1 |
580 |
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 |
|
|
#include <device.h>
|
55 |
|
|
|
56 |
|
|
/* RTOS includes. */
|
57 |
|
|
#include "FreeRTOS.h"
|
58 |
|
|
#include "task.h"
|
59 |
|
|
#include "queue.h"
|
60 |
|
|
#include "semphr.h"
|
61 |
|
|
|
62 |
|
|
/* Common Demo includes. */
|
63 |
|
|
#include "serial.h"
|
64 |
|
|
#include "BlockQ.h"
|
65 |
|
|
#include "blocktim.h"
|
66 |
|
|
#include "comtest.h"
|
67 |
|
|
#include "countsem.h"
|
68 |
|
|
#include "death.h"
|
69 |
|
|
#include "dynamic.h"
|
70 |
|
|
#include "flash.h"
|
71 |
|
|
#include "flop.h"
|
72 |
|
|
#include "GenQTest.h"
|
73 |
|
|
#include "integer.h"
|
74 |
|
|
#include "IntQueue.h"
|
75 |
|
|
#include "mevents.h"
|
76 |
|
|
#include "partest.h"
|
77 |
|
|
#include "PollQ.h"
|
78 |
|
|
#include "print.h"
|
79 |
|
|
#include "QPeek.h"
|
80 |
|
|
#include "semtest.h"
|
81 |
|
|
/*---------------------------------------------------------------------------*/
|
82 |
|
|
|
83 |
|
|
/* The time between cycles of the 'check' functionality (defined within the
|
84 |
|
|
tick hook. */
|
85 |
|
|
#define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
|
86 |
|
|
#define mainCOM_LED ( 3 )
|
87 |
|
|
|
88 |
|
|
/* The number of nano seconds between each processor clock. */
|
89 |
|
|
#define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
|
90 |
|
|
|
91 |
|
|
/* Task priorities. */
|
92 |
|
|
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
|
93 |
|
|
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
|
94 |
|
|
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
|
95 |
|
|
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
|
96 |
|
|
#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
|
97 |
|
|
#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
|
98 |
|
|
#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
|
99 |
|
|
#define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
|
100 |
|
|
#define mainFLASH_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
|
101 |
|
|
/*---------------------------------------------------------------------------*/
|
102 |
|
|
|
103 |
|
|
/*
|
104 |
|
|
* Configures the timers and interrupts for the fast interrupt test as
|
105 |
|
|
* described at the top of this file.
|
106 |
|
|
*/
|
107 |
|
|
extern void vSetupTimerTest( void );
|
108 |
|
|
/*---------------------------------------------------------------------------*/
|
109 |
|
|
|
110 |
|
|
/*
|
111 |
|
|
* The Check task periodical interrogates each of the running tests to
|
112 |
|
|
* ensure that they are still executing correctly.
|
113 |
|
|
* If all the tests pass, then the LCD is updated with Pass, the number of
|
114 |
|
|
* iterations and the Jitter time calculated but the Fast Interrupt Test.
|
115 |
|
|
* If any one of the tests fail, it is indicated with an error code printed on
|
116 |
|
|
* the display. This indicator won't disappear until the device is reset.
|
117 |
|
|
*/
|
118 |
|
|
void vCheckTask( void *pvParameters );
|
119 |
|
|
|
120 |
|
|
/*
|
121 |
|
|
* Installs the RTOS interrupt handlers and starts the peripherals.
|
122 |
|
|
*/
|
123 |
|
|
static void prvHardwareSetup( void );
|
124 |
|
|
/*---------------------------------------------------------------------------*/
|
125 |
|
|
|
126 |
|
|
void main( void )
|
127 |
|
|
{
|
128 |
|
|
unsigned long ulLed = 0;
|
129 |
|
|
unsigned long ulIteration = 0;
|
130 |
|
|
|
131 |
|
|
/* Place your initialization/startup code here (e.g. MyInst_Start()) */
|
132 |
|
|
prvHardwareSetup();
|
133 |
|
|
|
134 |
|
|
/* Start the standard demo tasks. These are just here to exercise the
|
135 |
|
|
kernel port and provide examples of how the FreeRTOS API can be used. */
|
136 |
|
|
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
|
137 |
|
|
vCreateBlockTimeTasks();
|
138 |
|
|
vStartCountingSemaphoreTasks();
|
139 |
|
|
