519 lines
18 KiB
C
519 lines
18 KiB
C
/*
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FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/* Standard includes. */
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#include <stdio.h>
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/* FreeRTOS includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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/* Hardware includes. */
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#include "msp430.h"
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#include "hal_MSP-EXP430F5438.h"
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/* Standard demo includes. */
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#include "ParTest.h"
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#include "dynamic.h"
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#include "comtest2.h"
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#include "GenQTest.h"
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/* Codes sent within messages to the LCD task so the LCD task can interpret
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exactly what the message it just received was. These are sent in the
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cMessageID member of the message structure (defined below). */
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#define mainMESSAGE_BUTTON_UP ( 1 )
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#define mainMESSAGE_BUTTON_SEL ( 2 )
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#define mainMESSAGE_STATUS ( 3 )
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/* When the cMessageID member of the message sent to the LCD task is
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mainMESSAGE_STATUS then these definitions are sent in the ulMessageValue member
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of the same message and indicate what the status actually is. */
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#define mainERROR_DYNAMIC_TASKS ( pdPASS + 1 )
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#define mainERROR_COM_TEST ( pdPASS + 2 )
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#define mainERROR_GEN_QUEUE_TEST ( pdPASS + 3 )
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#define mainERROR_REG_TEST ( pdPASS + 4 )
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/* The length of the queue (the number of items the queue can hold) that is used
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to send messages from tasks and interrupts the the LCD task. */
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#define mainQUEUE_LENGTH ( 5 )
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#define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainGENERIC_QUEUE_TEST_PRIORITY ( tskIDLE_PRIORITY )
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/* The LED used by the comtest tasks. See the comtest.c file for more
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information. In this case it is deliberately out of range as there are only
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two LEDs, and they are both already in use. */
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#define mainCOM_TEST_LED ( 3 )
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/* The baud rate used by the comtest tasks described at the top of this file. */
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#define mainCOM_TEST_BAUD_RATE ( 9600 )
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/*-----------------------------------------------------------*/
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extern void vRegTest1Task( void *pvParameters );
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extern void vRegTest2Task( void *pvParameters );
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static void prvSetupHardware( void );
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static void prvTerminalIOTask( void *pvParameters );
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static void prvButtonPollTask( void *pvParameters );
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static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue );
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/*-----------------------------------------------------------*/
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volatile unsigned short usRegTest1Counter = 0, usRegTest2Counter = 0;
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volatile unsigned long ulStatsOverflowCount = 0;
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/* The handle of the queue used to send messages from tasks and interrupts to
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the LCD task. */
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static xQueueHandle xLCDQueue = NULL;
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/* The definition of each message sent from tasks and interrupts to the LCD
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task. */
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typedef struct
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{
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char cMessageID; /* << States what the message is. */
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unsigned long ulMessageValue; /* << States the message value (can be an integer, string pointer, etc. depending on the value of cMessageID. */
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} xQueueMessage;
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/*-----------------------------------------------------------*/
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void main( void )
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{
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prvSetupHardware();
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/* Create the queue used by tasks and interrupts to send strings to the LCD
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task. */
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xLCDQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( xQueueMessage ) );
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if( xLCDQueue != NULL )
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{
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/* Add the created queue to the queue registry so it can be viewed in
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the IAR FreeRTOS state viewer plug-in. */
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vQueueAddToRegistry( xLCDQueue, "LCDQueue" );
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/* Create the standard demo tasks. */
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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vStartDynamicPriorityTasks();
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vStartGenericQueueTasks( mainGENERIC_QUEUE_TEST_PRIORITY );
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/* Create the terminal IO and button poll tasks, as described at the top
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of this file. */
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xTaskCreate( prvTerminalIOTask, ( signed char * ) "IO", configMINIMAL_STACK_SIZE * 2, NULL, mainLCD_TASK_PRIORITY, NULL );
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xTaskCreate( prvButtonPollTask, ( signed char * ) "BPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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/* Create the register test tasks as described at the top of this file. */
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xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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vTaskStartScheduler();
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}
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvTerminalIOTask( void *pvParameters )
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{
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xQueueMessage xReceivedMessage;
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/* Buffer into which strings are formatted and placed ready for display on the
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LCD. Note this is a static variable to prevent it being allocated on the task
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stack, which is too small to hold such a variable. The stack size is configured
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when the task is created. */
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static char cBuffer[ 512 ];
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unsigned char ucLine = 1;
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/* This function is the only function that uses printf(). If printf() is
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used from any other function then some sort of mutual exclusion on stdout
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will be necessary.
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This is also the only function that is permitted to access the LCD.
