source: sample/sample1.c

/*
 *  TOPPERS/ASP Kernel
 *      Toyohashi Open Platform for Embedded Real-Time Systems/
 *      Advanced Standard Profile Kernel
 * 
 *  Copyright (C) 2000-2003 by Embedded and Real-Time Systems Laboratory
 *                              Toyohashi Univ. of Technology, JAPAN
 *  Copyright (C) 2004-2012 by Embedded and Real-Time Systems Laboratory
 *              Graduate School of Information Science, Nagoya Univ., JAPAN
 * 
 *  Ÿåµ­Ãøºîž¢ŒÔ€Ï¡€°Ê²Œ€Î(1)¡Á(4)€ÎŸò·ï€òËþ€¿€¹Ÿì¹ç€ËžÂ€ê¡€ËÜ¥œ¥Õ¥È¥Š¥§
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 *      €È¡¥
 *    (a) ºÆÇÛÉÛ€ËÈŒ€Š¥É¥­¥å¥á¥ó¥È¡ÊÍøÍьԥޥ˥奢¥ë€Ê€É¡Ë€Ë¡€Ÿåµ­€ÎÃø
 *        ºîž¢ÉœŒš¡€€³€ÎÍøÍÑŸò·ï€ª€è€Ó²Œµ­€Î̵ÊÝŸÚµ¬Äê€ò·ÇºÜ€¹€ë€³€È¡¥
 *    (b) ºÆÇÛÉۀηÁÂÖ€ò¡€ÊÌ€ËÄê€á€ëÊýË¡€Ë€è€Ã€Æ¡€TOPPERS¥×¥í¥ž¥§¥¯¥È€Ë
 *        Êó¹ð€¹€ë€³€È¡¥
 *  (4) ËÜ¥œ¥Õ¥È¥Š¥§¥¢€ÎÍøÍрˀè€êÄŸÀÜŪ€Þ€¿€ÏŽÖÀÜŪ€ËÀž€ž€ë€€€«€Ê€ë»
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 *      €Þ€¿¡€ËÜ¥œ¥Õ¥È¥Š¥§¥¢€Î¥æ¡Œ¥¶€Þ€¿€Ï¥š¥ó¥É¥æ¡Œ¥¶€«€é€Î€€€«€Ê€ëÍý
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 *      ÌÈÀÕ€¹€ë€³€È¡¥
 * 
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 *  €ÎÀÕÇ€€òÉé€ï€Ê€€¡¥
 * 
 *  $Id$
 */

