Update the IAR RL78 demo to include main_blinky.c and main_full.c.
Richard Barry
12 years ago
parent
7fb22e27da
commit
b78fa80fbe
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; FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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;
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; FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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; http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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;
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; ***************************************************************************
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; * *
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; * FreeRTOS tutorial books are available in pdf and paperback. *
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; * Complete, revised, and edited pdf reference manuals are also *
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; * available. *
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; * *
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; * Purchasing FreeRTOS documentation will not only help you, by *
|
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; * ensuring you get running as quickly as possible and with an *
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||||||
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; * in-depth knowledge of how to use FreeRTOS, it will also help *
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; * the FreeRTOS project to continue with its mission of providing *
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; * professional grade, cross platform, de facto standard solutions *
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; * for microcontrollers - completely free of charge! *
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; * *
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; * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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; * *
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; * Thank you for using FreeRTOS, and thank you for your support! *
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; * *
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; ***************************************************************************
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;
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;
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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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||||||
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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 obliged to
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||||||
|
; provide the source code for proprietary components outside of the FreeRTOS
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; kernel.
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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. See the GNU General Public License for more
|
||||||
|
; details. You should have received a copy of the GNU General Public License
|
||||||
|
; and the FreeRTOS license exception along with FreeRTOS; if not itcan be
|
||||||
|
; viewed here: http://www.freertos.org/a00114.html and also obtained by
|
||||||
|
; writing to Real Time Engineers Ltd., contact details for whom are available
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||||||
|
; on the FreeRTOS WEB site.
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||||||
|
;
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; 1 tab == 4 spaces!
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;
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; ***************************************************************************
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; * *
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; * Having a problem? Start by reading the FAQ "My application does *
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||||||
|
; * not run, what could be wrong?" *
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||||||
|
; * *
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||||||
|
; * http://www.FreeRTOS.org/FAQHelp.html *
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; * *
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; ***************************************************************************
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;
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;
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; http://www.FreeRTOS.org - Documentation, books, training, latest versions,
|
||||||
|
; license and Real Time Engineers Ltd. contact details.
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||||||
|
;
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||||||
|
; http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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||||||
|
; including FreeRTOS+Trace - an indispensable productivity tool, and our new
|
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|
; fully thread aware and reentrant UDP/IP stack.
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|
;
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; http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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; Integrity Systems, who sell the code with commercial support,
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; indemnification and middleware, under the OpenRTOS brand.
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;
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; http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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; 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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; * This file defines the assembler wrapper for the example interrupt that is
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; * defined in main.c. The wrapper is the interrupt entry point.
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; *
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; ISR_Support.h contains the definitions of portSAVE_CONTEXT() and
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; portRESTORE_CONTEXT().
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#include "ISR_Support.h"
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PUBLIC vANExampleISR_ASM_Wrapper
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EXTERN vAnExampleISR_C_Handler
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RSEG CODE:CODE
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; *
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; * This demo does not include a functional interrupt service routine - so
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; * this dummy handler (which is not actually installed) is provided as an
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; * example of how an ISR that needs to cause a context switch needs to be
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; * implemented. ISRs that do not cause a context switch have no special
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; * requirements and can be written as per the compiler documentation.
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; *
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; * This assembly wrapper function calls the main handler, which is called
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; * vAnExampleISR_C_Handler(), and is implemented in main.c. See the
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; * documentation page for this demo on the FreeRTOS.org website for full
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; * instructions.
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; *
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; * NOTE: vANExampleISR_ASM_Wrapper needs to be installed into the relevant
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; * vector, an example of how to do this from an assembly file is locate at
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; * the bottom of this file.
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; *
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vANExampleISR_ASM_Wrapper:
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; portSAVE_CONTEXT() must be the first thing called in the ASM
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; wrapper.
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portSAVE_CONTEXT
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; Once the context has been saved the C handler can be called.
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call !!vAnExampleISR_C_Handler
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; Finally the ISR must end with a call to portRESTORE_CONTEXT()
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; followed by a reti instruction to return from the interrupt to whichever
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; task is now the task selected to run (which may be different to the task
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; that was running before the interrupt started).
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portRESTORE_CONTEXT
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reti
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; The interrupt handler can be installed into the vector table in the same
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; assembly file.
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; Ensure the vector table segement is used.
