Hi,
i send the source files with the initialization.
In the file apgs.c there is the main procedure that call the function
InitRTEnv() that initialize all.
Thanks a lot
Best regards
Il 01/08/2011 16:42, Gilles Chanteperdrix ha scritto:
Could you show us the code which initializes the rtDesc member of the
structure, in order to allow us reproducing your scenario?
--
+------------------------------------------------------------------------------------------------+
Roberto Bielli
Sviluppo Software
Axel S.r.l.
Via Del Cannino, 3
21020 Crosio Della Valle
Varese - Italy
Telefono: +39 0332 949600
Fax: +39 0332 969315
E-mail: [email protected]
Web Site: www.axelsw.it
+------------------------------------------------------------------------------------------------+
Si precisa che le informazioni contenute in questo messaggio sono riservate e
ad uso esclusivo del destinatario.
Qualora il messaggio in parola Le fosse pervenuto per errore, La preghiamo di
eliminarlo senza copiarlo e di non inoltrarlo a terzi,
dandocene gentilmente comunicazione. Grazie.
Informativa sul trattamento dei dati personali (D. Lgs. 196/2003).
I dati utilizzati per la spedizione del presente messaggio sono utilizzati da
Axel S.r.l., titolare del trattamento,
per l'invio delle comunicazioni dei diversi settori aziendali, non essendo
autorizzata la divulgazione a terzi.
Potrete rivolgere alla seguente mail richieste di verifica, rettifica o
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+------------------------------------------------------------------------------------------------+
/** \file APgs.c
* Applicazione per eseguire PLC in tempo reale. Axel S.r.l. 2008
*
*/
#include <stdio.h>
#include <sys/ucontext.h>
#include <unistd.h>
#include <stdlib.h>
#include "cext.h"
#include "fujitsu.h"
#include "pc.h"
#include "rttasks.h"
#include "sysgen.h"
#include "version.h"
#include "alplc/communication.h"
#include "alplc/plcmanager.h"
#include "TraceInput.h"
#include "TraceLog.h"
/** versione Real time */
#define RT_VERSION "AXEL S.R.L - " NAME_ARM_APGS " - v. "
VERS_ARM_APGS " - " DATE_ARM_APGS
/** opzioni da linea di comando */
#define CMD_OPT "p:hc:DM:"
static boolean stopApplication;
/** gestore dei segnali di processo */
void sigHandler( int sig, siginfo_t *info,void *context )
{
ucontext_t *uc = (ucontext_t *)context;
int i = 0;
RT_TASK_INFO dstTaskSig;
if (! stopApplication)
{
for( i = 0; i < NUMTASKS; i++ )
{
if( rt_task_inquire( tabRtTask[i].rtDesc, &dstTaskSig )
== 0 && ( dstTaskSig.status & 0x380 ) == 0x380 )
{
AltTraceInN( ALTRACE_LEV_BASE, "Il Task RT %s
ha generato un segnale: 0x%08X", dstTaskSig.name, dstTaskSig.status );
break;
}
}
switch( sig )
{
case SIGTERM:
AltTraceIn0( ALTRACE_LEV_BASE, "Arrivato
segnale di SIGTERM" );
break;
// case SIGINT:
// PrintTimeMex( TRUE,"Arrivato segnale di SIGINT\n" );
// break;
case SIGPIPE:
AltTraceIn0( ALTRACE_LEV_BASE,"Arrivato segnale
di SIGPIPE" );
break;
case SIGFPE:
AltTraceInN( ALTRACE_LEV_BASE,"Arrivato segnale
di SIGFPE all'indirizzo: 0x%08x", uc->uc_mcontext.fault_address );
break;
case SIGSEGV:
AltTraceInN( ALTRACE_LEV_BASE,"Arrivato segnale
di SIGSEGV all'indirizzo: 0x%08x", uc->uc_mcontext.fault_address );
signal( SIGSEGV, SIG_DFL );
break;
case SIGBUS:
AltTraceInN( ALTRACE_LEV_BASE, "Arrivato segnale di SIGBUS
all'indirizzo: 0x%08x", uc->uc_mcontext.arm_pc);
signal( SIGBUS, SIG_DFL );
break;
default:
AltTraceIn0( ALTRACE_LEV_BASE, "Arrivato segnale NON
riconosciuto" );
break;
}
// quando verrà eseguito il main viene fermata l'applicazione, tranne
nel caso di segmentation fault
// perchè così può essere costruito un core dump dell'applicazione
stopApplication = TRUE;
// Faccio partire task di chiusura
AltTraceIn0( ALTRACE_LEV_BASE,"Start task Apgs (sigHandler) ...");
mtresumetask( tsk_APGS );
}
}
