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jeremybenn |
/*
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FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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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
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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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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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/*
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* The documentation page for this demo available on http://www.FreeRTOS.org
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* documents the hardware configuration required to run this demo. It also
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* provides more information on the expected demo application behaviour.
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*
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* main() creates all the demo application tasks, then starts the scheduler.
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* A lot of the created tasks are from the pool of "standard demo" tasks. The
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* web documentation provides more details of the standard demo tasks, which
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* provide no particular functionality but do provide good examples of how to
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* use the FreeRTOS API.
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*
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* In addition to the standard demo tasks, the following tasks, interrupts and
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* tests are defined and/or created within this file:
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*
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* "LCD" task - The LCD task is a 'gatekeeper' task. It is the only task that
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* is permitted to access the LCD and therefore ensures access to the LCD is
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* always serialised and there are no mutual exclusion issues. When a task or
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* an interrupt wants to write to the LCD, it does not access the LCD directly
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* but instead sends the message to the LCD task. The LCD task then performs
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* the actual LCD output. This mechanism also allows interrupts to, in effect,
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* write to the LCD by sending messages to the LCD task.
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*
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* The LCD task is also a demonstration of a 'controller' task design pattern.
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* Some tasks do not actually send a string to the LCD task directly, but
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* instead send a command that is interpreted by the LCD task. In a normal
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* application these commands can be control values or set points, in this
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* simple example the commands just result in messages being displayed on the
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* LCD.
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*
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* "Button Poll" task - This task polls the state of the 'up' key on the
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* joystick input device. It uses the vTaskDelay() API function to control
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* the poll rate to ensure debouncing is not necessary and that the task does
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* not use all the available CPU processing time.
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*
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* Button Interrupt and run time stats display - The select button on the
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* joystick input device is configured to generate an external interrupt. The
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* handler for this interrupt sends a message to LCD task, which interprets the
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* message to mean, firstly write a message to the LCD, and secondly, generate
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* a table of run time statistics. The run time statistics are displayed as a
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* table that contains information on how much processing time each task has
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* been allocated since the application started to execute. This information
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* is provided both as an absolute time, and as a percentage of the total run
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* time. The information is displayed in the terminal IO window of the IAR
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* embedded workbench. The online documentation for this demo shows a screen
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* shot demonstrating where the run time stats can be viewed.
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*
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* Idle Hook - The idle hook is a function that is called on each iteration of
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* the idle task. In this case it is used to place the processor into a low
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* power mode. Note however that this application is implemented using standard
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* components, and is therefore not optimised for low power operation. Lower
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* power consumption would be achieved by converting polling tasks into event
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* driven tasks, and slowing the tick interrupt frequency.
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*
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* "Check" function called from the tick hook - The tick hook is called during
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* each tick interrupt. It is called from an interrupt context so must execute
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* quickly, not attempt to block, and not call any FreeRTOS API functions that
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* do not end in "FromISR". In this case the tick hook executes a 'check'
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* function. This only executes every five seconds. Its main function is to
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* check that all the standard demo tasks are still operational. Each time it
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* executes it sends a status code to the LCD task. The LCD task interprets the
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* code and displays an appropriate message - which will be PASS if no tasks
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* have reported any errors, or a message stating which task has reported an
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* error.
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*
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* "Reg test" tasks - These fill the registers with known values, then check
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* that each register still contains its expected value. Each task uses
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* different values. The tasks run with very low priority so get preempted
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* very frequently. A check variable is incremented on each iteration of the
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* test loop. A register containing an unexpected value is indicative of an
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* error in the context switching mechanism and will result in a branch to a
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* null loop - which in turn will prevent the check variable from incrementing
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* any further and allow the check task (described a above) to determine that an
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* error has occurred. The nature of the reg test tasks necessitates that they
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* are written in assembly code.
