Renamed MAIN.c to main.c.
Richard Barry
17 years ago
parent
b31c9e18f9
commit
161e266c97
@ -0,0 +1,456 @@
|
||||
/*
|
||||
FreeRTOS.org V4.7.1 - 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.
|
||||
|
||||
***************************************************************************
|
||||
|
||||
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.
|
||||
|
||||
***************************************************************************
|
||||
*/
|
||||
|
||||
/*---------------------------------------------------------------------------
|
||||
MAIN.C
|
||||
- description
|
||||
- See README.TXT for project description and disclaimer.
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
|
||||
/* 16FX includes */
|
||||
#include "mb96348hs.h"
|
||||
|
||||
/* Scheduler includes. */
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "semphr.h"
|
||||
#include <watchdog.h>
|
||||
#include <config.h>
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
|
||||
/* Demo task priorities. */
|
||||
#define WTC_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )
|
||||
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
|
||||
#define TASK_UTILITY_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 )
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
#define ledNUMBER_OF_LEDS 8
|
||||
#define mainCOM_TEST_LED 0x05
|
||||
#define mainCHECK_TEST_LED 0x07
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* 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 );
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
static unsigned portCHAR sState[2] = { 0xFF, 0xFF };
|
||||
|
||||
/*---------------------------------------------------------------------------
|
||||
* The below callback function is called from Tick ISR if configUSE_TICK_HOOK
|
||||
* is configured as 1.
|
||||
*---------------------------------------------------------------------------*/
|
||||
|
||||
/*void vApplicationTickHook ( void )
|
||||
{
|
||||
#if WATCHDOG == WTC_IN_TICK
|
||||
Kick_Watchdog();
|
||||
#endif
|
||||
}*/
|
||||
|
||||
/*---------------------------------------------------------------------------
|
||||
* The below callback function is called from Delayed ISR if configUSE_IDLE_HOOK
|
||||
* is configured as 1.
|
||||
*---------------------------------------------------------------------------*/
|
||||
void vApplicationIdleHook( void )
|
||||
{
|
||||
#if WATCHDOG == WTC_IN_IDLE
|
||||
Kick_Watchdog();
|
||||
#endif
|
||||
#if ( INCLUDE_StartFlashCoRoutines == 1 || INCLUDE_StartHookCoRoutines == 1 )
|
||||
vCoRoutineSchedule();
|
||||
#endif
|
||||
}
|
||||
|
||||
/*---------------------------------------------------------------------------
|
||||
* Initialize Port 00
|
||||
*---------------------------------------------------------------------------*/
|
||||
static void prvInitPort00( void )
|
||||
{
|
||||
DDR00 = 0xFF;
|
||||
PDR00 = 0xFF;
|
||||
DDR09 = 0xFF;
|
||||
PDR09 = 0xFF;
|
||||
}
|
||||
|
||||
/*---------------------------------------------------------------------------
|
||||
* Setup the hardware
|
||||
*---------------------------------------------------------------------------*/
|
||||
static void prvSetupHardware( void )
|
||||
{
|
||||
prvInitPort00();
|
||||
|
||||
#if WATCHDOG != WTC_NONE
|
||||
InitWatchdog();
|
||||
#endif
|
||||
}
|
||||
|
||||
/*---------------------------------------------------------------------------
|
||||
* main()
|
||||
*---------------------------------------------------------------------------*/
|
||||
void main( void )
|
||||
{
|
||||
InitIrqLevels(); /* Initialize interrupts */
|
||||
__set_il( 7 ); /* Allow all levels */
|
||||
|
||||
prvSetupHardware();
