k09msgq.ino

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//220116
 
#include <krnl.h>
 
#define STK 150
char a1[STK], a2[STK];
 
#define TASKPRIO 10
 
 
struct k_t * pTask1, *pTask2;
 
struct k_msg_t *msgQ;
 
int dataBufForMsgQ[10]; // 10 ints,..
 
struct k_t *timedSem1, *timedSem2, *mutSem;
 
volatile int t2Missed = 0, t2Hit = 0;;
 
 
 
// mutSem for protecting Serial print
 
void task1()
{
    int i = 0;
    char res;
    int lI, lII;
    
    k_set_sem_timer(timedSem1, 80);  // 100 tick aka 100 msec realtime signal from krnl
    
    while (1) {
        
        k_wait(timedSem1, 0); // wait untilkick - realtime
        
        i++;
        res = k_send(msgQ, &i);
        
        k_eat_msec(20);
        
        k_wait(mutSem, 0);
        {
            if (0 <= res) {
                Serial.print("1: did deliver "); Serial.println(i);
            }
            else {
                Serial.print("1: no deliver:>>>>>>>>>>>>>>>>>< "); Serial.println(i);
            }
        }
        k_signal(mutSem);
        k_eat_msec(2);
    }
}
 
void task2()
{
    char res;
    int ii, lostM;
    k_set_sem_timer(timedSem2, 100);  // 100 tick aka 100 msec realtime signal from krnl
    
    while (1) {
        
        k_wait(timedSem2, 0);
        
        k_wait(mutSem, 0);
        Serial.println("2: bef rcv");
        k_signal(mutSem);
        
        
        res = k_receive(msgQ,  &ii, 0, &lostM);
        
        k_wait(mutSem, 0);
        {
            Serial.print("2: received "); Serial.print( ii);
            Serial.print(" lost: "); Serial.println(lostM);
        }
        k_signal(mutSem);
    }
}
 
void setup() {
    Serial.begin(115200);
    delay(2000);
    
    Serial.println("just bef init part");
    
    k_init(2, 3, 1); // 2 task, 1 semaphores, 0 messaegQueues */
    
    msgQ = k_crt_send_Q (10, sizeof(int),  dataBufForMsgQ);  // 10 elements of size
    
    pTask1 = k_crt_task(task1, 15, a1, STK);
    pTask2 = k_crt_task(task2, 15 , a2, STK);
    
    timedSem1 = k_crt_sem(0, 1); // 1: start value, 10: max value (clipping)
    timedSem2 = k_crt_sem(0, 1); // 1: start value, 10: max value (clipping)
    
    mutSem = k_crt_sem(1, 1); // 1: start value, 10: max value (clipping)
    
    Serial.println("just bef k_start");
    
    k_start(); /* start krnl timer speed 1 milliseconds*/
    
    Serial.println("If you see this then krnl didnt start :-( ");
}
 
void loop() {}