476
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CControl: 470
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ISR0: 108
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Resources:
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SPIBus (mutex)
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SGInitiate 0 - 400
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SGTimeout 200 - 400
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MSend 200 - 250
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SGT (notify)
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SGInitiate send 200 A
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SGTimeout wait 0
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SGF (notify)
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SGInitiate send 200 B
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SGTimeout send 423 A
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SGFinish wait 0
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FCAt (notify)
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FC send 200
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FCAttitude wait 0
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FCAc (notify)
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FC send 201
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FCActuate wait 0
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*/
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static SemaphoreHandle_t xSemaphore_SPIBus;
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static TickType_t xFrequency_CopterControlWatchdogAlarm;
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void main_osek(void) {
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for (int i = 0; i < NUM_TASKS; i++) {
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RNG_STATES[i] = i; // Each task starts with a different seed
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}
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xSemaphore_SPIBus = xSemaphoreCreateBinary();
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xSemaphoreGive(xSemaphore_SPIBus);
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xTaskCreate(prv_SignalGatherInitiateTask, "SGInitiate",
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configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 9, // 24
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&xTask_SignalGatherInitiateTask);
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xTaskCreate(prv_SignalGatherFinishedTask, "SGFinished",
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configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 10, // 25
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&xTask_SignalGatherFinishedTask);
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xTaskCreate(prv_SignalGatherTimeoutTask, "SGTimeout",
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configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 8, // 23
|
||||
&xTask_SignalGatherTimeoutTask);
|
||||
xTaskCreate(prv_SignalProcessingActuateTask, "SPActuate",
|
||||
configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 7, // 22
|
||||
&xTask_SignalProcessingActuateTask);
|
||||
xTaskCreate(prv_SignalProcessingAttitudeTask, "SPAttitude",
|
||||
configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 6, // 21