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*
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* *NOTE 1* vApplicationSetupTimerInterrupt() is called by the kernel to let
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* the application set up a timer to generate the tick interrupt. In this
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* example a timer A0 is used for this purpose.
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*
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*/
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/* Standard includes. */
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#include <stdio.h>
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/* FreeRTOS includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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/* Hardware includes. */
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#include "msp430.h"
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#include "hal_MSP-EXP430F5438.h"
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/* Standard demo includes. */
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#include "ParTest.h"
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#include "dynamic.h"
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#include "comtest2.h"
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#include "GenQTest.h"
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/* Codes sent within messages to the LCD task so the LCD task can interpret
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exactly what the message it just received was. These are sent in the
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cMessageID member of the message structure (defined below). */
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#define mainMESSAGE_BUTTON_UP ( 1 )
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#define mainMESSAGE_BUTTON_SEL ( 2 )
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#define mainMESSAGE_STATUS ( 3 )
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/* When the cMessageID member of the message sent to the LCD task is
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mainMESSAGE_STATUS then these definitions are sent in the ulMessageValue member
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of the same message and indicate what the status actually is. */
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#define mainERROR_DYNAMIC_TASKS ( pdPASS + 1 )
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#define mainERROR_COM_TEST ( pdPASS + 2 )
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#define mainERROR_GEN_QUEUE_TEST ( pdPASS + 3 )
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#define mainERROR_REG_TEST ( pdPASS + 4 )
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/* The length of the queue (the number of items the queue can hold) that is used
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to send messages from tasks and interrupts the the LCD task. */
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#define mainQUEUE_LENGTH ( 5 )
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/* Priorities used by the test and demo tasks. */
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#define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainGENERIC_QUEUE_TEST_PRIORITY ( tskIDLE_PRIORITY )
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/* The LED used by the comtest tasks. See the comtest.c file for more
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information. */
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#define mainCOM_TEST_LED ( 1 )
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/* The baud rate used by the comtest tasks described at the top of this file. */
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#define mainCOM_TEST_BAUD_RATE ( 38400 )
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/* The maximum number of lines of text that can be displayed on the LCD. */
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#define mainMAX_LCD_LINES ( 8 )
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/* Just used to ensure parameters are passed into tasks correctly. */
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#define mainTASK_PARAMETER_CHECK_VALUE ( ( void * ) 0xDEAD )
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/*-----------------------------------------------------------*/
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/*
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* The reg test tasks as described at the top of this file.
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*/
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extern void vRegTest1Task( void *pvParameters );
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extern void vRegTest2Task( void *pvParameters );
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/*
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* Configures clocks, LCD, port pints, etc. necessary to execute this demo.
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*/
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static void prvSetupHardware( void );
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/*
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* Definition of the LCD/controller task described in the comments at the top
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* of this file.
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*/
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static void prvLCDTask( void *pvParameters );
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/*
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* Definition of the button poll task described in the comments at the top of
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* this file.
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*/
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static void prvButtonPollTask( void *pvParameters );
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/*
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* Converts a status message value into an appropriate string for display on
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* the LCD. The string is written to pcBuffer.