vStartDynamicPriorityTasks();
|
140 |
|
|
vStartMathTasks( mainINTEGER_TASK_PRIORITY );
|
141 |
|
|
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
|
142 |
|
|
vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
|
143 |
|
|
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
|
144 |
|
|
vStartQueuePeekTasks();
|
145 |
|
|
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
|
146 |
|
|
vStartLEDFlashTasks( mainFLASH_TEST_TASK_PRIORITY );
|
147 |
|
|
vAltStartComTestTasks( mainCOM_TEST_TASK_PRIORITY, 57600, mainCOM_LED );
|
148 |
|
|
vStartInterruptQueueTasks();
|
149 |
|
|
|
150 |
|
|
/* Start the error checking task. */
|
151 |
|
|
( void ) xTaskCreate( vCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
|
152 |
|
|
|
153 |
|
|
/* Configure the timers used by the fast interrupt timer test. */
|
154 |
|
|
vSetupTimerTest();
|
155 |
|
|
|
156 |
|
|
/* The suicide tasks must be created last as they need to know how many
|
157 |
|
|
tasks were running prior to their creation in order to ascertain whether
|
158 |
|
|
or not the correct/expected number of tasks are running at any given time. */
|
159 |
|
|
vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
|
160 |
|
|
|
161 |
|
|
/* Will only get here if there was insufficient memory to create the idle
|
162 |
|
|
task. The idle task is created within vTaskStartScheduler(). */
|
163 |
|
|
vTaskStartScheduler();
|
164 |
|
|
|
165 |
|
|
/* Should never reach here as the kernel will now be running. If
|
166 |
|
|
vTaskStartScheduler() does return then it is very likely that there was
|
167 |
|
|
insufficient (FreeRTOS) heap space available to create all the tasks,
|
168 |
|
|
including the idle task that is created within vTaskStartScheduler() itself. */
|
169 |
|
|
for( ;; );
|
170 |
|
|
}
|
171 |
|
|
/*---------------------------------------------------------------------------*/
|
172 |
|
|
|
173 |
|
|
void prvHardwareSetup( void )
|
174 |
|
|
{
|
175 |
|
|
/* Port layer functions that need to be copied into the vector table. */
|
176 |
|
|
extern void xPortPendSVHandler( void );
|
177 |
|
|
extern void xPortSysTickHandler( void );
|
178 |
|
|
extern void vPortSVCHandler( void );
|
179 |
|
|
extern cyisraddress CyRamVectors[];
|
180 |
|
|
|
181 |
|
|
/* Install the OS Interrupt Handlers. */
|
182 |
|
|
CyRamVectors[ 11 ] = ( cyisraddress ) vPortSVCHandler;
|
183 |
|
|
CyRamVectors[ 14 ] = ( cyisraddress ) xPortPendSVHandler;
|
184 |
|
|
CyRamVectors[ 15 ] = ( cyisraddress ) xPortSysTickHandler;
|
185 |
|
|
|
186 |
|
|
/* Start-up the peripherals. */
|
187 |
|
|
|
188 |
|
|
/* Enable and clear the LCD Display. */
|
189 |
|
|
LCD_Character_Display_Start();
|
190 |
|
|
LCD_Character_Display_ClearDisplay();
|
191 |
|
|
LCD_Character_Display_Position( 0, 0 );
|
192 |
|
|
LCD_Character_Display_PrintString( "www.FreeRTOS.org " );
|
193 |
|
|
LCD_Character_Display_Position( 1, 0 );
|
194 |
|
|
LCD_Character_Display_PrintString("CY8C5588AX-060 ");
|
195 |
|
|
|
196 |
|
|
/* Start the UART. */
|
197 |
|
|
UART_1_Start();
|
198 |
|
|
|
199 |
|
|
/* Initialise the LEDs. */
|
200 |
|
|
vParTestInitialise();
|
201 |
|
|
|
202 |
|
|
/* Start the PWM modules that drive the IntQueue tests. */
|
203 |
|
|
High_Frequency_PWM_0_Start();
|
204 |
|
|
High_Frequency_PWM_1_Start();
|
205 |
|
|
|
206 |
|
|
/* Start the timers for the Jitter test. */
|
207 |
|
|
Timer_20KHz_Start();
|
208 |
|
|
Timer_48MHz_Start();
|
209 |
|
|
}
|
210 |
|
|
/*---------------------------------------------------------------------------*/
|
211 |
|
|
|
212 |
|
|
void vCheckTask( void *pvParameters )
|
213 |
|
|
{
|
214 |
|
|
unsigned long ulRow = 0;
|
215 |
|
|
portTickType xDelay = 0;
|
216 |
|
|
unsigned short usErrorCode = 0;
|
217 |
|
|
unsigned long ulIteration = 0;
|
218 |
|
|
extern unsigned portSHORT usMaxJitter;
|
219 |
|
|
|
220 |
|
|
/* Intialise the sleeper. */
|
