Complete large memory model MSP430FR5969 demo - including CLI and run-time stats.
Richard Barry
10 years ago
parent
91b249d24b
commit
34a7b0431b
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/*
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FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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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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|
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||||||
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***************************************************************************
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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||||||
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>>! distribute a combined work that includes FreeRTOS without being !<<
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||||||
|
>>! obliged to provide the source code for proprietary components !<<
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||||||
|
>>! outside of the FreeRTOS kernel. !<<
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||||||
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***************************************************************************
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||||||
|
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||||||
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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||||||
|
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||||
|
FOR A PARTICULAR PURPOSE. Full license text is available on the following
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||||||
|
link: http://www.freertos.org/a00114.html
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||||||
|
***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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||||||
|
* robust, strictly quality controlled, supported, and cross *
|
||||||
|
* platform software that is more than just the market leader, it *
|
||||||
|
* is the industry's de facto standard. *
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||||||
|
* *
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||||||
|
* Help yourself get started quickly while simultaneously helping *
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||||||
|
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||||
|
* tutorial book, reference manual, or both: *
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|
* http://www.FreeRTOS.org/Documentation *
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* *
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***************************************************************************
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|
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http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||||
|
the FAQ page "My application does not run, what could be wrong?". Have you
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||||||
|
defined configASSERT()?
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||||||
|
|
||||||
|
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||||
|
embedded software for free we request you assist our global community by
|
||||||
|
participating in the support forum.
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||||
|
be as productive as possible as early as possible. Now you can receive
|
||||||
|
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||||
|
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||||
|
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||||
|
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||||
|
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||||
|
|
||||||
|
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||||
|
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||||
|
licenses offer ticketed support, indemnification and commercial middleware.
|
||||||
|
|
||||||
|
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
||||||
|
engineered and independently SIL3 certified version for use in safety and
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||||||
|
mission critical applications that require provable dependability.
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|
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1 tab == 4 spaces!
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*/
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#include "msp430.h"
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#include "FreeRTOSConfig.h"
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#include "data_model.h"
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/*
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* The definition of the "register test" tasks, as described at the top of
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* main.c
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*/
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IMPORT usRegTest1LoopCounter
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IMPORT usRegTest2LoopCounter
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IMPORT vPortYield
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EXPORT vRegTest1Implementation
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EXPORT vRegTest2Implementation
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RSEG CODE
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EVEN
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vRegTest1Implementation:
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/* Fill each general purpose register with a known value. */
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mov_x #0x4444, r4
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mov_x #0x5555, r5
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mov_x #0x6666, r6
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mov_x #0x7777, r7
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mov_x #0x8888, r8
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mov_x #0x9999, r9
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mov_x #0xaaaa, r10
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mov_x #0xbbbb, r11
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mov_x #0xcccc, r12
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mov_x #0xdddd, r13
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mov_x #0xeeee, r14
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mov_x #0xffff, r15
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prvRegTest1Loop:
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/* Test each general purpose register to check that it still contains the
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expected known value, jumping to vRegTest1Error if any register contains
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an unexpected value. */
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cmp_x #0x4444, r4
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jne vRegTest1Error
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cmp_x #0x5555, r5
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jne vRegTest1Error
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cmp_x #0x6666, r6
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jne vRegTest1Error
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cmp_x #0x7777, r7
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jne vRegTest1Error
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cmp_x #0x8888, r8
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jne vRegTest1Error
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cmp_x #0x9999, r9
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jne vRegTest1Error
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cmp_x #0xaaaa, r10
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jne vRegTest1Error
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cmp_x #0xbbbb, r11
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jne vRegTest1Error
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cmp_x #0xcccc, r12
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jne vRegTest1Error
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cmp_x #0xdddd, r13
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jne vRegTest1Error
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cmp_x #0xeeee, r14
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jne vRegTest1Error
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cmp_x #0xffff, r15
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jne vRegTest1Error
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/* This task is still running without jumping to vRegTest1Error, so increment
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the loop counter so the check task knows the task is running error free. */
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incx.w &usRegTest1LoopCounter
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/* Loop again, performing the same tests. */
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jmp prvRegTest1Loop
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nop
