rt-arduino-isrsync.ino

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/* critical region - by semaphores - aka mutex
 *  Signal from ISR
 *  
 *  Work on uno and mega :-)
    JDN
 *  */
 
#include <krnl.h>
 
#define STK 150
 
#define TASKPRIO 10
 
 
struct k_t * pTask1, *pTask2;
 
struct k_t *mutSem, *syncSem;
 
struct k_t *timedSem1, *timedSem2;
 
volatile int t2Missed = 0, t2Hit = 0;
 
 
volatile int ISRoverflow = 0;
 
#if defined (__AVR_ATmega2560__) || defined (__AVR_ATmega1280__) || defined(__AVR_ATmega2561__)
ISR(INT4_vect, ISR_NAKED) { // digital pin 2 onmega
#endif
 
  //UNO  set interrupt on pin 2
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega32U4__)
  ISR(INT0_vect, ISR_NAKED) { // digital pin 2 on uno
#endif
 
    PUSHREGS();
    if (!k_running)
      goto exitt ;
    // maybe room for sw debounce  - use millis
    if (-1 == ki_signal(syncSem))
      ISRoverflow++;
    K_CHG_STAK();
 
exitt:
    POPREGS();
    RETI();
  }
 
 
  void task1()
  {
    int i = 0;
    int miss = 0;
    while (1) {
 
      if (-1 == k_wait(syncSem, 1000)) {
        miss++;
        Serial.print("timeout "); Serial.print(miss); Serial.print(" "); Serial.println(ISRoverflow);
      }
      else {
        i++;
        Serial.print("get kick no "); Serial.print(i); Serial.print(" "); Serial.println(ISRoverflow);
      }
    }
  }
 
 
  void task2()
  {
    int i = 0;
    int miss = 0;
    while (1) {
 
      Serial.println("timeout222 ");
      k_sleep(100);
    }
  }
 
 
 
 
  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(2, 1, 0); // 2 task, 1 semaphores, 0 messaegQueues */
 
    pTask1 = k_crt_task(task1, 15,  STK);
    pTask2 = k_crt_task(task2, 15,  STK);
 
    syncSem = k_crt_sem(0, 10); // 1: start value, 10: max value (clipping)
 
    Serial.println("just bef k_start");
 
 
    pinMode(2, INPUT_PULLUP);
 
    // ABOUT ISR
    // UNO/LENARDO pp 54   https://ww1.microchip.com/downloads/en/DeviceDoc/Atmel-7810-Automotive-Microcontrollers-ATmega328P_Datasheet.pdf  p 54
    //MEGA 2560 pp 110 https://ww1.microchip.com/downloads/en/devicedoc/atmel-2549-8-bit-avr-microcontroller-atmega640-1280-1281-2560-2561_datasheet.pdf
 
    __asm__ volatile ("cli");  // disable interrupt
 
#if defined (__AVR_ATmega2560__) || defined (__AVR_ATmega1280__) || defined(__AVR_ATmega2561__)
    EICRB |= (1 << ISC41); //  B00000010; // for mega on pin 2
    EIMSK |= (1 << INT4); //B00010000; // enable INT 4  for mega
 
    Serial.println(EICRB, HEX);
    Serial.println(EIMSK, HEX);
#endif
 
    //UNO  set interrupt on pin 2
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega32U4__)
    EICRA |= (1 << ISC01); // UNON UNO .,. trigger INT0 on falling edge
    EIMSK |= (1 << INT0);  // enable external intr
#endif
 
    __asm__ volatile ("sei");  // enable interrupt
 
    k_start(1); /* start krnl timer speed 1 milliseconds*/
 
    Serial.println("If you see this then krnl didnt start :-( ");
  }
 
  void loop() {}