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*/
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static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue );
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/*-----------------------------------------------------------*/
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/* Variables that are incremented on each iteration of the reg test tasks -
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provided the tasks have not reported any errors. The check task inspects these
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variables to ensure they are still incrementing as expected. If a variable
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stops incrementing then it is likely that its associate task has stalled. */
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volatile unsigned short usRegTest1Counter = 0, usRegTest2Counter = 0;
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/* The handle of the queue used to send messages from tasks and interrupts to
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the LCD task. */
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static xQueueHandle xLCDQueue = NULL;
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/* The definition of each message sent from tasks and interrupts to the LCD
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task. */
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typedef struct
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{
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char cMessageID; /* << States what the message is. */
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unsigned long ulMessageValue; /* << States the message value (can be an integer, string pointer, etc. depending on the value of cMessageID). */
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} xQueueMessage;
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/*-----------------------------------------------------------*/
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/* The linker script tests the FreeRTOS ports use of 20bit addresses by
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locating all code in high memory. The following pragma ensures that main
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remains in low memory. */
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#pragma CODE_SECTION(main,".main")
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void main( void )
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{
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/* Configure the peripherals used by this demo application. This includes
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configuring the joystick input select button to generate interrupts. */
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prvSetupHardware();
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/* Create the queue used by tasks and interrupts to send strings to the LCD
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task. */
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xLCDQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( xQueueMessage ) );
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/* If the queue could not be created then don't create any tasks that might
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attempt to use the queue. */
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if( xLCDQueue != NULL )
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{
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/* Create the standard demo tasks. */
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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vStartDynamicPriorityTasks();
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vStartGenericQueueTasks( mainGENERIC_QUEUE_TEST_PRIORITY );
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/* Create the LCD, button poll and register test tasks, as described at
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the top of this file. */
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xTaskCreate( prvLCDTask, ( signed char * ) "LCD", configMINIMAL_STACK_SIZE * 2, mainTASK_PARAMETER_CHECK_VALUE, mainLCD_TASK_PRIORITY, NULL );
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xTaskCreate( prvButtonPollTask, ( signed char * ) "BPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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/* Start the scheduler. */
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vTaskStartScheduler();
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}
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/* If all is well then this line will never be reached. If it is reached
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then it is likely that there was insufficient (FreeRTOS) heap memory space
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to create the idle task. This may have been trapped by the malloc() failed
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hook function, if one is configured. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvLCDTask( void *pvParameters )
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{
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xQueueMessage xReceivedMessage;
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/* Buffer into which strings are formatted and placed ready for display on the
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LCD. Note this is a static variable to prevent it being allocated on the task
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stack, which is too small to hold such a variable. The stack size is configured
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when the task is created. */
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static char cBuffer[ 512 ];
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unsigned char ucLine = 1;
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/* This function is the only function that uses printf(). If printf() is
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used from any other function then some sort of mutual exclusion on stdout
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will be necessary.
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This is also the only function that is permitted to access the LCD.
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First print out the number of bytes that remain in the FreeRTOS heap. This
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can be viewed in the terminal IO window within the IAR Embedded Workbench. */
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printf( "%d bytes of heap space remain unallocated\n", ( int ) xPortGetFreeHeapSize() );
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fflush( stdout );
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/* Just as a test of the port, and for no functional reason, check the task
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parameter contains its expected value. */
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if( pvParameters != mainTASK_PARAMETER_CHECK_VALUE )
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{
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halLcdPrintLine( "Invalid parameter", ucLine, OVERWRITE_TEXT );
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ucLine++;
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}
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for( ;; )
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|
{
|
| 317 |
|
|
/* Wait for a message to be received. Using portMAX_DELAY as the block
|
| 318 |
|
|
time will result in an indefinite wait provided INCLUDE_vTaskSuspend is
|
| 319 |
|
|
set to 1 in FreeRTOSConfig.h, therefore there is no need to check the
|
| 320 |
|
|
function return value and the function will only return when a value
|
| 321 |
|
|
has been received. */
|
| 322 |
|
|
xQueueReceive( xLCDQueue, &xReceivedMessage, portMAX_DELAY );
|
| 323 |
|
|
|
| 324 |
|
|
/* Clear the LCD if no room remains for any more text output. */
|
| 325 |
|
|
if( ucLine > mainMAX_LCD_LINES )
|
| 326 |
|
|
{
|
| 327 |
|
|
halLcdClearScreen();
|
| 328 |
|
|
ucLine = 0;
|
| 329 |
|
|
}
|
| 330 |
|
|
|
| 331 |
|
|
/* What is this message? What does it contain? */
|
| 332 |
|
|
switch( xReceivedMessage.cMessageID )
|
| 333 |
|
|
{
|
| 334 |
|
|
case mainMESSAGE_BUTTON_UP : /* The button poll task has just
|
| 335 |
|
|
informed this task that the up
|
| 336 |
|
|
button on the joystick input has
|
| 337 |
|
|
been pressed or released. */
|
| 338 |
|
|
sprintf( cBuffer, "Button up = %d", ( int ) xReceivedMessage.ulMessageValue );
|
| 339 |
|
|
break;
|
| 340 |
|
|
|
| 341 |
|
|
case mainMESSAGE_BUTTON_SEL : /* The select button interrupt
|
| 342 |
|
|
just informed this task that the
|
| 343 |
|
|
select button was pressed.