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First print out the number of bytes that remain in the FreeRTOS heap. This
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can be viewed in the terminal IO window within the IAR Embedded Workbench. */
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printf( "%d bytes of heap space remain unallocated\n", ( int ) xPortGetFreeHeapSize() );
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for( ;; )
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{
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/* Wait for a message to be received. Using portMAX_DELAY as the block
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time will result in an indefinite wait provided INCLUDE_vTaskSuspend is
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set to 1 in FreeRTOSConfig.h, therefore there is no need to check the
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function return value and the function will only return when a value
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has been received. */
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xQueueReceive( xLCDQueue, &xReceivedMessage, portMAX_DELAY );
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/* Clear the LCD if no room remains for any more text output. */
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if( ucLine > 8 )
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{
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halLcdClearScreen();
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ucLine = 0;
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}
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/* What is this message? What does it contain? */
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switch( xReceivedMessage.cMessageID )
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{
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case mainMESSAGE_BUTTON_UP : /* The button poll task has just
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informed this task that the up
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button on the joystick input has
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been pressed or released. */
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sprintf( cBuffer, "Button up = %d", ( int ) xReceivedMessage.ulMessageValue );
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break;
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case mainMESSAGE_BUTTON_SEL : /* The select button interrupt
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just informed this task that the
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select button was pressed.
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Generate a table of task run time
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statistics and output this to
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the terminal IO window in the IAR
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embedded workbench. */
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printf( "\nTask\t Abs Time\t %%Time\n*****************************************" );
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fflush( stdout );
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vTaskGetRunTimeStats( ( signed char * ) cBuffer );
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printf( cBuffer );
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fflush( stdout );
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/* Also print out a message to
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the LCD - in this case the
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pointer to the string to print
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is sent directly in the
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lMessageValue member of the
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message. This just demonstrates
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a different communication
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technique. */
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sprintf( cBuffer, "%s", ( char * ) xReceivedMessage.ulMessageValue );
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break;
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case mainMESSAGE_STATUS : /* The tick interrupt hook
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function has just informed this
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task of the system status.
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Generate a string in accordance
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with the status value. */
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prvGenerateStatusMessage( cBuffer, xReceivedMessage.ulMessageValue );
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break;
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default : sprintf( cBuffer, "Unknown message" );
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break;
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}
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halLcdPrintLine( cBuffer, ucLine, OVERWRITE_TEXT );
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ucLine++;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue )
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{
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/* Just a utility function to convert a status value into a meaningful
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string for output onto the LCD. */
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switch( lStatusValue )
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{
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case pdPASS : sprintf( pcBuffer, "Status = PASS" );
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break;
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case mainERROR_DYNAMIC_TASKS : sprintf( pcBuffer, "Err: Dynamic tsks" );
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break;
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case mainERROR_COM_TEST : sprintf( pcBuffer, "Err: COM test" ); /* Error in COM test - is the Loopback connector connected? */
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break;
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case mainERROR_GEN_QUEUE_TEST : sprintf( pcBuffer, "Error: Gen Q test" );
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break;
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case mainERROR_REG_TEST : sprintf( pcBuffer, "Error: Reg test" );
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break;
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default : sprintf( pcBuffer, "Unknown status" );
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break;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvButtonPollTask( void *pvParameters )
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{
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unsigned char ucLastState = pdFALSE, ucState;
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xQueueMessage xMessage;
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/* This tasks performs the button polling functionality as described at the
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top of this file. */
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for( ;; )
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{
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/* Check the button state. */
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ucState = ( halButtonsPressed() & BUTTON_UP );
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if( ucState != 0 )
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{
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ucState = pdTRUE;
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}
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if( ucState != ucLastState )
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{
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/* The state has changed, send a message to the LCD task. */
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xMessage.cMessageID = mainMESSAGE_BUTTON_UP;
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xMessage.ulMessageValue = ( unsigned long ) ucState;
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ucLastState = ucState;
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xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
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}
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/* Block for 10 milliseconds so this task does not utilise all the CPU
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time and debouncing of the button is not necessary. */
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vTaskDelay( 10 / portTICK_RATE_MS );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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unsigned long ulCPU_Clock_KHz = ( configCPU_CLOCK_HZ / 1000UL );
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halBoardInit();
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LFXT_Start( XT1DRIVE_0 );
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Init_FLL_Settle( ( unsigned short ) ulCPU_Clock_KHz, 488 );
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halButtonsInit( BUTTON_ALL );
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halButtonsInterruptEnable( BUTTON_SELECT );
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halLcdInit();
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halLcdBackLightInit();
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halLcdSetBackLight( 0 );
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halLcdSetContrast( 100 );
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halLcdClearScreen();
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halLcdPrintLine( " www.FreeRTOS.org", 0, OVERWRITE_TEXT );
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while( ( halButtonsPressed() & BUTTON_UP ) == 0 );
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}
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/*-----------------------------------------------------------*/
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void vApplicationSetupTimerInterrupt( void )
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{
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const unsigned short usACLK_Frequency_Hz = 32768;
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/* Ensure the timer is stopped. */
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TA0CTL = 0;
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/* Run the timer from the ACLK. */
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TA0CTL = TASSEL_1;
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/* Clear everything to start with. */
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TA0CTL |= TACLR;
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/* Set the compare match value according to the tick rate we want. */
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TA0CCR0 = usACLK_Frequency_Hz / configTICK_RATE_HZ;
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/* Enable the interrupts. */
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TA0CCTL0 = CCIE;
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/* Start up clean. */
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TA0CTL |= TACLR;
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/* Up mode. */
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TA0CTL |= MC_1;
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}
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/*-----------------------------------------------------------*/
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void vApplicationMallocFailedHook( void )
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{
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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{
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( void ) pxTask;
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( void ) pcTaskName;
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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void vApplicationIdleHook( void )
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{
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/* Want to leave the SMCLK running so the COMTest tasks don't fail. */
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__bis_SR_register( LPM1_bits + GIE );
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}
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/*-----------------------------------------------------------*/
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void vApplicationTickHook( void )
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{
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static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
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static unsigned long ulCounter = 0;
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static const unsigned long ulCheckFrequency = 5000UL / portTICK_RATE_MS;
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portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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/* Define the status message that is sent to the LCD task. By default the
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status is PASS. */
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static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };
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/* This is called from within the tick interrupt and performs the 'check'
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functionality as described in the comments at the top of this file.