|
||||
&xTask_SignalProcessingAttitudeTask);
|
||||
// xTaskCreate(prv_ActuateTask, "ActuateTask", configMINIMAL_STACK_SIZE, NULL,
|
||||
// tskIDLE_PRIORITY + 1, &xTask_ActuateTask);
|
||||
xTaskCreate(prv_FlightControlTask, "FC",
|
||||
configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 3, // 11
|
||||
&xTask_FlightControlTask);
|
||||
xTaskCreate(prv_FlightControlAttitudeTask, "FCAttitude",
|
||||
configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 4, // 12
|
||||
&xTask_FlightControlAttitudeTask);
|
||||
xTaskCreate(prv_FlightControlActuateTask, "FCActuate",
|
||||
configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 5, // 13
|
||||
&xTask_FlightControlActuateTask);
|
||||
xTaskCreate(prv_MavlinkSendTask, "MSend", configMINIMAL_STACK_SIZE,
|
||||
NULL, tskIDLE_PRIORITY + 2, &xTask_MavlinkSendTask); // 10
|
||||
xTaskCreate(prv_CopterControlTask, "CControl",
|
||||
configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, // 1
|
||||
&xTask_CopterControlTask);
|
||||
|
||||
xTaskCreate( timing_supervisor_task,
|
||||
"supervisor",
|
||||
configMINIMAL_STACK_SIZE,
|
||||
NULL,
|
||||
configMAX_PRIORITIES - 1,
|
||||
&xTaskTimeSupervisor );
|
||||
|
||||
#ifdef INSERT_WC
|
||||
for (int i=0; i<MAX_INPUT_BYTES; i++) {
|
||||
FUZZ_INPUT[i] = WC_ARRAY[i];
|
||||
}
|
||||
#endif
|
||||
vTaskStartScheduler();
|
||||
for( ; ; )
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
int round = 0;
|
||||
|
||||
static void prv_SignalGatherInitiateTask(void *pvParameters) {
|
||||
const int task_id = 0;
|
||||
TickType_t xLastWakeTime = initial_release_time;
|
||||
const TickType_t xFrequency = 3 / portTICK_PERIOD_MS;
|
||||
int x=0;
|
||||
do {
|
||||
RNG_RESET
|
||||
// timing_start(0);
|
||||
xSemaphoreTake(xSemaphore_SPIBus, portMAX_DELAY);
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_1(x);
|
||||
WASTE_USEC(TRANSLATE_1(50, 200));
|
||||
if ((round % 2) == 0) {
|
||||
xTaskNotify(xTask_SignalGatherTimeoutTask, MAKE_OUTPUT, eSetValueWithOverwrite);
|
||||
} else {
|
||||
xTaskNotify(xTask_SignalGatherFinishedTask, MAKE_OUTPUT, eSetValueWithOverwrite);
|
||||
}
|
||||
round++;
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_2(x);
|
||||
WASTE_USEC(TRANSLATE_2(50, 200));
|
||||
xSemaphoreGive(xSemaphore_SPIBus);
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_3(x);
|
||||
WASTE_USEC(TRANSLATE_3(50, 200));
|
||||
trigger_job_done();
|
||||
xTaskDelayUntil( &xLastWakeTime, xFrequency );
|
||||
} while (1);
|
||||
}
|
||||
|
||||
static void prv_SignalGatherFinishedTask(void *pvParameters) {
|
||||
const int task_id = 1;
|
||||
int x=0;
|
||||
trigger_job_done();
|
||||
do {
|
||||
RNG_RESET
|
||||
unsigned long int y = ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
STATE_PLUS_DATA(y) // introduce a data dependency
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_1(STRETCH_i32(INPUT_SHORT_NEXT*y));
|
||||
WASTE_USEC(TRANSLATE_1(50, 200));
|
||||
xTaskNotify(xTask_SignalProcessingAttitudeTask, MAKE_OUTPUT, eSetValueWithOverwrite);
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_4(x);
|
||||
WASTE_USEC(TRANSLATE_4(50, 200));
|
||||
xTaskNotify(xTask_SignalProcessingActuateTask, MAKE_OUTPUT, eSetValueWithOverwrite);
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_5(x);
|
||||
WASTE_USEC(TRANSLATE_5(50, 200));
|
||||
trigger_job_done();
|
||||
} while (1);