/* 
 *  ¥µ¥ó¥×¥ë¥×¥í¥°¥é¥à(1)€ÎËÜÂÎ
 *
 *  ASP¥«¡Œ¥Í¥ë€ÎŽðËÜŪ€ÊÆ°ºî€ò³Îǧ€¹€ë€¿€á€Î¥µ¥ó¥×¥ë¥×¥í¥°¥é¥à¡¥
 *
 *  ¥×¥í¥°¥é¥à€Î³µÍ×:
 *
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 *  ÀèÅÙ: MAIN_PRIORITY¡Ë€È¡€3€Ä€ÎʹԌ¹Ԁµ€ì€ë¥¿¥¹¥¯¡Ê¥¿¥¹¥¯ID:
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 *  Žü€¬2ÉÀΌþŽü¥Ï¥ó¥É¥é¡ÊŒþŽü¥Ï¥ó¥É¥éID: CYCHDR1¡Ë€òÍÑ€€€ë¡¥
 *
 *  ʹԌ¹Ԁµ€ì€ë¥¿¥¹¥¯€Ï¡€task_loop²ó¶õ¥ë¡Œ¥×€òŒÂ¹Ô€¹€ëÅـˡ€¥¿¥¹¥¯€¬
 *  ŒÂ¹ÔÃæ€Ç€¢€ë€³€È€ò€¢€é€ï€¹¥á¥Ã¥»¡Œ¥ž€òÉœŒš€¹€ë¡¥¶õ¥ë¡Œ¥×€òŒÂ¹Ô€¹€ë
 *  €Î€Ï¡€¶õ¥ë¡Œ¥×€Ê€·€Ç¥á¥Ã¥»¡Œ¥ž€òœÐÎÏ€¹€ë€È¡€Â¿Î̀Υá¥Ã¥»¡Œ¥ž€¬œÐÎÏ
 *  €µ€ì¡€¥×¥í¥°¥é¥à€ÎÆ°ºî€¬³Îǧ€·€º€é€¯€Ê€ë€¿€á€Ç€¢€ë¡¥€Þ€¿¡€Ä㮀ʥ·
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 *
 *  ŒþŽü¥Ï¥ó¥É¥é€Ï¡€»°€Ä€ÎÍ¥ÀèÅÙ¡ÊHIGH_PRIORITY¡€MID_PRIORITY¡€
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 *  ŒþŽü¥Ï¥ó¥É¥é€ÏÄä»ßŸõÂրˀʀÀƀ€€ë¡¥
 *
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 *  ÂԀÀƀ€€ëŽÖ€Ï¡€Ê¹Ԍ¹Ԁµ€ì€ë¥¿¥¹¥¯€¬ŒÂ¹Ô€µ€ì€Æ€€€ë¡Ë¡€ÆþÎÏ€µ€ì€¿
 *  Êž»ú€ËÂбþ€·€¿œèÍý€òŒÂ¹Ô€¹€ë¡¥ÆþÎÏ€µ€ì€¿Êž»ú€ÈœèÍý€ÎŽØ·ž€ÏŒ¡€ÎÄ̀ꡥ
 *  Control-C€Þ€¿€Ï'Q'€¬ÆþÎÏ€µ€ì€ë€È¡€¥×¥í¥°¥é¥à€òœªÎ»€¹€ë¡¥
 *
 *  '1' : ÂПݥ¿¥¹¥¯€òTASK1€ËÀڀꎹ€š€ë¡ÊœéŽüÀßÄê¡Ë¡¥
 *  '2' : ÂПݥ¿¥¹¥¯€òTASK2€ËÀڀꎹ€š€ë¡¥
 *  '3' : ÂПݥ¿¥¹¥¯€òTASK3€ËÀڀꎹ€š€ë¡¥
 *  'a' : ÂПݥ¿¥¹¥¯€òact_tsk€Ë€è€êµ¯Æ°€¹€ë¡¥
 *  'A' : ÂПݥ¿¥¹¥¯€ËÂЀ¹€ëµ¯Æ°Í×µá€òcan_act€Ë€è€ê¥­¥ã¥ó¥»¥ë€¹€ë¡¥
 *  'e' : ÂПݥ¿¥¹¥¯€Ëext_tsk€òžÆ€ÓœÐ€µ€»¡€œªÎ»€µ€»€ë¡¥
 *  't' : ÂПݥ¿¥¹¥¯€òter_tsk€Ë€è€ê¶¯À©œªÎ»€¹€ë¡¥
 *  '>' : ÂПݥ¿¥¹¥¯€ÎÍ¥ÀèÅÙ€òHIGH_PRIORITY€Ë€¹€ë¡¥
