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Richard Barry 17 years ago
parent 1eb00d2045
commit b31c9e18f9
1 changed files with 203 additions and 180 deletions
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383
Demo/MB96340_Softune/FreeRTOS_96348hs_SK16FX100PMC/Src/MAIN.C
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@ -1,7 +1,45 @@
/* THIS SAMPLE CODE IS PROVIDED AS IS AND IS SUBJECT TO ALTERATIONS. FUJITSU */
/* MICROELECTRONICS ACCEPTS NO RESPONSIBILITY OR LIABILITY FOR ANY ERRORS OR */
/* ELIGIBILITY FOR ANY PURPOSES. */
/* (C) Fujitsu Microelectronics Europe GmbH */
/*
FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
Please ensure to read the configuration and relevant port sections of the
online documentation.
+++ http://www.FreeRTOS.org +++
Documentation, latest information, license and contact details.
+++ http://www.SafeRTOS.com +++
A version that is certified for use in safety critical systems.
+++ http://www.OpenRTOS.com +++
Commercial support, development, porting, licensing and training services.
***************************************************************************
*/
/*---------------------------------------------------------------------------
MAIN.C
- description
@ -22,52 +60,55 @@
/*---------------------------------------------------------------------------*/
/* Demo task priorities. */
#define WTC_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
#define TASK_UTILITY_PRIORITY ( tskIDLE_PRIORITY + 3 )
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
#define WTC_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
#define TASK_UTILITY_PRIORITY ( tskIDLE_PRIORITY + 3 )
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
/* Baud rate used by the COM test tasks. */
#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
/* The frequency at which the 'Check' tasks executes. See the comments at the
top of the page. When the system is operating error free the 'Check' task
toggles an LED every three seconds. If an error is discovered in any task the
rate is increased to 500 milliseconds. [in this case the '*' characters on the
LCD represent LED's]*/
#define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
#define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
#define mainNO_ERROR_CHECK_DELAY ( (portTickType) 3000 / portTICK_RATE_MS )
#define mainERROR_CHECK_DELAY ( (portTickType) 500 / portTICK_RATE_MS )
/*---------------------------------------------------------------------------*/
#define ledNUMBER_OF_LEDS 8
#define mainCOM_TEST_LED 0x05
#define mainCHECK_TEST_LED 0x07
#define ledNUMBER_OF_LEDS 8
#define mainCOM_TEST_LED 0x05
#define mainCHECK_TEST_LED 0x07
/*---------------------------------------------------------------------------*/
/*
* The function that implements the Check task. See the comments at the head
* of the page for implementation details.
*/
static void vErrorChecks( void *pvParameters );
*/
static void vErrorChecks( void *pvParameters );
/*
* Called by the Check task. Returns pdPASS if all the other tasks are found
* to be operating without error - otherwise returns pdFAIL.
*/
static portSHORT prvCheckOtherTasksAreStillRunning( void );
static portSHORT prvCheckOtherTasksAreStillRunning( void );
/*---------------------------------------------------------------------------*/
static unsigned portCHAR sState[2] = { 0xFF, 0xFF };
static unsigned portCHAR sState[2] = {0xFF, 0xFF};
/*---------------------------------------------------------------------------
* The below callback function is called from Tick ISR if configUSE_TICK_HOOK
* is configured as 1.
*---------------------------------------------------------------------------*/
*---------------------------------------------------------------------------*/
/*void vApplicationTickHook ( void )
{
#if WATCHDOG == WTC_IN_TICK
@ -78,20 +119,20 @@ static unsigned portCHAR sState[2] = {0xFF, 0xFF};
/*---------------------------------------------------------------------------
* The below callback function is called from Delayed ISR if configUSE_IDLE_HOOK
* is configured as 1.
