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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [ARM7_LPC2106_GCC/] [main.c] - Blame information for rev 605

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1 577 jeremybenn
/*
2
    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
3
 
4
    ***************************************************************************
5
    *                                                                         *
6
    * If you are:                                                             *
7
    *                                                                         *
8
    *    + New to FreeRTOS,                                                   *
9
    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
10
    *    + Looking for basic training,                                        *
11
    *    + Wanting to improve your FreeRTOS skills and productivity           *
12
    *                                                                         *
13
    * then take a look at the FreeRTOS books - available as PDF or paperback  *
14
    *                                                                         *
15
    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
16
    *                  http://www.FreeRTOS.org/Documentation                  *
17
    *                                                                         *
18
    * A pdf reference manual is also available.  Both are usually delivered   *
19
    * to your inbox within 20 minutes to two hours when purchased between 8am *
20
    * and 8pm GMT (although please allow up to 24 hours in case of            *
21
    * exceptional circumstances).  Thank you for your support!                *
22
    *                                                                         *
23
    ***************************************************************************
24
 
25
    This file is part of the FreeRTOS distribution.
26
 
27
    FreeRTOS is free software; you can redistribute it and/or modify it under
28
    the terms of the GNU General Public License (version 2) as published by the
29
    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
30
    ***NOTE*** The exception to the GPL is included to allow you to distribute
31
    a combined work that includes FreeRTOS without being obliged to provide the
32
    source code for proprietary components outside of the FreeRTOS kernel.
33
    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
34
    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
35
    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
36
    more details. You should have received a copy of the GNU General Public
37
    License and the FreeRTOS license exception along with FreeRTOS; if not it
38
    can be viewed here: http://www.freertos.org/a00114.html and also obtained
39
    by writing to Richard Barry, contact details for whom are available on the
40
    FreeRTOS WEB site.
41
 
42
    1 tab == 4 spaces!
43
 
44
    http://www.FreeRTOS.org - Documentation, latest information, license and
45
    contact details.
46
 
47
    http://www.SafeRTOS.com - A version that is certified for use in safety
48
    critical systems.
49
 
50
    http://www.OpenRTOS.com - Commercial support, development, porting,
51
    licensing and training services.
52
*/
53
 
54
/*
55
        NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
56
        The processor MUST be in supervisor mode when vTaskStartScheduler is
57
        called.  The demo applications included in the FreeRTOS.org download switch
58
        to supervisor mode prior to main being called.  If you are not using one of
59
        these demo application projects then ensure Supervisor mode is used.
60
*/
61
 
62
 
63
/*
64
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
65
 * documentation provides more details of the demo application tasks.
66
 *
67
 * Main.c also creates a task called "Check".  This only executes every three
68
 * seconds but has the highest priority so is guaranteed to get processor time.
69
 * Its main function is to check that all the other tasks are still operational.
70
 * Each task (other than the "flash" tasks) maintains a unique count that is
71
 * incremented each time the task successfully completes its function.  Should
72
 * any error occur within such a task the count is permanently halted.  The
73
 * check task inspects the count of each task to ensure it has changed since
74
 * the last time the check task executed.  If all the count variables have
75
 * changed all the tasks are still executing error free, and the check task
76
 * toggles the onboard LED.  Should any task contain an error at any time
77
 * the LED toggle rate will change from 3 seconds to 500ms.
78
 *
79
 * To check the operation of the memory allocator the check task also
80
 * dynamically creates a task before delaying, and deletes it again when it
81
 * wakes.  If memory cannot be allocated for the new task the call to xTaskCreate
82
 * will fail and an error is signalled.  The dynamically created task itself
83
 * allocates and frees memory just to give the allocator a bit more exercise.
84
 *
85
 */
86
 
87
/*
88
        Changes from V2.4.2
89
 
90
        + The vErrorChecks() task now dynamically creates then deletes a task each
91
          cycle.  This tests the operation of the memory allocator.
92
 
93
        Changes from V2.5.2
94
 
95
        + vParTestInitialise() is called during initialisation to ensure all the
96
          LED's start off.
97
*/
98
 
99
 
100
/* Standard includes. */
101
#include <stdlib.h>
102
#include <string.h>
103
 
104
/* Scheduler includes. */
105
#include "FreeRTOS.h"
106
#include "task.h"
107
 
108
/* Demo application includes. */
109
#include "partest.h"
110
#include "flash.h"
111
#include "integer.h"
112
#include "PollQ.h"
113
#include "comtest2.h"
114
#include "semtest.h"
115
#include "flop.h"
116
#include "dynamic.h"
117
#include "BlockQ.h"
118
#include "serial.h"
119
 