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EVEN
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vRegTest1Error:
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jmp vRegTest1Error
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nop
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/*-----------------------------------------------------------*/
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/* See the comments in vRegTest1Implementation. This task is the same, it just uses
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different values in its registers. */
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vRegTest2Implementation:
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mov_x #0x4441, r4
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mov_x #0x5551, r5
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mov_x #0x6661, r6
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mov_x #0x7771, r7
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mov_x #0x8881, r8
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mov_x #0x9991, r9
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mov_x #0xaaa1, r10
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mov_x #0xbbb1, r11
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mov_x #0xccc1, r12
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mov_x #0xddd1, r13
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mov_x #0xeee1, r14
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mov_x #0xfff1, r15
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prvRegTest2Loop:
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cmp_x #0x4441, r4
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jne vRegTest2Error
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cmp_x #0x5551, r5
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jne vRegTest2Error
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cmp_x #0x6661, r6
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jne vRegTest2Error
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cmp_x #0x7771, r7
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jne vRegTest2Error
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cmp_x #0x8881, r8
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jne vRegTest2Error
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cmp_x #0x9991, r9
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jne vRegTest2Error
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cmp_x #0xaaa1, r10
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jne vRegTest2Error
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cmp_x #0xbbb1, r11
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jne vRegTest2Error
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cmp_x #0xccc1, r12
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jne vRegTest2Error
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cmp_x #0xddd1, r13
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jne vRegTest2Error
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cmp_x #0xeee1, r14
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jne vRegTest2Error
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cmp_x #0xfff1, r15
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jne vRegTest2Error
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/* Also perform a manual yield, just to increase the scope of the test. */
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calla #vPortYield
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incx.w &usRegTest2LoopCounter
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jmp prvRegTest2Loop
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nop
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vRegTest2Error:
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jmp vRegTest2Error
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nop
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/*-----------------------------------------------------------*/
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END
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@ -0,0 +1,407 @@
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/*
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FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
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|
All rights reserved
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||||||
|
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||||||
|
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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|
|
||||||
|
This file is part of the FreeRTOS distribution.
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||||||
|
|
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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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||||||
|
|
||||||
|
***************************************************************************
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||||||
|
>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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|
>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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|
***************************************************************************
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|
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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|
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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|
FOR A PARTICULAR PURPOSE. Full license text is available on the following
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|
link: http://www.freertos.org/a00114.html
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|
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||||||
|
***************************************************************************
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* *
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||||||
|
* FreeRTOS provides completely free yet professionally developed, *
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||||||
|
* robust, strictly quality controlled, supported, and cross *
|
||||||
|
* platform software that is more than just the market leader, it *
|
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|
* is the industry's de facto standard. *
|
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|
* *
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|
* Help yourself get started quickly while simultaneously helping *
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|
* to support the FreeRTOS project by purchasing a FreeRTOS *
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|
* tutorial book, reference manual, or both: *
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|
* http://www.FreeRTOS.org/Documentation *
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* *
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***************************************************************************
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|
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|
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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|
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||||
|
defined configASSERT()?
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||||
|
embedded software for free we request you assist our global community by
|
||||||
|
participating in the support forum.
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||||
|
be as productive as possible as early as possible. Now you can receive
|
||||||
|
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||||
|
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||||
|
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||||
|
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||||
|
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||||
|
|
||||||
|
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||||
|
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||||
|
licenses offer ticketed support, indemnification and commercial middleware.
|
||||||
|
|
||||||
|
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
||||||
|
engineered and independently SIL3 certified version for use in safety and
|
||||||
|
mission critical applications that require provable dependability.
|
||||||
|
|
||||||
|
1 tab == 4 spaces!
|
||||||
|
*/
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/******************************************************************************
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* NOTE 1: This project provides two demo applications. A simple blinky style
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* project, and a more comprehensive test and demo application. The
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* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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* between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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* in main.c. This file implements the comprehensive test and demo version.