|
| 344 |
|
|
Generate a table of task run time
|
| 345 |
|
|
statistics and output this to
|
| 346 |
|
|
the terminal IO window in the IAR
|
| 347 |
|
|
embedded workbench. */
|
| 348 |
|
|
printf( "\nTask\t Abs Time\t %%Time\n*****************************************" );
|
| 349 |
|
|
fflush( stdout );
|
| 350 |
|
|
vTaskGetRunTimeStats( ( signed char * ) cBuffer );
|
| 351 |
|
|
printf( cBuffer );
|
| 352 |
|
|
fflush( stdout );
|
| 353 |
|
|
|
| 354 |
|
|
/* Also generate and output a
|
| 355 |
|
|
table of task states. */
|
| 356 |
|
|
printf( "\nTask\t\tState Priority\tStack\t#\n*****************************************" );
|
| 357 |
|
|
fflush( stdout );
|
| 358 |
|
|
vTaskList( ( signed char * ) cBuffer );
|
| 359 |
|
|
printf( cBuffer );
|
| 360 |
|
|
fflush( stdout );
|
| 361 |
|
|
|
| 362 |
|
|
/* Finally print out a message
|
| 363 |
|
|
to the LCD - in this case the
|
| 364 |
|
|
pointer to the string to print
|
| 365 |
|
|
is sent directly in the
|
| 366 |
|
|
ulMessageValue member of the
|
| 367 |
|
|
message. This just demonstrates
|
| 368 |
|
|
a different communication
|
| 369 |
|
|
technique. */
|
| 370 |
|
|
sprintf( cBuffer, "%s", ( char * ) xReceivedMessage.ulMessageValue );
|
| 371 |
|
|
break;
|
| 372 |
|
|
|
| 373 |
|
|
case mainMESSAGE_STATUS : /* The tick interrupt hook
|
| 374 |
|
|
function has just informed this
|
| 375 |
|
|
task of the system status.
|
| 376 |
|
|
Generate a string in accordance
|
| 377 |
|
|
with the status value. */
|
| 378 |
|
|
prvGenerateStatusMessage( cBuffer, xReceivedMessage.ulMessageValue );
|
| 379 |
|
|
break;
|
| 380 |
|
|
|
| 381 |
|
|
default : sprintf( cBuffer, "Unknown message" );
|
| 382 |
|
|
break;
|
| 383 |
|
|
}
|
| 384 |
|
|
|
| 385 |
|
|
/* Output the message that was placed into the cBuffer array within the
|
| 386 |
|
|
switch statement above, then move onto the next line ready for the next
|
| 387 |
|
|
message to arrive on the queue. */
|
| 388 |
|
|
halLcdPrintLine( cBuffer, ucLine, OVERWRITE_TEXT );
|
| 389 |
|
|
ucLine++;
|
| 390 |
|
|
}
|
| 391 |
|
|
}
|
| 392 |
|
|
/*-----------------------------------------------------------*/
|
| 393 |
|
|
|
| 394 |
|
|
static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue )
|
| 395 |
|
|
{
|
| 396 |
|
|
/* Just a utility function to convert a status value into a meaningful
|
| 397 |
|
|
string for output onto the LCD. */
|
| 398 |
|
|
switch( lStatusValue )
|
| 399 |
|
|
{
|
| 400 |
|
|
case pdPASS : sprintf( pcBuffer, "Status = PASS" );
|
| 401 |
|
|
break;
|
| 402 |
|
|
case mainERROR_DYNAMIC_TASKS : sprintf( pcBuffer, "Err: Dynamic tsks" );
|
| 403 |
|
|
break;
|
| 404 |
|
|
case mainERROR_COM_TEST : sprintf( pcBuffer, "Err: COM test" );