120
/*-----------------------------------------------------------*/
121
 
122
/* Constants to setup I/O. */
123
#define mainTX_ENABLE   ( ( unsigned long ) 0x0001 )
124
#define mainRX_ENABLE   ( ( unsigned long ) 0x0004 )
125
#define mainP0_14               ( ( unsigned long ) 0x4000 )
126
#define mainJTAG_PORT   ( ( unsigned long ) 0x3E0000UL )
127
 
128
/* Constants to setup the PLL. */
129
#define mainPLL_MUL_4           ( ( unsigned char ) 0x0003 )
130
#define mainPLL_DIV_1           ( ( unsigned char ) 0x0000 )
131
#define mainPLL_ENABLE          ( ( unsigned char ) 0x0001 )
132
#define mainPLL_CONNECT         ( ( unsigned char ) 0x0003 )
133
#define mainPLL_FEED_BYTE1      ( ( unsigned char ) 0xaa )
134
#define mainPLL_FEED_BYTE2      ( ( unsigned char ) 0x55 )
135
#define mainPLL_LOCK            ( ( unsigned long ) 0x0400 )
136
 
137
/* Constants to setup the MAM. */
138
#define mainMAM_TIM_3           ( ( unsigned char ) 0x03 )
139
#define mainMAM_MODE_FULL       ( ( unsigned char ) 0x02 )
140
 
141
/* Constants to setup the peripheral bus. */
142
#define mainBUS_CLK_FULL        ( ( unsigned char ) 0x01 )
143
 
144
/* Constants for the ComTest tasks. */
145
#define mainCOM_TEST_BAUD_RATE  ( ( unsigned long ) 115200 )
146
#define mainCOM_TEST_LED                ( 3 )
147
 
148
/* Priorities for the demo application tasks. */
149
#define mainLED_TASK_PRIORITY           ( tskIDLE_PRIORITY + 3 )
150
#define mainCOM_TEST_PRIORITY           ( tskIDLE_PRIORITY + 2 )
151
#define mainQUEUE_POLL_PRIORITY         ( tskIDLE_PRIORITY + 0 )
152
#define mainCHECK_TASK_PRIORITY         ( tskIDLE_PRIORITY + 4 )
153
#define mainSEM_TEST_PRIORITY           ( tskIDLE_PRIORITY + 0 )
154
#define mainBLOCK_Q_PRIORITY            ( tskIDLE_PRIORITY + 2 )
155
 
156
/* The rate at which the on board LED will toggle when there is/is not an
157
error. */
158
#define mainNO_ERROR_FLASH_PERIOD       ( ( portTickType ) 3000 / portTICK_RATE_MS  )
159
#define mainERROR_FLASH_PERIOD          ( ( portTickType ) 500 / portTICK_RATE_MS  )
160
#define mainON_BOARD_LED_BIT            ( ( unsigned long ) 0x80 )
161
 
162
/* Constants used by the vMemCheckTask() task. */
163
#define mainCOUNT_INITIAL_VALUE         ( ( unsigned long ) 0 )
164
#define mainNO_TASK                                     ( 0 )
165
 
166
/* The size of the memory blocks allocated by the vMemCheckTask() task. */
167
#define mainMEM_CHECK_SIZE_1            ( ( size_t ) 51 )
168
#define mainMEM_CHECK_SIZE_2            ( ( size_t ) 52 )
169
#define mainMEM_CHECK_SIZE_3            ( ( size_t ) 151 )
170
 
171
/*-----------------------------------------------------------*/
172
 
173
/*
174
 * The Olimex demo board has a single built in LED.  This function simply
175
 * toggles its state.
176
 */
177
void prvToggleOnBoardLED( void );
178
 
179
/*
180
 * Checks that all the demo application tasks are still executing without error
181
 * - as described at the top of the file.
182
 */
183
static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount );
184
 
185
/*
186
 * The task that executes at the highest priority and calls
187
 * prvCheckOtherTasksAreStillRunning().  See the description at the top
188
 * of the file.
189
 */
190
static void vErrorChecks( void *pvParameters );
191
 
192
/*
193
 * Dynamically created and deleted during each cycle of the vErrorChecks()
194
 * task.  This is done to check the operation of the memory allocator.
195
 * See the top of vErrorChecks for more details.
196
 */
197
static void vMemCheckTask( void *pvParameters );
198
 
199
/*
200
 * Configure the processor for use with the Olimex demo board.  This includes
201
 * setup for the I/O, system clock, and access timings.
202
 */
203
static void prvSetupHardware( void );
204
 
205
/*-----------------------------------------------------------*/
206
 
207
/*
208
 * Starts all the other tasks, then starts the scheduler.
209
 */
210
int main( void )
211
{
212
        /* Setup the hardware for use with the Olimex demo board. */
213
        prvSetupHardware();
214
 
215
        /* Start the demo/test application tasks. */
216
        vStartIntegerMathTasks( tskIDLE_PRIORITY );
217
        vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
218
        vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
219
        vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
220
        vStartMathTasks( tskIDLE_PRIORITY );
221
        vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
222
        vStartDynamicPriorityTasks();
223
        vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
224
 