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*
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* NOTE 2: This file only contains the source code that is specific to the
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* full demo. Generic functions, such FreeRTOS hook functions, and functions
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* required to configure the hardware, are defined in main.c.
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*
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******************************************************************************
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*
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* main_full() creates all the demo application tasks and software timers, then
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* starts the scheduler. The web documentation provides more details of the
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* standard demo application tasks, which provide no particular functionality,
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* but do provide a good example of how to use the FreeRTOS API.
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*
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* In addition to the standard demo tasks, the following tasks and tests are
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* defined and/or created within this file:
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*
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* "Reg test" tasks - These fill both the microcontroller registers with known
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* values, then check that each register maintains its expected value for the
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* lifetime of the task. Each task uses a different set of values. The reg
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* test tasks execute with a very low priority, so get preempted very
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* frequently. A register containing an unexpected value is indicative of an
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* error in the context switching mechanism.
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*
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* "Check" task - The check task period is initially set to three seconds. The
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* task checks that all the standard demo tasks, and the register check tasks,
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* are not only still executing, but are executing without reporting any errors.
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* If the check task discovers that a task has either stalled, or reported an
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* error, then it changes its own execution period from the initial three
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* seconds, to just 200ms. The check task also toggles an LED each time it is
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* called. This provides a visual indication of the system status: If the LED
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* toggles every three seconds, then no issues have been discovered. If the LED
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* toggles every 200ms, then an issue has been discovered with at least one
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* task.
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*/
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/* Standard includes. */
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#include <stdio.h>
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "timers.h"
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#include "semphr.h"
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/* Standard demo application includes. */
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#include "dynamic.h"
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#include "blocktim.h"
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#include "countsem.h"
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#include "GenQTest.h"
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#include "recmutex.h"
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#include "partest.h"
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#include "EventGroupsDemo.h"
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#include "TaskNotify.h"
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/* Priorities for the check task, as described at the top of this file. */
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#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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/* Parameters for the task that handles the UART command console. */
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#define mainCOMMAND_CONSOLE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainCOMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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/* The LED used by the check timer as described at the top of this file. */
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#define mainCHECK_LED ( 0 )
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/* The period after which the check timer will expire, in ms, provided no errors
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have been reported by any of the standard demo tasks. ms are converted to the
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equivalent in ticks using the pdMS_TO_TICKS() macro. */
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#define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000 )
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/* The period at which the check timer will expire, in ms, if an error has been
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reported in one of the standard demo tasks. ms are converted to the equivalent
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in ticks using the pdMS_TO_TICKS() macro. */
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#define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 200 )
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/* Parameters that are passed into the register check tasks solely for the
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purpose of ensuring parameters are passed into tasks correctly. */
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#define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x1234 )
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#define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x8765 )
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/*-----------------------------------------------------------*/
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/*
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* Called by main() to run the full demo (as opposed to the blinky demo) when
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* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
|
||||||
|
*/
|
||||||
|
void main_full( void );
|
||||||
|
|
||||||
|
/*
|
||||||
|
* The check task, as described at the top of this file.
|
||||||
|
*/
|
||||||
|
static void prvCheckTask( void *pvParameters );
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Register check tasks, as described at the top of this file. The nature of
|
||||||
|
* these files necessitates that they are written in an assembly file, but the
|
||||||
|
* entry points are kept in the C file for the convenience of checking the task
|
||||||
|
* parameter.
