copter, partition inputs
This commit is contained in:
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d1fca2842e
commit
42889f6dc2
@ -144,6 +144,11 @@ ifdef GEN_DEMO
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CFLAGS := -DmainCREATE_GEN_DEMO=1
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else
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ifeq ($(COPTER_DEMO), 1)
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SOURCE_FILES += main_copter.c
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CFLAGS := -DmainCOPTER_DEMO=1
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else
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ifeq ($(RELEASE_DEMO), 1)
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SOURCE_FILES += main_release.c
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@ -171,6 +176,7 @@ 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 ($(INTERRUPT_ACTIVATION), 1)
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CFLAGS += -D INTERRUPT_ACTIVATION=1
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@ -34,7 +34,7 @@ volatile long _NONSENSE_VAR = 0;
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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_FROM(X) ((A*X+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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157
FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/copter.c
Normal file
157
FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/copter.c
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@ -0,0 +1,157 @@
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// #include "os.h"
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// #include "test/test.h"
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// #include "timing.h"
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// #include "machine.h"
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#include "de-osek.h"
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//extern "C" volatile uint32_t random_source =0 ;
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DeclareTask(SignalGatherInitiateTask);
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DeclareTask(SignalGatherFinishedTask);
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DeclareTask(SignalGatherTimeoutTask);
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DeclareTask(SignalProcessingActuateTask);
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DeclareTask(SignalProcessingAttitudeTask);
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DeclareTask(ActuateTask);
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DeclareTask(FlightControlAttitudeTask);
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DeclareTask(FlightControlActuateTask);
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DeclareTask(MavlinkSendTask);
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DeclareTask(CopterControlTask);
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DeclareTask(MavlinkRecvHandler);
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DeclareResource(SPIBus);
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DeclareAlarm(CopterControlWatchdogAlarm);
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TIMING_MAKE_OS_MAIN( StartOS(0) )
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//GENERATE_TIME_CONSUMER(calculation, 100)
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//GENERATE_TIME_CONSUMER(calculation_short, 10)
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// #define calculation() do {} while(0)
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// #define calculation_short() do {} while(0)
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int round;
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TASK(SignalGatherInitiateTask) {
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timing_start(0);
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GetResource(SPIBus);
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calculation();
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if ((round % 2) == 0) {
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ActivateTask(SignalGatherTimeoutTask);
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} else {
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ActivateTask(SignalGatherFinishedTask);
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}
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round ++;
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calculation();
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ReleaseResource(SPIBus);
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calculation();
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TerminateTask();
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}
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TASK(SignalGatherFinishedTask) {
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calculation();
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ActivateTask(SignalProcessingAttitudeTask);
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calculation();
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ActivateTask(SignalProcessingActuateTask);
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calculation();
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TerminateTask();
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}
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TASK(SignalGatherTimeoutTask) {
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calculation();
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GetResource(SPIBus);
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calculation();
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ReleaseResource(SPIBus);
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calculation();
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ChainTask(SignalGatherFinishedTask);
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}
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volatile int calculate;
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TASK(SignalProcessingActuateTask) {
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calculation();
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TerminateTask();
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}
