298 lines
10 KiB
C
298 lines
10 KiB
C
/*
|
|
FreeRTOS.org V5.1.1 - Copyright (C) 2003-2008 Richard Barry.
|
|
|
|
This file is part of the FreeRTOS.org distribution.
|
|
|
|
FreeRTOS.org is free software; you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation; either version 2 of the License, or
|
|
(at your option) any later version.
|
|
|
|
FreeRTOS.org is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with FreeRTOS.org; if not, write to the Free Software
|
|
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
|
|
A special exception to the GPL can be applied should you wish to distribute
|
|
a combined work that includes FreeRTOS.org, without being obliged to provide
|
|
the source code for any proprietary components. See the licensing section
|
|
of http://www.FreeRTOS.org for full details of how and when the exception
|
|
can be applied.
|
|
|
|
***************************************************************************
|
|
***************************************************************************
|
|
* *
|
|
* SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
|
|
* and even write all or part of your application on your behalf. *
|
|
* See http://www.OpenRTOS.com for details of the services we provide to *
|
|
* expedite your project. *
|
|
* *
|
|
***************************************************************************
|
|
***************************************************************************
|
|
|
|
Please ensure to read the configuration and relevant port sections of the
|
|
online documentation.
|
|
|
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
|
contact details.
|
|
|
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
|
critical systems.
|
|
|
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
|
licensing and training services.
|
|
*/
|
|
|
|
/**
|
|
* This is a simple LED toggle test for the V850ES/Fx3.
|
|
*
|
|
* Creates two task that control one LED each.
|
|
*
|
|
* The first task toggles a LED with a frequency of 1Hz by using the vTaskDelay
|
|
* function. So the task is yielded for 1 seconed after each LED switch.
|
|
*
|
|
* The second LED also starts with a toggling frequency of 1Hz but this frequency
|
|
* can be increased by pushing the switch button conected to pin INTP0.
|
|
* When the switch is pushed it is detected by an interrupt. When the interrupt
|
|
* occurs a flag is set in the ISR and sent to the third task by using a queue.
|
|
* Therefore the xQueueSendFromISR() function is called from within the ISR to
|
|
* write the flag value to the queue. The task uses the xQueueReceive() function
|
|
* to read the flag value from the queue.
|
|
* If the flag value changed from the last task activation the yield time for the
|
|
* second LED is incremented by 100ms. If the yield time reaches a time greater
|
|
* then 3 seconds it is set back to 1 second within task 3.
|
|
*
|
|
* Also a check function is implemented to check if the task still run properly
|
|
*/
|
|
|
|
/* Scheduler include files. */
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
|
|
/* Demo program include files. */
|
|
#include "LED.h"
|
|
#include "queue.h"
|
|
#include "print.h"
|
|
|
|
#define LEDToggleSTACK_SIZE (( unsigned portSHORT ) configMINIMAL_STACK_SIZE)
|
|
#define SwitchSTACK_SIZE (( unsigned portSHORT ) configMINIMAL_STACK_SIZE)
|
|
#define LED_NUMBER_OF_TASKS 2
|
|
|
|
/* LED toggle wait time and check definitions */
|
|
static portTickType LED1_Wait_Time = 1000;
|
|
static portTickType LED2_Wait_Time = 1000;
|
|
static portTickType SWITCH_Wait_Time = 50;
|
|
|
|
/* Task function prototypes */
|
|
static void vLEDToggleTask1 ( void *pvParameters );
|
|
