void GenerateOsTaskFunctionCallOfRunnables(StreamWriter writer, OsTask osTask)
{
String osTaskName = RteFunctionsGenerator.GenerateRteOsTaskFunctionName(osTask);
writer.WriteLine("void " + osTaskName + "(void)");
writer.WriteLine("{");
WriteCallOfOsRunnables(writer, osTask);
writer.WriteLine("}");
writer.WriteLine("");
}
void Generate_RunTimeEnvironment_Header_File()
{
String FileName = RteFunctionsGenerator.GetRteFolder() + "\\" + Properties.Resources.RTE_RUNTIME_ENVIRONMENT_H_FILENAME;
StreamWriter writer = new StreamWriter(FileName);
RteFunctionsGenerator.GenerateFileTitle(writer, FileName, Properties.Resources.RTE_RUNTIME_ENVIRONMENT_FILE_DESCRIPTION);
RteFunctionsGenerator.OpenGuardDefine(writer);
writer.WriteLine();
RteFunctionsGenerator.AddInclude(writer, Properties.Resources.RTE_DATATYPES_H_FILENAME);
RteFunctionsGenerator.AddInclude(writer, Properties.Resources.RTE_EXTERNAL_RUNNABLES_H_FILENAME);
RteFunctionsGenerator.AddInclude(writer, "<stm32f4xx.h>");
writer.WriteLine();
writer.WriteLine("/* Time periods */");
writer.WriteLine(RteFunctionsGenerator.CreateDefine("SYSTICK_FREQUENCY", AutosarApplication.GetInstance().SystickFrequencyHz.ToString()));
writer.WriteLine();
/* Create defines for each frequency */
List <double> frequencys = GetDifferentFrequences();
foreach (double frequency in frequencys)
{
String freqName = RteFunctionsGenerator.CreateFrequencyDefineName(frequency);
String freqValue = "";
int freq = (int)Math.Floor((double)AutosarApplication.GetInstance().SystickFrequencyHz / frequency);
freqValue = freq.ToString();
writer.WriteLine(RteFunctionsGenerator.CreateDefine(freqName, freqValue.ToString()));
}
writer.WriteLine();
writer.WriteLine("/*");
writer.WriteLine(" * Rte tasks ");
writer.WriteLine(" */");
foreach (OsTask osTask in AutosarApplication.GetInstance().OsTasks)
{
String osTaskName = RteFunctionsGenerator.GenerateRteOsTaskFunctionName(osTask);
writer.WriteLine("void " + osTaskName + "(void);");
}
writer.WriteLine();
RteFunctionsGenerator.CloseGuardDefine(writer);
writer.WriteLine();
RteFunctionsGenerator.WriteEndOfFile(writer);
writer.Close();
}
void writeInitOsTask(StreamWriter writer, OsTask task, RteOsInterfaceGenerator osGenerator)
{
String rteTaskName = GenerateRteOsTaskName(task);
String funcName = RteFunctionsGenerator.GenerateRteOsTaskFunctionName(task);
String stackSize = (task.StackSizeInBytes / 2).ToString();
writer.WriteLine(" " + osGenerator.CreateTask() + "(");
writer.WriteLine(" " + funcName + ", /* Pointer to the function that implements the task. */");
writer.WriteLine(" \"" + task.Name + "\", /* Text name given to the task. */");
writer.WriteLine(" " + stackSize + ", /* The size of the stack in words */");
writer.WriteLine(" (void*)0, /* A reference to xParameters is used as the task parameter. */");
writer.WriteLine(" " + task.Priority + ", /* Task priority */");
writer.WriteLine(" &" + rteTaskName + "); /* The handle to the task being created will be placed there */");
writer.WriteLine();
}
void GenerateOsTaskFunctionCallOfRunnables_FREERTOS(StreamWriter writer, OsTask osTask, RteOsInterfaceGenerator osGenerator)
{
String osTaskName = RteFunctionsGenerator.GenerateRteOsTaskFunctionName(osTask);
writer.WriteLine("static void " + osTaskName + "(void * pvParameters)");
writer.WriteLine("{");
String lastTickVariableName = "xLastWakeTime";
String xPeriodVariableName = "xPeriod";
writer.WriteLine(" " + osGenerator.TickDataType() + " " + lastTickVariableName + ";");
double sysTickFreq = AutosarApplication.GetInstance().SystickFrequencyHz;
double delayValue = (double)(osTask.PeriodMs * sysTickFreq / 1000.0d);
writer.WriteLine(" const " + osGenerator.TickDataType() + " " + xPeriodVariableName + " = " + ((int)(osTask.PeriodMs * 1000.0f)).ToString() + "u * " + ((int)sysTickFreq).ToString() + "u / 1000000u;");
writer.WriteLine(" " + lastTickVariableName + " = " + osGenerator.GetTickCount() + ";");