 *  '=' : ÂПݥ¿¥¹¥¯€ÎÍ¥ÀèÅÙ€òMID_PRIORITY€Ë€¹€ë¡¥
 *  '<' : ÂПݥ¿¥¹¥¯€ÎÍ¥ÀèÅÙ€òLOW_PRIORITY€Ë€¹€ë¡¥
 *  'G' : ÂПݥ¿¥¹¥¯€ÎÍ¥ÀèÅÙ€òget_pri€ÇÆɀߜЀ¹¡¥
 *  's' : ÂПݥ¿¥¹¥¯€Ëslp_tsk€òžÆ€ÓœÐ€µ€»¡€µ¯Ÿ²ÂÔ€Á€Ë€µ€»€ë¡¥
 *  'S' : ÂПݥ¿¥¹¥¯€Ëtslp_tsk(10ÉÃ)€òžÆ€ÓœÐ€µ€»¡€µ¯Ÿ²ÂÔ€Á€Ë€µ€»€ë¡¥
 *  'w' : ÂПݥ¿¥¹¥¯€òwup_tsk€Ë€è€êµ¯Ÿ²€¹€ë¡¥
 *  'W' : ÂПݥ¿¥¹¥¯€ËÂЀ¹€ëµ¯Ÿ²Í×µá€òcan_wup€Ë€è€ê¥­¥ã¥ó¥»¥ë€¹€ë¡¥
 *  'l' : ÂПݥ¿¥¹¥¯€òrel_wai€Ë€è€ê¶¯À©Åª€ËÂÔ€Á²òœü€Ë€¹€ë¡¥
 *  'u' : ÂПݥ¿¥¹¥¯€òsus_tsk€Ë€è€ê¶¯À©ÂÔ€ÁŸõÂրˀ¹€ë¡¥
 *  'm' : ÂПݥ¿¥¹¥¯€Î¶¯À©ÂÔ€ÁŸõÂÖ€òrsm_tsk€Ë€è€ê²òœü€¹€ë¡¥
 *  'd' : ÂПݥ¿¥¹¥¯€Ëdly_tsk(10ÉÃ)€òžÆ€ÓœÐ€µ€»¡€»þŽÖ·Ð²áÂÔ€Á€Ë€µ€»€ë¡¥
 *  'x' : ÂПݥ¿¥¹¥¯€ËÎã³°¥Ñ¥¿¡Œ¥ó0x0001€ÎÎã³°œèÍý€òÍ׵္€ë¡¥
 *  'X' : ÂПݥ¿¥¹¥¯€ËÎã³°¥Ñ¥¿¡Œ¥ó0x0002€ÎÎã³°œèÍý€òÍ׵္€ë¡¥
 *  'y' : ÂПݥ¿¥¹¥¯€Ëdis_tex€òžÆ€ÓœÐ€µ€»¡€¥¿¥¹¥¯Îã³°€ò¶Ø»ß€¹€ë¡¥
 *  'Y' : ÂПݥ¿¥¹¥¯€Ëena_tex€òžÆ€ÓœÐ€µ€»¡€¥¿¥¹¥¯Îã³°€òµö²Ä€¹€ë¡¥
 *  'r' : 3€Ä€ÎÍ¥ÀèÅÙ¡ÊHIGH_PRIORITY¡€MID_PRIORITY¡€LOW_PRIORITY¡Ë€Î¥ì
 *        ¥Ç¥£¥­¥å¡Œ€ò²óÅŸ€µ€»€ë¡¥
 *  'c' : ŒþŽü¥Ï¥ó¥É¥é€òÆ°ºî³«»Ï€µ€»€ë¡¥
 *  'C' : ŒþŽü¥Ï¥ó¥É¥é€òÆ°ºîÄä»ß€µ€»€ë¡¥
 *  'b' : ¥¢¥é¡Œ¥à¥Ï¥ó¥É¥é€ò5ÉÞå€Ëµ¯Æ°€¹€ë€è€ŠÆ°ºî³«»Ï€µ€»€ë¡¥
 *  'B' : ¥¢¥é¡Œ¥à¥Ï¥ó¥É¥é€òÆ°ºîÄä»ß€µ€»€ë¡¥
 *  'z' : ÂПݥ¿¥¹¥¯€ËCPUÎã³°€òȯÀž€µ€»€ë¡Ê¥¿¥¹¥¯€òœªÎ»€µ€»€ë¡Ë¡¥
 *  'Z' : ÂПݥ¿¥¹¥¯€ËCPU¥í¥Ã¥¯ŸõÂÖ€ÇCPUÎã³°€òȯÀž€µ€»€ë¡Ê¥×¥í¥°¥é¥à€ò
 *        œªÎ»€¹€ë¡Ë¡¥
 *  'V' : get_utm€ÇÀ­ÇœÉŸ²ÁÍÑ¥·¥¹¥Æ¥à»þ¹ï€ò2²óÆɀࡥ
 *  'v' : ȯ¹Ô€·€¿¥·¥¹¥Æ¥à¥³¡Œ¥ë€òÉœŒš€¹€ë¡Ê¥Ç¥Õ¥©¥ë¥È¡Ë¡¥
 *  'q' : ȯ¹Ô€·€¿¥·¥¹¥Æ¥à¥³¡Œ¥ë€òÉœŒš€·€Ê€€¡¥
 */

