k06.ino

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/* k06
    Critical region by semaphore
    task update data and task2 use them
    task has higher priority than task 2
 
*/
 
#include <krnl.h>
 
#define STKSIZE 100
 
#define TASKPRIO 10
 
char stak[STKSIZE], stak2[STKSIZE];
struct k_t * pTask, *pTask2, *sem1;
 
volatile char reg = 0;
 
void task()
{
  int res;
  while (1) {
    res = k_wait(sem1, 0); // knock knock at sem1. timeout = 0 means forever
    
    DI();  // just for setting bit for critical region for osc
    reg =  0x08;
    PORTB = (1 << pRun->nr) | reg;
    EI();
 
    k_eat_msec(10);  // consume 10 millisec of CPU time
 
    DI();
    reg = 0; // reset crit reg pin
    PORTB = (1 << pRun->nr) | reg;
    EI();
 
    k_signal(sem1);
 
    k_sleep(1);
    k_eat_msec(3);
    k_sleep(30); // sleep 100 ticks - replacement for delay bq k_seelp releases CPU
  }
}
 
void task2()  // lower prority than task above
{
  int res;
  while (1) {
    res = k_wait(sem1, 0); // knock knock at sem1. timeout = 0 menans forever
    DI();  // just for setting bit for critical region for osc
    reg =  0x10;
    PORTB = (1 << pRun->nr) | reg;
    EI();
 
    k_eat_msec(3);  // consume 10 millisec of CPU time
 
    DI();
    reg = 0;
    PORTB = (1 << pRun->nr) | reg;
    EI();
 
    k_signal(sem1);
    k_sleep(1);
    k_eat_msec(1);
 
    k_sleep(20); // sleep 100 ticks - replacement for delay bq k_seelp releases CPU
  }
}
 
 
void setup() {
  // for debugging
  for (int i = 8; i < 14; i++)
    pinMode(i, OUTPUT);
 
  Serial.begin(9600);
 
  k_init(2, 2, 0); // 2 task, 1 semaphores, 0 messaegQueues */
  pTask = k_crt_task(task, TASKPRIO, stak, STKSIZE);
  pTask2 = k_crt_task(task2, TASKPRIO+1, stak2, STKSIZE); // +1 == lower priority
 
  sem1 = k_crt_sem(1, 10); // 1: start value, 10: max value (clipping)
  k_start(); /* start krnl timer speed 1 milliseconds*/
 
  Serial.println("If you see this then krnl didnt start :-( ");
}
 
void loop() {}
 
/***** DEBUGGING PART - LED ON 8-12**********/
/************************ DEBUG CALLBACK BREAKOUT PART ****************/
// must be extern C ! its not mandatory to supply with these  functions - only if you need
 
extern "C" {
 
  // called when a semphore is clipping - nr is id of semaphore and i os nr of times clip has occured
  unsigned char led13;
  ;
  void k_sem_clip(unsigned char nr, int i)
  {
    return;
    if (nr == 2)
      led13 |= 0x20;
  }
 
  void k_sem_unclip(unsigned char nr)
  {
    return;
    if (nr == 2)
      led13 = 0x00;
  }
 
 
  /* void k_send_Q_clip(unsigned char nr, int i) {} */
 
  // task numbering is in creation order: dummy: 0,  first of yours 1, next 2,...
  void k_breakout() // called every task shift from dispatcher
  {
    unsigned char c;
    PORTB  = (1 << pRun->nr) | reg; // arduino uno !! specific usage of PORTB
  }
  // for a MEGA you have to find another port :-)
  // port K (adc8-15) seems feasible
  // get inspired at http://kom.aau.dk/~jdn/edu/doc/arduino/ards.html
}