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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [NEC_78K0R_IAR/] [main.c] - Blame information for rev 609

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1 584 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.
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    ***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
40
    FreeRTOS WEB site.
41
 
42
    1 tab == 4 spaces!
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44
    http://www.FreeRTOS.org - Documentation, latest information, license and
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    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
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
56
 * documentation provides more details of the standard demo application tasks.
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 * In addition to the standard demo tasks, the following tasks and tests are
58
 * defined and/or created within this file:
59
 *
60
 * "Check" task -  This only executes every three seconds but has a high priority
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 * to ensure it gets processor time.  Its main function is to check that all the
62
 * standard demo tasks are still operational.  If everything is running as
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 * expected then the check task will toggle an LED every 3 seconds.  An error
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 * being discovered in any task will cause the toggle rate to increase to 500ms.
65
 *
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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 very
69
 * frequently.  A register containing an unexpected value is indicative of an
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 * error in the context switching mechanism.
71
 *
72
 *
73
 * Also in addition to the standard demo tasks is a button push task.  This is
74
 * a very basic task that is included as an example of how to write an interrupt
75
 * service routine that interacts with a task.  The button on the target board
76
 * is used to generate an interrupt that 'gives' a semaphore in order to unblock
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 * a task.  In doing so the task is synchronised with the interrupt.  Each time
78
 * the task unblocks it simply toggles an LED before entering the Blocked state
79
 * again to wait for the next button push.
80
 */
81
 
82
/* Standard includes. */
83
#include <stdlib.h>
84
#include <string.h>
85
 
86
/* Scheduler include files. */
87
#include "FreeRTOS.h"
88
#include "task.h"
89
 
90
/* Standard demo file headers. */
91
#include "PollQ.h"
92
#include "semtest.h"
93
#include "GenQTest.h"
94
#include "dynamic.h"
95
#include "blocktim.h"
96
 
97
/*
98
 * Priority definitions for most of the tasks in the demo application.  Some
99
 * tasks just use the idle priority.
100
 */
101
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
102
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainSEMTEST_PRIORITY    ( tskIDLE_PRIORITY + 1 )
104
#define mainBUTTON_PRIORITY             ( configMAX_PRIORITIES - 1 )
105
#define mainGEN_QUEUE_PRIORITY  ( tskIDLE_PRIORITY )
106
 
107
/* The period between executions of the check task. */
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#define mainNO_ERROR_TOGGLE_PERIOD      ( ( portTickType ) 3000 / portTICK_RATE_MS  )
109
#define mainERROR_TOGGLE_PERIOD         ( ( portTickType ) 500 / portTICK_RATE_MS  )
110
 
111
/* The LED toggled by the check task. */
112
#define mainLED_0   P7_bit.no6
113
 
114
/* A value that is passed in as the parameter to the 'check' task.  This is done
115
purely to check that the parameter passing mechanism is functioning correctly. */
116
#define mainCHECK_PARAMETER_VALUE       ( 0x5678 )
117
 
118
/*-----------------------------------------------------------*/
119
 
120
/*
121
 * The function that defines the 'check' task as described at the top of this
122
 * file.
123
 */
124
static void vErrorChecks( void *pvParameters );
125
 
126
 
127
/*
128
 * This function is called from the C startup routine to setup the processor -
129
 * in particular the clock source.
130
 */
131
int __low_level_init(void);
132
 
133
/*
134
 * Functions that define the RegTest tasks as described at the top of this file.
135
 */
136
extern void vRegTest1( void *pvParameters );
137
extern void vRegTest2( void *pvParameters );
138
 
139
/*
140
 * Function that defines the button push task as described at the top of this
141
 * file.
142
 */
143
extern void vButtonTask( void *pvParameters );
144
 
145
/*-----------------------------------------------------------*/
146
 
147
/* If an error is discovered by one of the RegTest tasks then this flag is set
148
to pdFAIL.  The 'check' task then inspects this flag to detect errors within
149
the RegTest tasks. */
150
static short sRegTestStatus = pdPASS;
151
 
152
/* 78K0R Option Byte Definition. Watchdog disabled, LVI enabled, OCD interface
153
enabled. */
154
__root __far const unsigned portCHAR OptionByte[] @ 0x00C0 =
155
{
156
        WATCHDOG_DISABLED, LVI_ENABLED, RESERVED_FF, OCD_ENABLED
157
};
158
 