|
||||||
|
*/
|
||||||
|
static void prvRegTestTaskEntry1( void *pvParameters );
|
||||||
|
extern void vRegTest1Implementation( void );
|
||||||
|
static void prvRegTestTaskEntry2( void *pvParameters );
|
||||||
|
extern void vRegTest2Implementation( void );
|
||||||
|
|
||||||
|
/* Starts the 'standard' UART command console task. UART 0 is used at 19200
|
||||||
|
baud. */
|
||||||
|
extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
|
||||||
|
|
||||||
|
/* Registers a set of example commands that can be used in the command
|
||||||
|
console. */
|
||||||
|
void vRegisterSampleCLICommands( void );
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* The following two variables are used to communicate the status of the
|
||||||
|
register check tasks to the check task. If the variables keep incrementing,
|
||||||
|
then the register check tasks have not discovered any errors. If a variable
|
||||||
|
stops incrementing, then an error has been found. */
|
||||||
|
volatile uint16_t usRegTest1LoopCounter = 0UL, usRegTest2LoopCounter = 0UL;
|
||||||
|
|
||||||
|
/* cOutputBuffer is used by FreeRTOS+CLI. It is declared here so the
|
||||||
|
__persistent qualifier can be used. For the buffer to be declared here, rather
|
||||||
|
than in FreeRTOS_CLI.c, configAPPLICATION_PROVIDES_cOutputBuffer must be set to
|
||||||
|
1 in FreeRTOSConfig.h. */
|
||||||
|
__persistent char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ];
|
||||||
|
|
||||||
|
/* Used for maintaining a 32-bit run time stats counter from a 16-bit timer. */
|
||||||
|
volatile uint32_t ulRunTimeCounterOverflows = 0;
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
void main_full( void )
|
||||||
|
{
|
||||||
|
/* Start all the standard demo/test tasks. They have no particular
|
||||||
|
functionality, but do demonstrate how to use the FreeRTOS API and test the
|
||||||
|
kernel port. */
|
||||||
|
vStartDynamicPriorityTasks();
|
||||||
|
vCreateBlockTimeTasks();
|
||||||
|
vStartCountingSemaphoreTasks();
|
||||||
|
vStartGenericQueueTasks( tskIDLE_PRIORITY );
|
||||||
|
vStartRecursiveMutexTasks();
|
||||||
|
vStartEventGroupTasks();
|
||||||
|
vStartTaskNotifyTask();
|
||||||
|
|
||||||
|
/* Create the register check tasks, as described at the top of this file */
|
||||||
|
xTaskCreate( prvRegTestTaskEntry1, /* Task entry point. */
|
||||||
|
"Reg1", /* Text name for the task - not used by the kernel. */
|
||||||
|
configMINIMAL_STACK_SIZE, /* Stack to allocate to the task - in words not bytes! */
|
||||||
|
mainREG_TEST_TASK_1_PARAMETER, /* The parameter passed into the task. */
|
||||||
|
tskIDLE_PRIORITY, /* The task's priority. */
|
||||||
|
NULL ); /* Task handle is not needed, so NULL is passed. */
|
||||||
|
|
||||||
|
xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
|
||||||
|
|
||||||
|
/* Create the task that performs the 'check' functionality, as described at
|
||||||
|
the top of this file. */
|
||||||
|
xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
|
||||||
|
|
||||||
|
/* Register an example set of CLI commands, then start the task that manages
|
||||||
|
the CLI using a UART for input and output. */
|
||||||
|
vRegisterSampleCLICommands();
|
||||||
|
vUARTCommandConsoleStart( mainCOMMAND_CONSOLE_STACK_SIZE, mainCOMMAND_CONSOLE_TASK_PRIORITY );
|
||||||
|
|
||||||
|
/* Start the scheduler. */
|
||||||
|
vTaskStartScheduler();
|
||||||
|
|
||||||
|
/* If all is well, the scheduler will now be running, and the following
|
||||||
|
line will never be reached. If the following line does execute, then
|
||||||
|
there was either insufficient FreeRTOS heap memory available for the idle
|
||||||
|
and/or timer tasks to be created. See the memory management section on the
|
||||||
|
FreeRTOS web site for more details on the FreeRTOS heap
|
||||||
|
http://www.freertos.org/a00111.html. */
|
||||||
|
for( ;; );
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
static void prvCheckTask( void *pvParameters )
|
||||||
|
{
|
||||||
|
TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
|
||||||
|
TickType_t xLastExecutionTime;
|
||||||
|
static uint16_t usLastRegTest1Value = 0, usLastRegTest2Value = 0;
|
||||||
|
uint16_t usErrorFound = pdFALSE;
|
||||||
|
|
||||||
|
/* Just to stop compiler warnings. */
|
||||||
|
( void ) pvParameters;
|
||||||
|
|
||||||
|
/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
|
||||||
|
works correctly. */
|
||||||
|
xLastExecutionTime = xTaskGetTickCount();
|
||||||
|
|
||||||
|
/* Cycle for ever, delaying then checking all the other tasks are still
|
||||||
|
operating without error. An on-board LED is toggled on each iteration.
