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@ -59,16 +59,6 @@
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#include "msp430.h"
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#include "hal_MSP-EXP430F5438.h"
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/* The rate at which mainCHECK_LED will toggle when all the tasks are running
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without error. Controlled by the check task as described at the top of this
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file. */
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#define mainNO_ERROR_CYCLE_TIME ( 5000 / portTICK_RATE_MS )
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/* The rate at which mainCHECK_LED will toggle when an error has been reported
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by at least one task. Controlled by the check task as described at the top of
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this file. */
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#define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )
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/* Codes sent within messages to the LCD task so the LCD task can interpret
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exactly what the message it just received was. These are sent in the
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cMessageID member of the message structure (defined below). */
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@ -82,6 +72,7 @@ of the same message and indicate what the status actually is. */
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#define mainERROR_DYNAMIC_TASKS ( pdPASS + 1 )
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#define mainERROR_COM_TEST ( pdPASS + 2 )
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#define mainERROR_GEN_QUEUE_TEST ( pdPASS + 3 )
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#define mainERROR_REG_TEST ( pdPASS + 4 )
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/* The length of the queue (the number of items the queue can hold) that is used
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to send messages from tasks and interrupts the the LCD task. */
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@ -93,7 +84,6 @@ to send messages from tasks and interrupts the the LCD task. */
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extern void vRegTest1Task( void *pvParameters );
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extern void vRegTest2Task( void *pvParameters );
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static void prvCheckTask( void *pvParameters );
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static void prvSetupHardware( void );
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static void prvTerminalIOTask( void *pvParameters );
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static void prvButtonPollTask( void *pvParameters );
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@ -132,12 +122,11 @@ void main( void )
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/* Create the terminal IO and button poll tasks, as described at the top
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of this file. */
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xTaskCreate( prvTerminalIOTask, ( signed char * ) "LCD", configMINIMAL_STACK_SIZE, NULL, mainLCD_TASK_PRIORITY, NULL );
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xTaskCreate( prvTerminalIOTask, ( signed char * ) "IO", configMINIMAL_STACK_SIZE, NULL, mainLCD_TASK_PRIORITY, NULL );
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xTaskCreate( prvButtonPollTask, ( signed char * ) "ButPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vRegTest1Task, "RegTest1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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xTaskCreate( vRegTest2Task, "RegTest2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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vTaskStartScheduler();
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}
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for( ;; );
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@ -209,7 +198,8 @@ static char cBuffer[ 512 ];
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/* Output the message that was placed into the cBuffer array within the
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switch statement above. */
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printf( "%s", cBuffer );
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printf( "%s : %u\n", cBuffer, ( unsigned int ) xTaskGetTickCount() );
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fflush( stdout );
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}
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}
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/*-----------------------------------------------------------*/
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@ -228,6 +218,8 @@ static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue )
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break;
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case mainERROR_GEN_QUEUE_TEST : sprintf( pcBuffer, "Error: Gen Q test" );
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break;
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case mainERROR_REG_TEST : sprintf( pcBuffer, "Error: Reg test" );
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break;
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default : sprintf( pcBuffer, "Unknown status" );
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break;
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}
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@ -245,6 +237,12 @@ xQueueMessage xMessage;
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{
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/* Check the button state. */
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ucState = ( halButtonsPressed() & BUTTON_UP );
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if( ucState != 0 )
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{
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ucState = pdTRUE;
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}
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if( ucState != ucLastState )
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{
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/* The state has changed, send a message to the LCD task. */
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@ -267,42 +265,7 @@ static void prvSetupHardware( void )
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halButtonsInit( BUTTON_ALL );
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halButtonsInterruptEnable( BUTTON_SELECT );
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LFXT_Start (XT1DRIVE_0);
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Init_FLL_Settle( 25000, 488 );
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTask( void *pvParameters )
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{
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volatile unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
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portTickType xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;
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const char *pcStatusMessage = "OK";
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/* Initialise xNextWakeTime - this only needs to be done once. */
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xNextWakeTime = xTaskGetTickCount();
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for( ;; )
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{
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/* Place this task in the blocked state until it is time to run again. */
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vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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/* Check the reg test tasks are still cycling. They will stop incrementing
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their loop counters if they encounter an error. */
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if( usRegTest1Counter == usLastRegTest1Counter )
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{
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pcStatusMessage = "Error: RegTest1";
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}
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if( usRegTest2Counter == usLastRegTest2Counter )
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{
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pcStatusMessage = "Error: RegTest2";
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}
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usLastRegTest1Counter = usRegTest1Counter;
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usLastRegTest2Counter = usRegTest2Counter;
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printf( "%s, tick count = %u\n", pcStatusMessage, ( unsigned int ) xTaskGetTickCount() );
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fflush( stdout );
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}
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Init_FLL_Settle( 18000, 488 );
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}
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/*-----------------------------------------------------------*/
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@ -352,6 +315,81 @@ void vApplicationIdleHook( void )
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{
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__bis_SR_register( LPM3_bits + GIE );
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}
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/*-----------------------------------------------------------*/
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void vApplicationTickHook( void )
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{
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static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
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static unsigned long ulCounter = 0;
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static const unsigned long ulCheckFrequency = 5000UL / portTICK_RATE_MS;
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portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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/* Define the status message that is sent to the LCD task. By default the
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status is PASS. */
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static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };
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/* This is called from within the tick interrupt and performs the 'check'
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functionality as described in the comments at the top of this file.
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Is it time to perform the 'check' functionality again? */
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ulCounter++;
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if( ulCounter >= ulCheckFrequency )
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{
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#ifdef LEFT_OVER_FROM_CUT_AND_PASTE
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/* See if the standard demo tasks are executing as expected, changing
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the message that is sent to the LCD task from PASS to an error code if
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any tasks set reports an error. */
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if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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{
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xStatusMessage.lMessageValue = mainERROR_DYNAMIC_TASKS;
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}
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if( xAreComTestTasksStillRunning() != pdPASS )
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{
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xStatusMessage.lMessageValue = mainERROR_COM_TEST;
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}
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if( xAreGenericQueueTasksStillRunning() != pdPASS )
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{
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xStatusMessage.lMessageValue = mainERROR_GEN_QUEUE_TEST;
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}
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#else
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/* Check the reg test tasks are still cycling. They will stop incrementing
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their loop counters if they encounter an error. */
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if( usRegTest1Counter == usLastRegTest1Counter )
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{
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xStatusMessage.cMessageValue = mainERROR_REG_TEST;
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}
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if( usRegTest2Counter == usLastRegTest2Counter )
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{
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xStatusMessage.cMessageValue = mainERROR_REG_TEST;
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}
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usLastRegTest1Counter = usRegTest1Counter;
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usLastRegTest2Counter = usRegTest2Counter;
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#endif
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/* As this is the tick hook the lHigherPriorityTaskWoken parameter is not
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needed (a context switch is going to be performed anyway), but it must
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still be provided. */
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xQueueSendFromISR( xLCDQueue, &xStatusMessage, &xHigherPriorityTaskWoken );
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ulCounter = 0;
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}
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if( ( ulCounter & 0xff ) == 0 )
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{
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if( ( LED_PORT_OUT & LED_1 ) == 0 )
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{
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LED_PORT_OUT |= LED_1;
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LED_PORT_OUT &= ~LED_2;
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}
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else
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{
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LED_PORT_OUT &= ~LED_1;
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LED_PORT_OUT |= LED_2;
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}
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}
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}
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Richard Barry
14 years ago