|
||||
}
|
||||
|
||||
static void prv_SignalGatherTimeoutTask(void *pvParameters) {
|
||||
const int task_id = 2;
|
||||
int x=0;
|
||||
trigger_job_done();
|
||||
do {
|
||||
RNG_RESET
|
||||
unsigned long int y = ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
STATE_PLUS_DATA(y) // introduce a data dependency
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_6(STRETCH_i32(INPUT_SHORT_NEXT*y));
|
||||
WASTE_USEC(TRANSLATE_6(50, 200));
|
||||
xSemaphoreTake(xSemaphore_SPIBus, portMAX_DELAY);
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_7(x);
|
||||
WASTE_USEC(TRANSLATE_7(50, 200));
|
||||
xSemaphoreGive(xSemaphore_SPIBus);
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_8(x);
|
||||
WASTE_USEC(TRANSLATE_8(50, 200));
|
||||
xTaskNotify(xTask_SignalGatherFinishedTask, MAKE_OUTPUT, eSetValueWithOverwrite);
|
||||
trigger_job_done();
|
||||
} while (1);
|
||||
}
|
||||
|
||||
volatile int calculate;
|
||||
|
||||
static void prv_SignalProcessingActuateTask(void *pvParameters) {
|
||||
const int task_id = 3;
|
||||
int x=0;
|
||||
trigger_job_done();
|
||||
do {
|
||||
RNG_RESET
|
||||
unsigned long int y = ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
STATE_PLUS_DATA(y) // introduce a data dependency
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_9(STRETCH_i32(INPUT_SHORT_NEXT*y));
|
||||
WASTE_USEC(TRANSLATE_9(50, 200));
|
||||
trigger_job_done();
|
||||
} while (1);
|
||||
}
|
||||
|
||||
static void prv_SignalProcessingAttitudeTask(void *pvParameters) {
|
||||
const int task_id = 4;
|
||||
int x=0;
|
||||
trigger_job_done();
|
||||
do {
|
||||
RNG_RESET
|
||||
unsigned long int y = ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
STATE_PLUS_DATA(y) // introduce a data dependency
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_10(STRETCH_i32(INPUT_SHORT_NEXT*y));
|
||||
WASTE_USEC(TRANSLATE_10(50, 200));
|
||||
trigger_job_done();
|
||||
} while (1);
|
||||
}
|
||||
|
||||
static void prv_FlightControlTask(void *pvParameters) {
|
||||
const int task_id = 5;
|
||||
TickType_t xLastWakeTime = initial_release_time;
|
||||
const TickType_t xFrequency = 9 / portTICK_PERIOD_MS;
|
||||
int x=0;
|
||||
do {
|
||||
RNG_RESET
|
||||
// timing_start(1 | TIMING_POINT_IS_HIGHEST_PRIO);
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_1(x);
|
||||
WASTE_USEC(TRANSLATE_1(50, 200));
|
||||
xTaskNotify(xTask_FlightControlAttitudeTask, 0, eSetValueWithOverwrite);
|
||||
xTaskNotify(xTask_FlightControlActuateTask, 0, eSetValueWithOverwrite);
|
||||
xTaskNotify(xTask_MavlinkSendTask, 0, eSetValueWithOverwrite);
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_2(x);
|
||||
WASTE_USEC(TRANSLATE_2(50, 200));
|
||||
trigger_job_done();
|
||||
xTaskDelayUntil( &xLastWakeTime, xFrequency );
|
||||
} while (1);
|
||||
}
|
||||
|
||||
static void prv_FlightControlAttitudeTask(void *pvParameters) {
|
||||
const int task_id = 6;
|
||||
int x=0;
|
||||
trigger_job_done();
|
||||
do {
|
||||
RNG_RESET
|
||||
unsigned long int y = ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
STATE_PLUS_DATA(y) // introduce a data dependency
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_3(STRETCH_i32(INPUT_SHORT_NEXT*y));
|
||||
WASTE_USEC(TRANSLATE_3(50, 200));
|
||||
trigger_job_done();
|
||||
} while (1);
|
||||
}
|
||||
|
||||
static void prv_FlightControlActuateTask(void *pvParameters) {