void ChiusuraAPGS (void)
{
/* terminazione dell'applicazione su kill */
AltTraceIn0( ALTRACE_LEV_BASE,"Disabilitazione irq fujitsu..." );
disable_irq_fujitsu();
AltTraceIn0( ALTRACE_LEV_BASE,"Eliminazione tasks realtime..." );
CleanRtEnv();
AltTraceIn0( ALTRACE_LEV_BASE,"Stop della comunicazione di rete..." );
StopCommunication();
AltTraceIn0( ALTRACE_LEV_BASE,"Messa in reset del fujitsu..." );
put_rst_fujtusu();
AltTraceIn0( ALTRACE_LEV_BASE,"Eliminazione della memoria IO mappata..." );
unmapMicroRegMemory();
unmapFujMem();
unmapPCMem();
closeIOMem();
}
int main (int argc, char *argv[])
{
// Porta di comunicazione
int s;
mlockall(MCL_CURRENT|MCL_FUTURE);
// gestione signal handler
struct sigaction sa;
sa.sa_sigaction = sigHandler;
sigemptyset (&sa.sa_mask);
sa.sa_flags = SA_SIGINFO;
sigaction(SIGTERM, &sa, NULL);
// sigaction(SIGINT, &sa, NULL);
sigaction(SIGPIPE, &sa, NULL);
sigaction(SIGFPE, &sa, NULL);
sigaction(SIGSEGV, &sa, NULL);
sigaction(SIGBUS, &sa, NULL);
printf( RT_VERSION"\n" );
//creazione area di trace
if( !AltCreateTraceArea( _T("APGS"), 0x1000 ) )
perror( "Impossibile creare l'area di trace " );
AltSetTraceMask( ALTRACE_LEV_BASE );
AltSetTraceTime( FALSE );
// lettura degli argomenti dalla riga di comando con getopt
------------------------
s = getopt( argc,argv,CMD_OPT );
if ( s == 'h' )
{
printf( "utilizzo: APGS \n"
" [-h] # Mostra questo help\n"
" [-c] # Path del file .cod"
" [-p] # Setta la porta di
comunicazione del LogicLab\n"
" [-D] # Lancia applicativo in Debug\n"
" [-M] # Cambia maschera di trace di
acquisizione\n");
exit( 0 );
}
do
{
switch (s)
{
case 'p':
// Inizializzazione e partenza del
gestore PLC
SetTcpPort( atoi( optarg ) );
break;
case 'c':
// settiamo il path del file .cod
SetCodPath( optarg );
break;
case 'D':
mt_debug = VERO;
break;
case 'M':
AltSetTraceMask( strtoul( optarg, NULL, 0 ) );
break;
}
} while ( (s = getopt( argc,argv,CMD_OPT ) ) != EOF);
//partenza acquisizione da parte di AlTrace
AltStartTrace();
AltTraceIn0( ALTRACE_LEV_BASE, _T("AlTrace configured, levels active:")
);
AltTraceIn0( ALTRACE_LEV_BASE, _T("ALTRACE_LEV_BASE - Base
level") );
AltTraceIn0( ALTRACE_LEV_OS_TASK, _T("ALTRACE_LEV_OS_TASK - OS
task management") );
AltTraceIn0( ALTRACE_LEV_OS_SEM, _T("ALTRACE_LEV_OS_SEM - OS
semaphore calls") );
AltTraceIn0( ALTRACE_LEV_OS_SLEEP, _T("ALTRACE_LEV_OS_SLEEP - OS
sleep calls") );
AltTraceIn0( ALTRACE_LEV_OS_REGION, _T("ALTRACE_LEV_OS_REGION - OS
mutex calls") );
AltTraceIn0( ALTRACE_LEV_OS_MBX, _T("ALTRACE_LEV_OS_MBX - OS
mailbox calls") );
AltTraceIn0( ALTRACE_LEV_OS_LINUX, _T("ALTRACE_LEV_OS_LINUX - OS
base services linux calls") );
AltTraceIn0( ALTRACE_LEV_RT_PLC, _T("ALTRACE_LEV_RT_PLC - PLC
runtime operations") );
AltTraceIn0( ALTRACE_LEV_GDB, _T("ALTRACE_LEV_GDB - GDB
protocol operations") );
//----------------------------------------------------------------------------------
AltTraceIn0( ALTRACE_LEV_BASE, "Apertura Memoria IO...");
if ( ! openIOMem() )
{
AltTraceIn0( ALTRACE_LEV_BASE, "Errore su apertura memoria di
IO");
return 0;
}
AltTraceIn0( ALTRACE_LEV_BASE, "Mappatura memorie di IO e risorse arm...");
if ( ! mapPcMem()|| ! mapFujMem() || ! mapMicroRegMemory() )
{
AltTraceIn0( ALTRACE_LEV_BASE,"Errore: Memorie IO non mappate o
risosrse non valide");
return FALSE;
}
AltTraceIn0( ALTRACE_LEV_BASE,"Generazione del sistema realtime...");
AltTraceIn0( ALTRACE_LEV_BASE,"Inizializzazione IRQ da Fujitsu...");
init_irq_fujitsu();
AltTraceIn0( ALTRACE_LEV_BASE,"Disabilitazione IRQ da fujitsu e reset
fujitsu...");
disable_irq_fujitsu();
// mettiamo in reset il fujitsu
put_rst_fujtusu();
usleep (10000);
// rimuoviamo il reset del fujitsu
remove_rst_fujitsu();
AltTraceIn0( ALTRACE_LEV_BASE,"Inizializzazione ambiente realtime..." );
if( ! InitRTEnv() )
{
ChiusuraAPGS ();
