Work in progress...
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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/*************************@INCLUDE_START************************/
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#include "mb91467d.h"
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#include "vectors.h"
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#include "FreeRTOS.h"
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#include "task.h"
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#include "watchdog.h"
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/* Demo task priorities. */
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#define WTC_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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#define TASK_UTILITY_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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/*---------------------------------------------------------------------------*/
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#define ledNUMBER_OF_LEDS 8
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#define mainCOM_TEST_LED 0x05
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#define mainCHECK_TEST_LED 0x07
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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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static unsigned portSHORT sState[ledNUMBER_OF_LEDS] = {pdFALSE};
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static unsigned portSHORT sState1[ledNUMBER_OF_LEDS] = {pdFALSE};
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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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*---------------------------------------------------------------------------*/
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/*void vApplicationTickHook ( void )
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{
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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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/*---------------------------------------------------------------------------
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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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*---------------------------------------------------------------------------*/
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void vApplicationIdleHook ( void )
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{
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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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/*---------------------------------------------------------------------------
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* Initialize Port 00
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*---------------------------------------------------------------------------*/
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static void prvInitPort( void )
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{
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DDR16=0xFF;
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DDR25=0xFF;
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}
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/*---------------------------------------------------------------------------
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* Setup the hardware
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*---------------------------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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prvInitPort();
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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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/*********************@FUNCTION_HEADER_START*********************
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*@FUNCTION NAME: main() *
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* *
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*@DESCRIPTION: The main function controls the program flow *
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* *
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*@PARAMETER: none *
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* *
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*@RETURN: none *
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* *
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***********************@FUNCTION_HEADER_END*********************/
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void main(void)
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{
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__set_il(31); /* allow all levels */
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InitIrqLevels(); /* init interrupts */
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prvSetupHardware();
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#if WATCHDOG == WTC_IN_TASK
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vStartWatchdogTask( WTC_TASK_PRIORITY );
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#endif
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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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/* 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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vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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vStartQueuePeekTasks();
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vTraceListTasks( TASK_UTILITY_PRIORITY );
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vCreateBlockTimeTasks();
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vCreateSuicidalTasks( mainDEATH_PRIORITY );
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vTaskStartScheduler( );
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/* Should not reach here */
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while (1)
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{
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__asm(" NOP "); //
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}
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}
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/*-----------------------------------------------------------*/
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void vParTestToggleLED( unsigned portBASE_TYPE uxLED )
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{
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if (uxLED < ledNUMBER_OF_LEDS)
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{
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vTaskSuspendAll();
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/* Toggle the state of the single genuine on board LED. */
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if( sState[uxLED])
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{
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PDR25 |= (1 << uxLED);
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}
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else
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{
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PDR25 &= ~(1 << uxLED);
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}
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sState[uxLED] = !(sState[uxLED]);
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xTaskResumeAll();
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}
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else
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{
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uxLED -= ledNUMBER_OF_LEDS;
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vTaskSuspendAll();
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/* Toggle the state of the single genuine on board LED. */
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if( sState1[uxLED])
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{
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PDR16 |= (1 << uxLED);
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}
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else
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{
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PDR16 &= ~(1 << uxLED);
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}
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sState1[uxLED] = !(sState1[uxLED]);
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xTaskResumeAll();
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}
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}
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/*-----------------------------------------------------------*/
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void vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
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{
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/* Set or clear the output [in this case show or hide the '*' character. */
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if( uxLED < ledNUMBER_OF_LEDS )
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{
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vTaskSuspendAll();
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{
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if( xValue )
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{
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PDR25 |= (1 << uxLED);
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sState[uxLED] = 1;
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}
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else
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{
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PDR25 &= ~(1 << uxLED);
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sState[uxLED] = 0;
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}
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}
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xTaskResumeAll();
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}
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else
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{
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uxLED -= ledNUMBER_OF_LEDS;
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vTaskSuspendAll();
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{
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if( xValue )
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{
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PDR16 |= (1 << uxLED);
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sState1[uxLED] = 1;
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}
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else
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{
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PDR16 &= ~(1 << uxLED);
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sState1[uxLED] = 0;
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}
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}
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xTaskResumeAll();
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}
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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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static volatile unsigned portLONG ulDummyVariable = 3UL;
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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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/* Perform a bit of 32bit maths to ensure the registers used by the
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integer tasks get some exercise outside of the integer tasks
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themselves. The result here is not important we are just deliberately
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changing registers used by other tasks to ensure that their context
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switch is operating as required. - see the demo application
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documentation for more info. */
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ulDummyVariable *= 3UL;
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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 portSHORT sNoErrorFound = pdTRUE;
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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. Only tasks that do not flash
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an LED are checked. */
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xAreComTestTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xAreMathsTaskStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xAreFlashCoRoutinesStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xAreHookCoRoutinesStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if ( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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return sNoErrorFound;
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}
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/********************@FUNCTION_DECLARATION_END******************/
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