|
||||
|
||||
#if WATCHDOG == WTC_IN_TASK
|
||||
vStartWatchdogTask( WTC_TASK_PRIORITY );
|
||||
#endif
|
||||
|
||||
/* Start the standard demo application tasks. */
|
||||
#if ( INCLUDE_StartLEDFlashTasks == 1 )
|
||||
vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
|
||||
#endif
|
||||
#if ( INCLUDE_StartIntegerMathTasks == 1 )
|
||||
vStartIntegerMathTasks( tskIDLE_PRIORITY );
|
||||
#endif
|
||||
#if ( INCLUDE_AltStartComTestTasks == 1 )
|
||||
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
|
||||
#endif
|
||||
#if ( INCLUDE_StartPolledQueueTasks == 1 )
|
||||
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
|
||||
#endif
|
||||
#if ( INCLUDE_StartSemaphoreTasks == 1 )
|
||||
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
|
||||
#endif
|
||||
#if ( INCLUDE_StartBlockingQueueTasks == 1 )
|
||||
vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
|
||||
#endif
|
||||
#if ( INCLUDE_StartDynamicPriorityTasks == 1 )
|
||||
vStartDynamicPriorityTasks();
|
||||
#endif
|
||||
#if ( INCLUDE_StartMathTasks == 1 )
|
||||
vStartMathTasks( tskIDLE_PRIORITY );
|
||||
#endif
|
||||
#if ( INCLUDE_StartFlashCoRoutines == 1 )
|
||||
vStartFlashCoRoutines( ledNUMBER_OF_LEDS );
|
||||
#endif
|
||||
#if ( INCLUDE_StartHookCoRoutines == 1 )
|
||||
vStartHookCoRoutines();
|
||||
#endif
|
||||
#if ( INCLUDE_StartGenericQueueTasks == 1 )
|
||||
vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
|
||||
#endif
|
||||
#if ( INCLUDE_StartQueuePeekTasks == 1 )
|
||||
vStartQueuePeekTasks();
|
||||
#endif
|
||||
#if ( INCLUDE_CreateBlockTimeTasks == 1 )
|
||||
vCreateBlockTimeTasks();
|
||||
#endif
|
||||
#if ( INCLUDE_CreateSuicidalTasks == 1 )
|
||||
vCreateSuicidalTasks( mainDEATH_PRIORITY );
|
||||
#endif
|
||||
#if ( INCLUDE_TraceListTasks == 1 )
|
||||
vTraceListTasks( TASK_UTILITY_PRIORITY );
|
||||
#endif
|
||||
|
||||
/* Start the 'Check' task which is defined in this file. */
|
||||
xTaskCreate( vErrorChecks, (signed portCHAR *) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
|
||||
|
||||
vTaskStartScheduler();
|
||||
|
||||
/* Should not reach here */
|
||||
while( 1 )
|
||||
{
|
||||
__asm( " NOP " ); /* // */
|
||||
}
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
void vParTestToggleLED( unsigned portBASE_TYPE uxLED )
|
||||
{
|
||||
if( uxLED < ledNUMBER_OF_LEDS )
|
||||
{
|
||||
vTaskSuspendAll();
|
||||
|
||||
/* Toggle the state of the single genuine on board LED. */
|
||||
if( (sState[0] & ((portCHAR) (1 << uxLED))) == 0 )
|
||||
{
|
||||
PDR09 |= ( 1 << uxLED );
|
||||
sState[0] |= ( 1 << uxLED );
|
||||
}
|
||||
else
|
||||
{
|
||||
PDR09 &= ~( 1 << uxLED );
|
||||
sState[0] &= ~( 1 << uxLED );
|
||||
}
|
||||
|
||||
xTaskResumeAll();
|
||||
}
|
||||
else
|
||||
{
|
||||
vTaskSuspendAll();
|
||||
|
||||
uxLED -= ledNUMBER_OF_LEDS;
|
||||
|
||||
if( (sState[1] & ((portCHAR) (1 << uxLED))) == 0 )
|
||||
{
|
||||
PDR00 |= ( 1 << uxLED );
|
||||
sState[1] |= ( 1 << uxLED );
|
||||
}
|
||||
else
|
||||
{
|
||||
PDR00 &= ~( 1 << uxLED );
|
||||
sState[1] &= ~( 1 << uxLED );
|
||||
}
|
||||
|
||||
xTaskResumeAll();
|
||||
}
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
void vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
|
||||
{
|
||||
/* Set or clear the output [in this case show or hide the '*' character. */
|
||||
if( uxLED < ledNUMBER_OF_LEDS )
|
||||
{
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
if( xValue )
|
||||
{
|
||||
PDR09 &= ~( 1 << uxLED );
|
||||
sState[0] &= ~( 1 << uxLED );
|
||||
}
|
||||
else
|
||||
{
|
||||
PDR09 |= ( 1 << uxLED );
|
||||
sState[0] |= ( 1 << uxLED );
|
||||
}
|
||||
}
|
||||
|
||||
xTaskResumeAll();