exit(0);
}
AltTraceIn0( ALTRACE_LEV_BASE, "Start task Sysgen ...");
mtresumetask( tsk_SYSGEN );
for( ;; )
{
usleep (1000000);
}
return(0);
}
void Apgs (void)
{
ChiusuraAPGS ();
exit(0);
}
/** \file rttasks.c
* implementazione delle funzioni e dei task real time Axel
*/
#include "cext.h"
#include "pc.h"
#include "rttasks.h"
#include "apgs.h"
#include "inout.h"
#include "iomanag.h"
#include "sysgen.h"
#include "datacan.h"
#include "reghyd.h"
#include "mper.h"
#include "canbus.h"
#include "cansrv.h"
#include "can443.h"
#include "gestdp.h"
#include "canbus.h"
#include "execc.h"
#include "barri.h"
#include "execnn.h"
#include "execyzvw.h"
#include "foratura.h"
#include "funsw.h"
#include "funswy.h"
#include "funswz.h"
#include "funswv.h"
#include "funsww.h"
#include "testa.h"
#include "testa2.h"
#include "hostc.h"
#include "per_par.h"
#include "funino.h"
#include "clk.h"
#include "alplc/plcmanager.h"
#include "TraceInput.h"
#include "TraceLog.h"
RT_INTR int_desc; /* definizione irq
Xenomai */
RT_TASK tskHndXeno[NUMTASKS]; /* Descrittore dei task Xenomai */
RT_SEM tskSem[NUMTASKS]; /* Definizione degli handle dei
semafori di avvio per ogni task */
RT_SEM envSem[NUMSYSSEM]; /* semafori di sistema */
RT_MUTEX envReg[NUMSYSREG]; /* regioni di sistema */
RT_QUEUE envMbx[NUMSYSMBX]; /* mailbox di sistema */
/* ----------------TABELLA DEI TASK------------------------------------------ */
// ; Tasks
// ;
// ; Nome Pri Stack Start
//
// #def task, Sysgen, 31, 400, sysgen
// #def task, Polkey, 31, 400, poll_key
// #def task, plc, 28, 400, exe_plc ; PLC
// #def task, Inout, 25, 800, inout
// #def task, Alarm, 24, 400, alarm
// #def task, Exemsg, 23, 800, exemsg
// #def task, Exec, 22, 800, exec ; Exec
// #def task, Execc, 21, 800, execc ; Exec canonico
// #def task, Arbix, 21, 800, arbix
// #def task, Barri, 20, 800, barri
// #def task, AxeCan, 20, 400, AxeCan ; Gestore assi
CAN
// #def task, IniCan, 20, 400, IniCan ; Gestore assi
INI CAN
// #def task, CanBus, 19, 400, CanBus ; Task Canbus
// #def task, Exec00, 18, 400, exec00
// #def task, Exec01, 18, 400, exec01
// #def task, Exec02, 18, 400, exec02
// #def task, Exec03, 18, 400, exec03
// #def task, Exec04, 18, 400, exec04
// #def task, Exec05, 18, 400, exec05
// #def task, Exec06, 18, 400, exec06
// #def task, Exec07, 18, 400, exec07
// #def task, Exec08, 18, 400, exec08
// #def task, Exec09, 18, 400, exec09
// #def task, Exec10, 18, 400, exec10
// #def task, Exec11, 18, 400, exec11
// #def task, Exec12, 18, 400, exec12
// #def task, Exec13, 18, 400, exec13
// #def task, Exec14, 18, 400, exec14
// #def task, Exec15, 18, 400, exec15
// #def task, Exec16, 18, 400, exec16
// #def task, Exec17, 18, 400, exec17
// #def task, Exec18, 18, 400, exec18
// #def task, Exec19, 18, 400, exec19
// #def task, Execy, 18, 800, execy
// #def task, Execz, 18, 800, execz
// #def task, Execv, 18, 800, execv
// #def task, Execw, 18, 800, execw
// #def task, Fun, 18, 800, fun
// #def task, Funy, 18, 800, funy
// #def task, Funz, 18, 800, funz
// #def task, Funv, 18, 800, funv
// #def task, Funw, 18, 800, funw
// #def task, Cuty, 18, 800, cuty
// #def task, Cutz, 18, 800, cutz
// #def task, Cutv, 18, 800, cutv
// #def task, Cutw, 18, 800, cutw
// #def task, Cutp, 18, 800, CutPz ; Cambio
utensile punzo TipoC
// #def task, Testa, 18, 800, testa
// #def task, Testa2, 18, 800, testa2
// #def task, Hostc, 18, 800, hostc
// #def task, RefParC, 16, 800, RefParC ; Ref Par CanBus
// #def task, Gdbplc, 15, 800, gdbplc
// #def task, Gdbdp, 15, 800, gdbdp
// #def task, FunIno, 13, 800, funIno
// #def task, Gestdp, 13, 800, gestdp
// #def task, bckplc, 10, 400, bckplc
// #def task, orologio, 2, 400, orologio
RTTASKS tabRtTask[] = {
//
// Tabella dei task - contiene nell'ordine tutti i task da lanciare nel
sistema realtime.