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COMMON INTVEC:CODE:ROOT(1)
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;
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; Place a pointer to the asm wrapper at the correct index into the vector
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; table. Note 56 is used is purely as an example. The correct vector
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; number for the interrupt being installed must be used.
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ORG 58
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DW vANExampleISR_ASM_Wrapper
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END
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@ -0,0 +1,242 @@
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/*
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|
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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||||||
|
|
||||||
|
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
|
||||||
|
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||||
|
|
||||||
|
***************************************************************************
|
||||||
|
* *
|
||||||
|
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||||
|
* Complete, revised, and edited pdf reference manuals are also *
|
||||||
|
* available. *
|
||||||
|
* *
|
||||||
|
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||||
|
* ensuring you get running as quickly as possible and with an *
|
||||||
|
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||||
|
* the FreeRTOS project to continue with its mission of providing *
|
||||||
|
* professional grade, cross platform, de facto standard solutions *
|
||||||
|
* for microcontrollers - completely free of charge! *
|
||||||
|
* *
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||||||
|
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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||||||
|
* *
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|
* Thank you for using FreeRTOS, and thank you for your support! *
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||||||
|
* *
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||||||
|
***************************************************************************
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||||||
|
|
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|
|
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|
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
|
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|
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. See the GNU General Public License for more
|
||||||
|
details. You should have received a copy of the GNU General Public License
|
||||||
|
and the FreeRTOS license exception along with FreeRTOS; if not itcan be
|
||||||
|
viewed here: http://www.freertos.org/a00114.html and also obtained by
|
||||||
|
writing to Real Time Engineers Ltd., contact details for whom are available
|
||||||
|
on the FreeRTOS WEB site.
|
||||||
|
|
||||||
|
1 tab == 4 spaces!
|
||||||
|
|
||||||
|
***************************************************************************
|
||||||
|
* *
|
||||||
|
* Having a problem? Start by reading the FAQ "My application does *
|
||||||
|
* not run, what could be wrong?" *
|
||||||
|
* *
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||||||
|
* http://www.FreeRTOS.org/FAQHelp.html *
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||||||
|
* *
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||||||
|
***************************************************************************
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||||||
|
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
|
||||||
|
license and Real Time Engineers Ltd. contact details.
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||||
|
including FreeRTOS+Trace - an indispensable productivity tool, and our new
|
||||||
|
fully thread aware and reentrant UDP/IP stack.
|
||||||
|
|
||||||
|
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
|
||||||
|
Integrity Systems, who sell the code with commercial support,
|
||||||
|
indemnification and middleware, under the OpenRTOS brand.
|
||||||
|
|
||||||
|
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.
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|
*/
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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 simply blinky style 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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* basic demo. Generic functions, such FreeRTOS hook functions, and functions
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* required to configure the hardware, along with an example interrupt service
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* routine, are defined in main.c.
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******************************************************************************
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*
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* main_blinky() creates one queue, and two tasks. It then starts the
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* scheduler.
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*
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* The Queue Send Task:
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* The queue send task is implemented by the prvQueueSendTask() function in
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* this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
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* block for 200 milliseconds, before sending the value 100 to the queue that
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* was created within main_blinky(). Once the value is sent, the task loops
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* back around to block for another 200 milliseconds.
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*
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* The Queue Receive Task:
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* The queue receive task is implemented by the prvQueueReceiveTask() function
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* in this file. prvQueueReceiveTask() sits in a loop where it repeatedly
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* blocks on attempts to read data from the queue that was created within
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* main_blinky(). When data is received, the task checks the value of the
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* data, and if the value equals the expected 100, toggles the LED. The 'block
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* time' parameter passed to the queue receive function specifies that the
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* task should be held in the Blocked state indefinitely to wait for data to
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* be available on the queue. The queue receive task will only leave the
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* Blocked state when the queue send task writes to the queue. As the queue
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* send task writes to the queue every 200 milliseconds, the queue receive
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* task leaves the Blocked state every 200 milliseconds, and therefore toggles
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* the LED every 200 milliseconds.
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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 "semphr.h"
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/* Eval board specific definitions. */
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#include "port_iodefine.h"
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#include "port_iodefine_ext.h"
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#include "LED.h"
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/* Priorities at which the tasks are created. */
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#define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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/* The rate at which data is sent to the queue. The 200ms value is converted
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to ticks using the portTICK_RATE_MS constant. */
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#define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_RATE_MS )
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/* The number of items the queue can hold. This is 1 as the receive task
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will remove items as they are added, meaning the send task should always find
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the queue empty. */
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#define mainQUEUE_LENGTH ( 1 )
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/*-----------------------------------------------------------*/
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/*
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* The tasks as described in the comments at the top of this file.