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TASK(SignalProcessingAttitudeTask) {
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calculation();
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timing_end(0);
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TerminateTask();
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}
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TASK(FlightControlTask) {
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timing_start(1 | TIMING_POINT_IS_HIGHEST_PRIO);
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calculation();
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ActivateTask(FlightControlAttitudeTask);
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ActivateTask(FlightControlActuateTask);
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ActivateTask(MavlinkSendTask);
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calculation();
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TerminateTask();
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}
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TASK(FlightControlAttitudeTask) {
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calculation();
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TerminateTask();
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}
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TASK(FlightControlActuateTask) {
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calculation();
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TerminateTask();
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}
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TASK(MavlinkSendTask) {
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calculation();
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GetResource(SPIBus);
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calculation_short();
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Machine::trigger_interrupt_from_user(37);
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ReleaseResource(SPIBus);
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calculation();
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timing_end(1);
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TerminateTask();
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}
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TASK(CopterControlTask) {
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calculation();
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SuspendAllInterrupts();
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calculation_short();
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ResumeAllInterrupts();
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calculation();
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/* Saves 8000 states
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if (round < 5) {
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CancelAlarm(CopterControlWatchdogAlarm);
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SetRelAlarm(CopterControlWatchdogAlarm, 100, 100);
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}
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calculation();
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*/
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timing_end(2);
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TerminateTask();
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}
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ISR2(MavlinkRecvHandler) {
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timing_start(2 | TIMING_POINT_START_INTERRUPT_FROM_IDLE);
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calculation_short();
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ActivateTask(CopterControlTask);
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calculation_short();
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}
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TASK(CopterControlWatchdogTask) {
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calculation();
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TerminateTask();
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}
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void PreIdleHook() {
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static int count = 0;
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kout << "---\n";
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timing_print();
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if (++count > 5) {
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}
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if (count == 100) {
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timing_dump();
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}
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}
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40
FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/de-osek.h
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40
FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/de-osek.h
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@ -0,0 +1,40 @@
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// Macros that allow for a crude translation of OSEK to FreeRTOS
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// #include <FreeRTOS.h>
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// #include <task.h>
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// #include <queue.h>
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// #include <stdio.h>
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// #include <semphr.h>
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// #include "arbitrary_loads.c"
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#define DeclareTask(task_name) static void prv_##task_name( void * pvParameters ); \
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static TaskHandle_t xTask_##task_name = NULL
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#define DeclareResource(resource_name) static SemaphoreHandle_t xSemaphore_##resource_name
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#define DeclareAlarm(alarm_name) static TickType_t xFrequency_##alarm_name;