|
||||
const int task_id = 7;
|
||||
int x=0;
|
||||
trigger_job_done();
|
||||
do {
|
||||
RNG_RESET
|
||||
unsigned long int y = ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
STATE_PLUS_DATA(y) // introduce a data dependency
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_4(STRETCH_i32(INPUT_SHORT_NEXT*y));
|
||||
WASTE_USEC(TRANSLATE_4(50, 200));
|
||||
trigger_job_done();
|
||||
} while (1);
|
||||
}
|
||||
|
||||
static void prv_MavlinkSendTask(void *pvParameters) {
|
||||
const int task_id = 8;
|
||||
int x=0;
|
||||
trigger_job_done();
|
||||
do {
|
||||
RNG_RESET
|
||||
unsigned long int y = ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
STATE_PLUS_DATA(y) // introduce a data dependency
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_5(STRETCH_i32(INPUT_SHORT_NEXT*y));
|
||||
WASTE_USEC(TRANSLATE_5(50, 200));
|
||||
xSemaphoreTake(xSemaphore_SPIBus, portMAX_DELAY);
|
||||
WASTE_USEC(TRANSLATE_1(15, 50));
|
||||
// NVIC_SetPendingIRQ(1);
|
||||
xSemaphoreGive(xSemaphore_SPIBus);
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_6(x);
|
||||
WASTE_USEC(TRANSLATE_6(50, 200));
|
||||
// timing_end(1);
|
||||
trigger_job_done();
|
||||
} while (1);
|
||||
}
|
||||
|
||||
static void prv_CopterControlTask(void *pvParameters) {
|
||||
const int task_id = 9;
|
||||
TickType_t xLastWakeTime = initial_release_time;
|
||||
const TickType_t xFrequency = 5 / portTICK_PERIOD_MS;
|
||||
int x=0;
|
||||
trigger_job_done();
|
||||
do {
|
||||
RNG_RESET
|
||||
#ifndef IGNORE_INTERRUPTS
|
||||
unsigned long int y = ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
#else
|
||||
xTaskDelayUntil( &xLastWakeTime, xFrequency );
|
||||
unsigned long int y = ulTaskNotifyTake(pdTRUE, 0);
|
||||
#endif
|
||||
STATE_PLUS_DATA(y) // introduce a data dependency
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_7(STRETCH_i32(INPUT_SHORT_NEXT*y));
|
||||
WASTE_USEC(TRANSLATE_7(50, 200));
|
||||
vTaskSuspendAll();
|
||||
WASTE_USEC(TRANSLATE_8(15, 50));
|
||||
xTaskResumeAll();
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_8(STRETCH_i32(INPUT_SHORT_NEXT*y));
|
||||
WASTE_USEC(TRANSLATE_8(50, 200));
|
||||
// timing_end(2);
|
||||
|
||||
trigger_job_done();
|
||||
} while (1);
|
||||
}
|
||||
|
||||
void ISR_0_Handler(void) {
|
||||
int x=0;
|
||||
if (xTask_CopterControlTask != NULL) {
|
||||
const int task_id = 10;
|
||||
RNG_RESET
|
||||
// timing_start(2 | TIMING_POINT_START_INTERRUPT_FROM_IDLE);
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_9(x);
|
||||
WASTE_USEC(TRANSLATE_9(15, 50));
|
||||
xTaskNotifyFromISR(xTask_CopterControlTask, 0, eNoAction, NULL);
|
||||
WASTE_USEC(TRANSLATE_10(15, 50));
|
||||
}
|
||||
}
|
||||
|
||||
static void prv_CopterControlWatchdogTask(void *pvParameters) {
|
||||
const int task_id = 11;
|
||||
TickType_t xLastWakeTime = initial_release_time;
|
||||
const TickType_t xFrequency = 10 / portTICK_PERIOD_MS;
|
||||
int x=0;
|
||||
do {
|
||||
RNG_RESET
|
||||
x = INPUT_SHORT_NEXT;
|
||||
x = STRETCH_i32((short)x);
|
||||
x = FUNCTION_9(x);
|
||||
WASTE_USEC(TRANSLATE_1(50, 200));
|
||||
trigger_job_done();
|
||||
xTaskDelayUntil( &xLastWakeTime, xFrequency );
|
||||
} while (1);
|
||||
}
|
||||
|
||||
// void PreIdleHook() {
|
||||
// static int count = 0;
|
||||
// kout << "---\n";
|
||||
// timing_print();
|
||||
// if (++count > 5) {
|
||||
// }
|
||||
|
||||
