{"id":2743,"date":"2020-04-26T20:59:40","date_gmt":"2020-04-26T11:59:40","guid":{"rendered":"https:\/\/133.242.23.245\/blog\/?p=2743"},"modified":"2020-04-26T20:59:42","modified_gmt":"2020-04-26T11:59:42","slug":"raspberry-pi-3-%ce%bcitron-%e3%81%9d%e3%81%ae%ef%bc%97%ef%bc%88%e3%82%bb%e3%83%9e%e3%83%95%e3%82%a9%e3%81%9d%e3%81%ae%ef%bc%92%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.kara-kuri.jp\/blog\/?p=2743","title":{"rendered":"Raspberry Pi 3 + \u03bcITRON \u305d\u306e\uff17\uff08\u30bb\u30de\u30d5\u30a9\u305d\u306e\uff12\uff09"},"content":{"rendered":"\n<p><a href=\"https:\/\/133.242.23.245\/blog\/?p=1571\">\u524d\u56de<\/a>\u306f\u30bb\u30de\u30d5\u30a9\u306b\u3064\u3044\u3066\u8aac\u660e\u3057\u307e\u3057\u305f\u3002\u4eca\u56de\u306fRaspberry Pi3\u3067\u306e\u52d5\u304d\u3092\u898b\u306a\u304c\u3089\u30bb\u30de\u30d5\u30a9\u306b\u3064\u3044\u3066\u304a\u3055\u3089\u3044\u3057\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002 \u30bb\u30de\u30d5\u30a9\u3092\u5897\u3084\u3057\u305f\u308a\u6e1b\u3089\u3057\u305f\u308a\u306b\u3064\u3044\u3066\u306f\u3001\u524d\u3005\u56de\u540c\u69d8\u300c\u30b3\u30f3\u30d5\u30a3\u30ae\u30e5\u30ec\u30fc\u30bf\u300d\u3092\u4f7f\u7528\u3057\u3066\u30ea\u30bd\u30fc\u30b9\u3092\u3044\u304f\u3064\u4f7f\u7528\u3059\u308b\u304b\u3092\u5b9a\u7fa9\u3057\u307e\u3059\u3002<br \/>\u524d\u3005\u56de\u306easp3\/sample\/sample1.cfg\u3092\u3082\u3046\u4e00\u5ea6\u63b2\u8f09\u3057\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">\/*\n\u30b5\u30f3\u30d7\u30eb\u30d7\u30ed\u30b0\u30e9\u30e0(1)\u306e\u30b7\u30b9\u30c6\u30e0\u30b3\u30f3\u30d5\u30a3\u30ae\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d5\u30a1\u30a4\u30eb\n*\n$Id: sample1.cfg 705 2016-03-29 14:16:41Z ertl-hiro $\n*\/\nINCLUDE(\"tecsgen.cfg\");\ninclude \"sample1.h\"\nCRE_TSK(TASK1, { TA_NULL, 1, task, MID_PRIORITY, STACK_SIZE, NULL });\nCRE_TSK(TASK2, { TA_NULL, 2, task, MID_PRIORITY, STACK_SIZE, NULL });\nCRE_TSK(TASK3, { TA_NULL, 3, task, MID_PRIORITY, STACK_SIZE, NULL });\nCRE_TSK(MAIN_TASK, { TA_ACT, 0, main_task, MAIN_PRIORITY, STACK_SIZE, NULL });\nCRE_TSK(EXC_TASK, { TA_NULL, 0, exc_task, EXC_PRIORITY, STACK_SIZE, NULL });\nCRE_CYC(CYCHDR1, { TA_NULL, { TNFY_HANDLER, 0, cyclic_handler }, 2000000, 0 });\nCRE_ALM(ALMHDR1, { TA_NULL, { TNFY_HANDLER, 0, alarm_handler }});\nCRE_FLG(FLG1, {TA_CLR | TA_WMUL, 0});\nifdef INTNO1\nCFG_INT(INTNO1, { INTNO1_INTATR, INTNO1_INTPRI });\nCRE_ISR(INTNO1_ISR, { TA_NULL, 0, INTNO1, intno1_isr, 1 });\nendif \/* INTNO1 *\/\nifdef