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#define TIMING_MAKE_OS_MAIN(os_start) void main_osek( void ) { \
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}
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#define TASK(task_name) static void prv_##task_name( void * pvParameters )
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#define GetResource(resource_name) xSemaphoreTake(xSemaphore_##resource_name, 1)
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#define ReleaseResource(resource_name) xSemaphoreGive(xSemaphore_##resource_name)
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#define calculation() WASTE_MSEC(1)
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#define calculation_short() WASTE_USEC(500)
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#define TerminateTask() do { ulTaskNotifyTake(pdTRUE, 0);} while (1)
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#define ActivateTask(task_name) xTaskNotify(xTask_##task_name, 0, eNoAction)
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#define ChainTask(task_name) ActivateTask(task_name); TerminateTask()
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#define SuspendAllInterrupts() vTaskSuspendAll()
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#define ResumeAllInterrupts() xTaskResumeAll()
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#define Machine
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#define trigger_interrupt_from_user(interrupt_number) NVIC_SetPendingIRQ((interrupt_number))
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#define ISR2(isr_name) void ISR_2_Handler( void )
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@ -218,12 +218,28 @@ void _start( void )
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NVIC_EnableIRQ(3);
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NVIC_EnableIRQ(4);
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NVIC_EnableIRQ(5);
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NVIC_EnableIRQ(6);
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NVIC_EnableIRQ(7);
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NVIC_EnableIRQ(8);
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NVIC_EnableIRQ(9);
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NVIC_EnableIRQ(10);
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NVIC_EnableIRQ(11);
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NVIC_EnableIRQ(12);
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NVIC_EnableIRQ(13);
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NVIC_SetPriority (0, 6); // need to stay above configMAX_SYSCALL_INTERRUPT_PRIORITY
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NVIC_SetPriority (1, 6);
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NVIC_SetPriority (2, 6);
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NVIC_SetPriority (3, 6);
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NVIC_SetPriority (4, 6);
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NVIC_SetPriority (5, 6);
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NVIC_SetPriority (6, 6);
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NVIC_SetPriority (7, 6);
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NVIC_SetPriority (8, 6);
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NVIC_SetPriority (9, 6);
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NVIC_SetPriority (10, 6);
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NVIC_SetPriority (11, 6);
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NVIC_SetPriority (12, 6);
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NVIC_SetPriority (13, 6);
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main( 0, 0 );
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exit( 0 );
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}
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@ -119,6 +119,10 @@ int main()
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{
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main_release();
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}
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#elif ( mainCOPTER_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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347
FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/main_copter.c
Normal file
347
FreeRTOS/Demo/CORTEX_M3_MPS2_QEMU_GCC/main_copter.c
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@ -0,0 +1,347 @@
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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 an force preemptions
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#include "arbitrary_loads.c"
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#define NUM_TASKS 15
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#define MAX_INPUT_BYTES 4096
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volatile unsigned char FUZZ_INPUT[MAX_INPUT_BYTES] = {};
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volatile int INPUT_POINTERS[NUM_TASKS] = {};
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volatile uint32_t FUZZ_LENGTH = MAX_INPUT_BYTES;// ignored
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__attribute__((noinline)) static void trigger_Qemu_break( void )
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{
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puts("Trigger");
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while (1) {
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}
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}
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__attribute__((noinline)) static void trigger_job_done( void )
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{
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puts("Job Done");
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}
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static unsigned char fuzz_char_next(int tasknum) {
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if (INPUT_POINTERS[tasknum] == 0) {
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INPUT_POINTERS[tasknum] = tasknum * (MAX_INPUT_BYTES / NUM_TASKS);
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}
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if (INPUT_POINTERS[tasknum] >= (tasknum+1) * (MAX_INPUT_BYTES / NUM_TASKS)) {
