Demo/MB91460_Softune/SRC/main.c

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+/* THIS SAMPLE CODE IS PROVIDED AS IS AND IS SUBJECT TO ALTERATIONS. FUJITSU */
+/* MICROELECTRONICS ACCEPTS NO RESPONSIBILITY OR LIABILITY FOR ANY ERRORS OR */
+/* ELIGIBILITY FOR ANY PURPOSES.											 */
+/*				 (C) Fujitsu Microelectronics Europe GmbH				  */
+/*------------------------------------------------------------------------
+  MAIN.C
+  - description
+  - See README.TXT for project description and disclaimer.
+-------------------------------------------------------------------------*/
+
+
+/*
+ * Creates all the demo application tasks, then starts the scheduler.  The WEB
+ * documentation provides more details of the demo application tasks.
+ * 
+ * Main.c also creates a task called "Check".  This only executes every three 
+ * seconds but has the highest priority so is guaranteed to get processor time.  
+ * Its main function is to check that all the other tasks are still operational.
+ * Each task (other than the "flash" tasks) maintains a unique count that is 
+ * incremented each time the task successfully completes its function.  Should 
+ * any error occur within such a task the count is permanently halted.  The 
+ * check task inspects the count of each task to ensure it has changed since
+ * the last time the check task executed.  If all the count variables have 
+ * changed all the tasks are still executing error free, and the check task
+ * toggles the onboard LED.  Should any task contain an error at any time 
+ * the LED toggle rate will change from 3 seconds to 500ms.
+ *
+ */
+
+
+/* Hardware specific includes. */
+#include "mb91467d.h"
+#include "vectors.h"
+#include "watchdog.h"
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Demo app includes. */
+#include "flash.h"
+#include "integer.h"
+#include "comtest.h"
+#include "PollQ.h"
+#include "semtest.h"
+#include "BlockQ.h"
+#include "dynamic.h"
+#include "flop.h"
+#include "crflash.h"
+#include "crhook.h"
+#include "GenQTest.h"
+#include "QPeek.h"
+#include "BlockTim.h"
+#include "death.h"
+#include "taskutility.h"
+	
+/* Demo task priorities. */
+#define mainWATCHDOG_TASK_PRIORITY		( tskIDLE_PRIORITY + 5 )
+#define mainCHECK_TASK_PRIORITY			( tskIDLE_PRIORITY + 4 )
+#define mainUTILITY_TASK_PRIORITY		( tskIDLE_PRIORITY + 3 )
+#define mainSEM_TEST_PRIORITY			( tskIDLE_PRIORITY + 3 )
+#define mainCOM_TEST_PRIORITY			( tskIDLE_PRIORITY + 2 )
+#define mainQUEUE_POLL_PRIORITY			( tskIDLE_PRIORITY + 2 )
+#define mainQUEUE_BLOCK_PRIORITY		( tskIDLE_PRIORITY + 2 )
+#define mainDEATH_PRIORITY 				( tskIDLE_PRIORITY + 1 )
+#define mainLED_TASK_PRIORITY			( tskIDLE_PRIORITY + 1 )
+#define mainGENERIC_QUEUE_PRIORITY		( tskIDLE_PRIORITY )
+
+/* Baud rate used by the COM test tasks. */
+#define mainCOM_TEST_BAUD_RATE			( ( unsigned portLONG ) 19200 )
+
+/* The frequency at which the 'Check' tasks executes.  See the comments at the 
+top of the page.  When the system is operating error free the 'Check' task
+toggles an LED every three seconds.  If an error is discovered in any task the
+rate is increased to 500 milliseconds.  [in this case the '*' characters on the 
+LCD represent LED's]*/
+#define mainNO_ERROR_CHECK_DELAY		( ( portTickType ) 3000 / portTICK_RATE_MS  )
+#define mainERROR_CHECK_DELAY			( ( portTickType ) 500 / portTICK_RATE_MS  )
+
+/* The total number of LEDs available. */
+#define ledNUMBER_OF_LEDS		( 8 )
+
+/* The first LED used by the comtest tasks. */
+#define mainCOM_TEST_LED		( 0x05 )
+
+/* The LED used by the check task. */
+#define mainCHECK_TEST_LED		( 0x07 )
+
+/* The number of interrupt levels to use. */
+#define mainINTERRUPT_LEVELS	( 31 )
+
+/*---------------------------------------------------------------------------*/
+
+/* 
+ * The function that implements the Check task.  See the comments at the head
+ * of the page for implementation details.
+ */ 
+static void vErrorChecks( void *pvParameters );
+
+/*
+ * Called by the Check task.  Returns pdPASS if all the other tasks are found
+ * to be operating without error - otherwise returns pdFAIL.
+ */
+static portSHORT prvCheckOtherTasksAreStillRunning( void );
+
+/* 
+ * Setup the microcontroller as used by this demo. 
