471 lines
13 KiB
C
471 lines
13 KiB
C
/*
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FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS.org is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS.org; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS.org, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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Please ensure to read the configuration and relevant port sections of the
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online documentation.
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+++ http://www.FreeRTOS.org +++
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Documentation, latest information, license and contact details.
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+++ http://www.SafeRTOS.com +++
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A version that is certified for use in safety critical systems.
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+++ http://www.OpenRTOS.com +++
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Commercial support, development, porting, licensing and training services.
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***************************************************************************
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*/
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/*---------------------------------------------------------------------------
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MAIN.C
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- description
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- See README.TXT for project description and disclaimer.
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/*---------------------------------------------------------------------------*/
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/* 16FX includes */
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#include "mb96348hs.h"
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "semphr.h"
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#include <watchdog.h>
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#include <config.h>
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/*---------------------------------------------------------------------------*/
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/* Demo task priorities. */
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#define WTC_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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#define TASK_UTILITY_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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/* Baud rate used by the COM test tasks. */
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#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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/* The frequency at which the 'Check' tasks executes. See the comments at the
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top of the page. When the system is operating error free the 'Check' task
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toggles an LED every three seconds. If an error is discovered in any task the
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rate is increased to 500 milliseconds. [in this case the '*' characters on the
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LCD represent LED's]*/
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#define mainNO_ERROR_CHECK_DELAY ( (portTickType) 3000 / portTICK_RATE_MS )
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#define mainERROR_CHECK_DELAY ( (portTickType) 500 / portTICK_RATE_MS )
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/*---------------------------------------------------------------------------*/
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#define ledNUMBER_OF_LEDS 8
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#define mainCOM_TEST_LED 0x05
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#define mainCHECK_TEST_LED 0x07
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/*---------------------------------------------------------------------------*/
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/*
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* The function that implements the Check task. See the comments at the head
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* of the page for implementation details.
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*/
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static void vErrorChecks( void *pvParameters );
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/*
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* Called by the Check task. Returns pdPASS if all the other tasks are found
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* to be operating without error - otherwise returns pdFAIL.
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*/
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static portSHORT prvCheckOtherTasksAreStillRunning( void );
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/*---------------------------------------------------------------------------*/
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static unsigned portCHAR sState[2] = { 0xFF, 0xFF };
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/*---------------------------------------------------------------------------
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* The below callback function is called from Tick ISR if configUSE_TICK_HOOK
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* is configured as 1.
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*---------------------------------------------------------------------------*/
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/*void vApplicationTickHook ( void )
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{
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#if WATCHDOG == WTC_IN_TICK
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Kick_Watchdog();
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#endif
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}*/
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/*---------------------------------------------------------------------------
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* The below callback function is called from Delayed ISR if configUSE_IDLE_HOOK
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* is configured as 1.
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*---------------------------------------------------------------------------*/
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void vApplicationIdleHook( void )
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{
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#if WATCHDOG == WTC_IN_IDLE
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Kick_Watchdog();
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#endif
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#if ( INCLUDE_StartFlashCoRoutines == 1 || INCLUDE_StartHookCoRoutines == 1 )
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vCoRoutineSchedule();
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#endif
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}
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/*---------------------------------------------------------------------------
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* Initialize Port 00
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*---------------------------------------------------------------------------*/
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static void prvInitPort00( void )
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{
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DDR00 = 0xFF;
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PDR00 = 0xFF;
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DDR09 = 0xFF;
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PDR09 = 0xFF;
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}
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/*---------------------------------------------------------------------------
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* Setup the hardware
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*---------------------------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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prvInitPort00();
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#if WATCHDOG != WTC_NONE
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InitWatchdog();
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#endif
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}
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/*---------------------------------------------------------------------------
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* main()
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*---------------------------------------------------------------------------*/
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void main( void )
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{
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InitIrqLevels(); /* Initialize interrupts */
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__set_il( 7 ); /* Allow all levels */
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prvSetupHardware();
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#if WATCHDOG == WTC_IN_TASK
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vStartWatchdogTask( WTC_TASK_PRIORITY );
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#endif
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/* Start the standard demo application tasks. */
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#if ( INCLUDE_StartLEDFlashTasks == 1 )
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vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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#endif
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#if ( INCLUDE_StartIntegerMathTasks == 1 )
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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#endif
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#if ( INCLUDE_AltStartComTestTasks == 1 )
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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#endif
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#if ( INCLUDE_StartPolledQueueTasks == 1 )
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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#endif
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#if ( INCLUDE_StartSemaphoreTasks == 1 )
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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#endif
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#if ( INCLUDE_StartBlockingQueueTasks == 1 )
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vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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#endif
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#if ( INCLUDE_StartDynamicPriorityTasks == 1 )
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vStartDynamicPriorityTasks();
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#endif
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#if ( INCLUDE_StartMathTasks == 1 )
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vStartMathTasks( tskIDLE_PRIORITY );
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#endif
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#if ( INCLUDE_StartFlashCoRoutines == 1 )
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vStartFlashCoRoutines( ledNUMBER_OF_LEDS );
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#endif
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#if ( INCLUDE_StartHookCoRoutines == 1 )
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vStartHookCoRoutines();
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#endif
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#if ( INCLUDE_StartGenericQueueTasks == 1 )
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vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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#endif
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#if ( INCLUDE_StartQueuePeekTasks == 1 )
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vStartQueuePeekTasks();
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#endif
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#if ( INCLUDE_CreateBlockTimeTasks == 1 )
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vCreateBlockTimeTasks();
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#endif
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#if ( INCLUDE_CreateSuicidalTasks == 1 )
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vCreateSuicidalTasks( mainDEATH_PRIORITY );
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#endif
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#if ( INCLUDE_TraceListTasks == 1 )
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vTraceListTasks( TASK_UTILITY_PRIORITY );
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#endif
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/* Start the 'Check' task which is defined in this file. */