|
| 405 |
|
|
break;
|
| 406 |
|
|
case mainERROR_GEN_QUEUE_TEST : sprintf( pcBuffer, "Error: Gen Q test" );
|
| 407 |
|
|
break;
|
| 408 |
|
|
case mainERROR_REG_TEST : sprintf( pcBuffer, "Error: Reg test" );
|
| 409 |
|
|
break;
|
| 410 |
|
|
default : sprintf( pcBuffer, "Unknown status" );
|
| 411 |
|
|
break;
|
| 412 |
|
|
}
|
| 413 |
|
|
}
|
| 414 |
|
|
/*-----------------------------------------------------------*/
|
| 415 |
|
|
|
| 416 |
|
|
static void prvButtonPollTask( void *pvParameters )
|
| 417 |
|
|
{
|
| 418 |
|
|
unsigned char ucLastState = pdFALSE, ucState;
|
| 419 |
|
|
xQueueMessage xMessage;
|
| 420 |
|
|
|
| 421 |
|
|
/* This tasks performs the button polling functionality as described at the
|
| 422 |
|
|
top of this file. */
|
| 423 |
|
|
for( ;; )
|
| 424 |
|
|
{
|
| 425 |
|
|
/* Check the button state. */
|
| 426 |
|
|
ucState = ( halButtonsPressed() & BUTTON_UP );
|
| 427 |
|
|
|
| 428 |
|
|
if( ucState != 0 )
|
| 429 |
|
|
{
|
| 430 |
|
|
/* The button was pressed. */
|
| 431 |
|
|
ucState = pdTRUE;
|
| 432 |
|
|
}
|
| 433 |
|
|
|
| 434 |
|
|
if( ucState != ucLastState )
|
| 435 |
|
|
{
|
| 436 |
|
|
/* The state has changed, send a message to the LCD task. */
|
| 437 |
|
|
xMessage.cMessageID = mainMESSAGE_BUTTON_UP;
|
| 438 |
|
|
xMessage.ulMessageValue = ( unsigned long ) ucState;
|
| 439 |
|
|
ucLastState = ucState;
|
| 440 |
|
|
xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
|
| 441 |
|
|
}
|
| 442 |
|
|
|
| 443 |
|
|
/* Block for 10 milliseconds so this task does not utilise all the CPU
|
| 444 |
|
|
time and debouncing of the button is not necessary. */
|
| 445 |
|
|
vTaskDelay( 10 / portTICK_RATE_MS );
|
| 446 |
|
|
}
|
| 447 |
|
|
}
|
| 448 |
|
|
/*-----------------------------------------------------------*/
|
| 449 |
|
|
|
| 450 |
|
|
static void prvSetupHardware( void )
|
| 451 |
|
|
{
|
| 452 |
|
|
/* Convert a Hz value to a KHz value, as required by the Init_FLL_Settle()
|
| 453 |
|
|
function. */
|
| 454 |
|
|
unsigned long ulCPU_Clock_KHz = ( configCPU_CLOCK_HZ / 1000UL );
|
| 455 |
|
|
|
| 456 |
|
|
taskDISABLE_INTERRUPTS();
|
| 457 |
|
|
|
| 458 |
|
|
/* Disable the watchdog. */
|
| 459 |
|
|
WDTCTL = WDTPW + WDTHOLD;
|
| 460 |
|
|
|
| 461 |
|
|
halBoardInit();
|
| 462 |
|
|
|
| 463 |
|
|
LFXT_Start( XT1DRIVE_0 );
|
| 464 |
|
|
Init_FLL_Settle( ( unsigned short ) ulCPU_Clock_KHz, 488 );
|
| 465 |
|
|
|
| 466 |
|
|
halButtonsInit( BUTTON_ALL );
|
| 467 |
|
|
halButtonsInterruptEnable( BUTTON_SELECT );
|
| 468 |
|
|
|
| 469 |
|
|
/* Initialise the LCD, but note that the backlight is not used as the
|
| 470 |
|
|
library function uses timer A0 to modulate the backlight, and this file