#include <kernel.h>
#include <t_syslog.h>
#include <t_stdlib.h>
#include "syssvc/serial.h"
#include "syssvc/syslog.h"
#include "kernel_cfg.h"
#include "sample1.h"

/*
 *  ¥µ¡Œ¥Ó¥¹¥³¡Œ¥ë€Î¥š¥é¡Œ€Î¥í¥°œÐÎÏ
 */
Inline void
svc_perror(const char *file, int_t line, const char *expr, ER ercd)
{
        if (ercd < 0) {
                t_perror(LOG_ERROR, file, line, expr, ercd);
        }
}

#define SVC_PERROR(expr)        svc_perror(__FILE__, __LINE__, #expr, (expr))

/*
 *  ʹԌ¹Ԁµ€ì€ë¥¿¥¹¥¯€Ø€Î¥á¥Ã¥»¡Œ¥žÎΰè
 */
char    message[3];

/*
 *  ¥ë¡Œ¥×²ó¿ô
 */
ulong_t task_loop;              /* ¥¿¥¹¥¯Æâ€Ç€Î¥ë¡Œ¥×²ó¿ô */
ulong_t tex_loop;               /* Îã³°œèÍý¥ë¡Œ¥Á¥óÆâ€Ç€Î¥ë¡Œ¥×²ó¿ô */

/*
 *  ʹԌ¹Ԁµ€ì€ë¥¿¥¹¥¯
 */
void task(intptr_t exinf)
{
        volatile ulong_t        i;
        int_t           n = 0;
        int_t           tskno = (int_t) exinf;
        const char      *graph[] = { "|", "  +", "    *" };
        char            c;

        SVC_PERROR(ena_tex());
        while (true) {
                syslog(LOG_NOTICE, "task%d is running (%03d).   %s",
                                                                                tskno, ++n, graph[tskno-1]);
                for (i = 0; i < task_loop; i++);
                c = message[tskno-1];
                message[tskno-1] = 0;
                switch (c) {
                case 'e':
                        syslog(LOG_INFO, "#%d#ext_tsk()", tskno);
                        SVC_PERROR(ext_tsk());
                        assert(0);
                case 's':
                        syslog(LOG_INFO, "#%d#slp_tsk()", tskno);
                        SVC_PERROR(slp_tsk());
                        break;
                case 'S':
                        syslog(LOG_INFO, "#%d#tslp_tsk(10000)", tskno);
                        SVC_PERROR(tslp_tsk(10000));
                        break;
                case 'd':
                        syslog(LOG_INFO, "#%d#dly_tsk(10000)", tskno);
                        SVC_PERROR(dly_tsk(10000));
                        break;
                case 'y':
                        syslog(LOG_INFO, "#%d#dis_tex()", tskno);
                        SVC_PERROR(dis_tex());
                        break;
                case 'Y':
                        syslog(LOG_INFO, "#%d#ena_tex()", tskno);
                        SVC_PERROR(ena_tex());
                        break;
#ifdef CPUEXC1
                case 'z':
                        syslog(LOG_NOTICE, "#%d#raise CPU exception", tskno);
                        RAISE_CPU_EXCEPTION;
                        break;
                case 'Z':
                        SVC_PERROR(loc_cpu());
                        syslog(LOG_NOTICE, "#%d#raise CPU exception", tskno);
                        RAISE_CPU_EXCEPTION;
                        SVC_PERROR(unl_cpu());
                        break;
#endif /* CPUEXC1 */
                default:
                        break;
                }
        }
}

/*
 *  ʹԀ·€ÆŒÂ¹Ô€µ€ì€ë¥¿¥¹¥¯ÍрΥ¿¥¹¥¯Îã³°œèÍý¥ë¡Œ¥Á¥ó
 */
void tex_routine(TEXPTN texptn, intptr_t exinf)
{
        volatile ulong_t        i;
        int_t   tskno = (int_t) exinf;

        syslog(LOG_NOTICE, "task%d receives exception 0x%04x.", tskno, texptn);
        for (i = 0; i < tex_loop; i++);

        if ((texptn & 0x8000U) != 0U) {
                syslog(LOG_INFO, "#%d#ext_tsk()", tskno);
                SVC_PERROR(ext_tsk());
                assert(0);
        }
}