//
//pr name rtDescriptor stkSize mode semaphore
fnAddr tskArgs
{ 90, "TskAPGS", &tskHndXeno[tsk_APGS], 0x8000, 0, 0,
(word32) Apgs, NULL },
{ 85, "TskSysgen", &tskHndXeno[tsk_SYSGEN], 0x8000, 0, 0,
(word32) Sysgen, NULL },
{ 80, "TskIoManag", &tskHndXeno[tsk_IOMANAG], 0x8000, 0, 0,
(word32) IOManag, NULL },
{ 31, "TskPolKey", &tskHndXeno[tsk_POLKEY], 0x8000, 0, 0,
(word32) poll_key, NULL },
{ 25, "TskInout", &tskHndXeno[tsk_INOUT], 0x8000, 0, 0,
(word32) Inout, NULL },
{ 24, "TskAlarm", &tskHndXeno[tsk_ALARM], 0x80000, 0, 0,
(word32) Alarm, NULL },
{ 23, "TskExeMsg", &tskHndXeno[tsk_EXEMSG], 0x8000, 0, 0,
(word32) exemsg, NULL },
{ 22, "TskExec", &tskHndXeno[tsk_EXEC], 0x80000, 0, 0,
(word32) Exec, NULL },
{ 21, "TskExecc", &tskHndXeno[tsk_EXECC], 0x8000, 0, 0,
(word32) execc, NULL },
{ 21, "TskArbix", &tskHndXeno[tsk_ARBIX], 0x8000, 0, 0,
(word32) arbix, NULL },
{ 20, "TskBarri", &tskHndXeno[tsk_BARRI], 0x8000, 0, 0,
(word32) barri, NULL },
{ 20, "TskAxeCan", &tskHndXeno[tsk_AXECAN], 0x8000, 0, 0,
(word32) AxeCan, NULL },
{ 20, "TskIniCan", &tskHndXeno[tsk_INICAN], 0x8000, 0, 0,
(word32) IniCan, NULL },
{ 19, "TskCanBus", &tskHndXeno[tsk_CANBUS], 0x8000, 0, 0,
(word32) CanBus, NULL },
{ 18, "TskExec00", &tskHndXeno[tsk_EXEC00], 0x8000, 0, 0,
(word32) exec00, NULL },
{ 18, "TskExec01", &tskHndXeno[tsk_EXEC01], 0x8000, 0, 0,
(word32) exec01, NULL },
{ 18, "TskExec02", &tskHndXeno[tsk_EXEC02], 0x8000, 0, 0,
(word32) exec02, NULL },
{ 18, "TskExec03", &tskHndXeno[tsk_EXEC03], 0x8000, 0, 0,
(word32) exec03, NULL },
{ 18, "TskExec04", &tskHndXeno[tsk_EXEC04], 0x8000, 0, 0,
(word32) exec04, NULL},
{ 18, "TskExec05", &tskHndXeno[tsk_EXEC05], 0x8000, 0, 0,
(word32) exec05, NULL},
{ 18, "TskExec06", &tskHndXeno[tsk_EXEC06], 0x8000, 0, 0,
(word32) exec06, NULL},
{ 18, "TskExec07", &tskHndXeno[tsk_EXEC07], 0x8000, 0, 0,
(word32) exec07, NULL},
{ 18, "TskExec08", &tskHndXeno[tsk_EXEC08], 0x8000, 0, 0,
(word32) exec08, NULL},
{ 18, "TskExec09", &tskHndXeno[tsk_EXEC09], 0x8000, 0, 0,
(word32) exec09, NULL},
{ 18, "TskExec10", &tskHndXeno[tsk_EXEC10], 0x8000, 0, 0,
(word32) exec10, NULL},
{ 18, "TskExec11", &tskHndXeno[tsk_EXEC11], 0x8000, 0, 0,
(word32) exec11, NULL},
{ 18, "TskExec12", &tskHndXeno[tsk_EXEC12], 0x8000, 0, 0,
(word32) exec12, NULL},
{ 18, "TskExec13", &tskHndXeno[tsk_EXEC13], 0x8000, 0, 0,
(word32) exec13, NULL},
{ 18, "TskExec14", &tskHndXeno[tsk_EXEC14], 0x8000, 0, 0,
(word32) exec14, NULL},
{ 18, "TskExec15", &tskHndXeno[tsk_EXEC15], 0x8000, 0, 0,
(word32) exec15, NULL},
{ 18, "TskExec16", &tskHndXeno[tsk_EXEC16], 0x8000, 0, 0,
(word32) exec16, NULL},
{ 18, "TskExec17", &tskHndXeno[tsk_EXEC17], 0x8000, 0, 0,
(word32) exec17, NULL},