// if (count == 100) {
|
||||
// timing_dump();
|
||||
// }
|
||||
// }
|
||||
|
||||
// void ISR_1_Handler(void) {
|
||||
// // timing_start(2 | TIMING_POINT_START_INTERRUPT_FROM_IDLE);
|
||||
// WASTE_USEC(SHORT_CALC);
|
||||
// }
|
||||
// void ISR_3_Handler(void) {
|
||||
// // timing_start(2 | TIMING_POINT_START_INTERRUPT_FROM_IDLE);
|
||||
// WASTE_USEC(SHORT_CALC);
|
||||
// }
|
||||
// void ISR_4_Handler(void) {
|
||||
// // timing_start(2 | TIMING_POINT_START_INTERRUPT_FROM_IDLE);
|
||||
// WASTE_USEC(SHORT_CALC);
|
||||
// }
|
||||
// void ISR_5_Handler(void) {
|
||||
// // timing_start(2 | TIMING_POINT_START_INTERRUPT_FROM_IDLE);
|
||||
// WASTE_USEC(SHORT_CALC);
|
||||
// }
|
||||
// void ISR_6_Handler(void) {
|
||||
// // timing_start(2 | TIMING_POINT_START_INTERRUPT_FROM_IDLE);
|
||||
// WASTE_USEC(SHORT_CALC);
|
||||
// }
|
||||
// void ISR_7_Handler(void) {
|
||||
// // timing_start(2 | TIMING_POINT_START_INTERRUPT_FROM_IDLE);
|
||||
// WASTE_USEC(SHORT_CALC);
|
||||
// }
|
||||
// void ISR_8_Handler(void) {
|
||||
// // timing_start(2 | TIMING_POINT_START_INTERRUPT_FROM_IDLE);
|
||||
// WASTE_USEC(SHORT_CALC);
|
||||
// }
|
||||
@ -29,10 +29,12 @@
|
||||
#include <queue.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#define GLOBAL_WCET_MULT 20 // Multiplier to increase all waiting periods to make the schedule more tight an force preemptions
|
||||
#define LOCAL_WCET_MULT 15 // Multiplier to increase all waiting periods to make the schedule more tight an force preemptions
|
||||
#define NUM_TASKS 10
|
||||
#include "fuzzhelper.c"
|
||||
|
||||
#define INSERT_WC
|
||||
|
||||
#ifdef INSERT_WC
|
||||
#define DEBUG_VAL(X,D) (D)
|
||||
#define WCET_CLAMP(X, LB, UB, LABEL) WASTE_NSEC(UB)
|
||||
@ -241,13 +243,15 @@ static void prvTaskC21( void * pvParameters ) {
|
||||
const int task_id = 0;
|
||||
TickType_t xLastWakeTime = initial_release_time;
|
||||
const TickType_t xFrequency = 100 / portTICK_PERIOD_MS;
|
||||
const uint32_t upper_bound = 48940*LOCAL_WCET_MULT;
|
||||
for( ;; ){
|
||||
RNG_RESET
|
||||
// Actions --------------------------------------
|
||||
// Exectime: f(x) = x
|
||||
// Exectime: f(x) = x % 1000000
|
||||
// Output: g(x) = x % 2
|
||||
volatile uint16_t x = RNG_SHORT_NEXT;
|
||||
WCET_CLAMP(x, 0, 48940, TASK_31_MESSAGE)
|
||||
// WC Input: x = 48941
|
||||
volatile uint32_t x = INPUT_LONG_NEXT % 1000000;
|
||||
WCET_CLAMP(x, 0, upper_bound, TASK_31_MESSAGE)
|
||||
trigger_job_done();
|
||||
xTaskNotify(xTaskC22, DEBUG_VAL(x % 2, 1), eSetValueWithOverwrite);
|
||||
// ---------------------------------------------
|
||||
@ -262,18 +266,19 @@ static void prvTaskC22( void * pvParameters ) {
|
||||
for( ;; ){
|
||||
RNG_RESET
|
||||
// Actions --------------------------------------
|
||||
// Exectime: f(x,y) = c + y*20000 + rng(x)*50000
|
||||
// Exectime: f(x,y) = c + (y!=0)*20000 + (x%100<=5)*(x!=0)*50000
|
||||
// Output: g(x,y) = y * (x % 4)
|
||||
uint16_t x = RNG_SHORT_NEXT;
|
||||
// WC Input: x = 2, y = 1
|
||||
uint16_t x = INPUT_SHORT_NEXT;
|
||||
int y = ulTaskNotifyTake(pdTRUE, 0);
|
||||
volatile int torun = 6035;
|
||||
if (y > 0) {
|
||||
torun += 20000;
|
||||
}
|
||||
if (DEBUG_VAL(((x % 100) <= 5), 1)) {
|
||||
if (DEBUG_VAL(((x % 100) <= 5)*(x!=0), 1)) {
|
||||
torun += 50000;
|
||||
}
|
||||
WCET_CLAMP(torun, 0, 76035, TASK_78_MESSAGE)
|
||||