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xTaskCreate( vErrorChecks, (signed portCHAR *) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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vTaskStartScheduler();
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/* Should not reach here */
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while( 1 )
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{
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__asm( " NOP " ); /* // */
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}
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}
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/*-----------------------------------------------------------*/
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void vParTestToggleLED( unsigned portBASE_TYPE uxLED )
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{
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if( uxLED < ledNUMBER_OF_LEDS )
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{
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vTaskSuspendAll();
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/* Toggle the state of the single genuine on board LED. */
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if( (sState[0] & ((portCHAR) (1 << uxLED))) == 0 )
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{
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PDR09 |= ( 1 << uxLED );
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sState[0] |= ( 1 << uxLED );
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}
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else
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{
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PDR09 &= ~( 1 << uxLED );
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sState[0] &= ~( 1 << uxLED );
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}
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xTaskResumeAll();
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}
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else
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{
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vTaskSuspendAll();
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uxLED -= ledNUMBER_OF_LEDS;
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if( (sState[1] & ((portCHAR) (1 << uxLED))) == 0 )
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{
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PDR00 |= ( 1 << uxLED );
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sState[1] |= ( 1 << uxLED );
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}
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else
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{
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PDR00 &= ~( 1 << uxLED );
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sState[1] &= ~( 1 << uxLED );
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}
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xTaskResumeAll();
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}
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}
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/*-----------------------------------------------------------*/
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void vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
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{
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/* Set or clear the output [in this case show or hide the '*' character. */
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if( uxLED < ledNUMBER_OF_LEDS )
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{
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vTaskSuspendAll();
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{
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if( xValue )
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{
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PDR09 &= ~( 1 << uxLED );
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sState[0] &= ~( 1 << uxLED );
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}
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else
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{
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PDR09 |= ( 1 << uxLED );
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sState[0] |= ( 1 << uxLED );
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}
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}
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xTaskResumeAll();
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}
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else
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{
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vTaskSuspendAll();
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{
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if( xValue )
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{
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PDR00 &= ~( 1 << uxLED );
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sState[1] &= ~( 1 << uxLED );
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}
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else
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{
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PDR00 |= ( 1 << uxLED );
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sState[1] |= ( 1 << uxLED );
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}
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}
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xTaskResumeAll();
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}
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}
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/*-----------------------------------------------------------*/
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static void vErrorChecks( void *pvParameters )
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{
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static volatile unsigned portLONG ulDummyVariable = 3UL;
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portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
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( void ) pvParameters;
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/* Cycle for ever, delaying then checking all the other tasks are still
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operating without error. */
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for( ;; )
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{
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/* Wait until it is time to check again. The time we wait here depends
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on whether an error has been detected or not. When an error is
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detected the time is shortened resulting in a faster LED flash rate. */
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vTaskDelay( xDelayPeriod );
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/* Perform a bit of 32bit maths to ensure the registers used by the
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integer tasks get some exercise outside of the integer tasks
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themselves. The result here is not important we are just deliberately
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changing registers used by other tasks to ensure that their context
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switch is operating as required. - see the demo application
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documentation for more info. */
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ulDummyVariable *= 3UL;
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/* See if the other tasks are all ok. */
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if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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{
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/* An error occurred in one of the tasks so shorten the delay
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period - which has the effect of increasing the frequency of the
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LED toggle. */
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xDelayPeriod = mainERROR_CHECK_DELAY;
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}
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/* Flash! */
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vParTestToggleLED( mainCHECK_TEST_LED );
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}
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}
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/*-----------------------------------------------------------*/
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static portSHORT prvCheckOtherTasksAreStillRunning( void )
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{
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static portSHORT sNoErrorFound = pdTRUE;
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/* The demo tasks maintain a count that increments every cycle of the task
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provided that the task has never encountered an error. This function
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checks the counts maintained by the tasks to ensure they are still being
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incremented. A count remaining at the same value between calls therefore
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indicates that an error has been detected. Only tasks that do not flash
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an LED are checked. */
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#if ( INCLUDE_StartIntegerMathTasks == 1 )
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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#endif
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#if ( INCLUDE_AltStartComTestTasks == 1 )
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if( xAreComTestTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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#endif
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#if ( INCLUDE_StartPolledQueueTasks == 1 )
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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#endif
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#if ( INCLUDE_StartSemaphoreTasks == 1 )
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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#endif
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#if ( INCLUDE_StartBlockingQueueTasks == 1 )
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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#endif
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#if ( INCLUDE_StartDynamicPriorityTasks == 1 )
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if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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#endif
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#if ( INCLUDE_StartMathTasks == 1 )
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if( xAreMathsTaskStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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#endif
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#if ( INCLUDE_StartFlashCoRoutines == 1 )
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if( xAreFlashCoRoutinesStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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#endif
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#if ( INCLUDE_StartHookCoRoutines == 1 )
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if( xAreHookCoRoutinesStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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#endif
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#if ( INCLUDE_StartGenericQueueTasks == 1 )
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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#endif
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#if ( INCLUDE_StartQueuePeekTasks == 1 )
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if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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#endif
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#if ( INCLUDE_CreateBlockTimeTasks == 1 )
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if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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#endif
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#if ( INCLUDE_CreateSuicidalTasks == 1 )
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if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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#endif
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return sNoErrorFound;
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}
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/*---------------------------------------------------------------------------*/
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