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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [ARM7_LPC2138_Rowley/] [main.c] - Blame information for rev 620

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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.
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    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
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    FreeRTOS WEB site.
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42
    1 tab == 4 spaces!
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    http://www.FreeRTOS.org - Documentation, latest information, license and
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    contact details.
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47
    http://www.SafeRTOS.com - A version that is certified for use in safety
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    critical systems.
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50
    http://www.OpenRTOS.com - Commercial support, development, porting,
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    licensing and training services.
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*/
53
 
54
/*
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 * This file contains a demo created to execute on the Rowley Associates
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 * LPC2138 CrossFire development board.
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 *
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 * main() creates all the demo application tasks, then starts the scheduler.
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 * The WEB documentation provides more details of the standard demo application
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 * tasks.
61
 *
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 * Main.c also creates a task called "Check".  This only executes every few
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 * seconds but has a high priority so is guaranteed to get processor time.
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 * Its function is to check that all the other tasks are still operational.
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 * Each standard demo task maintains a unique count that is incremented each
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 * time the task successfully completes its function.  Should any error occur
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 * within such a task the count is permanently halted.  The check task inspects
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 * the count of each task to ensure it has changed since the last time the
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 * check task executed.  If all the count variables have changed all the tasks
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 * are still executing error free, and the check task writes "PASS" to the
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 * CrossStudio terminal IO window.  Should any task contain an error at any time
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 * the error is latched and "FAIL" written to the terminal IO window.
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 *
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 * Finally, main() sets up an interrupt service routine and task to handle
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 * pushes of the button that is built into the CrossFire board.  When the button
76
 * is pushed the ISR wakes the button task - which generates a table of task
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 * status information which is also displayed on the terminal IO window.
78
 *
79
 * A print task is defined to ensure exclusive and consistent access to the
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 * terminal IO.  This is the only task that is allowed to access the terminal.
81
 * The check and button task therefore do not access the terminal directly but
82
 * instead pass a pointer to the message they wish to display to the print task.
83
 */
84
 
85
/* Standard includes. */
86
#include <__cross_studio_io.h>
87
 
88
/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
91
#include "queue.h"
92
#include "semphr.h"
93
 
94
/* Demo app includes. */
95
#include "BlockQ.h"
96
#include "death.h"
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#include "dynamic.h"
98
#include "integer.h"
99
#include "PollQ.h"
100
#include "blocktim.h"
101
#include "recmutex.h"
102
#include "semtest.h"
103
 
104
/* Hardware configuration definitions. */
105
#define mainBUS_CLK_FULL                                        ( ( unsigned char ) 0x01 )
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#define mainLED_BIT                                                     0x80000000
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#define mainP0_14__EINT_1                                       ( 2 << 28 )
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#define mainEINT_1_EDGE_SENSITIVE                       2
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#define mainEINT_1_FALLING_EDGE_SENSITIVE       0
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#define mainEINT_1_CHANNEL                                      15
111
#define mainEINT_1_VIC_CHANNEL_BIT                      ( 1 << mainEINT_1_CHANNEL )
112
#define mainEINT_1_ENABLE_BIT                           ( 1 << 5 )
113
 
114
/* Demo application definitions. */
115
#define mainQUEUE_SIZE                                          ( 3 )
116
#define mainLED_DELAY                                           ( ( portTickType ) 500 / portTICK_RATE_MS )
117
#define mainERROR_LED_DELAY                                     ( ( portTickType ) 50 / portTICK_RATE_MS )
118
#define mainCHECK_DELAY                                         ( ( portTickType ) 5000 / portTICK_RATE_MS )
119
#define mainLIST_BUFFER_SIZE                            2048
120
#define mainNO_DELAY                                            ( 0 )
121
#define mainSHORT_DELAY                                         ( 150 / portTICK_RATE_MS )
122
 
123
/* Task priorities. */
124
#define mainLED_TASK_PRIORITY                           ( tskIDLE_PRIORITY + 2 )
125
#define mainQUEUE_POLL_PRIORITY                         ( tskIDLE_PRIORITY + 2 )
126
#define mainCHECK_TASK_PRIORITY                         ( tskIDLE_PRIORITY + 3 )
127
#define mainSEM_TEST_PRIORITY                           ( tskIDLE_PRIORITY + 1 )
128
#define mainBLOCK_Q_PRIORITY                            ( tskIDLE_PRIORITY + 2 )
129
#define mainPRINT_TASK_PRIORITY                         ( tskIDLE_PRIORITY + 0 )
130
 
131
/*-----------------------------------------------------------*/
132
 
133
/* The semaphore used to wake the button task from within the external interrupt
134
handler. */
135
xSemaphoreHandle xButtonSemaphore;
136
 
137
/* The queue that is used to send message to vPrintTask for display in the
138
terminal output window. */
139
xQueueHandle xPrintQueue;
140
 