|
||||||
|
If an error is detected then the delay period is decreased from
|
||||||
|
mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
|
||||||
|
effect of increasing the rate at which the on-board LED toggles, and in so
|
||||||
|
doing gives visual feedback of the system status. */
|
||||||
|
for( ;; )
|
||||||
|
{
|
||||||
|
/* Delay until it is time to execute again. */
|
||||||
|
vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
|
||||||
|
|
||||||
|
/* Check all the demo tasks to ensure they are all still running, and
|
||||||
|
that none have detected an error. */
|
||||||
|
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
usErrorFound = 1UL << 0UL;
|
||||||
|
}
|
||||||
|
|
||||||
|
if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
usErrorFound = 1UL << 1UL;
|
||||||
|
}
|
||||||
|
|
||||||
|
if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
usErrorFound = 1UL << 2UL;
|
||||||
|
}
|
||||||
|
|
||||||
|
if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
usErrorFound = 1UL << 3UL;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
usErrorFound = 1UL << 4UL;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( xAreEventGroupTasksStillRunning() != pdPASS )
|
||||||
|
{
|
||||||
|
usErrorFound = 1UL << 5UL;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( xAreTaskNotificationTasksStillRunning() != pdPASS )
|
||||||
|
{
|
||||||
|
usErrorFound = 1UL << 6UL;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Check that the register test 1 task is still running. */
|
||||||
|
if( usLastRegTest1Value == usRegTest1LoopCounter )
|
||||||
|
{
|
||||||
|
usErrorFound = 1UL << 7UL;
|
||||||
|
}
|
||||||
|
usLastRegTest1Value = usRegTest1LoopCounter;
|
||||||
|
|
||||||
|
/* Check that the register test 2 task is still running. */
|
||||||
|
if( usLastRegTest2Value == usRegTest2LoopCounter )
|
||||||
|
{
|
||||||
|
usErrorFound = 1UL << 8UL;
|
||||||
|
}
|
||||||
|
usLastRegTest2Value = usRegTest2LoopCounter;
|
||||||
|
|
||||||
|
/* Toggle the check LED to give an indication of the system status. If
|
||||||
|
the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
|
||||||
|
everything is ok. A faster toggle indicates an error. */
|
||||||
|
vParTestToggleLED( mainCHECK_LED );
|
||||||
|
|
||||||
|
if( usErrorFound != pdFALSE )
|
||||||
|
{
|
||||||
|
/* An error has been detected in one of the tasks - flash the LED
|
||||||
|
at a higher frequency to give visible feedback that something has
|
||||||
|
gone wrong (it might just be that the loop back connector required
|
||||||
|
by the comtest tasks has not been fitted). */
|
||||||
|
xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
static void prvRegTestTaskEntry1( void *pvParameters )
|
||||||
|
{
|
||||||
|
/* Although the regtest task is written in assembler, its entry point is
|
||||||
|
written in C for convenience of checking the task parameter is being passed
|
||||||
|
in correctly. */
|
||||||
|
if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
|
||||||
|
{
|
||||||
|
/* Start the part of the test that is written in assembler. */
|
||||||
|
vRegTest1Implementation();
|
||||||
|
}
|
||||||
|
|
||||||
|
/* The following line will only execute if the task parameter is found to
|
||||||
|
be incorrect. The check task will detect that the regtest loop counter is
|
||||||
|
not being incremented and flag an error. */
|
||||||
|
vTaskDelete( NULL );
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
static void prvRegTestTaskEntry2( void *pvParameters )
|
||||||
|
{
|
||||||
|
/* Although the regtest task is written in assembler, its entry point is
|
||||||
|
written in C for convenience of checking the task parameter is being passed
|
||||||
|
in correctly. */
|
||||||
|
if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
|
||||||
|
{
|
||||||
|
/* Start the part of the test that is written in assembler. */
|
||||||
|
vRegTest2Implementation();
|
||||||
|
}
|
||||||
|
|
||||||
|
/* The following line will only execute if the task parameter is found to
|
||||||
|
be incorrect. The check task will detect that the regtest loop counter is
|
||||||
|
not being incremented and flag an error. */
|
||||||
|
