...

diff --git a/arduino/hardware/ace/avr/cores/avr/kernel.cpp b/arduino/hardware/ace/avr/cores/avr/kernel.cpp
index 8488fe555323a54aa02ee516e91f969263ccf350..aa5cf9a89b53d8f1c784459e7736ce66ac5650eb 100644 (file)
--- a/arduino/hardware/ace/avr/cores/avr/kernel.cpp
+++ b/arduino/hardware/ace/avr/cores/avr/kernel.cpp
@@ -19,11 +19,12 @@ uint32_t ticks = 0;
 void task_scheduler();
 
 #define IDLE_TASK (tasks+max_task_cnt-1)
-#define LED_TASK (task+0);
-#define DEBUG_TASK (task+1);
+#define LED_TASK (tasks+0);
+#define DEBUG_TASK (tasks+1);
 
 uint8_t debug_task_stack[TASK_STACK_SIZE];
 void debug_task() {
+    while(1) task_delay(1000);
     uint8_t pin = 12;
     set_digital_pin_mode(pin, OUTPUT);
 
@@ -37,15 +38,14 @@ void debug_task() {
 
 uint8_t led_task_stack[TASK_STACK_SIZE];
 void led_task() {
-    while(1) task_delay(1000);
     uint8_t pin = 13;
     set_digital_pin_mode(pin, OUTPUT);
 
     while(1) {
         digital_write(pin, HIGH);
-        task_delay(30);
+        task_delay(10);
         digital_write(pin, LOW);
-        task_delay(30);
+        task_delay(10);
     }
 }
 
@@ -55,7 +55,7 @@ void led_task() {
 void idle_task() {
     sei();
     static uint32_t idle_cnt = 0;
-    uint8_t pin = 13;
+    uint8_t pin = 12;
     set_digital_pin_mode(pin, OUTPUT);
     uint8_t state = LOW;
     while(1) {
@@ -75,7 +75,6 @@ void task_delay(uint16_t ticks)
     task_scheduler();
 }
 
-
 void create_task(void (*handler)(), uint8_t *stack, uint8_t priority)
 {
     if(priority >= max_task_cnt) {
@@ -85,19 +84,12 @@ void create_task(void (*handler)(), uint8_t *stack, uint8_t priority)
     struct task *t = tasks + priority;
     t->handler = handler;
     t->state = TASK_STATE_READY;
-#if 0
+
     t->stack = stack + TASK_STACK_SIZE - 3;
     uint8_t *p = t->stack;
-    *(p+0) = 0x00;
-    *(p+1) = (((uint16_t)handler) >> 8);
-    *(p+2) = (((uint16_t)handler) >> 0);
-#else
-    t->stack = stack + TASK_STACK_SIZE - 2;
-    uint8_t *p = t->stack;
-    *(p+0) = (((uint16_t)handler) >> 0);
-    *(p+1) = (((uint16_t)handler) >> 8);
-#endif
-
+    *(p+0) = (((uint32_t)handler) >> 16);
+    *(p+1) = (((uint32_t)handler) >> 8);
+    *(p+2) = (((uint32_t)handler) >> 0);
     *(--(t->stack)) = 0x00;   // SREG
     *(--(t->stack)) = 0x00;   // R0
     *(--(t->stack)) = 0x00;
@@ -131,10 +123,6 @@ void create_task(void (*handler)(), uint8_t *stack, uint8_t priority)
     *(--(t->stack)) = 0x00;
     *(--(t->stack)) = 0x00;   // 30
     *(--(t->stack)) = 0x00;
-
-    --(t->stack);
-    // AVR 的PUSH是先存值再SP-1
-    // AVR 的POP 是先SP+1再取值
 }
 
 void task_switch(struct task *prev, struct task *next) {
@@ -218,7 +206,7 @@ void task_switch(struct task *prev, struct task *next) {
     "POP R29\n"
     "POP R30\n"
     "POP R31\n"
-    "reti\n"
+    "ret\n"
     );
 }
 
@@ -233,19 +221,17 @@ void init_tasks() {
         t->delay_ticks  = 0;
     }
 
-
+    create_task(led_task, led_task_stack, 0);
+    create_task(debug_task, debug_task_stack, 1);
+    create_task(idle_task, idle_task_stack, max_task_cnt-1);
     current_task = IDLE_TASK;
+    IDLE_TASK->stack = idle_task_stack+TASK_STACK_SIZE - 3;
 
-    create_task(idle_task, idle_task_stack, max_task_cnt-1);
-//    create_task(led_task, led_task_stack, 0);
-//    create_task(debug_task, debug_task_stack, 1);
-    IDLE_TASK->stack = idle_task_stack+TASK_STACK_SIZE-2-2;
     SP = (uint16_t)(IDLE_TASK->stack);
     asm("ret;");
 }
 
 void task_scheduler() {
-    return;
     struct task *next = IDLE_TASK;
     for(uint8_t i=0; i<max_task_cnt; i++) {
         struct task *t = tasks+i;
@@ -258,13 +244,12 @@ void task_scheduler() {
     task_switch(current_task, next);
 }
 