*---------------------------------------------------------------------------*/
void vApplicationIdleHook ( void )
*---------------------------------------------------------------------------*/
void vApplicationIdleHook( void )
{
#if WATCHDOG == WTC_IN_IDLE
#if WATCHDOG == WTC_IN_IDLE
Kick_Watchdog();
#endif
#if ( INCLUDE_StartFlashCoRoutines == 1 || INCLUDE_StartHookCoRoutines == 1 )
#endif
#if ( INCLUDE_StartFlashCoRoutines == 1 || INCLUDE_StartHookCoRoutines == 1 )
vCoRoutineSchedule();
#endif
#endif
}
/*---------------------------------------------------------------------------
* Initialize Port 00
*---------------------------------------------------------------------------*/
*---------------------------------------------------------------------------*/
static void prvInitPort00( void )
{
DDR00 = 0xFF;
@ -99,146 +140,134 @@ static void prvInitPort00( void )
DDR09 = 0xFF;
PDR09 = 0xFF;
}
/*---------------------------------------------------------------------------
* Setup the hardware
*---------------------------------------------------------------------------*/
*---------------------------------------------------------------------------*/
static void prvSetupHardware( void )
{
prvInitPort00();
#if WATCHDOG != WTC_NONE
#if WATCHDOG != WTC_NONE
InitWatchdog();
#endif
#endif
}
/*---------------------------------------------------------------------------
* main()
*---------------------------------------------------------------------------*/
void main(void)
*---------------------------------------------------------------------------*/
void main( void )
{
InitIrqLevels(); /* Initialize interrupts */
__set_il(7); /* Allow all levels */
InitIrqLevels(); /* Initialize interrupts */
__set_il( 7 ); /* Allow all levels */
prvSetupHardware();
#if WATCHDOG == WTC_IN_TASK
#if WATCHDOG == WTC_IN_TASK
vStartWatchdogTask( WTC_TASK_PRIORITY );
#endif
#endif
/* Start the standard demo application tasks. */
#if ( INCLUDE_StartLEDFlashTasks == 1 )
#if ( INCLUDE_StartLEDFlashTasks == 1 )
vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
#endif
#if ( INCLUDE_StartIntegerMathTasks == 1 )
#endif
#if ( INCLUDE_StartIntegerMathTasks == 1 )
vStartIntegerMathTasks( tskIDLE_PRIORITY );
#endif
#if ( INCLUDE_AltStartComTestTasks == 1 )
#endif
#if ( INCLUDE_AltStartComTestTasks == 1 )
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
#endif
#if ( INCLUDE_StartPolledQueueTasks == 1 )
#endif
#if ( INCLUDE_StartPolledQueueTasks == 1 )
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
#endif
#if ( INCLUDE_StartSemaphoreTasks == 1 )
#endif
#if ( INCLUDE_StartSemaphoreTasks == 1 )
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
#endif
#if ( INCLUDE_StartBlockingQueueTasks == 1 )
vStartBlockingQueueTasks ( mainQUEUE_BLOCK_PRIORITY );
#endif
#if ( INCLUDE_StartDynamicPriorityTasks == 1 )
#endif
#if ( INCLUDE_StartBlockingQueueTasks == 1 )
vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
#endif
#if ( INCLUDE_StartDynamicPriorityTasks == 1 )
vStartDynamicPriorityTasks();
#endif
#if ( INCLUDE_StartMathTasks == 1 )
#endif
#if ( INCLUDE_StartMathTasks == 1 )
vStartMathTasks( tskIDLE_PRIORITY );
#endif
#if ( INCLUDE_StartFlashCoRoutines == 1 )
#endif
#if ( INCLUDE_StartFlashCoRoutines == 1 )
vStartFlashCoRoutines( ledNUMBER_OF_LEDS );
#endif
#if ( INCLUDE_StartHookCoRoutines == 1 )
#endif
#if ( INCLUDE_StartHookCoRoutines == 1 )
vStartHookCoRoutines();
#endif
#if ( INCLUDE_StartGenericQueueTasks == 1 )
#endif
#if ( INCLUDE_StartGenericQueueTasks == 1 )
vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
#endif
#if ( INCLUDE_StartQueuePeekTasks == 1 )
#endif
#if ( INCLUDE_StartQueuePeekTasks == 1 )
vStartQueuePeekTasks();
#endif
#if ( INCLUDE_CreateBlockTimeTasks == 1 )
#endif
#if ( INCLUDE_CreateBlockTimeTasks == 1 )
vCreateBlockTimeTasks();
#endif
#if ( INCLUDE_CreateSuicidalTasks == 1 )
#endif
#if ( INCLUDE_CreateSuicidalTasks == 1 )
vCreateSuicidalTasks( mainDEATH_PRIORITY );
#endif
#if ( INCLUDE_TraceListTasks == 1 )
#endif
#if ( INCLUDE_TraceListTasks == 1 )
vTraceListTasks( TASK_UTILITY_PRIORITY );
#endif
#endif
/* Start the 'Check' task which is defined in this file. */
xTaskCreate( vErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
xTaskCreate( vErrorChecks, (signed portCHAR *) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
vTaskStartScheduler();
/* Should not reach here */
while (1)
while( 1 )
{
__asm(" NOP "); //
__asm( " NOP " ); /* // */
}
}
/*-----------------------------------------------------------*/
void vParTestToggleLED( unsigned portBASE_TYPE uxLED )
{
if (uxLED < ledNUMBER_OF_LEDS)
if( uxLED < ledNUMBER_OF_LEDS )
{
vTaskSuspendAll();
/* Toggle the state of the single genuine on board LED. */
if( (sState[0] & ((portCHAR)(1 << uxLED))) == 0)
if( (sState[0] & ((portCHAR) (1 << uxLED))) == 0 )
{
PDR09 |= (1 << uxLED);
sState[0] |= (1 << uxLED);
PDR09 |= ( 1 << uxLED );
sState[0] |= ( 1 << uxLED );
}
else
{
PDR09 &= ~(1 << uxLED);
sState[0] &= ~(1 << uxLED);
PDR09 &= ~( 1 << uxLED );
sState[0] &= ~( 1 << uxLED );
}
xTaskResumeAll();
}
else
{
vTaskSuspendAll();
uxLED -= ledNUMBER_OF_LEDS;
if( (sState[1] & ((portCHAR)(1 << uxLED))) == 0)
if( (sState[1] & ((portCHAR) (1 << uxLED))) == 0 )
{
PDR00 |= (1 << uxLED);
sState[1] |= (1 << uxLED);
PDR00 |= ( 1 << uxLED );
sState[1] |= ( 1 << uxLED );
}
else
{
PDR00 &= ~(1 << uxLED);
sState[1] &= ~(1 << uxLED);
PDR00 &= ~( 1 << uxLED );
sState[1] &= ~( 1 << uxLED );
}
xTaskResumeAll();
}
}
/*-----------------------------------------------------------*/
void vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
{
@ -249,14 +278,16 @@ void vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
{
if( xValue )
{
PDR09 &= ~(1 << uxLED);
sState[0] &= ~(1 << uxLED);
PDR09 &= ~( 1 << uxLED );
sState[0] &= ~( 1 << uxLED );
}
else
{
PDR09 |= (1 << uxLED);
sState[0] |= (1 << uxLED); }
PDR09 |= ( 1 << uxLED );
sState[0] |= ( 1 << uxLED );
}
}
xTaskResumeAll();
}
else
@ -265,26 +296,27 @@ void vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
{
if( xValue )
{
PDR00 &= ~(1 << uxLED);
sState[1] &= ~(1 << uxLED);
PDR00 &= ~( 1 << uxLED );
sState[1] &= ~( 1 << uxLED );
}
else
{
PDR00 |= (1 << uxLED);
sState[1] |= (1 << uxLED);
PDR00 |= ( 1 << uxLED );
sState[1] |= ( 1 << uxLED );
}
}
xTaskResumeAll();
}
}
/*-----------------------------------------------------------*/
/*-----------------------------------------------------------*/
static void vErrorChecks( void *pvParameters )
{
static volatile unsigned portLONG ulDummyVariable = 3UL;
portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
static volatile unsigned portLONG ulDummyVariable = 3UL;
portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
( void ) pvParameters;
/* Cycle for ever, delaying then checking all the other tasks are still
operating without error. */
for( ;; )
@ -301,7 +333,7 @@ portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
switch is operating as required. - see the demo application
documentation for more info. */
ulDummyVariable *= 3UL;