CPUEXC1\nDEF_EXC(CPUEXC1, { TA_NULL, cpuexc_handler });\nendif \/* CPUEXC1 *\/<\/pre>\n\n\n\n<p>\u4eca\u56de\u306f\u3053\u3053\u306b\u30bb\u30de\u30d5\u30a9\u3092\u8ffd\u52a0\u3057\u307e\u3059\u3002\u5177\u4f53\u7684\u306b\u306f\u3001\u524d\u56de\u7c21\u5358\u306b\u8aac\u660e\u3057\u305f\u300cCRE_SEM\u300d\u3092\u8ffd\u52a0\u3057\u307e\u3059\u3002\u5834\u6240\u306f\u524d\u56de\u8ffd\u52a0\u3057\u305f\u300cCRE_FLG\u300d\u306e\u4e0b\u306b\u8ffd\u52a0\u3057\u307e\u3059\u3002<br \/>\u8ffd\u52a0\u3057\u305f\u7d50\u679c\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">\/*\n\u30b5\u30f3\u30d7\u30eb\u30d7\u30ed\u30b0\u30e9\u30e0(1)\u306e\u30b7\u30b9\u30c6\u30e0\u30b3\u30f3\u30d5\u30a3\u30ae\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d5\u30a1\u30a4\u30eb\n*\n$Id: sample1.cfg 705 2016-03-29 14:16:41Z ertl-hiro $\n*\/\nINCLUDE(\"tecsgen.cfg\");\ninclude \"sample1.h\"\nCRE_TSK(TASK1, { TA_NULL, 1, task, MID_PRIORITY, STACK_SIZE, NULL });\nCRE_TSK(TASK2, { TA_NULL, 2, task, MID_PRIORITY, STACK_SIZE, NULL });\nCRE_TSK(TASK3, { TA_NULL, 3, task, MID_PRIORITY, STACK_SIZE, NULL });\nCRE_TSK(MAIN_TASK, { TA_ACT, 0, main_task, MAIN_PRIORITY, STACK_SIZE, NULL });\nCRE_TSK(EXC_TASK, { TA_NULL, 0, exc_task, EXC_PRIORITY, STACK_SIZE, NULL });\nCRE_CYC(CYCHDR1, { TA_NULL, { TNFY_HANDLER, 0, cyclic_handler }, 2000000, 0 });\nCRE_ALM(ALMHDR1, { TA_NULL, { TNFY_HANDLER, 0, alarm_handler }});\nCRE_FLG(FLG1, {TA_CLR | TA_WMUL, 0});\nCRE_SEM(SEM1, {TA_TFIFO, 0, 1});     \/\/ \u2605\n#ifdef INTNO1\nCFG_INT(INTNO1, { INTNO1_INTATR, INTNO1_INTPRI });\nCRE_ISR(INTNO1_ISR, { TA_NULL, 0, INTNO1, intno1_isr, 1 });\nendif \/* INTNO1 *\/\nifdef CPUEXC1\nDEF_EXC(CPUEXC1, { TA_NULL, cpuexc_handler });\nendif \/* CPUEXC1 *\/<\/pre>\n\n\n\n<p><br \/>\u3053\u306e\u72b6\u614b\u3067\u30d3\u30eb\u30c9\u3057\u305f\u3068\u3053\u308d\u3001\u306a\u305c\u304b\u300cTA_TFIFO\u300d\u304c\u898b\u3064\u304b\u3089\u306a\u3044\u3068\u30a8\u30e9\u30fc\u306b\u306a\u308a\u307e\u3057\u305f\u3002<br \/>\u691c\u7d22\u3057\u305f\u3068\u3053\u308d\u3001TA_TFIFO\u306fitron.h\u306b\u5b9a\u7fa9\u3055\u308c\u3066\u3044\u307e\u3059\u3002<br \/>\u3053\u306esample1.cfg\u306fsample1.h\u3092include\u3057\u3066\u3044\u308b\u306e\u3067\u3001sample1.h\u306bitron.h\u3092include\u3059\u308b\u3088\u3046\u306b\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">\/*\n\u30b5\u30f3\u30d7\u30eb\u30d7\u30ed\u30b0\u30e9\u30e0(1)\u306e\u30d8\u30c3\u30c0\u30d5\u30a1\u30a4\u30eb\n*\/\n#include &lt;kernel.h&gt;\n#include &lt;itron.h&gt;<\/pre>\n\n\n\n<p>\u3055\u3066\u3001\u5b9f\u969b\u306b\u52d5\u4f5c\u78ba\u8a8d\u3059\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u4fee\u6b63\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\"><code>ER ercd;<\/code>\n\/\/ FLGPTN p_flgptn;\n<code>while (true) {<\/code>\n  <code> syslog(LOG_NOTICE, \"task%d is running (%03d). %s\", <\/code>\n                                          <code>tskno, ++n, graph[tskno-1]);<\/code>\n  <code> \/\/for (i = 0; i &lt; task_loop; i++);<\/code>\n    \/\/ ercd = wai_flg(FLG1, tskno, TWF_ANDW, &amp;p_flgptn);    \/\/ \u2605\n    ercd = wai_sem(SEM1);                                   \/\/ \u2605\n    c = message[tskno-1];\n    message[tskno-1] = 0;\n<code>   switch (c) {<\/code>\n   <code> case 'e':<\/code>\n       <code> syslog(LOG_INFO, \"#%d#ext_tsk()\", tskno);<\/code>\n       <code> ercd = sig_sem(SEM1);<\/code>                          \/\/ \u2605\n       <code> SVC_PERROR(ext_tsk());<\/code>\n       <code> assert(0);<\/code><\/pre>\n\n\n\n<pre class=\"wp-block-preformatted\">*\n*\u00a0\u00a0\u30e1\u30a4\u30f3\u30bf\u30b9\u30af\n*\/\nvoid main_task(intptr_t exinf)\n{\n:\n#endif \/* TASK_LOOP *\/\n\u00a0\u00a0\u00a0\u00a0HRTCNT\u00a0\u00a0hrtcnt1, hrtcnt2;\n\u00a0\/\/\u00a0\u00a0 ER\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0flg_ercd;\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \/\/ \u2605\n<code>   ER sem_ercd;<\/code>                             \/\/ \u2605\n:\n\u00a0\u00a0\u00a0\u00a0\/*\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0*\u00a0\u00a0\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\n\u00a0\u00a0\u00a0\u00a0 *\/\n\u00a0\u00a0\u00a0\u00a0do {\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0SVC_PERROR(serial_rea_dat(TASK_PORTID, &amp;c, 1));\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0switch (c) {\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0case 'e':\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0case 's':\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0case 'S':\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0case 'd':\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0case 'y':\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0case 'Y':\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0case 'z':\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0case 'Z':\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0message[tskno-1] = c;\n\/\/ \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 flg_ercd = set_flg(FLG1, tskno);\u00a0 \/\/ \u2605\n              sem_ercd = sig_sem(SEM1);         \/\/ \u2605\n\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0break;\n:<\/pre>\n\n\n\n<p>\u2605\u5370\u306e\u3068\u3053\u308d\u304c\u5909\u66f4\u7b87\u6240\u3067\u3059\u3002<br \/>wai_sem()\u3067\u30bb\u30de\u30d5\u30a9\u3092\u53d6\u5f97\u3057\u3001sig_sem()\u3067\u8fd4\u5374\u3057\u307e\u3059\u3002<br \/>1\u756a\u304b\u3089\u9806\u306b\u30bf\u30b9\u30af\u3092\u6307\u5b9a\u3057\u3066\u7d42\u4e86\u3055\u305b\u308b\u3068\u6b21\u306e\u30bf\u30b9\u30af\u304c\u52d5\u304d\u51fa\u3057\u3001\u307e\u305f\u7d42\u4e86\u3055\u305b\u308b\u3068\u6b21\u306e\u30bf\u30b9\u30af\u304c\u52d5\u304d\u51fa\u3059\u3001\u3068\u3044\u3046\u3075\u3046\u306b\u3057\u3066\u3042\u308a\u307e\u3059\u3002<br \/>\u3053\u308c\u3092\u52d5\u304b\u3057\u305f\u7d50\u679c\u306f\u4ee5\u4e0b\u306e\u3068\u304a\u308a\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">h4\u7528\u6c72\u6101\u5589\u6709J?\u0445\u983b\u6fe0R4\n4\u58fc\uff8d\uff91\u96f0\uff5c\uff7d\u6488\uff65\uff79\u63be\uff62\u30fb\uff6d\u309b\uff8d\u2605\uff91\u30fb\uff91\u821e\uff79jR4\uff6b\n\uff6b.\uff6e\u30fbW\uff6c\n\uff92W,.].HJY\uff7cZ\uff77\uff73 = 0).\ntask1 is running (001).\ntask2 is running (001).\ntask3 is running (001).<\/pre>\n\n\n\n<p>\u3044\u3064\u3082\u306e\u3088\u3046\u306b\u6587\u5b57\u5316\u3051\u3057\u3066\u3044\u307e\u3059\u304c\u2026\u3001\u305d\u308c\u305e\u308c\u306e\u30bf\u30b9\u30af\u304cwai_sem()\u3067\u8d77\u5e8a\u5f85\u3061\u3068\u306a\u3063\u3066\u3044\u307e\u3059\u3002\u4f55\u6545\u304b\u30ed\u30b0\u304c\u300ctask\u300d\u3057\u304b\u51fa\u306a\u304f\u306a\u308a\u30012\u6642\u9593\u304f\u3089\u3044\u30cf\u30de\u308a\u307e\u3057\u305f\u2026\u3002\u7d50\u5c40\u3044\u308d\u3044\u308d\u3044\u3058\u304f\u3063\u305f\u3089\u307e\u305f\u51fa\u308b\u3088\u3046\u306b\u306a\u3063\u305f\u3093\u3067\u3059\u3051\u3069\u306d\u2026\u3002\u539f\u56e0\u4e0d\u660e\u3067\u3059\u3002<br \/>\u3053\u3053\u30671\u756a\u306e\u30bf\u30b9\u30af\u3092\u7d42\u4e86\u3059\u308b\u305f\u3081\u306b\u300c1\u300d\u3068\u300ce\u300d\u3092\u5165\u529b\u3057\u307e\u3059\u3002\u3059\u308b\u3068\u6b21\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">4\u58fc\uff8d\uff91\u96f0\uff5c\uff7d\u6488\uff65\uff79\u63be\uff62\u30fb\uff6d\u309b\uff8d\u2605\uff91\u30fb\uff91\u821e\uff79jR4\uff6b\n\uff6b.\uff6e\u30fbW\uff6c\n\uff92W,.].HJY\uff7cZ\uff77\uff73 = 0).\ntask1 is running (001).\ntask2 is running (001).\ntask3 is running (001).\n\uf8f3\uf8f3\uf8f3\ue6c1xt_tsk()\ntask2 is running (002).