+
 extern "C" void TIMER1_COMPA_vect() __attribute__ ((signal,used, externally_visible));
 void TIMER1_COMPA_vect()
 {
     ticks++;
 
-    return;
-
     for(uint8_t i=0; i<max_task_cnt; i++) {
         struct task *t = tasks+i;
         if(TASK_STATE_SLEEP != t->state) {
@@ -282,3 +267,18 @@ void TIMER1_COMPA_vect()
 
     task_scheduler();
 }
+
+void init_timer1() {
+    //set timer1 interrupt at 100Hz
+    TCCR1A = 0;// set entire TCCR1A register to 0
+    TCCR1B = 0;// same for TCCR1B
+    TCNT1  = 0;//initialize counter value to 0
+    // set compare match register for 100Hz increments
+    OCR1A = 155; // = (16*10^6) / (1024*100Hz) - 1 (must be <65536)
+    // turn on CTC mode
+    TCCR1B |= (1 << WGM12);
+    // Set CS10 and CS12 bits for 1024 prescaler
+    TCCR1B |= (1 << CS12) | (1 << CS10);
+    // enable timer compare interrupt
+    TIMSK1 |= (1 << OCIE1A);
+}

diff --git a/arduino/hardware/ace/avr/cores/avr/main.cpp b/arduino/hardware/ace/avr/cores/avr/main.cpp
index 8995be4b089c050fb541735f34f15b9d88c93272..8e4ee2a30e3383dec53d0ce12c97993b15ecb6e4 100644 (file)
--- a/arduino/hardware/ace/avr/cores/avr/main.cpp
+++ b/arduino/hardware/ace/avr/cores/avr/main.cpp
@@ -12,12 +12,11 @@ void init_timer0();
 void init_timer1();
 void init_tasks();
 
-#if 1
 void init() {
     cli();
     init_timer0();
-    //init_timer1();
-    //init_tasks();
+    init_timer1();
+    init_tasks();
     sei();
 }
 
@@ -39,57 +38,3 @@ int main()
 
     return 0;
 }
-#else
-
-uint8_t stack[128];
-
-void handler() {
-    uint8_t pin = 12;
-    set_digital_pin_mode(pin, OUTPUT);
-    digital_write(pin, LOW);
-
-
-    uint8_t state = LOW;
-    while(1) {
-        state = state == LOW ? HIGH : LOW;
-        digital_write(pin, state);
-        delay(1000);
-    }
-}
-
-
-uint8_t * volatile p = 0;
-int main()
-{
-    sei();
-    init_timer0();
-
-    p = stack+64;
-
-    *(p+0) = 0;
-    *(p+1) = 0; //(((uint16_t)handler) >> 8);
-    *(p+2) = (((uint16_t)handler) >> 0);
-    *(p+3) = (((uint16_t)handler) >> 8);
-
-
-    asm("nop");
-    asm("nop");
-    #if 1
-    SP = (uint16_t) p;
-    #else
-    asm volatile (
-        "lds r26, p\n"
-        "lds r27, p+1\n"
-        "out __SP_L__, r26\n"
-        "out __SP_H__, r27\n"
-        );
-    #endif
-    asm("nop");
-    asm("nop");
-
-    asm("ret");
-
-    return 0;
-}
-
-#endif

diff --git a/arduino/hardware/ace/avr/cores/avr/timer.cpp b/arduino/hardware/ace/avr/cores/avr/timer.cpp
index 5ebc6e2a9206f7162febbfafd7e58506ed5fea7f..ea3dde6b8397369a6c3f55a734209568e6607a26 100644 (file)
--- a/arduino/hardware/ace/avr/cores/avr/timer.cpp
+++ b/arduino/hardware/ace/avr/cores/avr/timer.cpp
@@ -65,24 +65,14 @@ void init_timer0() {
     sbi(TIMSK0, TOIE0);
 }
 
-void init_timer1() {
-    //set timer1 interrupt at 100Hz
-    TCCR1A = 0;// set entire TCCR1A register to 0
-    TCCR1B = 0;// same for TCCR1B
-    TCNT1  = 0;//initialize counter value to 0
-    // set compare match register for 100Hz increments
-    //OCR1A = 155; // = (16*10^6) / (1024*100Hz) - 1 (must be <65536)
-    OCR1A = 15500; // = (16*10^6) / (1024*100Hz) - 1 (must be <65536)
-    // turn on CTC mode
-    TCCR1B |= (1 << WGM12);
-    // Set CS10 and CS12 bits for 1024 prescaler
-    TCCR1B |= (1 << CS12) | (1 << CS10);
-    // enable timer compare interrupt
-    TIMSK1 |= (1 << OCIE1A);
-}
-
 extern "C" void TIMER0_OVF_vect() __attribute__ ((signal,used, externally_visible));
 void TIMER0_OVF_vect()
 {
     timer0_overflow_count++;
 }
+
+
+#if 0
+extern "C" void TIMER1_COMPA_vect() __attribute__ ((signal,used, externally_visible));
+void TIMER1_COMPA_vect() { }
+#endif