{ 18, "TskExec18", &tskHndXeno[tsk_EXEC18], 0x8000, 0, 0,
(word32) exec18, NULL},
{ 18, "TskExec19", &tskHndXeno[tsk_EXEC19], 0x8000, 0, 0,
(word32) exec19, NULL},
{ 18, "TskExecY", &tskHndXeno[tsk_EXECY], 0x8000, 0, 0,
(word32) ExecY, NULL},
{ 18, "TskExecZ", &tskHndXeno[tsk_EXECZ], 0x8000, 0, 0,
(word32) ExecZ, NULL},
{ 18, "TskExecV", &tskHndXeno[tsk_EXECV], 0x8000, 0, 0,
(word32) ExecV, NULL},
{ 18, "TskExecW", &tskHndXeno[tsk_EXECW], 0x8000, 0, 0,
(word32) ExecW, NULL},
{ 18, "TskFun", &tskHndXeno[tsk_FUN], 0x8000, 0, 0,
(word32) fun, NULL},
{ 18, "TskFunY", &tskHndXeno[tsk_FUNY], 0x8000, 0, 0,
(word32) funy, NULL},
{ 18, "TskFunZ", &tskHndXeno[tsk_FUNZ], 0x8000, 0, 0,
(word32) funz, NULL},
{ 18, "TskFunV", &tskHndXeno[tsk_FUNV], 0x8000, 0, 0,
(word32) funv, NULL},
{ 18, "TskFunW", &tskHndXeno[tsk_FUNW], 0x8000, 0, 0,
(word32) funw, NULL},
{ 18, "TskForY", &tskHndXeno[tsk_FORY], 0x8000, 0, 0,
(word32) ForaY, NULL},
{ 18, "TskForZ", &tskHndXeno[tsk_FORZ], 0x8000, 0, 0,
(word32) ForaZ, NULL},
{ 18, "TskForV", &tskHndXeno[tsk_FORV], 0x8000, 0, 0,
(word32) ForaV, NULL},
{ 18, "TskForW", &tskHndXeno[tsk_FORW], 0x8000, 0, 0,
(word32) ForaW, NULL },
{ 18, "TskCutY", &tskHndXeno[tsk_CUTY], 0x8000, 0, 0,
(word32) cuty, NULL },
{ 18, "TskCutZ", &tskHndXeno[tsk_CUTZ], 0x8000, 0, 0,
(word32) cutz, NULL },
{ 18, "TskCutV", &tskHndXeno[tsk_CUTV], 0x8000, 0, 0,
(word32) cutv, NULL },
{ 18, "TskCutW", &tskHndXeno[tsk_CUTW], 0x8000, 0, 0,
(word32) cutw, NULL },
{ 18, "TskCutP", &tskHndXeno[tsk_CUTP], 0x8000, 0, 0,
(word32) CutPz, NULL },
{ 18, "TskTesta", &tskHndXeno[tsk_TESTA], 0x8000, 0, 0,
(word32) testa, NULL },
{ 18, "TskTesta2", &tskHndXeno[tsk_TESTA2], 0x8000, 0, 0,
(word32) testa2, NULL },
{ 18, "TskHostc", &tskHndXeno[tsk_HOSTC], 0x8000, 0, 0,
(word32) hostc, NULL },
{ 16, "TskRefParC", &tskHndXeno[tsk_REFPARC], 0x8000, 0, 0,
(word32) RefParC, NULL },
{ 15, "TskPlcQuery", &tskHndXeno[ID_RTTASK_PLD], 0x8000, 0, 0,
(word32) tskHnd_PlcQuery, NULL },
{ 13, "TskFunIno", &tskHndXeno[tsk_FUNINO], 0x8000, 0, 0,
(word32) funIno, NULL },
{ 13, "TskGestdp", &tskHndXeno[tsk_GESTDP], 0x8000, 0, 0,
(word32) gestdp, NULL },
{ 10, "TskBckPlc", &tskHndXeno[tsk_BCKPLC], 0x8000, 0, 0,
(word32) bckplc, NULL },
{ 2, "TskOrologio", &tskHndXeno[tsk_OROLOGIO], 0x8000, 0, 0,
(word32) orologio, NULL },
};
/*----------------------------------------------------------------------------*/
/*corpo del task background */
void tskHnd_PlcQuery ( void *cookie )
{
// Comandi di background per runtime
for( ;; )
{
PLCRuntimeBackground();
mtsleep( 100 );
}
}
//attivazione tasks realtime
boolean InitRTEnv( void )
{
int err, i;
char nameSem[ MAXSEMLENNAME ];
// ???