vTaskDelete( NULL );
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
void vConfigureTimerForRunTimeStats( void )
|
||||||
|
{
|
||||||
|
/* Configure a timer that is used as the time base for run time stats. See
|
||||||
|
http://www.freertos.org/rtos-run-time-stats.html */
|
||||||
|
|
||||||
|
/* Ensure the timer is stopped. */
|
||||||
|
TA1CTL = 0;
|
||||||
|
|
||||||
|
/* Start up clean. */
|
||||||
|
TA1CTL |= TACLR;
|
||||||
|
|
||||||
|
/* Run the timer from the ACLK/8, continuous mode, interrupt enable. */
|
||||||
|
TA1CTL = TASSEL_1 | ID__8 | MC__CONTINUOUS | TAIE;
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
#pragma vector=TIMER1_A1_VECTOR
|
||||||
|
__interrupt void v4RunTimeStatsTimerOverflow( void )
|
||||||
|
{
|
||||||
|
TA1CTL &= ~TAIFG;
|
||||||
|
|
||||||
|
/* 16-bit overflow, so add 17th bit. */
|
||||||
|
ulRunTimeCounterOverflows += 0x10000;
|
||||||
|
__bic_SR_register_on_exit( SCG1 + SCG0 + OSCOFF + CPUOFF );
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
@ -0,0 +1,248 @@
|
|||||||
|
/*
|
||||||
|
FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
|
||||||
|
All rights reserved
|
||||||
|
|
||||||
|
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||||
|
|
||||||
|
This file is part of the FreeRTOS distribution.
|
||||||
|
|
||||||
|
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||||
|
the terms of the GNU General Public License (version 2) as published by the
|
||||||
|
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
|
||||||
|
|
||||||
|
***************************************************************************
|
||||||
|
>>! NOTE: The modification to the GPL is included to allow you to !<<
|
||||||
|
>>! distribute a combined work that includes FreeRTOS without being !<<
|
||||||
|
>>! obliged to provide the source code for proprietary components !<<
|
||||||
|
>>! outside of the FreeRTOS kernel. !<<
|
||||||
|
***************************************************************************
|
||||||
|
|
||||||
|
FreeRTOS 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. Full license text is available on the following
|
||||||
|
link: http://www.freertos.org/a00114.html
|
||||||
|
|
||||||
|
***************************************************************************
|
||||||
|
* *
|
||||||
|
* FreeRTOS provides completely free yet professionally developed, *
|
||||||
|
* robust, strictly quality controlled, supported, and cross *
|
||||||
|
* platform software that is more than just the market leader, it *
|
||||||
|
* is the industry's de facto standard. *
|
||||||
|
* *
|
||||||
|
* Help yourself get started quickly while simultaneously helping *
|
||||||
|
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||||
|
* tutorial book, reference manual, or both: *
|
||||||
|
* http://www.FreeRTOS.org/Documentation *
|
||||||
|
* *
|
||||||
|
***************************************************************************
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||||
|
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||||
|
defined configASSERT()?
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||||
|
embedded software for free we request you assist our global community by
|
||||||
|
participating in the support forum.
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||||
|
be as productive as possible as early as possible. Now you can receive
|
||||||
|
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||||
|
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||||
|
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||||
|
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||||
|
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||||
|
|
||||||
|
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||||
|
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||||
|
licenses offer ticketed support, indemnification and commercial middleware.
|
||||||
|
|
||||||
|
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
||||||
|
engineered and independently SIL3 certified version for use in safety and
|
||||||
|
mission critical applications that require provable dependability.
|
||||||
|
|
||||||
|
1 tab == 4 spaces!