|
||||
}
|
||||
else
|
||||
{
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
if( xValue )
|
||||
{
|
||||
PDR00 &= ~( 1 << uxLED );
|
||||
sState[1] &= ~( 1 << uxLED );
|
||||
}
|
||||
else
|
||||
{
|
||||
PDR00 |= ( 1 << uxLED );
|
||||
sState[1] |= ( 1 << uxLED );
|
||||
}
|
||||
}
|
||||
|
||||
xTaskResumeAll();
|
||||
}
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
static void vErrorChecks( void *pvParameters )
|
||||
{
|
||||
static volatile unsigned portLONG ulDummyVariable = 3UL;
|
||||
portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
|
||||
( void ) pvParameters;
|
||||
|
||||
/* 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 );
|
||||
|
||||
/* Perform a bit of 32bit maths to ensure the registers used by the
|
||||
integer tasks get some exercise outside of the integer tasks
|
||||
themselves. The result here is not important we are just deliberately
|
||||
changing registers used by other tasks to ensure that their context
|
||||
switch is operating as required. - see the demo application
|
||||
documentation for more info. */
|
||||
ulDummyVariable *= 3UL;
|
||||
|
||||
/* 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 portSHORT sNoErrorFound = pdTRUE;
|
||||
|
||||
/* 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. Only tasks that do not flash
|
||||
an LED are checked. */
|
||||
#if ( INCLUDE_StartIntegerMathTasks == 1 )
|
||||
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
|
||||
{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
|
||||
#if ( INCLUDE_AltStartComTestTasks == 1 )
|
||||
if( xAreComTestTasksStillRunning() != pdTRUE )
|
||||
{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
|
||||
#if ( INCLUDE_StartPolledQueueTasks == 1 )
|
||||
if( xArePollingQueuesStillRunning() != pdTRUE )
|
||||
{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
|
||||
#if ( INCLUDE_StartSemaphoreTasks == 1 )
|
||||
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
|
||||
{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
|
||||
#if ( INCLUDE_StartBlockingQueueTasks == 1 )
|
||||
if( xAreBlockingQueuesStillRunning() != pdTRUE )
|
||||
{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
|
||||
#if ( INCLUDE_StartDynamicPriorityTasks == 1 )
|
||||
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
|
||||
{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
|
||||
#if ( INCLUDE_StartMathTasks == 1 )
|
||||
if( xAreMathsTaskStillRunning() != pdTRUE )
|
||||
{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
|
||||
#if ( INCLUDE_StartFlashCoRoutines == 1 )
|
||||
if( xAreFlashCoRoutinesStillRunning() != pdTRUE )
|
||||
{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
|
||||
#if ( INCLUDE_StartHookCoRoutines == 1 )
|
||||
if( xAreHookCoRoutinesStillRunning() != pdTRUE )
|
||||
{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
|
||||
#if ( INCLUDE_StartGenericQueueTasks == 1 )
|
||||
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
|
||||
{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
|
||||
#if ( INCLUDE_StartQueuePeekTasks == 1 )
|
||||
if( xAreQueuePeekTasksStillRunning() != pdTRUE )
|
||||
{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
|
||||
#if ( INCLUDE_CreateBlockTimeTasks == 1 )
|
||||
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
|
||||
{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
|
||||
#if ( INCLUDE_CreateSuicidalTasks == 1 )
|
||||
if( xIsCreateTaskStillRunning() != pdTRUE )
|
||||
{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
|
||||
return sNoErrorFound;
|
||||
}
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
Loading…
Reference in New Issue