159
/* Security byte definition */
160
__root __far const unsigned portCHAR SecuIDCode[]  @ 0x00C4 =
161
{
162
        0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff
163
};
164
 
165
 
166
/*-----------------------------------------------------------*/
167
 
168
short main( void )
169
{
170
        /* Creates all the tasks, then starts the scheduler. */
171
 
172
        /* First create the 'standard demo' tasks.  These are used to demonstrate
173
        API functions being used and also to test the kernel port.  More information
174
        is provided on the FreeRTOS.org WEB site. */
175
        vStartDynamicPriorityTasks();
176
 
177
        /* Create the RegTest tasks as described at the top of this file. */
178
        xTaskCreate( vRegTest1, "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
179
        xTaskCreate( vRegTest2, "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
180
 
181
        /* Create the button push task as described at the top of this file. */
182
        xTaskCreate( vButtonTask, "Button", configMINIMAL_STACK_SIZE, NULL, mainBUTTON_PRIORITY, NULL );
183
 
184
        /* Create the 'check' task as described at the top of this file. */
185
        xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, ( void* )mainCHECK_PARAMETER_VALUE, mainCHECK_TASK_PRIORITY, NULL );
186
 
187
        #ifdef __IAR_78K0R_Kx3__
188
        {
189
                /* The Kx3 has enough RAM to create more of the standard demo tasks. */
190
                vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
191
                vStartSemaphoreTasks(mainSEMTEST_PRIORITY);
192
                vStartGenericQueueTasks( mainGEN_QUEUE_PRIORITY );
193
                vCreateBlockTimeTasks();
194
        }
195
        #endif
196
 
197
        /* Finally start the scheduler running. */
198
        vTaskStartScheduler();
199
 
200
        /* If this line is reached then vTaskStartScheduler() returned because there
201
        was insufficient heap memory remaining for the idle task to be created. */
202
        for( ;; );
203
}
204
/*-----------------------------------------------------------*/
205
 
206
static void vErrorChecks( void *pvParameters )
207
{
208
portTickType xToggleRate = mainNO_ERROR_TOGGLE_PERIOD, xLastWakeTime;
209
 
210
        /* Ensure the parameter was passed in as expected.  This is just a test of
211
        the kernel port, the parameter is not actually used for anything.  The
212
        pointer will only actually be either 3 or 2 bytes, depending on the memory
213
        model. */
214
        if( pvParameters != ( void * ) mainCHECK_PARAMETER_VALUE )
215
        {
216
                xToggleRate = mainERROR_TOGGLE_PERIOD;
217
        }
218
 
219
        /* Initialise xLastWakeTime before it is used.  After this point it is not
220
        written to directly. */
221
        xLastWakeTime = xTaskGetTickCount();
222
 
223
        /* Cycle for ever, delaying then checking all the other tasks are still
224
        operating without error. */
225
        for( ;; )
226
        {
227
                /* Wait until it is time to check all the other tasks again. */
228
                vTaskDelayUntil( &xLastWakeTime, xToggleRate );
229
 
230
                if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
231
                {
232
                        xToggleRate = mainERROR_TOGGLE_PERIOD;
233
                }
234
 
235
                if( sRegTestStatus != pdPASS )
236
                {
237
                        xToggleRate = mainERROR_TOGGLE_PERIOD;
238
                }
239
 
240
                #ifdef __IAR_78K0R_Kx3__
241
                {
242
                        /* Only the Kx3 runs all the tasks. */
243
                        if( xArePollingQueuesStillRunning() != pdTRUE)
244
                        {
245
                                xToggleRate = mainERROR_TOGGLE_PERIOD;
246
                        }
247
 
248
                        if( xAreSemaphoreTasksStillRunning() != pdTRUE)
249
                        {
250
                                xToggleRate = mainERROR_TOGGLE_PERIOD;
251
                        }
252
 
253
                        if( xAreGenericQueueTasksStillRunning() != pdTRUE )
254
                        {
255
                                xToggleRate = mainERROR_TOGGLE_PERIOD;
256
                        }
257
 
258
                        if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
259
                        {
260
                                xToggleRate = mainERROR_TOGGLE_PERIOD;
261
                        }
262
                }
263
                #endif
264
 
265
                /* Toggle the LED.  The toggle rate will depend on whether or not an
266
                error has been found in any tasks. */
267
                mainLED_0 = !mainLED_0;
268
        }
269
}
270
/*-----------------------------------------------------------*/
271
 
