97 lines
3.1 KiB
C
97 lines
3.1 KiB
C
#include "tos_k.h"
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#include "mcu_init.h"
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#define STK_SIZE_TASK_RECEIVER 512
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#define STK_SIZE_TASK_SENDER 512
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#define PRIO_TASK_RECEIVER_HIGHER_PRIO 4
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#define PRIO_TASK_RECEIVER_LOWER_PRIO (PRIO_TASK_RECEIVER_HIGHER_PRIO + 1)
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#define MESSAGE_MAX 10
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k_stack_t stack_task_receiver_higher_prio[STK_SIZE_TASK_RECEIVER];
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k_stack_t stack_task_receiver_lower_prio[STK_SIZE_TASK_RECEIVER];
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k_stack_t stack_task_sender[STK_SIZE_TASK_SENDER];
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uint8_t msg_pool[MESSAGE_MAX * sizeof(void *)];
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k_task_t task_receiver_higher_prio;
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k_task_t task_receiver_lower_prio;
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k_task_t task_sender;
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k_msg_q_t msg_q;
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extern void entry_task_receiver_higher_prio(void *arg);
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extern void entry_task_receiver_lower_prio(void *arg);
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extern void entry_task_sender(void *arg);
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void entry_task_receiver_higher_prio(void *arg)
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{
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k_err_t err;
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void *msg_received;
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while (K_TRUE) {
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err = tos_msg_q_pend(&msg_q, &msg_received, TOS_TIME_FOREVER);
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if (err == K_ERR_NONE) {
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printf("higher: msg incoming[%s]\n", (char *)msg_received);
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}
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}
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}
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void entry_task_receiver_lower_prio(void *arg)
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{
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k_err_t err;
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void *msg_received;
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while (K_TRUE) {
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err = tos_msg_q_pend(&msg_q, &msg_received, TOS_TIME_FOREVER);
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if (err == K_ERR_NONE) {
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printf("lower: msg incoming[%s]\n", (char *)msg_received);
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}
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}
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}
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void entry_task_sender(void *arg)
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{
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int i = 1;
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char *msg_to_one_receiver = "message for one receiver(with highest priority)";
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char *msg_to_all_receiver = "message for all receivers";
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while (K_TRUE) {
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if (i == 2) {
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printf("sender: send a message to one receiver, and shoud be the highest priority one\n");
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tos_msg_q_post(&msg_q, msg_to_one_receiver);
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}
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if (i == 3) {
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printf("sender: send a message to all recevier\n");
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tos_msg_q_post_all(&msg_q, msg_to_all_receiver);
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}
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if (i == 4) {
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printf("sender: send a message to one receiver, and shoud be the highest priority one\n");
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tos_msg_q_post(&msg_q, msg_to_one_receiver);
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}
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if (i == 5) {
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printf("sender: send a message to all recevier\n");
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tos_msg_q_post_all(&msg_q, msg_to_all_receiver);
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}
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tos_task_delay(1000);
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++i;
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}
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}
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int main(void)
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{
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board_init();
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tos_knl_init();
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tos_msg_q_create(&msg_q, msg_pool, MESSAGE_MAX);
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(void)tos_task_create(&task_receiver_higher_prio, "receiver_higher_prio",
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entry_task_receiver_higher_prio, NULL, PRIO_TASK_RECEIVER_HIGHER_PRIO,
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stack_task_receiver_higher_prio, STK_SIZE_TASK_RECEIVER, 0);
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(void)tos_task_create(&task_receiver_lower_prio, "receiver_lower_prio",
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entry_task_receiver_lower_prio, NULL, PRIO_TASK_RECEIVER_LOWER_PRIO,
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stack_task_receiver_lower_prio, STK_SIZE_TASK_RECEIVER, 0);
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(void)tos_task_create(&task_sender, "sender", entry_task_sender, NULL,
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4, stack_task_sender, STK_SIZE_TASK_SENDER, 0);
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tos_knl_start();
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}
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