FreeRTOS/Demo/PIC32MX_MPLAB/main.c

/*
	FreeRTOS.org V4.6.1 - Copyright (C) 2003-2007 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.

	***************************************************************************
	See http://www.FreeRTOS.org for documentation, latest information, license
	and contact details.  Please ensure to read the configuration and relevant
	port sections of the online documentation.

	Also see http://www.SafeRTOS.com a version that has been certified for use
	in safety critical systems, plus commercial licensing, development and
	support options.
	***************************************************************************
*/

/*
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
 * documentation provides more details of the standard demo application tasks.
 * In addition to the standard demo tasks, the following tasks and tests are
 * defined and/or created within this file:
 *
 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
 * using a free running timer to demonstrate the use of the
 * configKERNEL_INTERRUPT_PRIORITY configuration constant.  The interrupt
 * service routine measures the number of processor clocks that occur between
 * each interrupt - and in so doing measures the jitter in the interrupt timing.
 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
 * displayed on the LCD display by the 'LCD' task as described below.  The
 * fast interrupt is configured and handled in the timertest.c source file.
 *
 * "LCD" task - the LCD task is a 'gatekeeper' task.  It is the only task that
 * is permitted to access the display directly.  Other tasks wishing to write a
 * message to the LCD send the message on a queue to the LCD task instead of
 * accessing the LCD themselves.  The LCD task just blocks on the queue waiting
 * for messages - waking and displaying the messages as they arrive.
 *
 * "Check" task -  This only executes every three seconds but has the highest
 * priority so is guaranteed to get processor time.  Its main function is to 
 * check that all the standard demo tasks are still operational.  Should any 
 * unexpected behaviour within a demo task be discovered the check task will 
 * write an error to the LCD (via the LCD task).  If all the demo tasks are 
 * executing with their expected behaviour then the check task writes the 
 * maximum jitter time to the LCD (as described above) - again via the LCD task.
 *
 * "Register test" tasks - These tasks are used in part to test the kernel port.
 * They set each processor register to a known value, then check that the 
 * register still contains that value.  Each of the tasks sets the registers
 * to different values, and will get swapping in and out between setting and 
 * then subsequently checking the register values.  Discovery of an incorrect
 * value would be indicative of an error in the task switching mechanism.
 */

/* Standard includes. */
#include <stdio.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"

/* Demo application includes. */
#include "partest.h"
#include "integer.h"
#include "blocktim.h"
#include "flash.h"
#include "semtest.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "lcd.h"
#include "comtest2.h"
#include "timertest.h"

#pragma config FPLLMUL = MUL_18, FPLLIDIV = DIV_2, FPLLODIV = DIV_1, FWDTEN = OFF
#pragma config POSCMOD = HS, FNOSC = PRIPLL, FPBDIV = DIV_2

/*-----------------------------------------------------------*/

/* The rate at which the LED controlled by the 'check' task will flash when no
errors have been detected. */
#define mainNO_ERROR_PERIOD	( 3000 / portTICK_RATE_MS )

/* The rate at which the LED controlled by the 'check' task will flash when an
error has been detected. */
#define mainERROR_PERIOD 	( 500 )

/* The priorities of the various demo application tasks. */
#define mainCHECK_TASK_PRIORITY				( tskIDLE_PRIORITY + 4 )
#define mainSEM_TEST_PRIORITY				( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainCOM_TEST_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY			( tskIDLE_PRIORITY )

/* The LED controlled by the 'check' task. */
#define mainCHECK_LED						( 7 )

/* The LED used by the comtest tasks.  mainCOM_TEST_LED + 1 is also used.
See the comtest.c file for more information. */
#define mainCOM_TEST_LED					( 4 )

/* Baud rate used by the comtest tasks. */
#define mainCOM_TEST_BAUD_RATE				( 115200 )

/* Misc. */
#define mainDONT_WAIT						( 0 )

/* Dimension the buffer used to hold the value of the maximum jitter time when
it is converted to a string. */
#define mainMAX_STRING_LENGTH				( 20 )

/* The frequency at which the "fast interrupt test" interrupt will occur. */
#define mainTEST_INTERRUPT_FREQUENCY		( 20000 )

/* The number of timer clocks we expect to occur between each "fast
interrupt test" interrupt. */
#define mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ( ( configCPU_CLOCK_HZ >> 1 ) / mainTEST_INTERRUPT_FREQUENCY )

/* The number of nano seconds between each core clock. */
#define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) ( configCPU_CLOCK_HZ >> 1 ) ) * 1000000000.0 ) )

/*-----------------------------------------------------------*/

/*
 * Setup the processor ready for the demo.
 */
static void prvSetupHardware( void );

/*
 * Implements the 'check' task functionality as described at the top of this 
 * file. 
 */
static void prvCheckTask( void *pvParameters ) __attribute__((noreturn));

/*
 * Tasks that test the context switch mechanism by filling the processor 
 * registers with known values, then checking that the values contained
 * within the registers is as expected.  The tasks are likely to get swapped
 * in and out between setting the register values and checking the register
 * values. */
static void prvTestTask1( void *pvParameters );
static void prvTestTask2( void *pvParameters );

/*-----------------------------------------------------------*/

/* The queue used to send messages to the LCD task. */
static xQueueHandle xLCDQueue;

/* Flag used by prvTestTask1() and prvTestTask2() to indicate their status
(pass/fail). */
unsigned portLONG ulStatus1 = pdPASS;

/* Variables incremented by prvTestTask1() and prvTestTask2() respectively on 
each iteration of their function.  This is used to detect either task stopping
their execution.. */
unsigned portLONG ulRegTest1Cycles = 0, ulRegTest2Cycles = 0;