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*/
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static void prvQueueReceiveTask( void *pvParameters );
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static void prvQueueSendTask( void *pvParameters );
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/*
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* Called by main() to create the simply blinky style application if
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* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
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*/
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void main_blinky( void );
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/*-----------------------------------------------------------*/
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/* The queue used by both tasks. */
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static xQueueHandle xQueue = NULL;
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/*-----------------------------------------------------------*/
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void main_blinky( void )
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{
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/* Create the queue. */
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xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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if( xQueue != NULL )
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{
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/* Start the two tasks as described in the comments at the top of this
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file. */
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xTaskCreate( prvQueueReceiveTask, /* The function that implements the task. */
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( signed char * ) "Rx", /* The text name assigned to the task - for debug only as it is not used by the kernel. */
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configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */
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NULL, /* The parameter passed to the task - not used in this case. */
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mainQUEUE_RECEIVE_TASK_PRIORITY, /* The priority assigned to the task. */
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NULL ); /* The task handle is not required, so NULL is passed. */
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xTaskCreate( prvQueueSendTask, ( signed char * ) "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
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/* Start the tasks and timer running. */
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vTaskStartScheduler();
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}
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/* If all is well, the scheduler will now be running, and the following
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line will never be reached. If the following line does execute, then
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there was insufficient FreeRTOS heap memory available for the idle and/or
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timer tasks to be created. See the memory management section on the
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FreeRTOS web site for more details. http://www.freertos.org/a00111.html. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvQueueSendTask( void *pvParameters )
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{
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portTickType xNextWakeTime;
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const unsigned long ulValueToSend = 100UL;
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/* Remove compiler warning about unused parameter. */
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( void ) pvParameters;
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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, mainQUEUE_SEND_FREQUENCY_MS );
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/* Send to the queue - causing the queue receive task to unblock and
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toggle the LED. 0 is used as the block time so the sending operation
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will not block - it shouldn't need to block as the queue should always
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be empty at this point in the code. */
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xQueueSend( xQueue, &ulValueToSend, 0U );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvQueueReceiveTask( void *pvParameters )
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{
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unsigned long ulReceivedValue;
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const unsigned long ulExpectedValue = 100UL;
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/* Remove compiler warning about unused parameter. */
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( void ) pvParameters;
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for( ;; )
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{
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/* Wait until something arrives in the queue - this task will block
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indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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FreeRTOSConfig.h. */
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xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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||||||
|
/* To get here something must have been received from the queue, but
|
||||||
|
is it the expected value? If it is, toggle the LED. */
|
||||||
|
if( ulReceivedValue == ulExpectedValue )
|
||||||
|
{
|
||||||
|
LED_BIT = !LED_BIT;
|
||||||
|
ulReceivedValue = 0U;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
@ -0,0 +1,419 @@
|
|||||||
|
/*
|
||||||
|
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
|
||||||
|
|
||||||
|
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
|
||||||
|
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||||
|
|
||||||
|
***************************************************************************
|
||||||
|
* *
|
||||||
|
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||||
|
* Complete, revised, and edited pdf reference manuals are also *
|
||||||
|
* available. *
|
||||||
|
* *
|
||||||
|
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||||
|
* ensuring you get running as quickly as possible and with an *
|
||||||
|
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||||
|
* the FreeRTOS project to continue with its mission of providing *
|
||||||
|
* professional grade, cross platform, de facto standard solutions *
|
||||||
|
* for microcontrollers - completely free of charge! *
|
||||||
|
* *
|
||||||
|
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||||
|
* *
|
||||||
|
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||||
|
* *
|
||||||
|
***************************************************************************
|
||||||
|
|
||||||
|
|
||||||
|
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. See the GNU General Public License for more
|
||||||
|
details. You should have received a copy of the GNU General Public License
|
||||||
|
and the FreeRTOS license exception along with FreeRTOS; if not itcan be
|
||||||
|
viewed here: http://www.freertos.org/a00114.html and also obtained by
|
||||||
|
writing to Real Time Engineers Ltd., contact details for whom are available
|
||||||
|
on the FreeRTOS WEB site.