|
| 471 |
|
|
defines vApplicationSetupTimerInterrupt() to also use timer A0 to generate
|
| 472 |
|
|
the tick interrupt. If the backlight is required, then change either the
|
| 473 |
|
|
halLCD library or vApplicationSetupTimerInterrupt() to use a different
|
| 474 |
|
|
timer. Timer A1 is used for the run time stats time base6. */
|
| 475 |
|
|
halLcdInit();
|
| 476 |
|
|
halLcdSetContrast( 100 );
|
| 477 |
|
|
halLcdClearScreen();
|
| 478 |
|
|
|
| 479 |
|
|
halLcdPrintLine( " www.FreeRTOS.org", 0, OVERWRITE_TEXT );
|
| 480 |
|
|
}
|
| 481 |
|
|
/*-----------------------------------------------------------*/
|
| 482 |
|
|
|
| 483 |
|
|
void vApplicationTickHook( void )
|
| 484 |
|
|
{
|
| 485 |
|
|
static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
|
| 486 |
|
|
static unsigned long ulCounter = 0;
|
| 487 |
|
|
static const unsigned long ulCheckFrequency = 5000UL / portTICK_RATE_MS;
|
| 488 |
|
|
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
|
| 489 |
|
|
|
| 490 |
|
|
/* Define the status message that is sent to the LCD task. By default the
|
| 491 |
|
|
status is PASS. */
|
| 492 |
|
|
static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };
|
| 493 |
|
|
|
| 494 |
|
|
/* This is called from within the tick interrupt and performs the 'check'
|
| 495 |
|
|
functionality as described in the comments at the top of this file.
|
| 496 |
|
|
|
| 497 |
|
|
Is it time to perform the 'check' functionality again? */
|
| 498 |
|
|
ulCounter++;
|
| 499 |
|
|
if( ulCounter >= ulCheckFrequency )
|
| 500 |
|
|
{
|
| 501 |
|
|
/* See if the standard demo tasks are executing as expected, changing
|
| 502 |
|
|
the message that is sent to the LCD task from PASS to an error code if
|
| 503 |
|
|
any tasks set reports an error. */
|
| 504 |
|
|
if( xAreComTestTasksStillRunning() != pdPASS )
|
| 505 |
|
|
{
|
| 506 |
|
|
xStatusMessage.ulMessageValue = mainERROR_COM_TEST;
|
| 507 |
|
|
}
|
| 508 |
|
|
|
| 509 |
|
|
if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
|
| 510 |
|
|
{
|
| 511 |
|
|
xStatusMessage.ulMessageValue = mainERROR_DYNAMIC_TASKS;
|
| 512 |
|
|
}
|
| 513 |
|
|
|
| 514 |
|
|
if( xAreGenericQueueTasksStillRunning() != pdPASS )
|
| 515 |
|
|
{
|
| 516 |
|
|
xStatusMessage.ulMessageValue = mainERROR_GEN_QUEUE_TEST;
|
| 517 |
|
|
}
|
| 518 |
|
|
|
| 519 |
|
|
/* Check the reg test tasks are still cycling. They will stop
|
| 520 |
|
|
incrementing their loop counters if they encounter an error. */
|
| 521 |
|
|
if( usRegTest1Counter == usLastRegTest1Counter )
|
| 522 |
|
|
{
|
| 523 |
|
|
xStatusMessage.ulMessageValue = mainERROR_REG_TEST;
|
| 524 |
|
|
}
|
| 525 |
|
|
|
| 526 |
|
|