AltTraceIn0(ALTRACE_LEV_BASE, "INTR Xenomai userspace...");
err = rt_intr_create( &int_desc, IRQNAME , IRQNUMBER, I_PROPAGATE );
AltTraceInN(ALTRACE_LEV_OS_TASK, "rt_intr_create : %s - err %d",
IRQNAME, err );
if ( err != 0 )
{
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
return FALSE;
}
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
// gestione del timer periodico
err = rt_timer_set_mode( QUANTUMTIMENS );
AltTraceInN(ALTRACE_LEV_OS_TASK, "rt_timer_set_mode - err %d", err );
if ( err != 0 )
{
AltTraceIn0(ALTRACE_LEV_BASE,"Errore su rt_timer_set_mode" );
return FALSE;
}
// creazione dei semafori realtime
for(i=0; i < NUMSYSSEM; i++ )
{
sprintf( nameSem, "envSem%d", i );
AltTraceInN(ALTRACE_LEV_BASE,"SEM environment %s...", nameSem );
err = rt_sem_create( &envSem[i], nameSem, 0, S_FIFO );
AltTraceInN(ALTRACE_LEV_OS_SEM, "rt_sem_create : %s - err %d",
nameSem, err );
if ( err != 0 )
{
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
return FALSE;
}
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
// creazione delle mailbox realtime
for(i=0; i < NUMSYSMBX; i++ )
{
sprintf( nameSem, "envMbx%d", i );
AltTraceInN(ALTRACE_LEV_BASE,"MBX environment %s...", nameSem );
err = rt_queue_create( &envMbx[i], nameSem, MBX_SIZE_POOL,
Q_UNLIMITED, Q_FIFO );
AltTraceInN(ALTRACE_LEV_OS_MBX, "rt_queue_create : %s - err
%d", nameSem, err );
if ( err != 0 )
{
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
return FALSE;
}
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
// creazione delle regioni realtime
for(i=0; i < NUMSYSREG; i++ )
{
sprintf( nameSem, "envReg%d", i );
AltTraceInN(ALTRACE_LEV_BASE,"RGN environment %s...", nameSem );
err = rt_mutex_create( &envReg[i], nameSem );
AltTraceInN(ALTRACE_LEV_OS_REGION, "rt_mutex_create : %s - err
%d", nameSem, err );
if ( err != 0 )
{
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
return FALSE;
}
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
// creazione dei task realtime
for ( i = 0; i < NUMTASKS; i++ )
{
// creazione dei semafori per ogni task
if( tabRtTask[i].enabSem != 0 )
{
AltTraceInN(ALTRACE_LEV_BASE,"SEM task %s...",
tabRtTask[i].name );
sprintf( nameSem, "%sSem%d", tabRtTask[i].name, i );
err = rt_sem_create( tabRtTask[i].enabSem, nameSem, 0,
S_FIFO | S_PULSE );
AltTraceInN(ALTRACE_LEV_OS_SEM, "rt_sem_create : %s -
err %d", nameSem, err );
if ( err != 0 )
{
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
return FALSE;
}
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
AltTraceInN(ALTRACE_LEV_BASE,"TSK %s create...",
tabRtTask[i].name );
err = rt_task_create( tabRtTask[i].rtDesc, tabRtTask[i].name,
tabRtTask[i].stkSize,tabRtTask[i].priority,tabRtTask[i].mode);
AltTraceInN(ALTRACE_LEV_OS_SEM, "rt_task_create : %s - err %d",
tabRtTask[i].name, err );
if ( err != 0 )
{
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
return FALSE;
}
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
//creazione mutex di sincronizzazione cancellazioni
err = rt_mutex_create( &mutexDelete, "mutexDelete" );
if ( err != 0 )
{
AltTraceInN(ALTRACE_LEV_BASE,"Impossible to create mutexDelete err =
%d", err );
return FALSE;
}
return TRUE;
}
boolean CleanRtEnv( void )
{
int i, err;
char nameSem[ MAXSEMLENNAME ];
// Il primo task APGS non deve essere resettato perchè deve chiudere
l'applicazione !!!!
