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298 lines
10 KiB
C
298 lines
10 KiB
C
/*
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FreeRTOS.org V4.7.0 - Copyright (C) 2003-2007 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS.org is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS.org; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS.org, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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See http://www.FreeRTOS.org for documentation, latest information, license
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and contact details. Please ensure to read the configuration and relevant
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port sections of the online documentation.
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Also see http://www.SafeRTOS.com a version that has been certified for use
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in safety critical systems, plus commercial licensing, development and
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support options.
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***************************************************************************
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*/
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/*
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* Creates all the demo application tasks, then starts the scheduler. The WEB
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* documentation provides more details of the demo application tasks.
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*
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* This demo is configured to execute on the ES449 prototyping board from
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* SoftBaugh. The ES449 has a built in LCD display and a single built in user
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* LED. Therefore, in place of flashing an LED, the 'flash' and 'check' tasks
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* toggle '*' characters on the LCD. The left most '*' represents LED 0, the
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* next LED 1, etc.
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*
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* Main. c also creates a task called 'Check'. This only executes every three
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* seconds but has the highest priority so is guaranteed to get processor time.
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* Its main function is to check that all the other tasks are still operational.
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* Each task that does not flash an LED maintains a unique count that is
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* incremented each time the task successfully completes its function. Should
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* any error occur within such a task the count is permanently halted. The
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* 'check' task inspects the count of each task to ensure it has changed since
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* the last time the check task executed. If all the count variables have
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* changed all the tasks are still executing error free, and the check task
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* toggles an LED with a three second period. Should any task contain an error
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* at any time the LED toggle rate will increase to 500ms.
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*
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* Please read the documentation for the MSP430 port available on
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* http://www.FreeRTOS.org.
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*/
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/* Standard includes. */
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#include <stdlib.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo application includes. */
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#include "partest.h"
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#include "flash.h"
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#include "integer.h"
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#include "comtest2.h"
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#include "PollQ.h"
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/* Constants required for hardware setup. */
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#define mainALL_BITS_OUTPUT ( ( unsigned portCHAR ) 0xff )
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#define mainMAX_FREQUENCY ( ( unsigned portCHAR ) 121 )
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/* Constants that define the LED's used by the various tasks. [in this case
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the '*' characters on the LCD represent LED's] */
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#define mainCHECK_LED ( 4 )
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#define mainCOM_TEST_LED ( 10 )
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/* Demo task priorities. */
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#define mainCHECK_TASK_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 mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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/* Baud rate used by the COM test tasks. */
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#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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/* The frequency at which the 'Check' tasks executes. See the comments at the
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top of the page. When the system is operating error free the 'Check' task
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toggles an LED every three seconds. If an error is discovered in any task the
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rate is increased to 500 milliseconds. [in this case the '*' characters on the
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LCD represent LED's]*/
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#define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
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#define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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/* The constants used in the calculation. */
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#define intgCONST1 ( ( portLONG ) 123 )
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#define intgCONST2 ( ( portLONG ) 234567 )
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#define intgCONST3 ( ( portLONG ) -3 )
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#define intgCONST4 ( ( portLONG ) 7 )
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#define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
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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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* Perform the hardware setup required by the ES449 in order to run the demo
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* application.
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*/
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static void prvSetupHardware( void );
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portBASE_TYPE xLocalError = pdFALSE;
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/*-----------------------------------------------------------*/
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/*
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* Start the demo application tasks - then start the real time scheduler.
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*/
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int main( void )
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{
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/* Setup the hardware ready for the demo. */
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prvSetupHardware();
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vParTestInitialise();
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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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/* Start the 'Check' task which is defined in this file. */
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xTaskCreate( vErrorChecks, ( const signed portCHAR * const ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Start the scheduler. */
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vTaskStartScheduler();
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/* As the scheduler has been started the demo applications tasks will be
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executing and we should never get here! */
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return 0;
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}
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/*-----------------------------------------------------------*/
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static portTASK_FUNCTION( vErrorChecks, pvParameters )
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{
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portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
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/* Cycle for ever, delaying then checking all the other tasks are still
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operating without error. */
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for( ;; )
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{
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/* Wait until it is time to check again. The time we wait here depends
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on whether an error has been detected or not. When an error is
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detected the time is shortened resulting in a faster LED flash rate. */
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vTaskDelay( xDelayPeriod );
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/* See if the other tasks are all ok. */
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if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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{
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/* An error occurred in one of the tasks so shorten the delay
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period - which has the effect of increasing the frequency of the
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LED toggle. */
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xDelayPeriod = mainERROR_CHECK_DELAY;
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}
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/* Flash! */
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vParTestToggleLED( mainCHECK_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( xAreComTestTasksStillRunning() != 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( xLocalError == 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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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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/* Stop the watchdog. */
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WDTCTL = WDTPW + WDTHOLD;
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/* Setup DCO+ for ( xtal * D * (N + 1) ) operation. */
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FLL_CTL0 |= DCOPLUS + XCAP18PF;
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/* X2 DCO frequency, 8MHz nominal DCO */
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SCFI0 |= FN_4;
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/* (121+1) x 32768 x 2 = 7.99 Mhz */
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SCFQCTL = mainMAX_FREQUENCY;
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/* Setup the IO. This is just copied from the demo supplied by SoftBaugh
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for the ES449 demo board. */
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P1SEL = 0x32;
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P2SEL = 0x00;
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P3SEL = 0x00;
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P4SEL = 0xFC;
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P5SEL = 0xFF;
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}
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/*-----------------------------------------------------------*/
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/* The idle hook is just a copy of the standard integer maths tasks. See
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Demo/Common/integer.c for rationale. */
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void vApplicationIdleHook( void ) __toplevel
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{
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/* These variables are all effectively set to constants so they are volatile to
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ensure the compiler does not just get rid of them. */
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volatile portLONG lValue;
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volatile signed portBASE_TYPE *pxTaskHasExecuted;
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/* Keep performing a calculation and checking the result against a constant. */
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for( ;; )
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{
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/* Perform the calculation. This will store partial value in
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registers, resulting in a good test of the context switch mechanism. */
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lValue = intgCONST1;
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lValue += intgCONST2;
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/* Yield in case cooperative scheduling is being used. */
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#if configUSE_PREEMPTION == 0
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{
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taskYIELD();
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}
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#endif
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/* Finish off the calculation. */
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lValue *= intgCONST3;
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lValue /= intgCONST4;
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/* If the calculation is found to be incorrect we stop setting the
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TaskHasExecuted variable so the check task can see an error has
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occurred. */
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if( lValue != intgEXPECTED_ANSWER ) /*lint !e774 volatile used to prevent this being optimised out. */
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{
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/* Don't bother with mutual exclusion - it is only read from the
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check task and never written. */
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xLocalError = pdTRUE;
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}
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/* Yield in case cooperative scheduling is being used. */
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#if configUSE_PREEMPTION == 0
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{
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taskYIELD();
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}
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#endif
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}
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}
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