WCET_CLAMP(torun*LOCAL_WCET_MULT, 0, 76035*LOCAL_WCET_MULT, TASK_78_MESSAGE)
|
||||
xTaskNotify(xTaskC23, DEBUG_VAL(y * (x % 4), 2), eSetValueWithOverwrite);
|
||||
// ---------------------------------------------
|
||||
trigger_job_done();
|
||||
@ -289,15 +294,16 @@ static void prvTaskC23( void * pvParameters ) {
|
||||
RNG_RESET
|
||||
// Actions --------------------------------------
|
||||
// Exectime: f(x,y) = rng(x)*y*c or (rng(x) % 1000)
|
||||
uint32_t x = RNG_LONG_NEXT;
|
||||
// WC Input: x = 2214, y = 2
|
||||
uint32_t x = INPUT_LONG_NEXT;
|
||||
int y = ulTaskNotifyTake(pdTRUE, 0);
|
||||
volatile int torun = 0;
|
||||
if (y == 2 && DEBUG_VAL(((x%100) <= 25), 1)) {
|
||||
torun = 1765;
|
||||
torun = 1766;
|
||||
} else {
|
||||
torun = RNG_FROM(x) % 1000;
|
||||
torun = (RNG_FROM(x) % 1000);
|
||||
}
|
||||
WCET_CLAMP(torun, 0, 1765, TASK_400_MESSAGE)
|
||||
WCET_CLAMP(torun*LOCAL_WCET_MULT, 0, 1765*LOCAL_WCET_MULT, TASK_400_MESSAGE)
|
||||
// ---------------------------------------------
|
||||
trigger_job_done();
|
||||
xTaskDelayUntil( &xLastWakeTime, xFrequency );}
|
||||
@ -312,12 +318,13 @@ static void prvTaskC31( void * pvParameters ) {
|
||||
const TickType_t xFrequency = 1 / portTICK_PERIOD_MS;
|
||||
for( ;; ){
|
||||
RNG_RESET
|
||||
// Exectime: f(x) = 20*x
|
||||
// Exectime: f(x) = 32*x
|
||||
// Output: g(x) = x % 2
|
||||
volatile uint16_t x = RNG_CHAR_NEXT;
|
||||
// WC Input: x = 255,
|
||||
volatile uint16_t x = INPUT_CHAR_NEXT;
|
||||
x *= 32;
|
||||
WCET_CLAMP(x, 0, 5830, TASK_397_MESSAGE);
|
||||
xTaskNotify(xTaskC32, DEBUG_VAL((x/32) & 0x1, 0), eSetValueWithOverwrite);
|
||||
WCET_CLAMP(x*LOCAL_WCET_MULT, 0, 5830*LOCAL_WCET_MULT, TASK_397_MESSAGE);
|
||||
xTaskNotify(xTaskC32, DEBUG_VAL((x/32) & 0x1, 1), eSetValueWithOverwrite);
|
||||
// 3 different activation strategies -------------
|
||||
// activate sporadically from interrupts
|
||||
trigger_job_done();
|
||||
@ -342,16 +349,17 @@ static void prvTaskC32( void * pvParameters ) {
|
||||
// Actions --------------------------------------
|
||||
// Exectime: f(x) = c + 100*x
|
||||
// Output: g(x) = x % 4
|
||||
// WC Input: x = 204 (local), y = 1
|
||||
int y = ulTaskNotifyTake(pdTRUE, 0);
|
||||
volatile uint16_t x = RNG_CHAR_NEXT;
|
||||
volatile uint16_t x = INPUT_CHAR_NEXT;
|
||||
x *= 100;
|
||||
int torun = 0;
|
||||
if (y) {
|
||||
if (!y) {
|
||||
torun = CLAMP(x, 5000, 10000);
|
||||
} else {
|
||||
torun = CLAMP(x, 0, 20045);
|
||||
}
|
||||
WCET_CLAMP(torun, 0, 20045, TASK_90_MESSAGE)
|
||||
WCET_CLAMP(torun*LOCAL_WCET_MULT, 0, 20045*LOCAL_WCET_MULT, TASK_90_MESSAGE)
|
||||
xTaskNotify(xTaskC33, DEBUG_VAL((x/100) % 4, 0), eSetValueWithOverwrite);
|
||||
// ---------------------------------------------
|
||||
trigger_job_done();
|
||||
@ -367,10 +375,11 @@ static void prvTaskC33( void * pvParameters ) {
|
||||
RNG_RESET
|
||||
// Actions --------------------------------------
|
||||
// Exectime: f(x) = c - x*y
|
||||
volatile uint16_t x = RNG_SHORT_NEXT;
|
||||
// WC Input: x = 0 | y = 0
|
||||
volatile uint16_t x = INPUT_SHORT_NEXT;
|
||||
int y = ulTaskNotifyTake(pdTRUE, 0);
|
||||
int torun = 76865-((int)x)*y;
|
||||
WCET_CLAMP(torun, 10000, 76865, TASK_1107_MESSAGE)
|
||||
WCET_CLAMP(torun*LOCAL_WCET_MULT, 10000, 76865*LOCAL_WCET_MULT, TASK_1107_MESSAGE)
|
||||
// ---------------------------------------------
|
||||
trigger_job_done();
|
||||