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trigger_Qemu_break();
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}
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FUZZ_INPUT[INPUT_POINTERS[tasknum]++];
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}
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volatile int RNG_STATES[NUM_TASKS] = {};
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static unsigned char next(int tasknum) {
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RNG_STATES[tasknum] = RNG_FROM(RNG_STATES[tasknum]);
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unsigned char t = fuzz_char_next(tasknum);
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return RNG_STATES[tasknum] ^ (((int)t << 8) + (int)t);
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}
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// #define SHORT_CALC 50
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// #define LONG_CALC 200
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#define SHORT_CALC (25+next(task_id)%25)
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#define LONG_CALC (150+next(task_id)%100)
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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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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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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
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&xTask_SignalGatherTimeoutTask);
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xTaskCreate(prv_SignalProcessingActuateTask, "SPActuate",
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configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 7, // 22
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&xTask_SignalProcessingActuateTask);
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xTaskCreate(prv_SignalProcessingAttitudeTask, "SPAttitude",
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configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 6, // 21
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&xTask_SignalProcessingAttitudeTask);
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// xTaskCreate(prv_ActuateTask, "ActuateTask", configMINIMAL_STACK_SIZE, NULL,
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// tskIDLE_PRIORITY + 1, &xTask_ActuateTask);
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xTaskCreate(prv_FlightControlTask, "FC",
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configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 3, // 11
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&xTask_FlightControlTask);
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xTaskCreate(prv_FlightControlAttitudeTask, "FCAttitude",
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configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 4, // 12
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&xTask_FlightControlAttitudeTask);
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xTaskCreate(prv_FlightControlActuateTask, "FCActuate",
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configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 5, // 13
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&xTask_FlightControlActuateTask);
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xTaskCreate(prv_MavlinkSendTask, "MSend", configMINIMAL_STACK_SIZE,
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NULL, tskIDLE_PRIORITY + 2, &xTask_MavlinkSendTask); // 10
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xTaskCreate(prv_CopterControlTask, "CControl",
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configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, // 1
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&xTask_CopterControlTask);
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xTaskCreate( timing_supervisor_task,
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"supervisor",
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configMINIMAL_STACK_SIZE,
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NULL,
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configMAX_PRIORITIES - 1,
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&xTaskTimeSupervisor );
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vTaskStartScheduler();
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for( ; ; )
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{
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}
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}
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int round;
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static void prv_SignalGatherInitiateTask(void *pvParameters) {
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const int task_id = 0;
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TickType_t xLastWakeTime = initial_release_time;
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const TickType_t xFrequency = 3 / portTICK_PERIOD_MS;
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do {
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// timing_start(0);
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xSemaphoreTake(xSemaphore_SPIBus, 1);
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WASTE_USEC(LONG_CALC);
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if ((round % 2) == 0) {
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xTaskNotify(xTask_SignalGatherTimeoutTask, 0, eNoAction);
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} else {
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xTaskNotify(xTask_SignalGatherFinishedTask, 0, eNoAction);
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}
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round++;
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WASTE_USEC(LONG_CALC);
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xSemaphoreGive(xSemaphore_SPIBus);
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WASTE_USEC(LONG_CALC);
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trigger_job_done();
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xTaskDelayUntil( &xLastWakeTime, xFrequency );