/*-----------------------------------------------------------*/


/*
 * Create the demo tasks then start the scheduler.
 */
int main( void )
{
	/* Configure any hardware required for this demo. */
	prvSetupHardware();

	/* Create the LCD task - this returns the queue to use when writing 
	messages to the LCD. */
	xLCDQueue = xStartLCDTask();

	/* Create all the other standard demo tasks. */
	vStartLEDFlashTasks( tskIDLE_PRIORITY );
    vCreateBlockTimeTasks();
    vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
    vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
    vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
    vStartQueuePeekTasks();
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );

	/* Create the tasks defined within this file. */
	xTaskCreate( prvTestTask1, "Tst1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
	xTaskCreate( prvTestTask2, "Tst2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );

	/* prvCheckTask uses sprintf so requires more stack. */
	xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE * 2, NULL, mainCHECK_TASK_PRIORITY, NULL );

	/* Setup the high frequency, high priority, timer test. */
	vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );

	/* Finally start the scheduler. */
	vTaskStartScheduler();

	/* Will only reach here if there is insufficient heap available to start
	the scheduler. */
	return 0;
}
/*-----------------------------------------------------------*/

static void prvTestTask1( void *pvParameters )
{
extern void vRegTest1( unsigned long * );

	for( ;; )
	{
		/* Perform the register test function. */
		vRegTest1( &ulStatus1 );

		/* Increment the counter so the check task knows we are still 
		running. */
		ulRegTest1Cycles++;
	}
}
/*-----------------------------------------------------------*/

static void prvTestTask2( void *pvParameters )
{
extern void vRegTest2( unsigned long * );

	for( ;; )
	{
		/* Perform the register test function. */
		vRegTest2( &ulStatus1 );

		/* Increment the counter so the check task knows we are still
		running. */
		ulRegTest2Cycles++;
	}
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
	/* Set the system and peripheral bus speeds and enable the program cache*/
    SYSTEMConfigPerformance( configCPU_CLOCK_HZ );

	/* Setup to use the external interrupt controller. */
    INTEnableSystemMultiVectoredInt();

	portDISABLE_INTERRUPTS();

	/* Setup the digital IO for the LED's. */
	vParTestInitialise();
}
/*-----------------------------------------------------------*/

static void prvCheckTask( void *pvParameters )
{
unsigned portLONG ulLastRegTest1Value = 0, ulLastRegTest2Value = 0, ulTicksToWait = mainNO_ERROR_PERIOD;
portTickType xLastExecutionTime;

/* Buffer into which the maximum jitter time is written as a string. */
static portCHAR cStringBuffer[ mainMAX_STRING_LENGTH ];

/* The maximum jitter time measured by the fast interrupt test. */
extern unsigned portLONG ulMaxJitter ;
xLCDMessage xMessage = { ( 200 / portTICK_RATE_MS ), cStringBuffer };

	/* Initialise the variable used to control our iteration rate prior to
	its first use. */
	xLastExecutionTime = xTaskGetTickCount();

	for( ;; )
	{
		/* Wait until it is time to run the tests again. */
		vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );

		/* Has either register check 1 or 2 task discovered an error? */
		if( ulStatus1 != pdPASS )
		{
			ulTicksToWait = mainERROR_PERIOD;
			xMessage.pcMessage = "Error: Reg test1";
		}

		/* Check that the register test 1 task is still running. */
		if( ulLastRegTest1Value == ulRegTest1Cycles )
		{
			ulTicksToWait = mainERROR_PERIOD;
			xMessage.pcMessage = "Error: Reg test2";
		}
		ulLastRegTest1Value = ulRegTest1Cycles;

		
		/* Check that the register test 2 task is still running. */
		if( ulLastRegTest2Value == ulRegTest2Cycles )
		{
			ulTicksToWait = mainERROR_PERIOD;
			xMessage.pcMessage = "Error: Reg test3";
		}
		ulLastRegTest2Value = ulRegTest2Cycles;
		

		/* Have any of the standard demo tasks detected an error in their 
		operation? */
		if( xAreGenericQueueTasksStillRunning() != pdTRUE )
		{
			ulTicksToWait = mainERROR_PERIOD;
			xMessage.pcMessage = "Error: Gen Q";
		}
		else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
		{
			ulTicksToWait = mainERROR_PERIOD;
			xMessage.pcMessage = "Error: Q Peek";
		}
		else if( xAreComTestTasksStillRunning() != pdTRUE )
		{
			ulTicksToWait = mainERROR_PERIOD;
			xMessage.pcMessage = "Error: COM test";
		}
		else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
		{
			ulTicksToWait = mainERROR_PERIOD;
			xMessage.pcMessage = "Error: Blck time";
		}
	    else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
	    {
	        ulTicksToWait = mainERROR_PERIOD;
			xMessage.pcMessage = "Error: Sem test";
	    }
	    else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
	    {
	        ulTicksToWait = mainERROR_PERIOD;
			xMessage.pcMessage = "Error: Int math";
	    }

		/* Write the max jitter time to the string buffer.  It will only be 
		displayed if no errors have been detected. */
		sprintf( cStringBuffer, "%dns max jitter", ( int ) ( ( ulMaxJitter - mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ) * mainNS_PER_CLOCK ) );

		xQueueSend( xLCDQueue, &xMessage, mainDONT_WAIT );
		vParTestToggleLED( mainCHECK_LED );
	}
}
/*-----------------------------------------------------------*/

void vApplicationGeneralExceptionHandler( unsigned portLONG ulCause, unsigned portLONG ulStatus )
{
	/* This overrides the definition provided by the kernel.  Other exceptions 
	should be handled here. */
	for( ;; );
}