rt-arduino-msgq01.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, *pTask2;
 
struct k_msg_t *msgQ;
 
int dataBufForMsgQ[10]; // 10 ints,..
 
struct k_t *timedSem1, *timedSem2, *mutSem;
 
volatile int t2Missed = 0, t2Hit = 0;;
 
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_ticks(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_ticks(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,  STK);
  pTask2 = k_crt_task(task2, 15 ,  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)
 
  int
 
  mutSem = k_crt_sem(1, 1); // 1: start value, 10: max value (clipping)
 
  Serial.println("just bef k_start");
 
  k_start(1); /* start krnl timer speed 1 milliseconds*/
 
  Serial.println("If you see this then krnl didnt start :-( ");
}
 
void loop() {}