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Is it time to perform the 'check' functionality again? */
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ulCounter++;
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if( ulCounter >= ulCheckFrequency )
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{
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/* See if the standard demo tasks are executing as expected, changing
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the message that is sent to the LCD task from PASS to an error code if
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any tasks set reports an error. */
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if( xAreComTestTasksStillRunning() != pdPASS )
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{
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xStatusMessage.ulMessageValue = mainERROR_COM_TEST;
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}
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if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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{
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xStatusMessage.ulMessageValue = mainERROR_DYNAMIC_TASKS;
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}
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if( xAreGenericQueueTasksStillRunning() != pdPASS )
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{
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xStatusMessage.ulMessageValue = mainERROR_GEN_QUEUE_TEST;
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}
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/* Check the reg test tasks are still cycling. They will stop incrementing
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their loop counters if they encounter an error. */
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if( usRegTest1Counter == usLastRegTest1Counter )
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{
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xStatusMessage.ulMessageValue = mainERROR_REG_TEST;
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}
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if( usRegTest2Counter == usLastRegTest2Counter )
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{
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xStatusMessage.ulMessageValue = mainERROR_REG_TEST;
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}
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usLastRegTest1Counter = usRegTest1Counter;
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usLastRegTest2Counter = usRegTest2Counter;
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/* As this is the tick hook the lHigherPriorityTaskWoken parameter is not
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needed (a context switch is going to be performed anyway), but it must
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still be provided. */
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xQueueSendFromISR( xLCDQueue, &xStatusMessage, &xHigherPriorityTaskWoken );
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ulCounter = 0;
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}
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if( ( ulCounter & 0xff ) == 0 )
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{
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if( ( LED_PORT_OUT & LED_1 ) == 0 )
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{
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LED_PORT_OUT |= LED_1;
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LED_PORT_OUT &= ~LED_2;
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}
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else
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{
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LED_PORT_OUT &= ~LED_1;
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LED_PORT_OUT |= LED_2;
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}
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}
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}
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/*-----------------------------------------------------------*/
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#pragma vector=PORT2_VECTOR
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__interrupt static void prvSelectButtonInterrupt(void)
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{
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/* Define the message sent to the LCD task from this interrupt. */
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static const xQueueMessage xMessage = { mainMESSAGE_BUTTON_SEL, ( unsigned long ) "Select Interrupt" };
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portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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/* This is the interrupt handler for the joystick select button input.
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The button has been pushed, write a message to the LCD via the LCD task. */
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xQueueSendFromISR( xLCDQueue, &xMessage, &xHigherPriorityTaskWoken );
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P2IFG = 0;
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/* If writing to xLCDQueue caused a task to unblock, and the unblocked task
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has a priority equal to or above the task that this interrupt interrupted,
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then lHigherPriorityTaskWoken will have been set to pdTRUE internally within
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xQueuesendFromISR(), and portEND_SWITCHING_ISR() will ensure that this
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interrupt returns directly to the higher priority unblocked task. */
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portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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}
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/*-----------------------------------------------------------*/
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void vConfigureTimerForRunTimeStats( void )
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{
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/* Ensure the timer is stopped. */
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TA1CTL = 0;
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/* Run the timer from the ACLK/4. */
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TA1CTL = TASSEL_1 | ID__4;
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/* Clear everything to start with. */
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TA1CTL |= TACLR;
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/* Enable the interrupts. */
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TA1CCTL0 = CCIE;
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/* Start up clean. */
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TA1CTL |= TACLR;
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/* Continuous mode. */
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TA1CTL |= MC__CONTINOUS;
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}
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/*-----------------------------------------------------------*/
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#pragma vector=TIMER1_A0_VECTOR
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static __interrupt void prvRunTimeStatsOverflowISR( void )
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{
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ulStatsOverflowCount++;
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}
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/*-----------------------------------------------------------*/
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inline unsigned long ulGetRunTimeStatsTime( void )
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{
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unsigned long ulReturn;
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TA1CTL &= ~MC__CONTINOUS;
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ulReturn = ( ( ulStatsOverflowCount << 16UL ) | ( unsigned long ) TA1R );
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TA1CTL |= MC__CONTINOUS;
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return ulReturn;
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}
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