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} while (1);
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}
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static void prv_SignalGatherFinishedTask(void *pvParameters) {
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const int task_id = 1;
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trigger_job_done();
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do {
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ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
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WASTE_USEC(LONG_CALC);
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xTaskNotify(xTask_SignalProcessingAttitudeTask, 0, eNoAction);
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WASTE_USEC(LONG_CALC);
|
||||
xTaskNotify(xTask_SignalProcessingActuateTask, 0, eNoAction);
|
||||
WASTE_USEC(LONG_CALC);
|
||||
trigger_job_done();
|
||||
} while (1);
|
||||
}
|
||||
|
||||
static void prv_SignalGatherTimeoutTask(void *pvParameters) {
|
||||
const int task_id = 2;
|
||||
trigger_job_done();
|
||||
do {
|
||||
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
WASTE_USEC(LONG_CALC);
|
||||
xSemaphoreTake(xSemaphore_SPIBus, 1);
|
||||
WASTE_USEC(LONG_CALC);
|
||||
xSemaphoreGive(xSemaphore_SPIBus);
|
||||
WASTE_USEC(LONG_CALC);
|
||||
xTaskNotify(xTask_SignalGatherFinishedTask, 0, eNoAction);
|
||||
trigger_job_done();
|
||||
} while (1);
|
||||
}
|
||||
|
||||
volatile int calculate;
|
||||
|
||||
static void prv_SignalProcessingActuateTask(void *pvParameters) {
|
||||
const int task_id = 3;
|
||||
trigger_job_done();
|
||||
do {
|
||||
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
WASTE_USEC(LONG_CALC);
|
||||
trigger_job_done();
|
||||
} while (1);
|
||||
}
|
||||
|
||||
static void prv_SignalProcessingAttitudeTask(void *pvParameters) {
|
||||
const int task_id = 4;
|
||||
trigger_job_done();
|
||||
do {
|
||||
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
WASTE_USEC(LONG_CALC);
|
||||
// timing_end(0);
|
||||
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;
|
||||
do {
|
||||
// timing_start(1 | TIMING_POINT_IS_HIGHEST_PRIO);
|
||||
WASTE_USEC(LONG_CALC);
|
||||
xTaskNotify(xTask_FlightControlAttitudeTask, 0, eNoAction);
|
||||
xTaskNotify(xTask_FlightControlActuateTask, 0, eNoAction);
|
||||
xTaskNotify(xTask_MavlinkSendTask, 0, eNoAction);
|
||||
WASTE_USEC(LONG_CALC);
|
||||
trigger_job_done();
|
||||
xTaskDelayUntil( &xLastWakeTime, xFrequency );
|
||||
} while (1);
|
||||
}
|
||||
|
||||
static void prv_FlightControlAttitudeTask(void *pvParameters) {
|
||||
const int task_id = 6;
|
||||
trigger_job_done();
|
||||
do {
|
||||
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
WASTE_USEC(LONG_CALC);
|
||||
trigger_job_done();
|
||||
} while (1);
|
||||
}
|
||||
|
||||
static void prv_FlightControlActuateTask(void *pvParameters) {
|
||||
const int task_id = 7;
|
||||
trigger_job_done();
|
||||
do {
|
||||
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
WASTE_USEC(LONG_CALC);
|
||||
trigger_job_done();
|
||||
} while (1);
|
||||
}
|
||||
|
||||
static void prv_MavlinkSendTask(void *pvParameters) {
|
||||
const int task_id = 8;
|
||||
trigger_job_done();
|
||||
do {
|
||||
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
WASTE_USEC(LONG_CALC);
|
||||
xSemaphoreTake(xSemaphore_SPIBus, 1);
|
||||
WASTE_USEC(SHORT_CALC);
|
||||
// NVIC_SetPendingIRQ(1);
|
||||
xSemaphoreGive(xSemaphore_SPIBus);
|
||||
WASTE_USEC(LONG_CALC);
|
||||
// timing_end(1);
|
||||
trigger_job_done();
|
||||
} while (1);
|
||||
}
|
||||
|
||||
static void prv_CopterControlTask(void *pvParameters) {
|
||||
const int task_id = 9;
|
||||
trigger_job_done();
|
||||
do {
|
||||
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
WASTE_USEC(LONG_CALC);
|
||||
vTaskSuspendAll();
|
||||
WASTE_USEC(SHORT_CALC);
|
||||
xTaskResumeAll();
|
||||
WASTE_USEC(LONG_CALC);
|
||||
// timing_end(2);
|
||||
|
||||
trigger_job_done();
|
||||
} while (1);
|
||||
}
|
||||
|
||||
void ISR_0_Handler(void) {
|
||||
const int task_id = 10;
|
||||
// timing_start(2 | TIMING_POINT_START_INTERRUPT_FROM_IDLE);
|
||||
WASTE_USEC(SHORT_CALC);
|
||||
xTaskNotifyFromISR(xTask_CopterControlTask, 0, eNoAction, NULL);
|
||||
WASTE_USEC(SHORT_CALC);
|
||||
}
|
||||
|
||||
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;
|
||||
do {
|
||||
WASTE_USEC(LONG_CALC);
|
||||
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);
|
||||
// }
|
||||
@ -149,6 +149,20 @@ static TickType_t initial_release_time = 0;
|
||||
|
||||
static SemaphoreHandle_t xMutex;
|
||||
|
||||
#define HYPER_PERIOD 25
|
||||
#define SIMULATE_PERIODS 2
|
||||
static TaskHandle_t xTaskTimeSupervisor = NULL;
|
||||
static void timing_supervisor_task( void * pvParameters ) {
|
||||
initial_release_time = xTaskGetTickCount(); // The highest priority task sets the initial time
|
||||
TickType_t xLastWakeTime = initial_release_time;
|
||||
const TickType_t xFrequency = (SIMULATE_PERIODS * HYPER_PERIOD) / portTICK_PERIOD_MS;
|
||||
trigger_job_done();
|
||||
xTaskDelayUntil( &xLastWakeTime, xFrequency );
|
||||
trigger_job_done();
|
||||
trigger_Qemu_break();
|
||||
for( ;; ){}
|
||||
}
|
||||
|
||||
void main_release( void )
|
||||
{
|
||||
xMutex = xSemaphoreCreateBinary();
|
||||
@ -193,6 +207,13 @@ void main_release( void )
|
||||
mainTASK_5_PRIO,
|
||||
&xTask5 );
|
||||
|
||||
xTaskCreate( timing_supervisor_task,
|
||||
"supervisor",
|
||||
configMINIMAL_STACK_SIZE,
|
||||
NULL,
|
||||
configMAX_PRIORITIES - 1,
|
||||
&xTaskTimeSupervisor );
|
||||
|
||||
/* Start the tasks and timer running. */
|
||||
// puts("Start scheduler");
|
||||
vTaskStartScheduler();
|
||||
|
||||
@ -75,7 +75,6 @@ __attribute__((noinline)) static void trigger_job_done( void )
|
||||
#endif
|
||||
|
||||
// Begin Input Stuff
|
||||
#define PARTITION_INPUT
|
||||
#define NUM_TASKS 10
|
||||
#define MAX_INPUT_BYTES 4096
|
||||
volatile unsigned char FUZZ_INPUT[MAX_INPUT_BYTES] = {};
|
||||
|
||||
@ -78,7 +78,6 @@ __attribute__((noinline)) static void trigger_job_done( void )
|
||||
// #define INTERRUPT_ACTIVATION 1
|
||||
|
||||
// Begin Input Stuff
|
||||
#define PARTITION_INPUT
|
||||
#define NUM_TASKS 10
|
||||
#define MAX_INPUT_BYTES 4096
|
||||
volatile unsigned char FUZZ_INPUT[MAX_INPUT_BYTES] = {};
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user