17 changed files with 546 additions and 354 deletions
@ -1,134 +0,0 @@ |
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#define _GNU_SOURCE |
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#include<stdlib.h> |
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#include<stdio.h> |
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#include<assert.h> |
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#include<pthread.h> |
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#include<signal.h> |
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#include<sys/time.h> |
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#include<string.h> |
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#include<sched.h> |
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#include<unistd.h> |
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#include<errno.h> |
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#include"heap.h" |
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#include"ostypes.h" |
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#include"settings.h" |
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#include"scheduler.h" |
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#include"error.h" |
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// core_id = 0, 1, ... n-1, where n is the system's number of cores
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int stick_this_thread_to_core(int core_id) { |
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int num_cores = sysconf(_SC_NPROCESSORS_ONLN); |
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if (core_id < 0 || core_id >= num_cores) |
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return EINVAL; |
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cpu_set_t cpuset; |
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CPU_ZERO(&cpuset); |
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CPU_SET(core_id, &cpuset); |
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pthread_t current_thread = pthread_self(); |
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return pthread_setaffinity_np(current_thread, sizeof(cpu_set_t), &cpuset); |
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} |
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void myTask1(void *params) |
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{ |
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char *str = (char*)params; |
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volatile int i; |
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static int counter = 0; |
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printf("%s. Executed task %d times.\n", str, ++counter); |
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for (i = 0; i < 100000; ++i); |
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osTaskDelay(10); |
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} |
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void myTask2(void *params) |
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{ |
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char *str = (char*)params; |
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volatile int i; |
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static int counter = 0; |
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printf("%s. Executed task %d times.\n", str, ++counter); |
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for (i = 0; i < 100000; ++i); |
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osTaskDelay(20); |
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} |
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void myTask3(void *params) |
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{ |
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char *str = (char*)params; |
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volatile int i; |
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static int counter = 0; |
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printf("%s. Executed task %d times.\n", str, ++counter); |
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for (i = 0; i < 100000; ++i); |
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osTaskDelay(5); |
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} |
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#ifdef X86_TEST_ENVIRONMENT |
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void* simulatedTimer(void* iarg) |
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{ |
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uint8_t id = *( (uint8_t*) iarg ); |
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volatile int j=0; |
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stick_this_thread_to_core(1); |
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printf("Thread %d starts.\n", id); |
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for (j = 0; j < 10e6; ++j); |
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printf("Thread %d finishs.\n", id); |
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//osRunScheduler();
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} |
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void timerCallback(int signum) |
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{ |
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static uint8_t cnt = 0; |
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static uint8_t ids[MAX_LEVEL_INT_NESTING]; |
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static struct sched_param scheduling_params[MAX_LEVEL_INT_NESTING]; |
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static struct sched_param probe1; |
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static int probe2 = 0; |
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int reture = 0; |
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static pthread_t threads[MAX_LEVEL_INT_NESTING]; |
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if(cnt > (MAX_LEVEL_INT_NESTING-1)) |
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{ |
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//THROW_ERROR(E_MAX_LEVEL_INT_NESTING);
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//exit(EXIT_FAILURE);
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} |
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else |
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{ |
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ids[cnt] = cnt; |
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scheduling_params[cnt].sched_priority = sched_get_priority_min(SCHED_FIFO) + cnt*2; |
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printf("Thread %d has priority %d.\n", cnt, scheduling_params[cnt].sched_priority); |
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pthread_create(&threads[cnt], NULL, &simulatedTimer, &ids[cnt]); |
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reture = pthread_setschedparam(threads[cnt], SCHED_FIFO, &scheduling_params[cnt]); |
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if(reture!=0) |
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printf("Error setting the priority: %d.\n", reture); |
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cnt++; |
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} |