272
int __low_level_init(void)
273
{
274
unsigned portCHAR ucResetFlag = RESF;
275
 
276
        portDISABLE_INTERRUPTS();
277
 
278
        /* Clock Configuration:
279
        In this port, to use the internal high speed clock source of the microcontroller
280
        define the configCLOCK_SOURCE as 1 in FreeRTOSConfig.h.  To use an external
281
        clock define configCLOCK_SOURCE as 0. */
282
        #if configCLOCK_SOURCE == 1
283
        {
284
                /* Set XT1 and XT2 in Input Port Mode
285
                   Set X1  and X2  in Input Port Mode
286
                   High speed oscillator frequency 2MHz <= fMX <= 10MHz */
287
                CMC = 0x00;
288
 
289
                /* X1 external oszillation stopped. */
290
                MSTOP = 1;
291
 
292
                /* Enable internal high speed oszillation. */
293
                HIOSTOP = 0;
294
                MCM0 = 0;
295
 
296
                /* Stop internal subsystem clock. */
297
                XTSTOP = 1;
298
 
299
                /* Set clock speed. */
300
                CSS = 0;
301
                CKC &= (unsigned portCHAR)~0x07;
302
                CKC |= 0x00;
303
        }
304
        #else
305
        {
306
                /* XT1 and XT2 pin in input port mode
307
                   X1  and X2  pin in crystal resonator mode
308
                   High speed oszillation frequency 10MHz < fMX <= 20MHz */
309
                CMC   = 0x41;
310
 
311
                /* Set oscillation stabilization time. */
312
                OSTS  = 0x07;
313
 
314
                /* Set speed mode: fMX > 10MHz for Flash memory high speed operation. */
315
                OSMC  = 0x01;
316
 
317
                /* Start up X1 oscillator operation
318
                   Internal high-speed oscillator operating. */
319
                MSTOP = 0;
320
 
321
                /* Check oscillation stabilization time status. */
322
                while(OSTC < 0x07)
323
                {
324
                        /* Wait until X1 clock stabilization time. */
325
                        portNOP();
326
                }
327
 
328
                /* Switch CPU clock to X1 oscillator. */
329
                MCM0 = 1;
330
                while(MCS != 1)
331
                {
332
                        /* Wait until CPU and peripherals operate with fX1 clock. */
333
                        portNOP();
334
                }
335
 
336
                /* Stop the internal high-speed oscillator operation. */
337
                HIOSTOP = 1;
338
 
339
                /* Stop the XT1 oscillator operation. */
340
                XTSTOP  = 1;
341
 
342
                /* Operating frequency f = fx
343
                   Change clock generator setting, if necessary. */
344
                CKC &= 0xF8;
345
 
346
                /* From here onwards the X1 oscillator is supplied to the CPU. */
347
        }
348
        #endif
349
 
350
        /* LED port initialization - set port register. */
351
        P7  = 0x80;
352
 
353
        /* Set port mode register. */
354
        PM7 = 0x3F;
355
 
356
        /* Switch pin initialization - enable pull-up resistor. */
357
        PU12_bit.no0  = 1;
358
 
359
        /* INTP0 is used by the button on the target board. */
360
 
361
        /* INTP0 disable. */
362
        PMK0 = 1;
363
 
364
        /* INTP0 IF clear. */
365
        PIF0 = 0;
366
        EGN0_bit.no0  = 1;
367
 
368
        /* INTP0 priority low. */
369
        PPR10 = 0;
370
        PPR00 = 1;
371
 
372
        /* Enable ext. INTP0 interrupt */
373
        PMK0  = 0;
374
 
375
        return pdTRUE;
376
}
377
/*-----------------------------------------------------------*/
378
 
379
void vRegTestError( void )
380
{
381
        /* Called by the RegTest tasks if an error is found.  lRegTestStatus is
382
        inspected by the check task. */
383
        sRegTestStatus = pdFAIL;
384
 
385
        /* Do not return from here as the reg test tasks clobber all registers so
386
        function calls may not function correctly. */
387
        for( ;; );
388
}
389
/*-----------------------------------------------------------*/
390
 
391
void vApplicationStackOverflowHook( void )
392
{
393
        /* This will get called if an overflow is detected in the stack of a task.
394
        Inspect pxCurrentTCB to see which was the offending task. */
395
        for( ;; );
396
}
397
 

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