writer.WriteLine(" while(1)");
writer.WriteLine(" {");
WriteCallOfOsRunnables(writer, osTask);
writer.WriteLine(" " + osGenerator.DelayUntil() + "(&" + lastTickVariableName + ", " + xPeriodVariableName + ");");
writer.WriteLine(" }");
writer.WriteLine("}");
writer.WriteLine("");
}
void Generate_RteTaskScheduler_Source_File()
{
String FileName = RteFunctionsGenerator.GetRteFolder() + "\\" + Properties.Resources.RTE_TASK_SCHEDULER_C_FILENAME;
StreamWriter writer = new StreamWriter(FileName);
RteFunctionsGenerator.GenerateFileTitle(writer, FileName, Properties.Resources.RTE_RUNTIME_ENVIRONMENT_FILE_DESCRIPTION);
writer.WriteLine();
RteFunctionsGenerator.AddInclude(writer, Properties.Resources.RTE_RUNTIME_ENVIRONMENT_H_FILENAME);
writer.WriteLine();
int tasksCount = AutosarApplication.GetInstance().OsTasks.Count;
writer.WriteLine(RteFunctionsGenerator.CreateDefine("RTE_TASKS_COUNT", tasksCount.ToString(), false));
int stepsCount = AutosarApplication.GetInstance().OsTasks.GetSchedulerNecessaryStepsCount();
writer.WriteLine();
writer.WriteLine(RteFunctionsGenerator.CreateDefine("RTE_SCHEDULER_STEPS", stepsCount.ToString(), false));
writer.WriteLine();
writer.WriteLine("/* One Rte Task pointer */");
writer.WriteLine("typedef void (*Rte_Scheduler_Task)();");
writer.WriteLine();
writer.WriteLine("/* One step of scheduler */");
writer.WriteLine("typedef Rte_Scheduler_Task Rte_Scheduler_Step[RTE_TASKS_COUNT];");
writer.WriteLine();
writer.WriteLine("/* All possible steps in scheduler */");
writer.WriteLine("typedef Rte_Scheduler_Step Rte_Scheduler_Sequence[RTE_SCHEDULER_STEPS];");
writer.WriteLine();
writer.WriteLine("static uint32 schedulingCounter = 0u;");
writer.WriteLine();
writer.WriteLine("volatile boolean timeEventOccured = FALSE;");
writer.WriteLine();
writer.WriteLine("static Rte_Scheduler_Sequence taskScheduling =");
writer.WriteLine("{");
/* Sort tasks by priority is necessary */
AutosarApplication.GetInstance().OsTasks.DoSort();
double systickfreq = AutosarApplication.GetInstance().SystickFrequencyHz;
int schedulerStepMicrosec = (int)((1000.0d / systickfreq) * 1000.0);
for (int i = 0; i < stepsCount; i++)
{
writer.WriteLine(" {");
int writtenFunctions = 0;
for (int j = 0; j < tasksCount; j++)
{
OsTask task = AutosarApplication.GetInstance().OsTasks[j];
bool includeCondition = true;
int TaskMicrosec = (int)(task.PeriodMs * 1000);
int ost = schedulerStepMicrosec * i % TaskMicrosec;
includeCondition = (ost == 0);
if (includeCondition)
{
String osTaskName = RteFunctionsGenerator.GenerateRteOsTaskFunctionName(task);
writer.Write(" " + osTaskName);
if (writtenFunctions < tasksCount - 1)
{
writer.WriteLine(",");
}
else
{
writer.WriteLine();
}
writtenFunctions++;
}
}
/* Write necessary NULLs */
for (int j = writtenFunctions; j < tasksCount; j++)
{
writer.Write(" NULL");
if (j < tasksCount - 1)
{
writer.WriteLine(",");
}
else
{
writer.WriteLine();
}
}
writer.Write(" }");
if (i < stepsCount - 1)
{
writer.WriteLine(",");
}
else
{
writer.WriteLine();
}
}
writer.WriteLine("};");
writer.WriteLine();
/* Writing DoScheduling function */
writer.WriteLine("void DoScheduling(void)");
writer.WriteLine("{");
writer.WriteLine(" if (FALSE != timeEventOccured)");
writer.WriteLine(" {");
writer.WriteLine(" uint32 index = schedulingCounter % RTE_SCHEDULER_STEPS;");
writer.WriteLine(" for (uint32 i = 0; i < RTE_TASKS_COUNT; i++)");
writer.WriteLine(" {");
writer.WriteLine(" if (NULL != taskScheduling[index][i])");
writer.WriteLine(" {");
writer.WriteLine(" taskScheduling[index][i]();");
writer.WriteLine(" }");
writer.WriteLine(" else");
writer.WriteLine(" {");
writer.WriteLine(" break;");
writer.WriteLine(" }");
writer.WriteLine(" }");
writer.WriteLine(" schedulingCounter++;");
writer.WriteLine(" timeEventOccured = FALSE;");
writer.WriteLine(" }");
writer.WriteLine("}");
RteFunctionsGenerator.WriteEndOfFile(writer);
writer.Close();
}
