LoginSignup
0
0

Delete article

Deleted articles cannot be recovered.

Draft of this article would be also deleted.

Are you sure you want to delete this article?

More than 3 years have passed since last update.

@ohisama@github

osを作る その13

Posted at

概要

osを作る。
avrosを使ってみた。

サンプルコード


# define task_number		3
# define task1			1
# define task2			2
# define task3			3

void k_Request(int taskid);
void k_Trigger(int taskid);
void k_Exit(void);
void k_Suspend(int taskid);
void k_Resume(void);
int k_Trigger(void);
void k_Wait(int time);

static int Current;
static int Timer_Flag;
static int TC[2 * task_number + 2];

void k_Request(int taskid) {
	cli();
	TC[2 * taskid] = TC[2 * taskid] | 0x80;
	sei();
}

void k_Trigger(int taskid) {
	cli();
	TC[2 * taskid] = TC[2 * taskid] | 0x80;
}

void k_Exit(void) {
	cli();
	TC[2 * Current] = 0;
	TC[2 * Current + 1] = 0;
}

void k_Suspend(int taskid) {
	cli();
	TC[2 * Current] = (TC[2 * Current] & 0xE0) | 0x40;
	TC[2 * Current + 1] = taskid;
}

void k_Resume(void) {
	int i,
		errflag;
	cli();
	errflag = 1;
	i = 1;
	while(i <= task_number)
	{
		if (((TC[2 * i] & 0x40) == 0) || (TC[2 * i + 1] != Current))
		{
			i++;
			continue;
		}
		else
		{
			TC[2 * i] = (TC[2 * i] & 0xA0) + 1;
			errflag = 0;
			break;
		}
	}
	sei();
}

int k_Trigger(void) {
	return (TC[2 * Current] & 0x03);
}

void k_Wait(int time) {
	cli();
	TC[2 * Current] = (TC[2 * Current] & 0xC0) + 0x20;
	TC[2 * Current + 1] = time;
	Timer_Flag = 1;
	sei();
}

void task_1(void) {
	Serial.print("task-1  ");
	Serial.println(millis());
	k_Wait(20);
}

void task_2(void) {
	Serial.print("task-2  ");
	Serial.println(millis());
	k_Wait(10);
}

void task_3(void) {
	Serial.print("task-3  ");
	Serial.println(millis());
}

void setup(void) {
	int i;
	cli();
	for (i = 1; i <= task_number; i++)
	{
		TC[2 * i] = 0;
		TC[2 * i + 1] = 0;
	}
	Serial.begin(9600);
	while (!Serial)
		continue;
	cli();
	TCCR1A = 0;
	TCCR1B = 0;
	TCNT1 = 0;
	OCR1A = 1999;
	TCCR1B |= (1 << WGM12);
	TCCR1B |= (1 << CS11);
	TIMSK1 |= (1 << OCIE1A);
	Serial.println("ok");
	k_Request(task1);
	k_Request(task2);
	k_Request(task3);
	while (1)
	{
		cli();
		i = 1;
		while (i <= task_number)
		{
			if ((TC[2 * i] & 0xE0) == 0x80)
			{
				Current = i;
				switch (i)
				{
				case 1:
				{
					sei();
					task_1();
					break;
				}
				case 2:
				{
					sei();
					task_2();
					break;
				}
				case 3:
				{
					sei();
					task_3();
					break;
				}
				default:
					break;
				}
				i = 1;
			}
			else
			{
				i++;
			}
		}
		sei();
	}
}
ISR(TIMER1_COMPA_vect) {
	int i;
	if (Timer_Flag != 0)
	{
		Timer_Flag = 0;
		for (i = 1; i <= task_number; i++)
		{
			if (TC[2 * i] & 0x20)
			{
				TC[2 * i + 1] = TC[2 * i + 1] - 1;
				if (TC[2 * i + 1] == 0)
				{
					TC[2 * i] = (TC[2 * i] & 0xDD) + 2;
				}
				else
				{
					Timer_Flag = 1;
				}
			}
		}
	}
}