/*
 *  CPUÎã³°¥Ï¥ó¥É¥é
 */
#ifdef CPUEXC1

void
cpuexc_handler(void *p_excinf)
{
        ID              tskid;

        syslog(LOG_NOTICE, "CPU exception handler (p_excinf = %08p).", p_excinf);
        if (sns_ctx() != true) {
                syslog(LOG_WARNING,
                                        "sns_ctx() is not true in CPU exception handler.");
        }
        if (sns_dpn() != true) {
                syslog(LOG_WARNING,
                                        "sns_dpn() is not true in CPU exception handler.");
        }
        syslog(LOG_INFO, "sns_loc = %d sns_dsp = %d sns_tex = %d",
                                                                        sns_loc(), sns_dsp(), sns_tex());
        syslog(LOG_INFO, "xsns_dpn = %d xsns_xpn = %d",
                                                                        xsns_dpn(p_excinf), xsns_xpn(p_excinf));

        if (xsns_xpn(p_excinf)) {
                syslog(LOG_NOTICE, "Sample program ends with exception.");
                SVC_PERROR(ext_ker());
                assert(0);
        }

        SVC_PERROR(iget_tid(&tskid));
        SVC_PERROR(iras_tex(tskid, 0x8000U));
}

#endif /* CPUEXC1 */

/*
 *  ŒþŽü¥Ï¥ó¥É¥é
 *
 *  HIGH_PRIORITY¡€MID_PRIORITY¡€LOW_PRIORITY €Î³ÆÍ¥ÀèÅـΥì¥Ç¥£¥­¥å¡Œ
 *  €ò²óÅŸ€µ€»€ë¡¥
 */
void cyclic_handler(intptr_t exinf)
{
        SVC_PERROR(irot_rdq(HIGH_PRIORITY));
        SVC_PERROR(irot_rdq(MID_PRIORITY));
        SVC_PERROR(irot_rdq(LOW_PRIORITY));
}

/*
 *  ¥¢¥é¡Œ¥à¥Ï¥ó¥É¥é
 *
 *  HIGH_PRIORITY¡€MID_PRIORITY¡€LOW_PRIORITY €Î³ÆÍ¥ÀèÅـΥì¥Ç¥£¥­¥å¡Œ
 *  €ò²óÅŸ€µ€»€ë¡¥
 */
void alarm_handler(intptr_t exinf)
{
        SVC_PERROR(irot_rdq(HIGH_PRIORITY));
        SVC_PERROR(irot_rdq(MID_PRIORITY));
        SVC_PERROR(irot_rdq(LOW_PRIORITY));
}

/*
 *  ¥á¥€¥ó¥¿¥¹¥¯
 */
void main_task(intptr_t exinf)
{
        char    c;
        ID              tskid = TASK1;
        int_t   tskno = 1;
        ER_UINT ercd;
        PRI             tskpri;
#ifndef TASK_LOOP
        volatile ulong_t        i;
        SYSTIM  stime1, stime2;
#endif /* TASK_LOOP */
#ifdef TOPPERS_SUPPORT_GET_UTM
        SYSUTM  utime1, utime2;
#endif /* TOPPERS_SUPPORT_GET_UTM */

        SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO), LOG_UPTO(LOG_EMERG)));
        syslog(LOG_NOTICE, "Sample program starts (exinf = %d).", (int_t) exinf);

        /*
         *  ¥·¥ê¥¢¥ë¥Ý¡Œ¥È€ÎœéŽü²œ
         *
         *  ¥·¥¹¥Æ¥à¥í¥°¥¿¥¹¥¯€ÈƱ€ž¥·¥ê¥¢¥ë¥Ý¡Œ¥È€ò»È€ŠŸì¹ç€Ê€É¡€¥·¥ê¥¢¥ë
         *  ¥Ý¡Œ¥È€¬¥ª¡Œ¥×¥óºÑ€ß€ÎŸì¹ç€Ë€Ï€³€³€ÇE_OBJ¥š¥é¡Œ€Ë€Ê€ë€¬¡€»ÙŸã€Ï
         *  €Ê€€¡¥
         */
        ercd = serial_opn_por(TASK_PORTID);
        if (ercd < 0 && MERCD(ercd) != E_OBJ) {
                syslog(LOG_ERROR, "%s (%d) reported by `serial_opn_por'.",
                                                                        itron_strerror(ercd), SERCD(ercd));
        }
        SVC_PERROR(serial_ctl_por(TASK_PORTID,
                                                        (IOCTL_CRLF | IOCTL_FCSND | IOCTL_FCRCV)));