for ( i=NUMTASKS-1; i > 0; i-- )
{
AltTraceInN(ALTRACE_LEV_BASE,"TSK %s delete...",
tabRtTask[i].name );
err = rt_task_delete( tabRtTask[i].rtDesc );
if ( err != 0 )
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
else
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
if( tabRtTask[i].enabSem != 0 )
{
AltTraceInN(ALTRACE_LEV_BASE,"SEM task %s delete...",
tabRtTask[i].name );
err = rt_sem_delete( tabRtTask[i].enabSem );
if ( err != 0 )
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
else
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
}
AltTraceIn0(ALTRACE_LEV_BASE,"INTR Xenomai userspace delete...");
err = rt_intr_delete( &int_desc );
if ( err != 0 )
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
else
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
for ( i=0; i < NUMSYSSEM; i++ )
{
sprintf( nameSem, "envSem%d", i );
AltTraceInN(ALTRACE_LEV_BASE,"SEM environment %s delete...",
nameSem );
err = rt_sem_delete( getEnvSem( i ) );
if ( err != 0 )
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
else
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
for ( i=0; i < NUMSYSREG; i++ )
{
sprintf( nameSem, "envReg%d", i );
AltTraceInN(ALTRACE_LEV_BASE,"RGN environment %s delete...",
nameSem );
err = rt_mutex_delete( &envReg[i] );
if ( err != 0 )
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
else
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
for ( i=0; i < NUMSYSMBX; i++ )
{
sprintf( nameSem, "envMbx%d", i );
AltTraceInN(ALTRACE_LEV_BASE,"MBX environment %s delete...",
nameSem );
err = rt_queue_delete( getEnvMbx( i ) );
if ( err != 0 )
AltTraceIn0(ALTRACE_LEV_BASE,".........................KO" );
else
AltTraceIn0(ALTRACE_LEV_BASE,"OK" );
}
return TRUE;
}
//----------------------------------------------------------------------------
#ifndef _RTTASKS_H
#define _RTTASKS_H
#include "mitos.h"
#include "fujitsu.h"
#include "utilities.h"
#define MAXTSKLENNAME 16
#define MAXSEMLENNAME MAXTSKLENNAME + 6
//incremento dei cicli effettuati dall'avvio del realtime
extern RT_INTR int_desc;
/* costanti di definizione dei task */
#define NUMTASKS 61 // TOTALI
#define tsk_APGS 0
#define tsk_SYSGEN 1
#define tsk_IOMANAG 2
#define tsk_POLKEY 3
#define tsk_INOUT 4
#define tsk_ALARM 5
#define tsk_EXEMSG 6
#define tsk_EXEC 7
#define tsk_EXECC 8
#define tsk_ARBIX 9
#define tsk_BARRI 10
#define tsk_AXECAN 11
#define tsk_INICAN 12
#define tsk_CANBUS 13
#define tsk_EXEC00 14
#define tsk_EXEC01 15
#define tsk_EXEC02 16
#define tsk_EXEC03 17
#define tsk_EXEC04 18
#define tsk_EXEC05 19
#define tsk_EXEC06 20
#define tsk_EXEC07 21
#define tsk_EXEC08 22
#define tsk_EXEC09 23
#define tsk_EXEC10 24
#define tsk_EXEC11 25
#define tsk_EXEC12 26
#define tsk_EXEC13 27
#define tsk_EXEC14 28
#define tsk_EXEC15 29
#define tsk_EXEC16 30
#define tsk_EXEC17 31
#define tsk_EXEC18 32
#define tsk_EXEC19 33
#define tsk_EXECY 34
#define tsk_EXECZ 35
#define tsk_EXECV 36
#define tsk_EXECW 37
#define tsk_FUN 38
#define tsk_FUNY 39
#define tsk_FUNZ 40
#define tsk_FUNV 41
#define tsk_FUNW 42
#define tsk_FORY 43
#define tsk_FORZ 44
#define tsk_FORV 45
#define tsk_FORW 46
#define tsk_CUTY 47
#define tsk_CUTZ 48
#define tsk_CUTV 49
#define tsk_CUTW 50
#define tsk_CUTP 51
#define tsk_TESTA 52
#define tsk_TESTA2 53
#define tsk_HOSTC 54
#define tsk_REFPARC 55
#define ID_RTTASK_PLD 56
#define tsk_FUNINO 57