|
||||||
|
|
||||||
|
1 tab == 4 spaces!
|
||||||
|
|
||||||
|
***************************************************************************
|
||||||
|
* *
|
||||||
|
* Having a problem? Start by reading the FAQ "My application does *
|
||||||
|
* not run, what could be wrong?" *
|
||||||
|
* *
|
||||||
|
* http://www.FreeRTOS.org/FAQHelp.html *
|
||||||
|
* *
|
||||||
|
***************************************************************************
|
||||||
|
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
|
||||||
|
license and Real Time Engineers Ltd. contact details.
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||||
|
including FreeRTOS+Trace - an indispensable productivity tool, and our new
|
||||||
|
fully thread aware and reentrant UDP/IP stack.
|
||||||
|
|
||||||
|
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
|
||||||
|
Integrity Systems, who sell the code with commercial support,
|
||||||
|
indemnification and middleware, under the OpenRTOS brand.
|
||||||
|
|
||||||
|
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.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/******************************************************************************
|
||||||
|
* NOTE 1: This project provides two demo applications. A simple blinky style
|
||||||
|
* project, and a more comprehensive test and demo application. The
|
||||||
|
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
|
||||||
|
* between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
|
||||||
|
* in main.c. This file implements the comprehensive test and demo version.
|
||||||
|
*
|
||||||
|
* NOTE 2: This file only contains the source code that is specific to the
|
||||||
|
* full demo. Generic functions, such FreeRTOS hook functions, and functions
|
||||||
|
* required to configure the hardware, along with an example of how to write an
|
||||||
|
* interrupt service routine, are defined in main.c.
|
||||||
|
******************************************************************************
|
||||||
|
*
|
||||||
|
* main_full() creates all the demo application tasks and two software timers,
|
||||||
|
* then starts the scheduler. The web documentation provides more details of
|
||||||
|
* the standard demo application tasks, which provide no particular
|
||||||
|
* functionality, but do provide a good example of how to use the FreeRTOS API.
|
||||||
|
*
|
||||||
|
* In addition to the standard demo tasks, the following tasks, tests and
|
||||||
|
* timers are created within this file:
|
||||||
|
*
|
||||||
|
* "Reg test" tasks - These fill the registers with known values, then check
|
||||||
|
* that each register still contains its expected value. Each task uses a
|
||||||
|
* different set of values. The reg test tasks execute with a very low priority,
|
||||||
|
* so get preempted very frequently. A register containing an unexpected value
|
||||||
|
* is indicative of an error in the context switching mechanism.
|
||||||
|
*
|
||||||
|
* The "Demo" Timer and Callback Function:
|
||||||
|
* The demo timer callback function does nothing more than increment a variable.
|
||||||
|
* The period of the demo timer is set relative to the period of the check timer
|
||||||
|
* (described below). This allows the check timer to know how many times the
|
||||||
|
* demo timer callback function should execute between each execution of the
|
||||||
|
* check timer callback function. The variable incremented in the demo timer
|
||||||
|
* callback function is used to determine how many times the callback function
|
||||||
|
* has executed.
|
||||||
|
*
|
||||||
|
* The "Check" Timer and Callback Function:
|
||||||
|
* The check timer period is initially set to three seconds. The check timer
|
||||||
|
* callback function checks that all the standard demo tasks, the reg test
|
||||||
|
* tasks, and the demo timer are not only still executing, but are executing
|
||||||
|
* without reporting any errors. If the check timer discovers that a task or
|
||||||
|
* timer has stalled, or reported an error, then it changes its own period from
|
||||||
|
* the initial three seconds, to just 200ms. The check timer callback function
|
||||||
|
* also toggles an LED each time it is called. This provides a visual
|
||||||
|
* indication of the system status: If the LED toggles every three seconds,
|
||||||
|
* then no issues have been discovered. If the LED toggles every 200ms, then
|
||||||
|
* an issue has been discovered with at least one task.
|
||||||
|
*
|
||||||
|
* ENSURE TO READ THE DOCUMENTATION PAGE FOR THIS PORT AND DEMO APPLICATION ON
|
||||||
|
* THE http://www.FreeRTOS.org WEB SITE FOR FULL INFORMATION ON USING THIS DEMO
|
||||||
|
* APPLICATION, AND ITS ASSOCIATE FreeRTOS ARCHITECTURE PORT!