        /*
         *  ¥ë¡Œ¥×²ó¿ô€ÎÀßÄê
         *
         *  ʹԌ¹Ԁµ€ì€ë¥¿¥¹¥¯Æâ€Ç€Î¶õ¥ë¡Œ¥×€Î²ó¿ô¡Êtask_loop¡Ë€Ï¡€¶õ¥ë¡Œ
         *  ¥×€ÎŒÂ¹Ô»þŽÖ€¬Ìó0.4ÉÀˀʀë€è€Š€ËÀßÄꀹ€ë¡¥€³€ÎÀßÄê€Î€¿€á€Ë¡€
         *  LOOP_REF²ó€Î¶õ¥ë¡Œ¥×€ÎŒÂ¹Ô»þŽÖ€ò¡€€œ€ÎÁ°žå€Çget_tim€òžÆ€Ö€³€È€Ç
         *  ¬Äꀷ¡€€œ€Î¬Äê·ë²Ì€«€é¶õ¥ë¡Œ¥×€ÎŒÂ¹Ô»þŽÖ€¬0.4ÉÀˀʀë¥ë¡Œ¥×²ó
         *  ¿ô€òµá€á¡€task_loop€ËÀßÄꀹ€ë¡¥
         *
         *  LOOP_REF€Ï¡€¥Ç¥Õ¥©¥ë¥È€Ç€Ï1,000,000€ËÀßÄꀷ€Æ€€€ë€¬¡€ÁÛÄꀷ€¿€è
         *  €êÃÙ€€¥×¥í¥»¥Ã¥µ€Ç€Ï¡€¥µ¥ó¥×¥ë¥×¥í¥°¥é¥à€ÎŒÂ¹Ô³«»Ï€Ë»þŽÖ€¬€«€«
         *  €ê€¹€®€ë€È€€€ŠÌäÂê€òÀž€ž€ë¡¥µÕ€ËÁÛÄꀷ€¿€è€ê®€€¥×¥í¥»¥Ã¥µ€Ç€Ï¡€
         *  LOOP_REF²ó€Î¶õ¥ë¡Œ¥×€ÎŒÂ¹Ô»þŽÖ€¬Ã»€¯€Ê€ê¡€task_loop€ËÀßÄꀹ€ëÃÍ
         *  €Îžíº¹€¬Â瀭€¯€Ê€ë€È€€€ŠÌäÂꀬ€¢€ë¡¥
         *
         *  €œ€³€Ç¡€€œ€Î€è€Š€Ê¥¿¡Œ¥²¥Ã¥È€Ç€Ï¡€target_test.h€Ç¡€LOOP_REF€òŬ
         *  ÀÚ€ÊÃÍ€ËÄêµÁ€¹€ë€Î€¬ËŸ€Þ€·€€¡¥
         *
         *  €Þ€¿¡€task_loop€ÎÃÍ€òžÇÄꀷ€¿€€Ÿì¹ç€Ë€Ï¡€€œ€ÎÃÍ€òTASK_LOOP€Ë¥Þ
         *  ¥¯¥íÄêµÁ€¹€ë¡¥TASK_LOOP€¬¥Þ¥¯¥íÄêµÁ€µ€ì€Æ€€€ëŸì¹ç¡€Ÿåµ­€Î¬Äê€ò
         *  ¹Ô€ï€º€Ë¡€TASK_LOOP€ËÄêµÁ€µ€ì€¿ÃÍ€ò¶õ¥ë¡Œ¥×€Î²ó¿ô€È€¹€ë¡¥
         *
         * ¥¿¡Œ¥²¥Ã¥È€Ë€è€Ã€Æ€Ï¡€¶õ¥ë¡Œ¥×€ÎŒÂ¹Ô»þŽÖ€Î1²óÌ܀άÄê€Ç¡€ËÜÍè€è
         * €ê€âĹ€á€Ë€Ê€ë€â€Î€¬€¢€ë¡¥€³€Î€è€Š€Ê¥¿¡Œ¥²¥Ã¥È€Ç€Ï¡€MEASURE_TWICE
         * €ò¥Þ¥¯¥íÄêµÁ€¹€ë€³€È€Ç¡€1²óÌ܀άÄê·ë²Ì€òŒÎ€Æ€Æ¡€2²óÌ܀άÄê·ë²Ì
         * €ò»È€Š¡¥
         *
         *  ¥¿¥¹¥¯Îã³°œèÍý¥ë¡Œ¥Á¥óÆâ€Ç€Î¶õ¥ë¡Œ¥×€Î²ó¿ô¡Êtex_loop¡Ë€Ï¡€
         *  task_loop€Î4ʬ€Î1€ÎÃ͡ʶõ¥ë¡Œ¥×€ÎŒÂ¹Ô»þŽÖ€¬0.1ÉÀˀʀë¥ë¡Œ¥×²ó
         *  ¿ô¡Ë€ËÀßÄꀹ€ë¡¥
         */
#ifdef TASK_LOOP
        task_loop = TASK_LOOP;
#else /* TASK_LOOP */