225
        /* Start the check task - which is defined in this file. */
226
        xTaskCreate( vErrorChecks, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
227
 
228
        /* Now all the tasks have been started - start the scheduler.
229
 
230
        NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
231
        The processor MUST be in supervisor mode when vTaskStartScheduler is
232
        called.  The demo applications included in the FreeRTOS.org download switch
233
        to supervisor mode prior to main being called.  If you are not using one of
234
        these demo application projects then ensure Supervisor mode is used here. */
235
        vTaskStartScheduler();
236
 
237
        /* Should never reach here! */
238
        return 0;
239
}
240
/*-----------------------------------------------------------*/
241
 
242
static void vErrorChecks( void *pvParameters )
243
{
244
portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
245
unsigned long ulMemCheckTaskRunningCount;
246
xTaskHandle xCreatedTask;
247
 
248
        /* The parameters are not used in this function. */
249
        ( void ) pvParameters;
250
 
251
        /* Cycle for ever, delaying then checking all the other tasks are still
252
        operating without error.  If an error is detected then the delay period
253
        is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
254
        the on board LED flash rate will increase.
255
 
256
        In addition to the standard tests the memory allocator is tested through
257
        the dynamic creation and deletion of a task each cycle.  Each time the
258
        task is created memory must be allocated for its stack.  When the task is
259
        deleted this memory is returned to the heap.  If the task cannot be created
260
        then it is likely that the memory allocation failed. */
261
 
262
        for( ;; )
263
        {
264
                /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
265
                parameter. */
266
                ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
267
                xCreatedTask = mainNO_TASK;
268
 
269
                if( xTaskCreate( vMemCheckTask, ( signed char * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
270
                {
271
                        /* Could not create the task - we have probably run out of heap. */
272
                        xDelayPeriod = mainERROR_FLASH_PERIOD;
273
                }
274
 
275
                /* Delay until it is time to execute again. */
276
                vTaskDelay( xDelayPeriod );
277
 
278
                /* Delete the dynamically created task. */
279
                if( xCreatedTask != mainNO_TASK )
280
                {
281
                        vTaskDelete( xCreatedTask );
282
                }
283
 
284
                /* Check all the standard demo application tasks are executing without
285
                error.  ulMemCheckTaskRunningCount is checked to ensure it was
286
                modified by the task just deleted. */
287
                if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
288
                {
289
                        /* An error has been detected in one of the tasks - flash faster. */
290
                        xDelayPeriod = mainERROR_FLASH_PERIOD;
291
                }
292
 
293
                prvToggleOnBoardLED();
294
        }
295
}
296
/*-----------------------------------------------------------*/
297
 
298
static void prvSetupHardware( void )
299
{
300
        #ifdef RUN_FROM_RAM
301
                /* Remap the interrupt vectors to RAM if we are are running from RAM. */
302
                SCB_MEMMAP = 2;
303
        #endif
304
 
305
        /* Configure the RS2332 pins.  All other pins remain at their default of 0. */
306
        PCB_PINSEL0 |= mainTX_ENABLE;
307
        PCB_PINSEL0 |= mainRX_ENABLE;
308
 
309
        /* Set all GPIO to output other than the P0.14 (BSL), and the JTAG pins.
310
        The JTAG pins are left as input as I'm not sure what will happen if the
311
        Wiggler is connected after powerup - not that it would be a good idea to
312
        do that anyway. */
313
        GPIO_IODIR = ~( mainP0_14 + mainJTAG_PORT );
314
 
315
        /* Setup the PLL to multiply the XTAL input by 4. */
316
        SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );
317
 
318
        /* Activate the PLL by turning it on then feeding the correct sequence of
319
        bytes. */
320
        SCB_PLLCON = mainPLL_ENABLE;
321
        SCB_PLLFEED = mainPLL_FEED_BYTE1;
322
        SCB_PLLFEED = mainPLL_FEED_BYTE2;
323
 
324
        /* Wait for the PLL to lock... */
325
        while( !( SCB_PLLSTAT & mainPLL_LOCK ) );
326
 
327
        /* ...before connecting it using the feed sequence again. */
328
        SCB_PLLCON = mainPLL_CONNECT;
329
        SCB_PLLFEED = mainPLL_FEED_BYTE1;
330
        SCB_PLLFEED = mainPLL_FEED_BYTE2;
331
 
332
        /* Setup and turn on the MAM.  Three cycle access is used due to the fast
333
        PLL used.  It is possible faster overall performance could be obtained by
334
        tuning the MAM and PLL settings. */
335
        MAM_TIM = mainMAM_TIM_3;
336
        MAM_CR = mainMAM_MODE_FULL;
337
 