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* Scheduler include files. */
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "task.h"
|
||||||
|
#include "timers.h"
|
||||||
|
|
||||||
|
/* Standard demo includes. */
|
||||||
|
#include "dynamic.h"
|
||||||
|
#include "PollQ.h"
|
||||||
|
#include "blocktim.h"
|
||||||
|
|
||||||
|
/* Hardware includes. */
|
||||||
|
#include "port_iodefine.h"
|
||||||
|
#include "port_iodefine_ext.h"
|
||||||
|
#include "LED.h"
|
||||||
|
|
||||||
|
/* The period at which the check timer will expire, in ms, provided no errors
|
||||||
|
have been reported by any of the standard demo tasks. ms are converted to the
|
||||||
|
equivalent in ticks using the portTICK_RATE_MS constant. */
|
||||||
|
#define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
|
||||||
|
|
||||||
|
/* The period at which the check timer will expire, in ms, if an error has been
|
||||||
|
reported in one of the standard demo tasks, the check tasks, or the demo timer.
|
||||||
|
ms are converted to the equivalent in ticks using the portTICK_RATE_MS
|
||||||
|
constant. */
|
||||||
|
#define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
|
||||||
|
|
||||||
|
/* These two definitions are used to set the period of the demo timer. The demo
|
||||||
|
timer period is always relative to the check timer period, so the check timer
|
||||||
|
can determine if the demo timer has expired the expected number of times between
|
||||||
|
its own executions. */
|
||||||
|
#define mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT ( 100UL )
|
||||||
|
#define mainDEMO_TIMER_PERIOD_MS ( mainCHECK_TIMER_PERIOD_MS / mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT )
|
||||||
|
|
||||||
|
/* A block time of zero simply means "don't block". */
|
||||||
|
#define mainDONT_BLOCK ( 0U )
|
||||||
|
|
||||||
|
/* Values that are passed as parameters into the reg test tasks (purely to
|
||||||
|
ensure task parameters are passed correctly). */
|
||||||
|
#define mainREG_TEST_1_PARAMETER ( ( void * ) 0x1234 )
|
||||||
|
#define mainREG_TEST_2_PARAMETER ( ( void * ) 0x5678 )
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* The 'check' timer callback function, as described at the top of this file.
|
||||||
|
*/
|
||||||
|
static void prvCheckTimerCallback( xTimerHandle xTimer );
|
||||||
|
|
||||||
|
/*
|
||||||
|
* The 'demo' timer callback function, as described at the top of this file.
|
||||||
|
*/
|
||||||
|
static void prvDemoTimerCallback( xTimerHandle xTimer );
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Functions that define the RegTest tasks, as described at the top of this
|
||||||
|
* file. The RegTest tasks are written (necessarily) in assembler. Their
|
||||||
|
* entry points are written in C to allow for easy checking of the task
|
||||||
|
* parameter values.
|
||||||
|
*/
|
||||||
|
extern void vRegTest1Task( void );
|
||||||
|
extern void vRegTest2Task( void );
|
||||||
|
static void prvRegTest1Entry( void *pvParameters );
|
||||||
|
static void prvRegTest2Entry( void *pvParameters );
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Called if a RegTest task discovers an error as a mechanism to stop the
|
||||||
|
* tasks loop counter incrementing (so the check task can detect that an
|
||||||
|
* error exists).
