pull/4/head
Richard Barry
17 years ago
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/* THIS SAMPLE CODE IS PROVIDED AS IS AND IS SUBJECT TO ALTERATIONS. FUJITSU */
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/* MICROELECTRONICS ACCEPTS NO RESPONSIBILITY OR LIABILITY FOR ANY ERRORS OR */
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/* ELIGIBILITY FOR ANY PURPOSES. */
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/* (C) Fujitsu Microelectronics Europe GmbH */
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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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/*
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* Creates all the demo application tasks, then starts the scheduler. The WEB
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* documentation provides more details of the demo application tasks.
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*
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* Main.c also creates a task called "Check". This only executes every three
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* seconds but has the highest priority so is guaranteed to get processor time.
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* Its main function is to check that all the other tasks are still operational.
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* Each task (other than the "flash" tasks) maintains a unique count that is
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* incremented each time the task successfully completes its function. Should
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* any error occur within such a task the count is permanently halted. The
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* check task inspects the count of each task to ensure it has changed since
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* the last time the check task executed. If all the count variables have
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* changed all the tasks are still executing error free, and the check task
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* toggles the onboard LED. Should any task contain an error at any time
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* the LED toggle rate will change from 3 seconds to 500ms.
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*
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*/
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/* Hardware specific includes. */
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#include "mb91467d.h"
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#include "vectors.h"
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#include "watchdog.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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/* Demo app includes. */
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#include "flash.h"
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#include "integer.h"
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#include "comtest.h"
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#include "PollQ.h"
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#include "semtest.h"
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#include "BlockQ.h"
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#include "dynamic.h"
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#include "flop.h"
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#include "crflash.h"
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#include "crhook.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "BlockTim.h"
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#include "death.h"
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#include "taskutility.h"
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/* Demo task priorities. */
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#define mainWATCHDOG_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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#define mainUTILITY_TASK_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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/* The total number of LEDs available. */
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#define ledNUMBER_OF_LEDS ( 8 )
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/* The first LED used by the comtest tasks. */
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#define mainCOM_TEST_LED ( 0x05 )
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/* The LED used by the check task. */
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#define mainCHECK_TEST_LED ( 0x07 )
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/* The number of interrupt levels to use. */
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#define mainINTERRUPT_LEVELS ( 31 )
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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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* Setup the microcontroller as used by this demo.
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*/
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static void prvSetupHardware( void );
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/*---------------------------------------------------------------------------*/
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/* Start all the demo application tasks, then start the scheduler. */
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void main(void)
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{
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/* Initialise the hardware ready for the demo. */
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prvSetupHardware();
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/* Start the standard demo application tasks. */
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vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartBlockingQueueTasks ( mainQUEUE_BLOCK_PRIORITY );
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vStartDynamicPriorityTasks();
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vStartMathTasks( tskIDLE_PRIORITY );
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vStartFlashCoRoutines(ledNUMBER_OF_LEDS);
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vStartHookCoRoutines();
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vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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vStartQueuePeekTasks();
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vCreateBlockTimeTasks();
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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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/* Start the task that write trace information to the UART. */
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vUtilityStartTraceTask( mainUTILITY_TASK_PRIORITY );
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/* If we are going to service the watchdog from within a task, then create
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the task here. */
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#if WATCHDOG == WTC_IN_TASK
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vStartWatchdogTask( mainWATCHDOG_TASK_PRIORITY );
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#endif
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/* The suicide tasks must be started last as they record the number of other
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tasks that exist within the system. The value is then used to ensure at run
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time the number of tasks that exists is within expected bounds. */
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vCreateSuicidalTasks( mainDEATH_PRIORITY );
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/* Now start the scheduler. Following this call the created tasks should
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be executing. */
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vTaskStartScheduler( );
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/* vTaskStartScheduler() will only return if an error occurs while the
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idle task is being created. */
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for( ;; );
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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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portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
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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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/* 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 portBASE_TYPE xErrorOccurred = pdFALSE;
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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. */
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE
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}
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE
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}
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if( xAreComTestTasksStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE
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}
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if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE
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}
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if( xAreMathsTaskStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE
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}
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if( xAreFlashCoRoutinesStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE
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}
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if( xAreHookCoRoutinesStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE
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}
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if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE
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}
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if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE
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}
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if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE
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}
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if ( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE
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}
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return sNoErrorFound;
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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/* Allow all interrupt levels. */
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__set_il( mainINTERRUPT_LEVELS );
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/* Initialise interrupts. */
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InitIrqLevels();
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/* Initialise the ports used by the LEDs. */
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vParTestInitialise();
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/* If we are going to use the watchdog, then initialise it now. */
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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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/* The below callback function is called from Tick ISR if configUSE_TICK_HOOK
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is configured as 1. This function needs to be uncommented if the crhook.c
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is not used, since the crhook.c has also defined vApplicationTickHook(). */
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#if configUSE_TICK_HOOK == 1
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void vApplicationTickHook ( void )
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{
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/* Are we using the tick interrupt to kick the watchdog? */
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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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#endif
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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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#if configUSE_IDLE_HOOK == 1
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void vApplicationIdleHook ( void )
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{
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/* Are we using the idle task to kick the watchdog? */
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#if WATCHDOG == WTC_IN_IDLE
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Kick_Watchdog();
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#endif
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vCoRoutineSchedule();
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}
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#endif
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