結果

sk-尞k
task-1  0
task-2  0
task-3  0
task-3  0
task-3  0
task-3  2
task-3  13
task-2  25
task-1  37
task-2  50
task-3  62
task-1  75
task-2  88
task-3  100
task-1  113
task-2  126
task-3  141
task-1  154
task-2  167
task-3  181
task-1  194
task-2  208
task-3  222
task-1  235
task-2  248
task-3  262
task-1  276
task-2  289
task-3  303
task-1  316
task-2  330
task-3  344
task-1  357
task-2  370
task-3  384
task-1  398
task-2  411
task-3  424
task-1  438
task-2  451
task-3  465
task-1  479
task-2  492
task-3  505
task-1  519
task-2  533
task-3  546
task-1  560
task-2  573
task-3  586
task-1  601
task-2  614
task-3  627
task-1  641
task-2  654
task-3  668
task-1  681
task-2  695
task-3  708
task-1  721
task-2  736
task-3  749
task-1  762
task-2  776
task-3  789
task-1  803
task-2  817
task-3  830
task-1  843
task-2  857
task-3  871
task-1  884
task-2  898
task-3  911
task-1  924
task-2  939
task-3  952
task-1  965
task-2  978
task-3  992
task-1  1006
task-2  1020
task-3  1035
task-1  1049
task-2  1064
task-3  1079
task-1  1093
task-2  1107
task-3  1122
task-1  1137
task-2  1152
task-3  1166
task-1  1180
task-2  1196
task-3  1210
task-1  1224
task-2  1239
task-3  1253
task-1  1268
task-2  1283
task-3  1297
task-1  1311
task-2  1326
task-3  1341
task-1  1355
task-2  1370
task-3  1384
task-1  1399
task-2  1414
task-3  1428
task-1  1442
task-2  1457
task-3  1472
task-1  1486
task-2  1501
task-3  1515
task-1  1530
task-2  1545
task-3  1559
task-1  1573
task-2  1588
task-3  1603
task-1  1617
task-2  1632
task-3  1646
task-1  1661
task-2  1676
task-3  1690
task-1  1704
task-2  1719
task-3  1734
task-1  1748
task-2  1763
task-3  1777
task-1  1792
task-2  1807
task-3  1821
task-1  1836
task-2  1850
task-3  1865
task-1  1880
task-2  1894
task-3  1908
task-1  1923
task-2  1938
task-3  1952
task-1  1967
task-2  1981
task-3  1996
task-1  2011
task-2  2025
task-3  2039
task-1  2054
task-2  2069
task-3  2083
task-1  2098
task-2  2112
task-3  2127
task-1  2142
task-2  2156
task-3  2170
task-1  2185
task-2  2200
task-3  2214
task-1  2229
task-2  2243
task-3  2257
task-1  2273
task-2  2287
task-3  2301
task-1  2316
task-2  2331
task-3  2345
task-1  2360
task-2  2374
task-3  2388
task-1  2404
task-2  2418
task-3  2433
task-1  2447
task-2  2462
task-3  2477
task-1  2491
task-2  2505
task-3  2520
task-1  2535
task-2  2549
task-3  2564
task-1  2578
task-2  2593
task-3  2608
task-1  2622
task-2  2636
task-3  2651
task-1  2666
task-2  2680
task-3  2695
task-1  2709
task-2  2723
task-3  2739
task-1  2753
task-2  2767
task-3  2782
task-1  2797
task-2  2811
task-3  2826
task-1  2840
task-2  2854
task-3  2870
task-1  2884
task-2  2898
task-3  2913
task-1  2928
task-2  2942
task-3  2957
task-1  2971
task-2  2985
task-3  3001
task-1  3015
task-2  3030
task-3  3044
task-1  3059
task-2  3074
task-3  3088
task-1  3102
task-2  3117
task-3  3132
task-1  3146
task-2  3161
task-3  3175
task-1  3189
task-2  3205
task-3  3219
task-1  3233
task-2  3248
task-3  3263
task-1  3277
task-2  3292
task-3  3306
task-1  3320
task-2  3336
task-3  3350
task-1  3364
task-2  3379
task-3  3394
task-1  3408
task-2  3423
task-3  3437
task-1  3451
task-2  3467
task-3  3481
task-1  3495
task-2  3510
task-3  3525
task-1  3539
task-2  3554
task-3  3568
task-1  3582
task-2  3598
task-3  3612
task-1  3627
task-2  3641
task-3  3655
task-1  3671
task-2  3685
task-3  3699
task-1  3714
task-2  3729
task-3  3743
task-1  3758
task-2  3772
task-3  3786
task-1  3802
task-2  3816
task-3  3830
task-1  3845
task-2  3860
task-3  3874
task-1  3889
task-2  3903
task-3  3917
task-1  3933
task-2  3947
task-3  3961
task-1  3976
task-2  3991
task-3  4005
task-1  4020
task-2  4034
task-3  4048
task-1  4064
task-2  4078
task-3  4092
task-1  4107
task-2  4121
task-3  4136
task-1  4151
task-2  4165
task-3  4179
task-1  4195
task-2  4209
task-3  4224
task-1  4238
task-2  4252
task-3  4268
task-1  4282
task-2  4296
task-3  4311
task-1  4326
task-2  4340
task-3  4355
task-1  4369
task-2  4383
task-3  4399
task-1  4413
task-2  4427
task-3  4442
task-1  4457
task-2  4471
task-3  4486
task-1  4500
task-2  4514
task-3  4530
task-1  4544
task-2  4558
task-3  4573
task-1  4587
task-2  4602
task-3  4617
task-1  4631
task-2  4645
task-3  4661
task-1  4675
task-2  4689
task-3  4704
task-1  4718
task-2  4733
task-3  4748
task-1  4762
task-2  4776
task-3  4792
task-1  4806
task-2  4820
task-3  4835
task-1  4849
task-2  4865
task-3  4879
task-1  4893
task-2  4908
task-3  4923
task-1  4937
task-2  4952
task-3  4966
task-1  4980
tas

以上。

0
0
0

Register as a new user and use Qiita more conveniently

  1. You get articles that match your needs
  2. You can efficiently read back useful information
  3. You can use dark theme
What you can do with signing up
Sign upLogin
0
0

Delete article

Deleted articles cannot be recovered.

Draft of this article would be also deleted.

Are you sure you want to delete this article?