141
/* The rate at which the LED will toggle.  The toggle rate increases if an
142
error is detected in any task. */
143
static portTickType xLED_Delay = mainLED_DELAY;
144
/*-----------------------------------------------------------*/
145
 
146
/*
147
 * Simply flashes the on board LED every mainLED_DELAY milliseconds.
148
 */
149
static void vLEDTask( void *pvParameters );
150
 
151
/*
152
 * Checks the status of all the demo tasks then prints a message to the
153
 * CrossStudio terminal IO windows.  The message will be either PASS or FAIL
154
 * depending on the status of the demo applications tasks.  A FAIL status will
155
 * be latched.
156
 *
157
 * Messages are not written directly to the terminal, but passed to vPrintTask
158
 * via a queue.
159
 */
160
static void vCheckTask( void *pvParameters );
161
 
162
/*
163
 * Controls all terminal output.  If a task wants to send a message to the
164
 * terminal IO it posts a pointer to the text to vPrintTask via a queue.  This
165
 * ensures serial access to the terminal IO.
166
 */
167
static void vPrintTask( void *pvParameter );
168
 
169
/*
170
 * Simply waits for an interrupt to be generated from the built in button, then
171
 * generates a table of tasks states that is then written by vPrintTask to the
172
 * terminal output window within CrossStudio.
173
 */
174
static void vButtonHandlerTask( void *pvParameters );
175
 
176
/*-----------------------------------------------------------*/
177
 
178
int main( void )
179
{
180
        /* Setup the peripheral bus to be the same as the PLL output. */
181
        VPBDIV = mainBUS_CLK_FULL;
182
 
183
        /* Create the queue used to pass message to vPrintTask. */
184
        xPrintQueue = xQueueCreate( mainQUEUE_SIZE, sizeof( char * ) );
185
 
186
        /* Create the semaphore used to wake vButtonHandlerTask(). */
187
        vSemaphoreCreateBinary( xButtonSemaphore );
188
        xSemaphoreTake( xButtonSemaphore, 0 );
189
 
190
        /* Start the standard demo tasks. */
191
        vStartIntegerMathTasks( tskIDLE_PRIORITY );
192
        vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
193
        vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
194
        vStartDynamicPriorityTasks();
195
        vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
196
 
197
        #if configUSE_PREEMPTION == 1
198
        {
199
                /* The timing of console output when not using the preemptive
200
                scheduler causes the block time tests to detect a timing problem. */
201
                vCreateBlockTimeTasks();
202
        }
203
        #endif
204
 
205
    vStartRecursiveMutexTasks();
206
 
207
        /* Start the tasks defined within this file. */
208
        xTaskCreate( vLEDTask, ( signed char * ) "LED", configMINIMAL_STACK_SIZE, NULL, mainLED_TASK_PRIORITY, NULL );
209
    xTaskCreate( vCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
210
    xTaskCreate( vPrintTask, ( signed char * ) "Print", configMINIMAL_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );
211
    xTaskCreate( vButtonHandlerTask, ( signed char * ) "Button", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
212
 
213
        /* Start the scheduler. */
214
        vTaskStartScheduler();
215
 
216
        /* The scheduler should now be running, so we will only ever reach here if we
217
        ran out of heap space. */
218
 
219
        return 0;
220
}
221
/*-----------------------------------------------------------*/
222
 
223
static void vLEDTask( void *pvParameters )
224
{
225
        /* Just to remove compiler warnings. */
226
        ( void ) pvParameters;
227
 
228
        /* Configure IO. */
229
        IO0DIR |= mainLED_BIT;
230
        IO0SET = mainLED_BIT;
231
 
232
        for( ;; )
233
        {
234
                /* Not very exiting - just delay... */
235
                vTaskDelay( xLED_Delay );
236
 
237
                /* ...set the IO ... */
238
        IO0CLR = mainLED_BIT;
239
 
240
                /* ...delay again... */
241
                vTaskDelay( xLED_Delay );
242
 
243
                /* ...then clear the IO. */
244
                IO0SET = mainLED_BIT;
245
        }
246
}
247
/*-----------------------------------------------------------*/
248
 
249
static void vCheckTask( void *pvParameters )
250
{
251
portBASE_TYPE xErrorOccurred = pdFALSE;
252
portTickType xLastExecutionTime;
253
const char * const pcPassMessage = "PASS\n";
254
const char * const pcFailMessage = "FAIL\n";
255
 
256
        /* Just to remove compiler warnings. */
257
        ( void ) pvParameters;
258
 
259
        /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
260
        works correctly. */
261
        xLastExecutionTime = xTaskGetTickCount();
262
 
263
        for( ;; )
264
        {
265
                /* Perform this check every mainCHECK_DELAY milliseconds. */
266
                vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );
267
 