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
/* BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER.
|
||||||
|
*
|
||||||
|
* This is not a proper UART driver. It only supports one port, and is not
|
||||||
|
* intended to show an efficient implementation as queues are used to pass
|
||||||
|
* individual characters one at a time! This is ok for a slow interface, such
|
||||||
|
* as a command line interface (which this driver is used for), but is too
|
||||||
|
* inefficient for higher bandwidth applications.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* Standard includes. */
|
||||||
|
#include <stdlib.h>
|
||||||
|
|
||||||
|
/* Scheduler includes. */
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "queue.h"
|
||||||
|
#include "task.h"
|
||||||
|
|
||||||
|
/* Demo application includes. */
|
||||||
|
#include "serial.h"
|
||||||
|
|
||||||
|
/* TI includes. */
|
||||||
|
#include "driverlib.h"
|
||||||
|
|
||||||
|
/* Misc. constants. */
|
||||||
|
#define serNO_BLOCK ( ( TickType_t ) 0 )
|
||||||
|
|
||||||
|
/* The queue used to hold received characters. */
|
||||||
|
static QueueHandle_t xRxedChars;
|
||||||
|
|
||||||
|
/* The queue used to hold characters waiting transmission. */
|
||||||
|
static QueueHandle_t xCharsForTx;
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
xComPortHandle xSerialPortInitMinimal( unsigned long ulWantedBaud, UBaseType_t uxQueueLength )
|
||||||
|
{
|
||||||
|
unsigned long ulBaudRateCount;
|
||||||
|
|
||||||
|
/* Initialise the hardware. */
|
||||||
|
|
||||||
|
/* Generate the baud rate constants for the wanted baud rate. */
|
||||||
|
ulBaudRateCount = configCPU_CLOCK_HZ / ulWantedBaud;
|
||||||
|
|
||||||
|
portENTER_CRITICAL();
|
||||||
|
{
|
||||||
|
/* Create the queues used by the com test task. */
|
||||||
|
xRxedChars = xQueueCreate( uxQueueLength, ( UBaseType_t ) sizeof( signed char ) );
|
||||||
|
xCharsForTx = xQueueCreate( uxQueueLength, ( UBaseType_t ) sizeof( signed char ) );
|
||||||
|
|
||||||
|
/* Reset UART. */
|
||||||
|
UCA0CTL1 |= UCSWRST;
|
||||||
|
|
||||||
|
/* Use SMCLK. */
|
||||||
|
UCA0CTL1 = UCSSEL0 | UCSSEL1;
|
||||||
|
|
||||||
|
/* Setup baud rate low byte. */
|
||||||
|
UCA0BR0 = ( unsigned char ) ( ulBaudRateCount & ( unsigned long ) 0xff );
|
||||||
|
|
||||||
|
/* Setup baud rate high byte. */
|
||||||
|
ulBaudRateCount >>= 8UL;
|
||||||
|
UCA0BR1 = ( unsigned char ) ( ulBaudRateCount & ( unsigned long ) 0xff );
|
||||||
|
|
||||||
|
/* Enable interrupts. */
|
||||||
|
UCA0IE |= UCRXIE;
|
||||||
|
|
||||||
|
/* Take out of reset. */
|
||||||
|
UCA0CTL1 &= ~UCSWRST;
|
||||||
|
}
|
||||||
|
portEXIT_CRITICAL();
|
||||||
|
|
||||||
|
/* Note the comments at the top of this file about this not being a generic
|
||||||
|
UART driver. */
|
||||||
|
return NULL;
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
BaseType_t xSerialGetChar( xComPortHandle pxPort, signed char *pcRxedChar, TickType_t xBlockTime )
|
||||||
|
{
|
||||||
|
/* Get the next character from the buffer. Return false if no characters
|
||||||
|
are available, or arrive before xBlockTime expires. */
|
||||||
|
if( xQueueReceive( xRxedChars, pcRxedChar, xBlockTime ) )
|
||||||
|
{
|
||||||
|
return pdTRUE;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
return pdFALSE;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
BaseType_t xSerialPutChar( xComPortHandle pxPort, signed char cOutChar, TickType_t xBlockTime )
|
||||||
|
{
|
||||||
|