221 |
|
|
xDelay = xTaskGetTickCount();
|
222 |
|
|
|
223 |
|
|
for( ;; )
|
224 |
|
|
{
|
225 |
|
|
/* Perform this check every mainCHECK_DELAY milliseconds. */
|
226 |
|
|
vTaskDelayUntil( &xDelay, mainCHECK_DELAY );
|
227 |
|
|
|
228 |
|
|
/* Check that all of the Demo tasks are still running. */
|
229 |
|
|
if( pdTRUE != xAreBlockingQueuesStillRunning() )
|
230 |
|
|
{
|
231 |
|
|
usErrorCode |= 0x1;
|
232 |
|
|
}
|
233 |
|
|
|
234 |
|
|
if( pdTRUE != xAreBlockTimeTestTasksStillRunning() )
|
235 |
|
|
{
|
236 |
|
|
usErrorCode |= 0x2;
|
237 |
|
|
}
|
238 |
|
|
|
239 |
|
|
if( pdTRUE != xAreCountingSemaphoreTasksStillRunning() )
|
240 |
|
|
{
|
241 |
|
|
usErrorCode |= 0x4;
|
242 |
|
|
}
|
243 |
|
|
|
244 |
|
|
if( pdTRUE != xIsCreateTaskStillRunning() )
|
245 |
|
|
{
|
246 |
|
|
usErrorCode |= 0x8;
|
247 |
|
|
}
|
248 |
|
|
|
249 |
|
|
if( pdTRUE != xAreDynamicPriorityTasksStillRunning() )
|
250 |
|
|
{
|
251 |
|
|
usErrorCode |= 0x10;
|
252 |
|
|
}
|
253 |
|
|
|
254 |
|
|
if( pdTRUE != xAreMathsTaskStillRunning() )
|
255 |
|
|
{
|
256 |
|
|
usErrorCode |= 0x20;
|
257 |
|
|
}
|
258 |
|
|
|
259 |
|
|
if( pdTRUE != xAreGenericQueueTasksStillRunning() )
|
260 |
|
|
{
|
261 |
|
|
usErrorCode |= 0x40;
|
262 |
|
|
}
|
263 |
|
|
|
264 |
|
|
if( pdTRUE != xAreIntegerMathsTaskStillRunning() )
|
265 |
|
|
{
|
266 |
|
|
usErrorCode |= 0x80;
|
267 |
|
|
}
|
268 |
|
|
|
269 |
|
|
if( pdTRUE != xArePollingQueuesStillRunning() )
|
270 |
|
|
{
|
271 |
|
|
usErrorCode |= 0x100;
|
272 |
|
|
}
|
273 |
|
|
|
274 |
|
|
if( pdTRUE != xAreQueuePeekTasksStillRunning() )
|
275 |
|
|
{
|
276 |
|
|
usErrorCode |= 0x200;
|
277 |
|
|
}
|
278 |
|
|
|
279 |
|
|
if( pdTRUE != xAreSemaphoreTasksStillRunning() )
|
280 |
|
|
{
|
281 |
|
|
usErrorCode |= 0x400;
|
282 |
|
|
}
|
283 |
|
|
|
284 |
|
|
if( pdTRUE != xAreComTestTasksStillRunning() )
|
285 |
|
|
{
|
286 |
|
|
usErrorCode |= 0x800;
|
287 |
|
|
}
|
288 |
|
|
|
289 |
|
|
if( pdTRUE != xAreIntQueueTasksStillRunning() )
|
290 |
|
|
{
|
291 |
|
|
usErrorCode |= 0x1000;
|
292 |
|
|
}
|
293 |
|
|
|
294 |
|
|
/* Clear the display. */
|
295 |
|
|
LCD_Character_Display_ClearDisplay();
|
296 |
|
|
if( 0 == usErrorCode )
|
297 |
|
|
{
|
298 |
|
|
LCD_Character_Display_Position( ( ulRow ) & 0x1, 0);
|
299 |
|
|
LCD_Character_Display_PrintString( "Pass: " );
|
300 |
|
|
LCD_Character_Display_PrintNumber( ulIteration++ );
|
301 |
|
|
LCD_Character_Display_Position( ( ++ulRow ) & 0x1, 0 );
|
302 |
|
|
LCD_Character_Display_PrintString( "Jitter(ns):" );
|
303 |
|
|
LCD_Character_Display_PrintNumber( ( usMaxJitter * mainNS_PER_CLOCK ) );
|
304 |
|
|
}
|
305 |
|
|
else
|
306 |
|
|
{
|
307 |
|
|
/* Do something to indicate the failure. */
|
308 |
|
|
LCD_Character_Display_Position( ( ulRow ) & 0x1, 0 );
|
309 |
|
|
LCD_Character_Display_PrintString( "Fail at: " );
|
310 |
|
|
LCD_Character_Display_PrintNumber( ulIteration );
|
311 |
|
|
LCD_Character_Display_Position( ( ++ulRow ) & 0x1, 0 );
|
312 |
|
|
LCD_Character_Display_PrintString( "Error: 0x" );
|
313 |
|
|
LCD_Character_Display_PrintHexUint16( usErrorCode );
|
314 |
|
|
}
|
315 |
|
|
}
|
316 |
|
|
}
|
317 |
|
|
/*---------------------------------------------------------------------------*/
|
318 |
|
|
|
319 |
|
|
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
|
320 |
|
|
{
|
321 |
|
|
/* The stack space has been execeeded for a task, considering allocating more. */
|
322 |
|
|
taskDISABLE_INTERRUPTS();
|
323 |
|
|
for( ;; );
|
324 |
|
|
}
|
325 |
|
|
/*---------------------------------------------------------------------------*/
|
326 |
|
|
|
327 |
|
|
void vApplicationMallocFailedHook( void )
|
328 |
|
|
{
|
329 |
|
|
/* The heap space has been execeeded. */
|
330 |
|
|
taskDISABLE_INTERRUPTS();
|
331 |
|
|
for( ;; );
|
332 |
|
|
}
|
333 |
|
|
/*---------------------------------------------------------------------------*/
|