268
                /* Has an error been found in any task? */
269
 
270
                if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
271
                {
272
                        xErrorOccurred = pdTRUE;
273
                }
274
 
275
                if( xArePollingQueuesStillRunning() != pdTRUE )
276
                {
277
                        xErrorOccurred = pdTRUE;
278
                }
279
 
280
                if( xAreSemaphoreTasksStillRunning() != pdTRUE )
281
                {
282
                        xErrorOccurred = pdTRUE;
283
                }
284
 
285
                if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
286
                {
287
                        xErrorOccurred = pdTRUE;
288
                }
289
 
290
                if( xAreBlockingQueuesStillRunning() != pdTRUE )
291
                {
292
                        xErrorOccurred = pdTRUE;
293
                }
294
 
295
                #if configUSE_PREEMPTION == 1
296
                {
297
                        /* The timing of console output when not using the preemptive
298
                        scheduler causes the block time tests to detect a timing problem. */
299
                        if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
300
                        {
301
                                xErrorOccurred = pdTRUE;
302
                        }
303
                }
304
                #endif
305
 
306
                if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
307
                {
308
                        xErrorOccurred = pdTRUE;
309
                }
310
 
311
                /* Send either a pass or fail message.  If an error is found it is
312
                never cleared again. */
313
                if( xErrorOccurred == pdTRUE )
314
                {
315
                        xLED_Delay = mainERROR_LED_DELAY;
316
                        xQueueSend( xPrintQueue, &pcFailMessage, portMAX_DELAY );
317
                }
318
                else
319
                {
320
                        xQueueSend( xPrintQueue, &pcPassMessage, portMAX_DELAY );
321
                }
322
        }
323
}
324
/*-----------------------------------------------------------*/
325
 
326
static void vPrintTask( void *pvParameters )
327
{
328
char *pcMessage;
329
 
330
        /* Just to stop compiler warnings. */
331
        ( void ) pvParameters;
332
 
333
        for( ;; )
334
        {
335
                /* Wait for a message to arrive. */
336
                while( xQueueReceive( xPrintQueue, &pcMessage, portMAX_DELAY ) != pdPASS );
337
 
338
                /* Write the message to the terminal IO. */
339
                #ifndef NDEBUG
340
                        debug_printf( "%s", pcMessage );
341
                #endif
342
        }
343
}
344
/*-----------------------------------------------------------*/
345
 
346
static void vButtonHandlerTask( void *pvParameters )
347
{
348
static signed char cListBuffer[ mainLIST_BUFFER_SIZE ];
349
const signed char *pcList = &( cListBuffer[ 0 ] );
350
const char * const pcHeader = "\nTask          State  Priority  Stack   #\n************************************************";
351
extern void (vButtonISRWrapper) ( void );
352
 
353
        /* Just to stop compiler warnings. */
354
        ( void ) pvParameters;
355
 
356
        /* Configure the interrupt. */
357
        portENTER_CRITICAL();
358
        {
359
                /* Configure P0.14 to generate interrupts. */
360
                PINSEL0 |= mainP0_14__EINT_1;
361
                EXTMODE = mainEINT_1_EDGE_SENSITIVE;
362
                EXTPOLAR = mainEINT_1_FALLING_EDGE_SENSITIVE;
363
 
364
                /* Setup the VIC for EINT 1. */
365
                VICIntSelect &= ~mainEINT_1_VIC_CHANNEL_BIT;
366
                VICIntEnable |= mainEINT_1_VIC_CHANNEL_BIT;
367
                VICVectAddr1 = ( long ) vButtonISRWrapper;
368
                VICVectCntl1 = mainEINT_1_ENABLE_BIT | mainEINT_1_CHANNEL;
369
        }
370
        portEXIT_CRITICAL();
371
 
372
        for( ;; )
373
        {
374
                /* For debouncing, wait a while then clear the semaphore. */
375
                vTaskDelay( mainSHORT_DELAY );
376
                xSemaphoreTake( xButtonSemaphore, mainNO_DELAY );
377
 
378
                /* Wait for an interrupt. */
379
                xSemaphoreTake( xButtonSemaphore, portMAX_DELAY );
380
 
381
                /* Send the column headers to the print task for display. */
382
                xQueueSend( xPrintQueue, &pcHeader, portMAX_DELAY );
383
 
384
                /* Create the list of task states. */
385
                vTaskList( cListBuffer );
386
 
387
                /* Send the task status information to the print task for display. */
388
                xQueueSend( xPrintQueue, &pcList, portMAX_DELAY );
389
        }
390
}
391
/*-----------------------------------------------------------*/
392
 
393
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
394
{
395
        /* Check pcTaskName for the name of the offending task, or pxCurrentTCB
396
        if pcTaskName has itself been corrupted. */
397
        ( void ) pxTask;
398
        ( void ) pcTaskName;
399
        for( ;; );
400
}
401
 
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