if( usRegTest2Counter == usLastRegTest2Counter )
|
| 527 |
|
|
{
|
| 528 |
|
|
xStatusMessage.ulMessageValue = mainERROR_REG_TEST;
|
| 529 |
|
|
}
|
| 530 |
|
|
|
| 531 |
|
|
usLastRegTest1Counter = usRegTest1Counter;
|
| 532 |
|
|
usLastRegTest2Counter = usRegTest2Counter;
|
| 533 |
|
|
|
| 534 |
|
|
/* As this is the tick hook the lHigherPriorityTaskWoken parameter is not
|
| 535 |
|
|
needed (a context switch is going to be performed anyway), but it must
|
| 536 |
|
|
still be provided. */
|
| 537 |
|
|
xQueueSendFromISR( xLCDQueue, &xStatusMessage, &xHigherPriorityTaskWoken );
|
| 538 |
|
|
ulCounter = 0;
|
| 539 |
|
|
}
|
| 540 |
|
|
|
| 541 |
|
|
/* Just periodically toggle an LED to show that the tick interrupt is
|
| 542 |
|
|
running. Note that this access LED_PORT_OUT in a non-atomic way, so tasks
|
| 543 |
|
|
that access the same port must do so from a critical section. */
|
| 544 |
|
|
if( ( ulCounter & 0xff ) == 0 )
|
| 545 |
|
|
{
|
| 546 |
|
|
if( ( LED_PORT_OUT & LED_1 ) == 0 )
|
| 547 |
|
|
{
|
| 548 |
|
|
LED_PORT_OUT |= LED_1;
|
| 549 |
|
|
}
|
| 550 |
|
|
else
|
| 551 |
|
|
{
|
| 552 |
|
|
LED_PORT_OUT &= ~LED_1;
|
| 553 |
|
|
}
|
| 554 |
|
|
}
|
| 555 |
|
|
}
|
| 556 |
|
|
/*-----------------------------------------------------------*/
|
| 557 |
|
|
|
| 558 |
|
|
#pragma vector=PORT2_VECTOR
|
| 559 |
|
|
interrupt void prvSelectButtonInterrupt( void )
|
| 560 |
|
|
{
|
| 561 |
|
|
/* Define the message sent to the LCD task from this interrupt. */
|
| 562 |
|
|
static const xQueueMessage xMessage = { mainMESSAGE_BUTTON_SEL, ( unsigned long ) "Select Interrupt" };
|
| 563 |
|
|
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
|
| 564 |
|
|
|
| 565 |
|
|
/* This is the interrupt handler for the joystick select button input.
|
| 566 |
|
|
The button has been pushed, write a message to the LCD via the LCD task. */
|
| 567 |
|
|
xQueueSendFromISR( xLCDQueue, &xMessage, &xHigherPriorityTaskWoken );
|
| 568 |
|
|
|
| 569 |
|
|
P2IFG = 0;
|
| 570 |
|
|
|
| 571 |
|
|
/* If writing to xLCDQueue caused a task to unblock, and the unblocked task
|
| 572 |
|
|
has a priority equal to or above the task that this interrupt interrupted,
|
| 573 |
|
|
then lHigherPriorityTaskWoken will have been set to pdTRUE internally within
|
| 574 |
|
|
xQueuesendFromISR(), and portEND_SWITCHING_ISR() will ensure that this
|
| 575 |
|
|
interrupt returns directly to the higher priority unblocked task. */
|
| 576 |
|
|
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
|
| 577 |
|
|
}
|
| 578 |
|
|
/*-----------------------------------------------------------*/
|
| 579 |
|
|
|
| 580 |
|
|
/* The MSP430X port uses this callback function to configure its tick interrupt.