338
        /* Setup the peripheral bus to be the same as the PLL output. */
339
        SCB_VPBDIV = mainBUS_CLK_FULL;
340
 
341
        /* Initialise LED outputs. */
342
        vParTestInitialise();
343
}
344
/*-----------------------------------------------------------*/
345
 
346
void prvToggleOnBoardLED( void )
347
{
348
unsigned long ulState;
349
 
350
        ulState = GPIO0_IOPIN;
351
        if( ulState & mainON_BOARD_LED_BIT )
352
        {
353
                GPIO_IOCLR = mainON_BOARD_LED_BIT;
354
        }
355
        else
356
        {
357
                GPIO_IOSET = mainON_BOARD_LED_BIT;
358
        }
359
}
360
/*-----------------------------------------------------------*/
361
 
362
static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount )
363
{
364
long lReturn = ( long ) pdPASS;
365
 
366
        /* Check all the demo tasks (other than the flash tasks) to ensure
367
        that they are all still running, and that none of them have detected
368
        an error. */
369
 
370
        if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
371
        {
372
                lReturn = ( long ) pdFAIL;
373
        }
374
 
375
        if( xAreComTestTasksStillRunning() != pdTRUE )
376
        {
377
                lReturn = ( long ) pdFAIL;
378
        }
379
 
380
        if( xArePollingQueuesStillRunning() != pdTRUE )
381
        {
382
                lReturn = ( long ) pdFAIL;
383
        }
384
 
385
        if( xAreMathsTaskStillRunning() != pdTRUE )
386
        {
387
                lReturn = ( long ) pdFAIL;
388
        }
389
 
390
        if( xAreSemaphoreTasksStillRunning() != pdTRUE )
391
        {
392
                lReturn = ( long ) pdFAIL;
393
        }
394
 
395
        if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
396
        {
397
                lReturn = ( long ) pdFAIL;
398
        }
399
 
400
        if( xAreBlockingQueuesStillRunning() != pdTRUE )
401
        {
402
                lReturn = ( long ) pdFAIL;
403
        }
404
 
405
        if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
406
        {
407
                /* The vMemCheckTask did not increment the counter - it must
408
                have failed. */
409
                lReturn = ( long ) pdFAIL;
410
        }
411
 
412
        return lReturn;
413
}
414
/*-----------------------------------------------------------*/
415
 
416
static void vMemCheckTask( void *pvParameters )
417
{
418
unsigned long *pulMemCheckTaskRunningCounter;
419
void *pvMem1, *pvMem2, *pvMem3;
420
static long lErrorOccurred = pdFALSE;
421
 
422
        /* This task is dynamically created then deleted during each cycle of the
423
        vErrorChecks task to check the operation of the memory allocator.  Each time
424
        the task is created memory is allocated for the stack and TCB.  Each time
425
        the task is deleted this memory is returned to the heap.  This task itself
426
        exercises the allocator by allocating and freeing blocks.
427
 
428
        The task executes at the idle priority so does not require a delay.
429
 
430
        pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
431
        vErrorChecks() task that this task is still executing without error. */
432
 
433
        pulMemCheckTaskRunningCounter = ( unsigned long * ) pvParameters;
434
 
435
        for( ;; )
436
        {
437
                if( lErrorOccurred == pdFALSE )
438
                {
439
                        /* We have never seen an error so increment the counter. */
440
                        ( *pulMemCheckTaskRunningCounter )++;
441
                }
442
 
443
                /* Allocate some memory - just to give the allocator some extra
444
                exercise.  This has to be in a critical section to ensure the
445
                task does not get deleted while it has memory allocated. */
446
                vTaskSuspendAll();
447
                {
448
                        pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
449
                        if( pvMem1 == NULL )
450
                        {
451
                                lErrorOccurred = pdTRUE;
452
                        }
453
                        else
454
                        {
455
                                memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
456
                                vPortFree( pvMem1 );
457
                        }
458
                }
459
                xTaskResumeAll();
460
 
461
                /* Again - with a different size block. */
462
                vTaskSuspendAll();
463
                {
464
                        pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
465
                        if( pvMem2 == NULL )
466
                        {
467
                                lErrorOccurred = pdTRUE;
468
                        }
469
                        else
470
                        {
471
                                memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
472
                                vPortFree( pvMem2 );
473
                        }
474
                }
475
                xTaskResumeAll();
476
 
477
                /* Again - with a different size block. */
478
                vTaskSuspendAll();
479
                {
480
                        pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
481
                        if( pvMem3 == NULL )
482
                        {
483
                                lErrorOccurred = pdTRUE;
484
                        }
485
                        else
486
                        {
487
                                memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
488
                                vPortFree( pvMem3 );
489
                        }
490
                }
491
                xTaskResumeAll();
492
        }
493
}
494
 
495
 
496
 

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