#define tsk_GESTDP 58
#define tsk_BCKPLC 59
#define tsk_OROLOGIO 60
#define NUMSYSSEM 28 // TOTALI
#define ID_SEM_EXE 0
#define ID_SEM_AXECAN 1
#define ID_SEM_INICAN 2
#define ID_SEM_ALA 3
#define ID_SEM_EXY 4
#define ID_SEM_EXZ 5
#define ID_SEM_EXV 6
#define ID_SEM_EXW 7
#define ID_SEM_REX 8
#define ID_SEM_FUN 9
#define ID_SEM_FUNY 10
#define ID_SEM_FUNZ 11
#define ID_SEM_FUNV 12
#define ID_SEM_FUNW 13
#define ID_SEM_FORY 14
#define ID_SEM_FORZ 15
#define ID_SEM_FORV 16
#define ID_SEM_FORW 17
#define ID_SEM_CUTY 18
#define ID_SEM_CUTZ 19
#define ID_SEM_CUTV 20
#define ID_SEM_CUTW 21
#define ID_SEM_CUTP 22
#define ID_SEM_INOUT 23
#define ID_SEM_PKEY 24
#define ID_SEM_MSG 25
#define ID_SEM_RESMSG 26
#define ID_SEM_SDO 27
#define NUMSYSREG 2 // TOTALI
#define ID_REG_MEM 0
#define ID_REG_SDO 1
#define NUMSYSMBX 29 // TOTALI
#define ID_MBX_CUTY 0
#define ID_MBX_RCUTY 1
#define ID_MBX_CUTZ 2
#define ID_MBX_RCUTZ 3
#define ID_MBX_CUTV 4
#define ID_MBX_RCUTV 5
#define ID_MBX_CUTW 6
#define ID_MBX_RCUTW 7
#define ID_MBX_CUTP 8 // Mailbox per invio a CUTP
#define ID_MBX_RCUTP 9 // Mailbox per risposta da CUTP
#define ID_MBX_BAR 10
#define ID_MBX_RBAR_C 11
#define ID_MBX_RBAR_B 12
#define ID_MBX_ARB 13
#define ID_MBX_RARB_A 14
#define ID_MBX_RARB_B 15
#define ID_MBX_RARB_C 16
#define ID_MBX_RARB_D 17
#define ID_MBX_RARB_E 18
#define ID_MBX_RARB_F 19
#define ID_MBX_TSA 20
#define ID_MBX_RTSA 21
#define ID_MBX_TSA2 22
#define ID_MBX_RTSA2 23
#define ID_MBX_EXEC 24 // Comando Task EXEC CANONICO
#define ID_MBX_REXE 25 // Risposta dei Task EXEC
CANONICO e SECONDO
#define ID_MBX_MSG 26 // Mailbox per task EXEMSG
#define ID_MBX_RESMSG 27 // Mailbox richiesta reset coda per EXEMSG
#define ID_MBX_CANBUS 28 // Mailbox richiesta task CanBus
///////////////////////////////////////////////////////////////////////////////
typedef struct
{
int priority; // range between 99 and 0,
99 is the most priority
char name[MAXTSKLENNAME]; // nome da assegnare al task
RT_TASK * rtDesc; // descrittore che viene
valorizzato durante la create
int stkSize; // dimensione dello stack
da istanziare, con valore 0 viene scelto dal sistem
int mode; // vedi documentazione
Xenomai, funzione rt_task_create
RT_SEM * enabSem; // semaforo di
abilitazione del task
word32 fnAddr; // puntatore alla funzione
da eseguire
void * tskArgs; // puntatore agli argomenti
da passare alla funzione eseguita dal task
}
RTTASKS;
extern RTTASKS tabRtTask[];
extern RT_SEM envSem[NUMSYSSEM];
extern RT_MUTEX envReg[NUMSYSREG];
extern RT_QUEUE envMbx[NUMSYSMBX];
//attivazione tasks realtime
extern boolean InitRTEnv( void );
extern boolean CleanRtEnv( void );
//prototipi handler dei task
// extern void tskHnd_IrqFuj ( void *cookie );
// extern void tskHnd_Inout ( void *cookie );
// extern void tskHnd_PlcFast ( void *cookie );
// extern void tskHnd_PlcSlow ( void *cookie );
// extern void tskHnd_CanSrv ( void *cookie );
// extern void tskHnd_Bck ( void *cookie );
extern void tskHnd_PlcQuery ( void *cookie );
//prototipi task esterni
extern void AxeCan( void );
extern void IniCan( void );
extern void exemsg (void);
extern void arbix (void);
extern void cuty (void);
extern void cutv (void);
extern void cutw (void);
extern void CutPz (void);
extern void cutz (void);
extern void CutPz (void);
#endif
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