String GenerateRteOsTaskName(OsTask task)
{
return("Rte_osTask_" + task.Name);
}
public static String GenerateRteOsTaskFunctionName(OsTask task)
{
return("Rte_Task_Runnable_" + task.Name);
}
void Generate_RteTaskScheduler_Source_File()
{
double systickfreq = AutosarApplication.GetInstance().SystickFrequencyHz;
int schedulerStepMicrosec = (int)((1000.0d / systickfreq) * 1000.0);
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(schedulerStepMicrosec);
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();
String htim = "Not defined!";
switch (AutosarApplication.GetInstance().MCUType.Type)
{
case MCUTypeDef.STM32F1xx:
{
htim = "htim4";
break;
}
case MCUTypeDef.STM32F4xx:
{
htim = "htim13";
break;
}
}
writer.WriteLine("extern TIM_HandleTypeDef " + htim + ";");
writer.WriteLine();
writer.WriteLine("static const Rte_Scheduler_Sequence taskScheduling =");
writer.WriteLine("{");
/* Sort tasks by priority is necessary */
AutosarApplication.GetInstance().OsTasks.DoSort();
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 (__HAL_TIM_GET_FLAG(&" + htim + ", TIM_FLAG_UPDATE) != RESET)");
writer.WriteLine(" {");
writer.WriteLine(" __HAL_TIM_CLEAR_FLAG(&" + htim + ", TIM_FLAG_UPDATE);");
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(" }");
writer.WriteLine("}");
RteFunctionsGenerator.WriteEndOfFile(writer);
writer.Close();
}
public static String GenerateRteOsTaskName(OsTask task)
{
return("Rte_Task_" + task.Name);
}