|
||||||
|
*/
|
||||||
|
void vRegTestError( void );
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Called by main() to create the more comprehensive application if
|
||||||
|
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
|
||||||
|
*/
|
||||||
|
void main_full( void );
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* Variables that are incremented on each cycle of the two reg tests to allow
|
||||||
|
the check timer to know that they are still executing. */
|
||||||
|
unsigned short usRegTest1LoopCounter = 0, usRegTest2LoopCounter;
|
||||||
|
|
||||||
|
/* The check timer. This uses prvCheckTimerCallback() as its callback
|
||||||
|
function. */
|
||||||
|
static xTimerHandle xCheckTimer = NULL;
|
||||||
|
|
||||||
|
/* The demo timer. This uses prvDemoTimerCallback() as its callback function. */
|
||||||
|
static xTimerHandle xDemoTimer = NULL;
|
||||||
|
|
||||||
|
/* This variable is incremented each time the demo timer expires. */
|
||||||
|
static volatile unsigned long ulDemoSoftwareTimerCounter = 0UL;
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
void main_full( void )
|
||||||
|
{
|
||||||
|
/* Creates all the tasks and timers, then starts the scheduler. */
|
||||||
|
|
||||||
|
/* First create the 'standard demo' tasks. These are used to demonstrate
|
||||||
|
API functions being used and also to test the kernel port. More information
|
||||||
|
is provided on the FreeRTOS.org WEB site. */
|
||||||
|
vStartDynamicPriorityTasks();
|
||||||
|
vStartPolledQueueTasks( tskIDLE_PRIORITY );
|
||||||
|
vCreateBlockTimeTasks();
|
||||||
|
|
||||||
|
/* Create the RegTest tasks as described at the top of this file. */
|
||||||
|
xTaskCreate( prvRegTest1Entry, /* The function that implements the task. */
|
||||||
|
( const signed char * ) "Reg1",/* Text name for the task - to assist debugging only, not used by the kernel. */
|
||||||
|
configMINIMAL_STACK_SIZE, /* The size of the stack allocated to the task (in words, not bytes). */
|
||||||
|
mainREG_TEST_1_PARAMETER, /* The parameter passed into the task. */
|
||||||
|
tskIDLE_PRIORITY, /* The priority at which the task will execute. */
|
||||||
|
NULL ); /* Used to pass the handle of the created task out to the function caller - not used in this case. */
|
||||||
|
|
||||||
|
xTaskCreate( prvRegTest2Entry, ( const signed char * ) "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
|
||||||
|
|
||||||
|
/* Create the software timer that performs the 'check' functionality,
|
||||||
|
as described at the top of this file. */
|
||||||
|
xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
|
||||||
|
( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
|
||||||
|
pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
|
||||||
|
( void * ) 0, /* The ID is not used, so can be set to anything. */
|
||||||
|
prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
|
||||||
|
);
|
||||||
|
|
||||||
|
/* Create the software timer that just increments a variable for demo
|
||||||
|
purposes. */
|
||||||
|
xDemoTimer = xTimerCreate( ( const signed char * ) "DemoTimer",/* A text name, purely to help debugging. */
|
||||||
|
( mainDEMO_TIMER_PERIOD_MS ), /* The timer period, in this case it is always calculated relative to the check timer period (see the definition of mainDEMO_TIMER_PERIOD_MS). */
|
||||||
|
pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
|
||||||
|
( void * ) 0, /* The ID is not used, so can be set to anything. */
|
||||||
|
prvDemoTimerCallback /* The callback function that inspects the status of all the other tasks. */
|
||||||
|
);
|
||||||
|
|
||||||
|
/* Start both the check timer and the demo timer. The timers won't actually
|
||||||
|
start until the scheduler is started. */
|
||||||
|
xTimerStart( xCheckTimer, mainDONT_BLOCK );
|
||||||
|
xTimerStart( xDemoTimer, mainDONT_BLOCK );
|
||||||
|
|
||||||
|
/* Finally start the scheduler running. */
|
||||||
|
vTaskStartScheduler();
|
||||||
|
|
||||||
|
/* If all is well execution will never reach here as the scheduler will be
|
||||||
|
running. If this null loop is reached then it is likely there was
|
||||||
|
insufficient FreeRTOS heap available for the idle task and/or timer task to
|
||||||
|
be created. See http://www.freertos.org/a00111.html. */
|
||||||
|
for( ;; );
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
static void prvDemoTimerCallback( xTimerHandle xTimer )
|
||||||
|
{
|
||||||
|
/* Remove compiler warning about unused parameter. */
|
||||||
|
( void ) xTimer;
|
||||||
|
|
||||||
|
/* The demo timer has expired. All it does is increment a variable. The
|
||||||
|
period of the demo timer is relative to that of the check timer, so the
|
||||||
|
check timer knows how many times this variable should have been incremented
|
||||||
|
between each execution of the check timer's own callback. */
|
||||||
|
ulDemoSoftwareTimerCounter++;