#ifdef MEASURE_TWICE
        task_loop = LOOP_REF;
        SVC_PERROR(get_tim(&stime1));
        for (i = 0; i < task_loop; i++);
        SVC_PERROR(get_tim(&stime2));
#endif /* MEASURE_TWICE */

        task_loop = LOOP_REF;
        SVC_PERROR(get_tim(&stime1));
        for (i = 0; i < task_loop; i++);
        SVC_PERROR(get_tim(&stime2));
        task_loop = LOOP_REF * 400UL / (stime2 - stime1);

#endif /* TASK_LOOP */
        tex_loop = task_loop / 4;

        /*
         *  ¥¿¥¹¥¯€Îµ¯Æ°
         */
        SVC_PERROR(act_tsk(TASK1));
        SVC_PERROR(act_tsk(TASK2));
        SVC_PERROR(act_tsk(TASK3));

        /*
         *  ¥á¥€¥ó¥ë¡Œ¥×
         */
        do {
                SVC_PERROR(serial_rea_dat(TASK_PORTID, &c, 1));
                switch (c) {
                case 'e':
                case 's':
                case 'S':
                case 'd':
                case 'y':
                case 'Y':
                case 'z':
                case 'Z':
                        message[tskno-1] = c;
                        break;
                case '1':
                        tskno = 1;
                        tskid = TASK1;
                        break;
                case '2':
                        tskno = 2;
                        tskid = TASK2;
                        break;
                case '3':
                        tskno = 3;
                        tskid = TASK3;
                        break;
                case 'a':
                        syslog(LOG_INFO, "#act_tsk(%d)", tskno);
                        SVC_PERROR(act_tsk(tskid));
                        break;
                case 'A':
                        syslog(LOG_INFO, "#can_act(%d)", tskno);
                        SVC_PERROR(ercd = can_act(tskid));
                        if (ercd >= 0) {
                                syslog(LOG_NOTICE, "can_act(%d) returns %d", tskno, ercd);
                        }
                        break;
                case 't':
                        syslog(LOG_INFO, "#ter_tsk(%d)", tskno);
                        SVC_PERROR(ter_tsk(tskid));
                        break;
                case '>':
                        syslog(LOG_INFO, "#chg_pri(%d, HIGH_PRIORITY)", tskno);
                        SVC_PERROR(chg_pri(tskid, HIGH_PRIORITY));
                        break;
                case '=':
                        syslog(LOG_INFO, "#chg_pri(%d, MID_PRIORITY)", tskno);
                        SVC_PERROR(chg_pri(tskid, MID_PRIORITY));
                        break;
                case '<':
                        syslog(LOG_INFO, "#chg_pri(%d, LOW_PRIORITY)", tskno);
                        SVC_PERROR(chg_pri(tskid, LOW_PRIORITY));
                        break;
                case 'G':
                        syslog(LOG_INFO, "#get_pri(%d, &tskpri)", tskno);
                        SVC_PERROR(ercd = get_pri(tskid, &tskpri));
                        if (ercd >= 0) {
                                syslog(LOG_NOTICE, "priority of task %d is %d", tskno, tskpri);
                        }
                        break;
                case 'w':
                        syslog(LOG_INFO, "#wup_tsk(%d)", tskno);
                        SVC_PERROR(wup_tsk(tskid));
                        break;
                case 'W':
                        syslog(LOG_INFO, "#can_wup(%d)", tskno);
                        SVC_PERROR(ercd = can_wup(tskid));
                        if (ercd >= 0) {
                                syslog(LOG_NOTICE, "can_wup(%d) returns %d", tskno, ercd);
                        }
                        break;
                case 'l':