<\/pre>\n\n\n\n<p>\u307e\u305f\u76db\u5927\u306b\u6587\u5b57\u5316\u3051\u3057\u3066\u3044\u307e\u3059\u304c\u3001task1\u304cext_tsk()\u3067\u7d42\u4e86\u3057\u3001sig_sem()\u3067\u30bb\u30de\u30d5\u30a9\u3092\u8fd4\u5374\u3057\u305f\u306e\u3067task2\u304c\u52d5\u304d\u51fa\u3057\u307e\u3057\u305f\u3002\u3053\u3053\u3067task2\u3092\u7d42\u4e86\u3059\u308b\u3068\u6b21\u306e\u69d8\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">4\u58fc\uff8d\uff91\u96f0\uff5c\uff7d\u6488\uff65\uff79\u63be\uff62\u30fb\uff6d\u309b\uff8d\u2605\uff91\u30fb\uff91\u821e\uff79jR4\uff6b\n\uff6b.\uff6e\u30fbW\uff6c\n\uff92W,.].HJY\uff7cZ\uff77\uff73 = 0).\ntask1 is running (001).\ntask2 is running (001).\ntask3 is running (001).\n\uf8f3\uf8f3\uf8f3\ue6c1xt_tsk()\ntask2 is running (002).\ntask3 is running (002).<\/pre>\n\n\n\n<p>task2\u306eext_tsk()\u304c\u51fa\u307e\u305b\u3093\u3067\u3057\u305f\u304c\u3001\u30bf\u30a4\u30df\u30f3\u30b0\u306e\u554f\u984c\u3067\u3059\u3002<br \/>task3\u3092\u7d42\u4e86\u3055\u305b\u308b\u3068\u307e\u3068\u3081\u3066\u51fa\u3066\u304d\u307e\u3059\u3002<br \/>\u3053\u306e\u3088\u3046\u306b\u3057\u3066\u3001\u30bb\u30de\u30d5\u30a9\u306e\u52d5\u4f5c\u3092\u78ba\u8a8d\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3057\u305f\u3002<br \/> \u4eca\u56de\u3082\u30b5\u30f3\u30d7\u30eb\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u6700\u5c0f\u9650\u306e\u6539\u9020\u3067\u52d5\u304b\u3059\u3088\u3046\u306b\u3057\u305f\u306e\u3067\u3001\u30a4\u30de\u30a4\u30c1\u4f7f\u3044\u65b9\u306b\u30d4\u30f3\u3068\u6765\u306a\u304b\u3063\u305f\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u304c\u3001\u524d\u56de\u3082\u66f8\u3044\u305f\u3068\u304a\u308a\u3001\u6392\u4ed6\u7684\u306b\u30a2\u30af\u30bb\u30b9\u3057\u306a\u3044\u3068\u3044\u3051\u306a\u3044\u8cc7\u6e90\u306b\u30a2\u30af\u30bb\u30b9\u3057\u3001\u7d42\u308f\u3063\u305f\u3089\u4ed6\u306e\u30bf\u30b9\u30af\u306b\u30a2\u30af\u30bb\u30b9\u6a29\u3092\u660e\u3051\u6e21\u3059\u3068\u3044\u3046\u4f7f\u3044\u65b9\u3067\u3059\u3002<br \/>\u4eca\u56de\u306f\u4e00\u3064\u306e\u30bb\u30de\u30d5\u30a9\u3092\u4f7f\u3044\u307e\u3057\u305f\u304c\u3001\u6392\u4ed6\u5236\u5fa1\u3057\u305f\u3044\u3082\u306e\u304c\u8907\u6570\u3042\u308b\u5834\u5408\u3001\u305d\u308c\u306b\u5408\u308f\u305b\u3066\u8907\u6570\u306e\u30bb\u30de\u30d5\u30a9\u3092\u5b9a\u7fa9\u3057\u3066\u30a2\u30af\u30bb\u30b9\u3092\u7ba1\u7406\u3059\u308b\u3053\u3068\u3082\u53ef\u80fd\u3067\u3059\u3002<br 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