xTaskDelayUntil( &xLastWakeTime, xFrequency );}
|
||||
@ -390,9 +399,10 @@ static void prvTaskC11( void * pvParameters ) {
|
||||
// Actions --------------------------------------
|
||||
// Exectime: f(x) = x>>8 & 0x0fff
|
||||
// Output: g(x) = x % 8
|
||||
uint32_t x = RNG_LONG_NEXT;
|
||||
// WC Input: x = 629760
|
||||
uint32_t x = INPUT_LONG_NEXT;
|
||||
volatile int torun = (x>>8) & 0x0fff;
|
||||
WCET_CLAMP(torun, 500, 2460, TASK_579_MESSAGE)
|
||||
WCET_CLAMP(torun*LOCAL_WCET_MULT, 500*LOCAL_WCET_MULT, 2460*LOCAL_WCET_MULT, TASK_579_MESSAGE)
|
||||
xTaskNotify(xTaskC12, DEBUG_VAL(x % 8, 0), eSetValueWithOverwrite);
|
||||
// ---------------------------------------------
|
||||
trigger_job_done();
|
||||
@ -409,7 +419,8 @@ static void prvTaskC12( void * pvParameters ) {
|
||||
// Actions --------------------------------------
|
||||
// Exectime: f(x,y) = if x%8 == y ? 40000+x : x (<40k)
|
||||
// Output: g(x) = x % 8 == y
|
||||
uint16_t x = RNG_SHORT_NEXT;
|
||||
// WC Input: x = 12000, y = 0
|
||||
uint16_t x = INPUT_SHORT_NEXT;
|
||||
int y = ulTaskNotifyTake(pdTRUE, 0);
|
||||
volatile int torun = 0;
|
||||
if (x % 8 == y) {
|
||||
@ -417,7 +428,7 @@ static void prvTaskC12( void * pvParameters ) {
|
||||
} else {
|
||||
torun = CLAMP(x, 0, 40000);
|
||||
}
|
||||
WCET_CLAMP(torun, 0, 51485, TASK_1009_MESSAGE)
|
||||
WCET_CLAMP(torun*LOCAL_WCET_MULT, 0, 51485*LOCAL_WCET_MULT, TASK_1009_MESSAGE)
|
||||
xTaskNotify(xTaskC13, DEBUG_VAL(x % 8 == y, 1), eSetValueWithOverwrite);
|
||||
// ---------------------------------------------
|
||||
trigger_job_done();
|
||||
@ -438,7 +449,8 @@ static void prvTaskC13( void * pvParameters ) {
|
||||
// Output: g(x) = y && rng(x)
|
||||
// longmax - shortmax: 39505
|
||||
// most likely long case, which causes a short case in next task
|
||||
volatile uint32_t x = RNG_SHORT_NEXT;
|
||||
// WC Input: x = , y = 1
|
||||
volatile uint32_t x = INPUT_SHORT_NEXT;
|
||||
int y = ulTaskNotifyTake(pdTRUE, 0);
|
||||
volatile int do_short_run = (y + ((x%100)<=5)) == 1; // XOR
|
||||
int torun = 0;
|
||||
@ -447,7 +459,7 @@ static void prvTaskC13( void * pvParameters ) {
|
||||
} else {
|
||||
torun = 80000 + x;
|
||||
}
|
||||
WCET_CLAMP(torun, 0, 145040, TASK_1129_MESSAGE)
|
||||
WCET_CLAMP(torun*LOCAL_WCET_MULT, 0, 145040*LOCAL_WCET_MULT, TASK_1129_MESSAGE)
|
||||
xTaskNotify(xTaskC14, do_short_run, eSetValueWithOverwrite);
|
||||
// ---------------------------------------------
|
||||
trigger_job_done();
|
||||
@ -464,7 +476,7 @@ static void prvTaskC14( void * pvParameters ) {
|
||||
// Actions --------------------------------------
|
||||
// Exectime: f(x,y) = if y ? c1+2*x : c2-x
|
||||
// longmax - shortmax: 76955
|
||||
volatile uint32_t x = RNG_SHORT_NEXT;
|
||||
volatile uint32_t x = INPUT_SHORT_NEXT;
|
||||
int y = ulTaskNotifyTake(pdTRUE, 0);
|
||||
volatile int torun = 0;
|
||||
if (y) {
|
||||
@ -472,7 +484,7 @@ static void prvTaskC14( void * pvParameters ) {
|
||||
} else {
|
||||
torun = 50000 - CLAMP_CEILING(x, 50000);
|
||||
}
|
||||
WCET_CLAMP(torun, 10000, 126955, TASK_416_MESSAGE)
|
||||
WCET_CLAMP(torun*LOCAL_WCET_MULT, 10000*LOCAL_WCET_MULT, 126955*LOCAL_WCET_MULT, TASK_416_MESSAGE)
|
||||
// ---------------------------------------------
|
||||
trigger_job_done();
|
||||
xTaskDelayUntil( &xLastWakeTime, xFrequency );}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user