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
static void prvCheckTimerCallback( xTimerHandle xTimer )
|
||||||
|
{
|
||||||
|
static portBASE_TYPE xChangedTimerPeriodAlready = pdFALSE, xErrorStatus = pdPASS;
|
||||||
|
static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
|
||||||
|
|
||||||
|
/* Remove compiler warning about unused parameter. */
|
||||||
|
( void ) xTimer;
|
||||||
|
|
||||||
|
/* Inspect the status of the standard demo tasks. */
|
||||||
|
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
xErrorStatus = pdFAIL;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( xArePollingQueuesStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
xErrorStatus = pdFAIL;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
|
||||||
|
{
|
||||||
|
xErrorStatus = pdFAIL;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Indicate an error if either of the reg test loop counters have not
|
||||||
|
incremented since the last time this function was called. */
|
||||||
|
if( usLastRegTest1Counter == usRegTest1LoopCounter )
|
||||||
|
{
|
||||||
|
xErrorStatus = pdFAIL;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
usLastRegTest1Counter = usRegTest1LoopCounter;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( usLastRegTest2Counter == usRegTest2LoopCounter )
|
||||||
|
{
|
||||||
|
xErrorStatus = pdFAIL;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
usLastRegTest2Counter = usRegTest2LoopCounter;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Ensure that the demo software timer has expired
|
||||||
|
mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT times in between
|
||||||
|
each call of this function. A critical section is not required to access
|
||||||
|
ulDemoSoftwareTimerCounter as the variable is only accessed from another
|
||||||
|
software timer callback, and only one software timer callback can be
|
||||||
|
executing at any time. */
|
||||||
|
if( ( ulDemoSoftwareTimerCounter < ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT - 1 ) ) ||
|
||||||
|
( ulDemoSoftwareTimerCounter > ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT + 1 ) )
|
||||||
|
)
|
||||||
|
{
|
||||||
|
xErrorStatus = pdFAIL;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
ulDemoSoftwareTimerCounter = 0UL;
|
||||||
|
}
|
||||||
|
|
||||||
|
if( ( xErrorStatus == pdFAIL ) && ( xChangedTimerPeriodAlready == pdFALSE ) )
|
||||||
|
{
|
||||||
|
/* An error has occurred, but the timer's period has not yet been changed,
|
||||||
|
change it now, and remember that it has been changed. Shortening the
|
||||||
|
timer's period means the LED will toggle at a faster rate, giving a
|
||||||
|
visible indication that something has gone wrong. */
|
||||||
|
xChangedTimerPeriodAlready = pdTRUE;
|
||||||
|
|
||||||
|
/* This call to xTimerChangePeriod() uses a zero block time. Functions
|
||||||
|
called from inside of a timer callback function must *never* attempt to
|
||||||
|
block. */
|
||||||
|
xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Toggle the LED. The toggle rate will depend on whether or not an error
|
||||||
|
has been found in any tasks. */
|
||||||
|
LED_BIT = !LED_BIT;
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
void vRegTestError( void )
|
||||||
|
{
|
||||||
|
/* Called by both reg test tasks if an error is found. There is no way out
|
||||||
|
of this function so the loop counter of the calling task will stop
|
||||||
|
incrementing, which will result in the check timer signaling an error. */
|
||||||
|
for( ;; );
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
static void prvRegTest1Entry( void *pvParameters )
|
||||||
|
{
|
||||||
|
/* If the parameter has its expected value then start the first reg test
|
||||||
|
task (this is only done to test that the RTOS port is correctly handling
|
||||||
|
task parameters. */
|
||||||
|
if( pvParameters == mainREG_TEST_1_PARAMETER )
|
||||||
|
{
|
||||||
|
vRegTest1Task();
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
vRegTestError();
|
||||||
|
}
|
||||||
|
|
||||||
|
/* It is not possible to get here as neither of the two functions called
|
||||||
|
above will ever return. */
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
static void prvRegTest2Entry( void *pvParameters )
|
||||||
|
{
|
||||||
|
/* If the parameter has its expected value then start the first reg test
|
||||||
|
task (this is only done to test that the RTOS port is correctly handling
|
||||||
|
task parameters. */
|
||||||
|
if( pvParameters == mainREG_TEST_2_PARAMETER )
|
||||||
|
{
|
||||||
|
vRegTest2Task();
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
vRegTestError();
|
||||||
|
}
|
||||||
|
|
||||||
|
/* It is not possible to get here as neither of the two functions called
|
||||||
|
above will ever return. */
|
||||||
|
}
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
Loading…
Reference in New Issue