static void vLEDToggleTask2 ( void *pvParameters );
|
|
static void vSWITCHDelayTask ( void *pvParameters );
|
|
|
|
/* Port Initialization for LED's and Switch */
|
|
static void prvLEDInit(void);
|
|
|
|
/* Switch press counter */
|
|
static unsigned portSHORT usClick = 0;
|
|
/* Queue used for LED02 toggle*/
|
|
static xQueueHandle xSwitchQueue;
|
|
|
|
/*xQUEUE *xLEDQueue;*/
|
|
|
|
static volatile unsigned portSHORT usTask1Check = 0, usTask2Check = 0, usTask3Check = 0, usLEDQueue = 0;
|
|
|
|
void vStartLEDToggleTasks( unsigned portBASE_TYPE uxPriority )
|
|
{
|
|
|
|
const unsigned portBASE_TYPE uxQueueSize = 4;
|
|
|
|
prvLEDInit();
|
|
|
|
/* Create the queue used by the Switch ISR and the second task. */
|
|
xSwitchQueue = xQueueCreate( uxQueueSize, ( unsigned portBASE_TYPE ) sizeof( unsigned portSHORT ) );
|
|
/* create 2 LED toggle Tasks */
|
|
xTaskCreate(vLEDToggleTask1, "LEDTog1", LEDToggleSTACK_SIZE, ( void * ) &(usTask1Check), uxPriority, NULL );
|
|
xTaskCreate(vLEDToggleTask2, "LEDTog2", LEDToggleSTACK_SIZE, ( void * ) &(usTask2Check), uxPriority, NULL );
|
|
xTaskCreate(vSWITCHDelayTask, "SWITCH", SwitchSTACK_SIZE, ( void * ) &xSwitchQueue, (uxPriority+1), NULL );
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static void vLEDToggleTask1( void *pvParameters)
|
|
{
|
|
static portCHAR pcLED1old;
|
|
static portCHAR LEDcounter1 = 0;
|
|
portSHORT sError = pdFALSE;
|
|
volatile unsigned portSHORT *pusTaskCheckVariable;
|
|
const portCHAR * const pcTaskFailMsg = "ERROR: LED toggle failed.\r\n";
|
|
|
|
pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
|
|
for(;;)
|
|
{
|
|
pcLED1old = LED01;
|
|
LED01 = ~LED01;
|
|
LEDcounter1++;
|
|
vTaskDelay( LED1_Wait_Time );
|
|
/* toggle the LED01 */
|
|
|
|
if(pcLED1old == LED01)
|
|
{
|
|
/* an error has occured */
|
|
vPrintDisplayMessage( &pcTaskFailMsg );
|
|
sError = pdTRUE;
|
|
}
|
|
|
|
if(sError != pdTRUE)
|
|
{
|
|
/* If a LED toggle has been made, increment the check
|
|
variable so we know this task is still running okay. */
|
|
( *pusTaskCheckVariable )++;
|
|
}
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
static void vLEDToggleTask2( void *pvParameters)
|
|
{
|
|
static portCHAR pcLED2old;
|
|
portSHORT sError = pdFALSE;
|
|
volatile unsigned portSHORT *pusTaskCheckVariable;
|
|
const portCHAR * const pcTaskFailMsg = "ERROR: LED toggle failed.\r\n";
|
|
|
|
pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
|
|
for(;;)
|
|
{
|
|
pcLED2old = LED02;
|
|
/* toggle the LED02 */
|
|
LED02 = ~LED02;
|
|
vTaskDelay( LED2_Wait_Time );
|
|
if(pcLED2old == LED02)
|
|
{
|
|
/* an error has occured */
|
|
vPrintDisplayMessage( &pcTaskFailMsg );
|
|
sError = pdTRUE;
|
|
}
|
|
|
|
if(sError != pdTRUE)
|
|
{
|
|
/* If a LED toggle has been made, increment the check
|
|
variable so we know this task is still running okay. */
|
|
( *pusTaskCheckVariable )++;
|
|
}
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void vSWITCHDelayTask( void *pvParameters)
|
|
{
|
|
unsigned portSHORT usData, usDataOld = 0;
|
|
xQueueHandle *pxQueue;
|
|
|
|
pxQueue = ( xQueueHandle * ) pvParameters;
|
|
for(;;)
|
|
{
|
|
if( xQueueReceive( *pxQueue, &usData, ( portTickType ) 0 ) == pdPASS )
|
|
{
|
|
if (usData != usDataOld)
|
|
{
|
|
LED2_Wait_Time += 100;
|
|
if(LED2_Wait_Time >= 3000)
|
|
{
|
|
LED2_Wait_Time = 1000;
|
|
}
|
|
}
|
|
usDataOld = usData;
|
|
}
|
|
vTaskDelay( SWITCH_Wait_Time );
|
|
/* increment check variable whenever the task gets active */
|
|
usTask3Check++;
|
|
}
|
|
}
|
|
|
|
portBASE_TYPE xAreLEDToggleTaskStillRunning( void )
|
|
{
|
|
/*
|
|
* Keep a history of the check variables so we know if they have been incremented
|
|
* since the last call.