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} |
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#endif |
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int main(void) |
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{ |
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#ifdef X86_TEST_ENVIRONMENT |
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struct sigaction sa; |
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struct itimerval timer; |
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/* Install timer_handler as the signal handler for SIGVTALRM. */ |
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memset (&sa, 0, sizeof (sa)); |
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sa.sa_handler = &timerCallback; |
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sigaction (SIGVTALRM, &sa, NULL); |
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/* Configure the timer to expire after 250 msec... */ |
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timer.it_value.tv_sec = 0; |
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timer.it_value.tv_usec = CLOCK_TICK_RATE_MS * 1000; |
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/* ... and every 250 msec after that. */ |
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timer.it_interval.tv_sec = 0; |
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timer.it_interval.tv_usec = CLOCK_TICK_RATE_MS; |
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/* Start a virtual timer. It counts down whenever this process is executing. */ |
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setitimer (ITIMER_VIRTUAL, &timer, NULL); |
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#endif |
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/* Add some tasks. */ |
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osTaskCreate(&myTask1, "Task1", "This is Task1.", 1, NULL); |
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osTaskCreate(&myTask2, "Task2", "This is Task2.", 2, NULL); |
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osTaskCreate(&myTask3, "Task3", "This is Task3.", 3, NULL); |
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osPrintAllTasks(); |
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#ifdef X86_TEST_ENVIRONMENT |
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/* Do busy work. */ |
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while (1); |
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#endif |
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return 0; |
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} |
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@ -0,0 +1,47 @@ |
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#ifndef OS_SETTINGS_H |
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#define OS_SETTINGS_H |
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/* Error */ |
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#define MAX_MESSAGE_SIZE 255 |
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/* X86 */ |
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//#define X86_TEST_ENVIRONMENT
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/* Only needed for X86 simulation. */ |
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#define MAX_LEVEL_INT_NESTING 3 |
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/* Timing */ |
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// TODO: Adjust this:
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#define SYS_TICK_MS 1000 |
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/* Don't adjust this ;) */ |
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#if (SYS_TICK_MS <= 100) |
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#define SYS_TICK_PERIOD_MS SYS_TICK_MS |
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#else |
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#define SYS_TICK_PERIOD_MS 100 |
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#endif |
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#define MS_2_TICKS(MS)\ |
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(MS/SYS_TICK_PERIOD_MS) |
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#if (SYS_TICK_MS < 0) |
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#error "SYS_TICK_MS can not be smaller than 1." |
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#endif |
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#if ( (SYS_TICK_MS%1) != 0) |
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#error "SYS_TICK_MS has to be a natural number." |
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#endif |
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/* Scheduler */ |
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// TODO: Adjust this:
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#define MAX_SIZE_TASK_NAME 20 |
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#define MAX_NUMBER_OF_TASKS 4 |
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#define HEAP_SIZE 4 |
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/* Don't adjust this ;) */ |
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#if (MAX_NUMBER_OF_TASKS > HEAP_SIZE) |
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#warning "HEAP_SIZE < MAX_NUMER_OF_TASKS: This might lead to problems." |
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#endif |
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/* Alive LED */ |
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#define ALIVE_PULSE_LENGTH MS_2_TICKS(200) |
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/* printf */ |
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/* Convert every \n to \n\r */ |
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#define CONVERT_NEWLINE |
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#endif |
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@ -1,22 +0,0 @@ |
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#ifndef OS_SETTINGS_H |
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#define OS_SETTINGS_H |
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/* Error */ |
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#define MAX_MESSAGE_SIZE 255 |
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/* Porting */ |
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#define X86_TEST_ENVIRONMENT |
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/* Only needed for X86 simulation. */ |
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#define MAX_LEVEL_INT_NESTING 3 |
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/* Scheduler */ |
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#define MAX_SIZE_TASK_NAME 20 |
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#define MAX_NUMBER_OF_TASKS 4 |
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#define CLOCK_TICK_RATE_MS 10 |
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#define HEAP_SIZE 6 |
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#if (MAX_NUMBER_OF_TASKS > HEAP_SIZE) |
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#warning "HEAP_SIZE < MAX_NUMER_OF_TASKS: This might lead to problems." |
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#endif |
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#endif |
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