BaseType_t xReturn;
|
||||||
|
|
||||||
|
/* Send the next character to the queue of characters waiting transmission,
|
||||||
|
then enable the UART Tx interrupt, just in case UART transmission has already
|
||||||
|
completed and switched itself off. */
|
||||||
|
xReturn = xQueueSend( xCharsForTx, &cOutChar, xBlockTime );
|
||||||
|
UCA0IE |= UCTXIE;
|
||||||
|
|
||||||
|
return xReturn;
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
void vSerialPutString( xComPortHandle pxPort, const signed char * const pcString, unsigned short usStringLength )
|
||||||
|
{
|
||||||
|
UBaseType_t uxChar;
|
||||||
|
const TickType_t xMaxBlockTime = pdMS_TO_TICKS( 100 );
|
||||||
|
|
||||||
|
/* The driver only supports one port so the pxPort parameter is not used. */
|
||||||
|
( void ) pxPort;
|
||||||
|
|
||||||
|
for( uxChar = 0; uxChar < usStringLength; uxChar++ )
|
||||||
|
{
|
||||||
|
if( xQueueSend( xCharsForTx, &( pcString[ uxChar ] ), xMaxBlockTime ) == pdFALSE )
|
||||||
|
{
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
UCA0IE |= UCTXIE;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* The implementation of this interrupt is provided to demonstrate the use
|
||||||
|
of queues from inside an interrupt service routine. It is *not* intended to
|
||||||
|
be an efficient interrupt implementation. A real application should make use
|
||||||
|
of the DMA. Or, as a minimum, transmission and reception could use a simple
|
||||||
|
RAM ring buffer, and synchronise with a task using a semaphore when a complete
|
||||||
|
message has been received or transmitted. */
|
||||||
|
#pragma vector=USCI_A0_VECTOR
|
||||||
|
static __interrupt void prvUSCI_A0_ISR( void )
|
||||||
|
{
|
||||||
|
signed char cChar;
|
||||||
|
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
||||||
|
|
||||||
|
while( ( UCA0IFG & UCRXIFG ) != 0 )
|
||||||
|
{
|
||||||
|
/* Get the character from the UART and post it on the queue of Rxed
|
||||||
|
characters. */
|
||||||
|
cChar = UCA0RXBUF;
|
||||||
|
xQueueSendFromISR( xRxedChars, &cChar, &xHigherPriorityTaskWoken );
|
||||||
|
}
|
||||||
|
|
||||||
|
/* If there is a Tx interrupt pending and the tx interrupts are enabled. */
|
||||||
|
if( ( UCA0IFG & UCTXIFG ) != 0 )
|
||||||
|
{
|
||||||
|
/* The previous character has been transmitted. See if there are any
|
||||||
|
further characters waiting transmission. */
|
||||||
|
if( xQueueReceiveFromISR( xCharsForTx, &cChar, &xHigherPriorityTaskWoken ) == pdTRUE )
|
||||||
|
{
|
||||||
|
/* There was another character queued - transmit it now. */
|
||||||
|
UCA0TXBUF = cChar;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
/* There were no other characters to transmit - disable the Tx
|
||||||
|
interrupt. */
|
||||||
|
UCA0IE &= ~UCTXIE;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
__bic_SR_register_on_exit( SCG1 + SCG0 + OSCOFF + CPUOFF );
|
||||||
|
|
||||||
|
/* If writing to a queue caused a task to unblock, and the unblocked task
|
||||||
|
has a priority equal to or above the task that this interrupt interrupted,
|
||||||
|
then lHigherPriorityTaskWoken will have been set to pdTRUE internally within
|
||||||
|
xQueuesendFromISR(), and portEND_SWITCHING_ISR() will ensure that this
|
||||||
|
interrupt returns directly to the higher priority unblocked task.
|
||||||
|
|
||||||
|
THIS MUST BE THE LAST THING DONE IN THE ISR. */
|
||||||
|
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
Loading…
Reference in New Issue