|
| 581 |
|
|
This allows the application to choose the tick interrupt source.
|
| 582 |
|
|
configTICK_VECTOR must also be set in FreeRTOSConfig.h to the correct
|
| 583 |
|
|
interrupt vector for the chosen tick interrupt source. This implementation of
|
| 584 |
|
|
vApplicationSetupTimerInterrupt() generates the tick from timer A0, so in this
|
| 585 |
|
|
case configTICK_VECTOR is set to TIMER0_A0_VECTOR. */
|
| 586 |
|
|
void vApplicationSetupTimerInterrupt( void )
|
| 587 |
|
|
{
|
| 588 |
|
|
const unsigned short usACLK_Frequency_Hz = 32768;
|
| 589 |
|
|
|
| 590 |
|
|
/* Ensure the timer is stopped. */
|
| 591 |
|
|
TA0CTL = 0;
|
| 592 |
|
|
|
| 593 |
|
|
/* Run the timer from the ACLK. */
|
| 594 |
|
|
TA0CTL = TASSEL_1;
|
| 595 |
|
|
|
| 596 |
|
|
/* Clear everything to start with. */
|
| 597 |
|
|
TA0CTL |= TACLR;
|
| 598 |
|
|
|
| 599 |
|
|
/* Set the compare match value according to the tick rate we want. */
|
| 600 |
|
|
TA0CCR0 = usACLK_Frequency_Hz / configTICK_RATE_HZ;
|
| 601 |
|
|
|
| 602 |
|
|
/* Enable the interrupts. */
|
| 603 |
|
|
TA0CCTL0 = CCIE;
|
| 604 |
|
|
|
| 605 |
|
|
/* Start up clean. */
|
| 606 |
|
|
TA0CTL |= TACLR;
|
| 607 |
|
|
|
| 608 |
|
|
/* Up mode. */
|
| 609 |
|
|
TA0CTL |= MC_1;
|
| 610 |
|
|
}
|
| 611 |
|
|
/*-----------------------------------------------------------*/
|
| 612 |
|
|
|
| 613 |
|
|
void vApplicationIdleHook( void )
|
| 614 |
|
|
{
|
| 615 |
|
|
/* Called on each iteration of the idle task. In this case the idle task
|
| 616 |
|
|
just enters a low(ish) power mode. */
|
| 617 |
|
|
__bis_SR_register( LPM1_bits + GIE );
|
| 618 |
|
|
}
|
| 619 |
|
|
/*-----------------------------------------------------------*/
|
| 620 |
|
|
|
| 621 |
|
|
void vApplicationMallocFailedHook( void )
|
| 622 |
|
|
{
|
| 623 |
|
|
/* Called if a call to pvPortMalloc() fails because there is insufficient
|
| 624 |
|
|
free memory available in the FreeRTOS heap. pvPortMalloc() is called
|
| 625 |
|
|
internally by FreeRTOS API functions that create tasks, queues or
|
| 626 |
|
|
semaphores. */
|
| 627 |
|
|
taskDISABLE_INTERRUPTS();
|
| 628 |
|
|
for( ;; );
|
| 629 |
|
|
}
|
| 630 |
|
|
/*-----------------------------------------------------------*/
|
| 631 |
|
|
|
| 632 |
|
|
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
|
| 633 |
|
|
{
|
| 634 |
|
|
( void ) pxTask;
|
| 635 |
|
|
( void ) pcTaskName;
|
| 636 |
|
|
|
| 637 |
|
|
/* Run time stack overflow checking is performed if
|
| 638 |
|
|
configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
|
| 639 |
|
|
function is called if a stack overflow is detected. */
|
| 640 |
|
|
taskDISABLE_INTERRUPTS();
|
| 641 |
|
|
for( ;; );
|
| 642 |
|
|
}
|
| 643 |
|
|
/*-----------------------------------------------------------*/
|
| 644 |
|
|
|
