rt-arduino-isrsendmsg.ino

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/* critical region - by semaphores - aka mutex
    JDN
 *  */
 
#include <krnl.h>
 
#define STK 150
 
#define TASKPRIO 10
 
 
struct k_t * pTask1 ;
struct k_msg_t * msgQ;
const int BUFSZ = 10;
 
int bufForQ[BUFSZ];
 
 
 
 
volatile int ISRoverflow = 0;
 
volatile int nrISR = 0;
 
volatile unsigned long last = 0;
 
ISR(INT4_vect, ISR_NAKED) { // digital pin 2 på uno
  PUSHREGS();
  if (!k_running)
    goto exitt ;
 
  nrISR++;
  ki_send(msgQ, &nrISR);
 
  K_CHG_STAK();
 
exitt:
  POPREGS();
  RETI();
}
 
 
void task1()
{
  int res = 0;
  int t = 0;
  int lost;
 
  while (1) {
 
    if (-1 == k_receive(msgQ, &res, 1000, &lost)) {   // next time nr lost is received inside msg Q system
      t++;
      Serial.print("timeout "); Serial.println(t);
    }
    else {
      Serial.print("get msg "); Serial.print(res); Serial.print(" lost since last "); Serial.println(lost);
    }
  }
}
 
 
 
 
void setup() {
  // for debugging - only on uno eq- If Mega etc use PORTA(which is pn 22,23,...)
  // see http://kom.aau.dk/~jdn/edu/doc/arduino/mega.png
 
  Serial.begin(115200);
  delay(2000);
 
  Serial.println("just bef init part");
 
  k_init(1, 0, 1); // 2 task, 1 semaphores, 0 messaegQueues */
 
  pTask1 = k_crt_task(task1, 15,  STK);
 
 
 
  Serial.println("just bef k_start");
 
 
  pinMode(2, INPUT_PULLUP);
 
  noInterrupts();
 
  msgQ =  k_crt_send_Q(BUFSZ, sizeof(int), bufForQ);
 
  // eller fra krnl  DI();
 
  EICRA |= (1 << ISC01); // trigger INT0 on falling edge
  EIMSK |= (1 << INT0);  // enable external intr
 
  //https://ww1.microchip.com/downloads/en/DeviceDoc/Atmel-7810-Automotive-Microcontrollers-ATmega328P_Datasheet.pdf  p 54
  // EICRB |= 1>> ISC41; // for mega on pin 2
  // EIMSK |= B00010000; // enable INT 4  for mega
  // https://ww1.microchip.com/downloads/en/devicedoc/atmel-2549-8-bit-avr-microcontroller-atmega640-1280-1281-2560-2561_datasheet.pdf
 
  interrupts();
 
  k_start(1); /* start krnl timer speed 1 milliseconds*/
 
  Serial.println("If you see this then krnl didnt start :-( ");
}
 
void loop() {}