krnltaskshifttime.ino

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#include <krnl.h>
 
// External triggered ISR
// An Interrupt Service Routine is attached to pin 2
// So when pin2 is drived to ground (by a wire) an interrupt is generated.
// The ISR increment a counter and send it to a message Q
// naming ki_send .... "i" indicates it can be used in an ISR and demand interrupt to be disabled prio to call
// and that no task shift takes place in the call
// demonstrates ISR with  message Q and preemption(task shift) in the ISR
// NB Take a look on the ISR. For 1280 and 2560 it is INT4 but for 168,328,.. it's INTO
// It is taken care by a compile flag
// (c) beerware license JDN 2013
// AS USUAL Serial.print is not krnl safe !!! cant break your program
 
struct k_t * p_t1, *p_t2, *sem1;
 
#define STK_SIZE 200
 
char s1[STK_SIZE]; // stak for t1 ... and t2
char s2[STK_SIZE]; // stak for t1 ... and t2
 
volatile int icnt = 0;
 
 
 
void t2()
{
  while (1) {
    k_signal(sem1);
    k_signal(sem1);
    k_signal(sem1);
    k_signal(sem1);
    k_signal(sem1);
    k_signal(sem1);
    k_signal(sem1);
    k_signal(sem1);
    k_signal(sem1);
    k_signal(sem1);
  }
}
volatile int i = 0;
 
void t1(void) {
 
  while (1) {
    k_wait(sem1, 0);
    k_wait(sem1, 0);
    k_wait(sem1, 0);
    k_wait(sem1, 0);
    k_wait(sem1, 0);
    k_wait(sem1, 0);
    k_wait(sem1, 0);
    k_wait(sem1, 0);
    k_wait(sem1, 0);
    k_wait(sem1, 0);
    i++;
    if (10000 < i) {
 
      k_stop(0);
    }
  }
 
}
 
void setup() {
  unsigned long t;
  Serial.begin(9600);
  k_millis();
 
  k_init(2, 1, 0); // from now you can crt task,sem etc
 
  sem1 = k_crt_sem(0, 10); //
 
  p_t1 = k_crt_task(t1, 10, s1, STK_SIZE);
  p_t2 = k_crt_task(t2, 11, s2, STK_SIZE);
 
  Serial.println("task shit test for Krnl by JDN");
  t = millis();
  k_start(10); // now we are runnning   with timer 10 msev
  t = millis() - t;
  Serial.print(" 10000 * 10 * 2 (200.000) task shifts in ...(millisec) ");
  Serial.println(t);
  Serial.print("One task shift(micro sec) "); Serial.println(t * 1000 / 200000);
 
 
  // main will not come back and will sleep rest of life
}
 
void loop(void) {
  // just for compilation - will never be called
}
 
/* QED :-) */