+ */
+static void prvSetupHardware( void );
+
+/*---------------------------------------------------------------------------*/
+
+/* Start all the demo application tasks, then start the scheduler. */
+void main(void)
+{
+	/* Initialise the hardware ready for the demo. */	
+	prvSetupHardware();
+	
+	/* Start the standard demo application tasks. */
+	vStartLEDFlashTasks( mainLED_TASK_PRIORITY );	
+	vStartIntegerMathTasks( tskIDLE_PRIORITY );
+	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
+	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
+	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
+	vStartBlockingQueueTasks ( mainQUEUE_BLOCK_PRIORITY );	
+	vStartDynamicPriorityTasks();	
+	vStartMathTasks( tskIDLE_PRIORITY );	
+	vStartFlashCoRoutines(ledNUMBER_OF_LEDS);	
+	vStartHookCoRoutines();
+	vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
+	vStartQueuePeekTasks();
+	vCreateBlockTimeTasks();
+	
+	/* Start the 'Check' task which is defined in this file. */
+	xTaskCreate( vErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );	
+
+	/* Start the task that write trace information to the UART. */	
+	vUtilityStartTraceTask( mainUTILITY_TASK_PRIORITY );
+
+	/* If we are going to service the watchdog from within a task, then create
+	the task here. */	
+	#if WATCHDOG == WTC_IN_TASK	
+		vStartWatchdogTask( mainWATCHDOG_TASK_PRIORITY );
+	#endif		
+	
+	/* The suicide tasks must be started last as they record the number of other
+	tasks that exist within the system.  The value is then used to ensure at run
+	time the number of tasks that exists is within expected bounds. */
+	vCreateSuicidalTasks( mainDEATH_PRIORITY );
+
+	/* Now start the scheduler.  Following this call the created tasks should
+	be executing. */	
+	vTaskStartScheduler( );
+	
+	/* vTaskStartScheduler() will only return if an error occurs while the 
+	idle task is being created. */
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
+static void vErrorChecks( void *pvParameters )
+{
+portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
+
+	/* Cycle for ever, delaying then checking all the other tasks are still
+	operating without error. */
+	for( ;; )
+	{
+		/* Wait until it is time to check again.  The time we wait here depends
+		on whether an error has been detected or not.  When an error is 
+		detected the time is shortened resulting in a faster LED flash rate. */
+		vTaskDelay( xDelayPeriod );
+
+		/* See if the other tasks are all ok. */
+		if( prvCheckOtherTasksAreStillRunning() != pdPASS )
+		{
+			/* An error occurred in one of the tasks so shorten the delay 
+			period - which has the effect of increasing the frequency of the
+			LED toggle. */
+			xDelayPeriod = mainERROR_CHECK_DELAY;
+		}
+
+		/* Flash! */
+		vParTestToggleLED(mainCHECK_TEST_LED);
+	}
+}
+/*-----------------------------------------------------------*/
+
+static portSHORT prvCheckOtherTasksAreStillRunning( void )
+{
+static portBASE_TYPE xErrorOccurred = pdFALSE;
+
+	/* The demo tasks maintain a count that increments every cycle of the task
+	provided that the task has never encountered an error.  This function 
+	checks the counts maintained by the tasks to ensure they are still being
+	incremented.  A count remaining at the same value between calls therefore
+	indicates that an error has been detected. */
+
+	if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
+	{
+		xErrorOccurred = pdTRUE
+	}
+
+	if( xArePollingQueuesStillRunning() != pdTRUE )
+	{
+		xErrorOccurred = pdTRUE
+	}
+
+	if( xAreComTestTasksStillRunning() != pdTRUE )
+	{
+		xErrorOccurred = pdTRUE
+	}
+	
+	if( xAreSemaphoreTasksStillRunning() != pdTRUE )
+	{
+		xErrorOccurred = pdTRUE
+	}
+	
+	if( xAreBlockingQueuesStillRunning() != pdTRUE )
+	{
+		xErrorOccurred = pdTRUE
+	}
+	
+	if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
+	{
+		xErrorOccurred = pdTRUE
+	}
+	
+	if( xAreMathsTaskStillRunning() != pdTRUE )
+	{
+		xErrorOccurred = pdTRUE
+	}
+	
+	if( xAreFlashCoRoutinesStillRunning() != pdTRUE ) 
+	{
+		xErrorOccurred = pdTRUE
+	}
+	
+	if( xAreHookCoRoutinesStillRunning() != pdTRUE )
+	{
+		xErrorOccurred = pdTRUE
+	}
+	
+	if( xIsCreateTaskStillRunning() != pdTRUE )
+	{
+		xErrorOccurred = pdTRUE
+	}
+	
+	if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
+	{
+		xErrorOccurred = pdTRUE
+	}
+	
+	if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
+	{
+		xErrorOccurred = pdTRUE
+	}
+	
+	if ( xAreQueuePeekTasksStillRunning() != pdTRUE )
+	{
+		xErrorOccurred = pdTRUE
+	}
+	
+	return sNoErrorFound;
+}
+/*-----------------------------------------------------------*/
+
+static void prvSetupHardware( void )
+{
+	/* Allow all interrupt levels. */
+	__set_il( mainINTERRUPT_LEVELS );
+
+	/* Initialise interrupts. */
+	InitIrqLevels();
+
+	/* Initialise the ports used by the LEDs. */
+	vParTestInitialise();
+
+	/* If we are going to use the watchdog, then initialise it now. */
+	#if WATCHDOG != WTC_NONE	
+		InitWatchdog();
+	#endif
+}
+/*-----------------------------------------------------------*/
+
+/* The below callback function is called from Tick ISR if configUSE_TICK_HOOK 
+is configured as 1. This function needs to be uncommented if the crhook.c
+is not used, since the crhook.c has also defined vApplicationTickHook().  */  
+#if configUSE_TICK_HOOK == 1
+	void vApplicationTickHook ( void )
+	{
+		/* Are we using the tick interrupt to kick the watchdog? */
+		#if WATCHDOG == WTC_IN_TICK
+			Kick_Watchdog();
+		#endif
+	}
+#endif
+/*-----------------------------------------------------------*/
+
+/* The below callback function is called from Delayed ISR if configUSE_IDLE_HOOK 
+is configured as 1. */  
+#if configUSE_IDLE_HOOK == 1
+	void vApplicationIdleHook ( void )
+	{
+		/* Are we using the idle task to kick the watchdog? */
+		#if WATCHDOG == WTC_IN_IDLE
+			Kick_Watchdog();
+		#endif
+		
+		vCoRoutineSchedule();
+	}
+#endif