/* See if the other tasks are all ok. */
if( prvCheckOtherTasksAreStillRunning() != pdPASS )
{
@ -312,15 +344,14 @@ portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
}
/* Flash! */
vParTestToggleLED(mainCHECK_TEST_LED);
vParTestToggleLED( mainCHECK_TEST_LED );
}
}
/*-----------------------------------------------------------*/
static portSHORT prvCheckOtherTasksAreStillRunning( void )
{
static portSHORT sNoErrorFound = pdTRUE;
static portSHORT sNoErrorFound = pdTRUE;
/* The demo tasks maintain a count that increments every cycle of the task
provided that the task has never encountered an error. This function
@ -328,106 +359,98 @@ static portSHORT sNoErrorFound = pdTRUE;
incremented. A count remaining at the same value between calls therefore
indicates that an error has been detected. Only tasks that do not flash
an LED are checked. */
#if ( INCLUDE_StartIntegerMathTasks == 1 )
#if ( INCLUDE_StartIntegerMathTasks == 1 )
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
#endif
#if ( INCLUDE_AltStartComTestTasks == 1 )
#endif
#if ( INCLUDE_AltStartComTestTasks == 1 )
if( xAreComTestTasksStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
#endif
#if ( INCLUDE_StartPolledQueueTasks == 1 )
#endif
#if ( INCLUDE_StartPolledQueueTasks == 1 )
if( xArePollingQueuesStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
#endif
#if ( INCLUDE_StartSemaphoreTasks == 1 )
#endif
#if ( INCLUDE_StartSemaphoreTasks == 1 )
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
#endif
#if ( INCLUDE_StartBlockingQueueTasks == 1 )
#endif
#if ( INCLUDE_StartBlockingQueueTasks == 1 )
if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
#endif
#if ( INCLUDE_StartDynamicPriorityTasks == 1 )
#endif
#if ( INCLUDE_StartDynamicPriorityTasks == 1 )
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
#endif
#if ( INCLUDE_StartMathTasks == 1 )
#endif
#if ( INCLUDE_StartMathTasks == 1 )
if( xAreMathsTaskStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
#endif
#if ( INCLUDE_StartFlashCoRoutines == 1 )
if( xAreFlashCoRoutinesStillRunning() != pdTRUE )
#endif
#if ( INCLUDE_StartFlashCoRoutines == 1 )
if( xAreFlashCoRoutinesStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
#endif
#if ( INCLUDE_StartHookCoRoutines == 1 )
#endif
#if ( INCLUDE_StartHookCoRoutines == 1 )
if( xAreHookCoRoutinesStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
#endif
#if ( INCLUDE_StartGenericQueueTasks == 1 )
if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
#endif
#if ( INCLUDE_StartQueuePeekTasks == 1 )
if ( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
#endif
#if ( INCLUDE_CreateBlockTimeTasks == 1 )
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
#endif
#if ( INCLUDE_StartGenericQueueTasks == 1 )
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
#endif
#if ( INCLUDE_CreateSuicidalTasks == 1 )
if( xIsCreateTaskStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
#endif
}
#endif
#if ( INCLUDE_StartQueuePeekTasks == 1 )
if( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
#endif
#if ( INCLUDE_CreateBlockTimeTasks == 1 )
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
#endif
#if ( INCLUDE_CreateSuicidalTasks == 1 )
if( xIsCreateTaskStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
#endif
return sNoErrorFound;
}
/*---------------------------------------------------------------------------*/
/*---------------------------------------------------------------------------*/

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