/* * Copyright (c) 2023 Juan Manuel Cruz . * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * 3. Neither the name of the copyright holder nor the names of its * contributors may be used to endorse or promote products derived from * this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * * @file : app.c * @date : Set 26, 2023 * @author : Juan Manuel Cruz * @version v1.0.0 */ /********************** inclusions *******************************************/ /* Project includes */ #include "main.h" /* Demo includes */ #include "logger.h" #include "dwt.h" /* Application & Tasks includes */ #include "board.h" #include "task_system.h" #include "task_actuator.h" #include "task_sensor.h" /********************** macros and definitions *******************************/ #define G_APP_CNT_INI 0ul #define G_APP_TICK_CNT_INI 0ul #define G_APP_WCET_INI 0ul #define TASK_X_WCET_INI 0ul #define TASK_X_DELAY_MIN 0ul typedef struct { void (*task_init)(void *); void (*task_update)(void *); void *parameters; } task_cfg_t; typedef struct { uint32_t WCET; // Task worst-case execution time (microseconds) } task_dta_t; /********************** internal data declaration ****************************/ const task_cfg_t task_cfg_list[] = { {task_sensor_init, task_sensor_update, NULL}, {task_system_init, task_system_update, NULL}, {task_actuator_init, task_actuator_update, NULL} }; #define TASK_QTY (sizeof(task_cfg_list)/sizeof(task_cfg_t)) /********************** internal functions declaration ***********************/ /********************** internal data definition *****************************/ const char *p_sys = " Bare Metal - Event-Triggered Systems (ETS)"; const char *p_app = " App - Model Integration - C codig"; /********************** external data declaration ****************************/ uint32_t g_app_cnt; uint32_t g_app_runtime_us; uint32_t g_app_WCET_us; // Worst case execution time historically volatile uint32_t g_app_tick_cnt; task_dta_t task_dta_list[TASK_QTY]; /********************** external functions definition ************************/ void app_init(void) { uint32_t index; /* Print out: Application Initialized */ LOGGER_INFO(" "); LOGGER_INFO("%s is running - Tick [mS] = %lu", GET_NAME(app_init), HAL_GetTick()); LOGGER_INFO(p_sys); LOGGER_INFO(p_app); /* Init & Print out: Application execution counter */ g_app_cnt = G_APP_CNT_INI; LOGGER_INFO(" %s = %lu", GET_NAME(g_app_cnt), g_app_cnt); /* Init application worst case execution time */ g_app_WCET_us = G_APP_WCET_INI; /* Init Cycle Counter */ cycle_counter_init(); /* Go through the task arrays */ for (index = 0; TASK_QTY > index; index++) { /* Run task_x_init */ (*task_cfg_list[index].task_init)(task_cfg_list[index].parameters); /* Init variables */ task_dta_list[index].WCET = TASK_X_WCET_INI; } /* Protect shared resource */ __asm("CPSID i"); /* disable interrupts */ /* Init Tick Counter */ g_app_tick_cnt = G_APP_TICK_CNT_INI; g_task_sensor_tick_cnt = G_APP_TICK_CNT_INI; g_task_system_tick_cnt = G_APP_TICK_CNT_INI; g_task_actuator_tick_cnt = G_APP_TICK_CNT_INI; __asm("CPSIE i"); /* enable interrupts */ } void app_update(void) { uint32_t index; bool b_time_update_required = false; uint32_t cycle_counter_time_us; /* Protect shared resource */ __asm("CPSID i"); /* disable interrupts */ if (G_APP_TICK_CNT_INI < g_app_tick_cnt) { /* Update Tick Counter */ g_app_tick_cnt--; b_time_update_required = true; } __asm("CPSIE i"); /* enable interrupts */ /* Check if it's time to run tasks */ while (b_time_update_required) { /* Update App Counter */ g_app_cnt++; g_app_runtime_us = 0; /* Go through the task arrays */ for (index = 0; TASK_QTY > index; index++) { cycle_counter_reset(); /* Run task_x_update */ (*task_cfg_list[index].task_update)(task_cfg_list[index].parameters); cycle_counter_time_us = cycle_counter_get_time_us(); /* Update variables */ g_app_runtime_us += cycle_counter_time_us; if (g_app_WCET_us < g_app_runtime_us) { g_app_WCET_us = g_app_runtime_us; LOGGER_INFO(" App WCET: %lu", g_app_WCET_us); } if (task_dta_list[index].WCET < cycle_counter_time_us) { task_dta_list[index].WCET = cycle_counter_time_us; } } /* Protect shared resource */ __asm("CPSID i"); /* disable interrupts */ if (G_APP_TICK_CNT_INI < g_app_tick_cnt) { /* Update Tick Counter */ g_app_tick_cnt--; b_time_update_required = true; } else { b_time_update_required = false; } __asm("CPSIE i"); /* enable interrupts */ } } void HAL_SYSTICK_Callback(void) { /* Update Tick Counter */ g_app_tick_cnt++; g_task_sensor_tick_cnt++; g_task_system_tick_cnt++; g_task_actuator_tick_cnt++; } /********************** end of file ******************************************/