                        syslog(LOG_INFO, "#rel_wai(%d)", tskno);
                        SVC_PERROR(rel_wai(tskid));
                        break;
                case 'u':
                        syslog(LOG_INFO, "#sus_tsk(%d)", tskno);
                        SVC_PERROR(sus_tsk(tskid));
                        break;
                case 'm':
                        syslog(LOG_INFO, "#rsm_tsk(%d)", tskno);
                        SVC_PERROR(rsm_tsk(tskid));
                        break;
                case 'x':
                        syslog(LOG_INFO, "#ras_tex(%d, 0x0001U)", tskno);
                        SVC_PERROR(ras_tex(tskid, 0x0001U));
                        break;
                case 'X':
                        syslog(LOG_INFO, "#ras_tex(%d, 0x0002U)", tskno);
                        SVC_PERROR(ras_tex(tskid, 0x0002U));
                        break;
                case 'r':
                        syslog(LOG_INFO, "#rot_rdq(three priorities)");
                        SVC_PERROR(rot_rdq(HIGH_PRIORITY));
                        SVC_PERROR(rot_rdq(MID_PRIORITY));
                        SVC_PERROR(rot_rdq(LOW_PRIORITY));
                        break;
                case 'c':
                        syslog(LOG_INFO, "#sta_cyc(1)");
                        SVC_PERROR(sta_cyc(CYCHDR1));
                        break;
                case 'C':
                        syslog(LOG_INFO, "#stp_cyc(1)");
                        SVC_PERROR(stp_cyc(CYCHDR1));
                        break;
                case 'b':
                        syslog(LOG_INFO, "#sta_alm(1, 5000)");
                        SVC_PERROR(sta_alm(ALMHDR1, 5000));
                        break;
                case 'B':
                        syslog(LOG_INFO, "#stp_alm(1)");
                        SVC_PERROR(stp_alm(ALMHDR1));
                        break;

                case 'V':
#ifdef TOPPERS_SUPPORT_GET_UTM
                        SVC_PERROR(get_utm(&utime1));
                        SVC_PERROR(get_utm(&utime2));
                        syslog(LOG_NOTICE, "utime1 = %ld, utime2 = %ld",
                                                                                (ulong_t) utime1, (ulong_t) utime2);
#else /* TOPPERS_SUPPORT_GET_UTM */
                        syslog(LOG_NOTICE, "get_utm is not supported.");
#endif /* TOPPERS_SUPPORT_GET_UTM */
                        break;

                case 'v':
                        SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_INFO),
                                                                                LOG_UPTO(LOG_EMERG)));
                        break;
                case 'q':
                        SVC_PERROR(syslog_msk_log(LOG_UPTO(LOG_NOTICE),
                                                                                LOG_UPTO(LOG_EMERG)));
                        break;

#ifdef BIT_KERNEL
                case ' ':
                        SVC_PERROR(loc_cpu());
                        {
                                extern ER       bit_kernel(void);

                                SVC_PERROR(ercd = bit_kernel());
                                if (ercd >= 0) {
                                        syslog(LOG_NOTICE, "bit_kernel passed.");
                                }
                        }
                        SVC_PERROR(unl_cpu());
                        break;
#endif /* BIT_KERNEL */

                default:
                        break;
                }
        } while (c != '\003' && c != 'Q');

        syslog(LOG_NOTICE, "Sample program ends.");
        SVC_PERROR(ext_ker());
        assert(0);
}