|
|
*/
|
|
static unsigned portSHORT usLastTask1Check = 0;
|
|
static unsigned portSHORT usLastTask2Check = 0;
|
|
static unsigned portSHORT usLastTask3Check = 0;
|
|
portBASE_TYPE xReturn = pdTRUE;
|
|
|
|
/* Check the LED toggle tasks are still running by ensuring their check variables
|
|
* are still incrementing.
|
|
*/
|
|
if(( usTask1Check == usLastTask1Check )||(usLastTask2Check == usTask2Check)||(usLastTask3Check == usTask3Check))
|
|
{
|
|
/* The check has not incremented so an error exists. */
|
|
xReturn = pdFALSE;
|
|
}
|
|
|
|
usLastTask1Check = usTask1Check;
|
|
usLastTask2Check = usTask2Check;
|
|
usLastTask3Check = usTask3Check;
|
|
|
|
return xReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvLEDInit(void)
|
|
{
|
|
|
|
INTR0 = 0x00;
|
|
INTR1 = 0x00;
|
|
INTR3L = 0x00;
|
|
INTR3H = 0x00;
|
|
INTR4 = 0x00;
|
|
INTR6L = 0x00;
|
|
INTR6H = 0x00;
|
|
INTR8 = 0x00;
|
|
INTR9H = 0x00;
|
|
|
|
INTF0 = 0x00;
|
|
INTF1 = 0x00;
|
|
INTF3L = 0x00;
|
|
INTF3H = 0x00;
|
|
INTF4 = 0x00;
|
|
INTF6L = 0x00;
|
|
INTF6H = 0x00;
|
|
INTF8 = 0x00;
|
|
INTF9H = 0x00;
|
|
|
|
/* LED Port Initialization */
|
|
// PCM = 0x00;
|
|
PMCM = 0xF2;
|
|
PMCCM = 0x00;
|
|
|
|
/* Switch Pin Initialization */
|
|
/* INTP0 Setting */
|
|
PMK0 = 1; /* INTP0 disable */
|
|
PIF0 = 0; /* INTP0 IF clear */
|
|
/* Set INTP0 lowest priority */
|
|
PIC0 |= 0x07;
|
|
INTR0 |= 0x00;
|
|
INTF0 |= 0x08;
|
|
/* INTP0 pin set */
|
|
PFC0 &= 0xF7;
|
|
PFCE0 &= 0xF7;
|
|
PMC0 |= 0x08;
|
|
|
|
PIF0 = 0; /* INTP0 IF clear */
|
|
PMK0 = 0; /* INTP0 enable */
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Switch ISR */
|
|
|
|
#pragma vector=INTP0_vector
|
|
__interrupt void MD_INTP0(void)
|
|
{
|
|
/* Increment Switch pressed counter */
|
|
usClick++;
|
|
/* Use usClick to signalize a detected Interrupt for the vLEDToggleTask2
|
|
* to toggle the LED02.
|
|
*/
|
|
xQueueSendFromISR( xSwitchQueue, &usClick, pdFALSE );
|
|
}
|
|
/*-----------------------------------------------------------*/ |