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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [NEC_V850ES_IAR/] [main.c] - Blame information for rev 584

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1 584 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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 * Creates all the demo application tasks, then starts the scheduler.  The WEB
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 * 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
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 * defined and/or created within this file:
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 *
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 * "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
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 * 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.
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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 very
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 * frequently.  A register containing an unexpected value is indicative of an
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 * error in the context switching mechanism.
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 *
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 */
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/* Standard include files. */
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#include <stdlib.h>
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#include <string.h>
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo file headers. */
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#include <intrinsics.h>
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#include "BlockQ.h"
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#include "death.h"
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#include "flash.h"
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#include "partest.h"
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#include "semtest.h"
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#include "PollQ.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "recmutex.h"
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#include "comtest2.h"
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/*
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 * Priority definitions for most of the tasks in the demo application.  Some
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 * tasks just use the idle priority.
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 */
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#define mainFLASH_PRIORITY                                      ( tskIDLE_PRIORITY + 1 )
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#define mainQUEUE_POLL_PRIORITY                         ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY                         ( tskIDLE_PRIORITY + 3 )
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#define mainSEM_TEST_PRIORITY                           ( tskIDLE_PRIORITY + 1 )
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#define mainBLOCK_Q_PRIORITY                            ( tskIDLE_PRIORITY + 2 )
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#define mainCREATOR_TASK_PRIORITY           ( tskIDLE_PRIORITY + 2 )
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#define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )
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#define mainGEN_QUEUE_TASK_PRIORITY                     ( tskIDLE_PRIORITY )
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#define mainCOMTEST_PRIORITY                            ( tskIDLE_PRIORITY + 1 )
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/* Passed into the check task just as a test that the parameter passing
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mechanism is working correctly. */
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#define mainCHECK_PARAMETER                                     ( ( void * ) 0x12345678 )
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/* The period between executions of the check task. */
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#define mainNO_ERROR_DELAY              ( ( portTickType ) 3000 / portTICK_RATE_MS  )
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#define mainERROR_DELAY                 ( ( portTickType ) 500 / portTICK_RATE_MS )
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/* There are no spare LEDs for the comtest tasks, so this is just set to an
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invalid number. */
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#define mainCOMTEST_LED                 ( 4 )
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/* The baud rate used by the comtest task. */
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#define mainBAUD_RATE                   ( 9600 )
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/*-----------------------------------------------------------*/
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/* The implementation of the 'check' task as described at the top of this file. */
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static void prvCheckTask( void *pvParameters );
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/* Just sets up the LED outputs.  Most generic setup is done in
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__low_level_init(). */
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static void prvSetupHardware( void );
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/* The RegTest functions as described at the top of this file. */
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extern void vRegTest1( void *pvParameters );
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extern void vRegTest2( void *pvParameters );
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/* A variable that will get set to fail if a RegTest task finds an error.  The
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variable is inspected by the 'Check' task. */
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static volatile portLONG lRegTestStatus = pdPASS;
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/*-----------------------------------------------------------*/
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/* Create all the demo tasks then start the scheduler. */
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void main( void )
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{
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        /* Just sets up the LED outputs. */
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        prvSetupHardware();
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        /* Standard demo tasks. */
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        vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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        vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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        vStartQueuePeekTasks();
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        /* Create the check task as described at the top of this file. */
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        xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, mainCHECK_PARAMETER, mainCHECK_TASK_PRIORITY, NULL );
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        /* Create the RegTest tasks as described at the top of this file. */
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        xTaskCreate( vRegTest1, "Reg1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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        xTaskCreate( vRegTest2, "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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        #ifdef __IAR_V850ES_Fx3__
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        {
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                /* The extra IO required for the com test and led flashing tasks is only
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                available on the application board, not the target boards. */
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                vAltStartComTestTasks( mainCOMTEST_PRIORITY, mainBAUD_RATE, mainCOMTEST_LED );
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                vStartLEDFlashTasks( mainFLASH_PRIORITY );
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                /* The Fx3 also has enough RAM to run loads more tasks. */
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                vStartRecursiveMutexTasks();
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                vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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                vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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        }
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        #endif  
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        /* The suicide tasks must be created last as they need to know how many
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        tasks were running prior to their creation in order to ascertain whether
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        or not the correct/expected number of tasks are running at any given time. */
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    vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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        /* Start the scheduler. */
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        vTaskStartScheduler();
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        /* If this line is reached then vTaskStartScheduler() returned because there
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        was insufficient heap memory remaining for the idle task to be created. */
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        for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTask( void *pvParameters )
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{
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portTickType xDelayPeriod = mainNO_ERROR_DELAY, xLastWakeTime;
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unsigned portBASE_TYPE uxLEDToUse = 0;
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        /* Ensure parameter is passed in correctly. */
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        if( pvParameters != mainCHECK_PARAMETER )
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        {
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                xDelayPeriod = mainERROR_DELAY;
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        }
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        /* Initialise xLastWakeTime before it is used.  After this point it is not
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        written to directly. */
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        xLastWakeTime = xTaskGetTickCount();
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        /* Cycle for ever, delaying then checking all the other tasks are still
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        operating without error. */
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        for( ;; )
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        {
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                /* Wait until it is time to check all the other tasks again. */
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                vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
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                if( lRegTestStatus != pdPASS )
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                {
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                        xDelayPeriod = mainERROR_DELAY;
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                }
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                if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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                {
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                        xDelayPeriod = mainERROR_DELAY;
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                }
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                if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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                {
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                        xDelayPeriod = mainERROR_DELAY;
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                }
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                if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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            {
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                xDelayPeriod = mainERROR_DELAY;
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            }
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                if( xIsCreateTaskStillRunning() != pdTRUE )
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            {
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                xDelayPeriod = mainERROR_DELAY;
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            }
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                /* The Fx3 runs more tasks, so more checks are performed. */
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                #ifdef __IAR_V850ES_Fx3__
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                {
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                        if( xAreComTestTasksStillRunning() != pdTRUE )
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                        {
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                                xDelayPeriod = mainERROR_DELAY;
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                        }
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                        if( xArePollingQueuesStillRunning() != pdTRUE )
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                        {
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                                xDelayPeriod = mainERROR_DELAY;
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                        }
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                        if( xAreBlockingQueuesStillRunning() != pdTRUE )
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                        {
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                                xDelayPeriod = mainERROR_DELAY;
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                        }
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                        if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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                        {
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                                xDelayPeriod = mainERROR_DELAY;
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                        }
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                        /* The application board has more LEDs and uses the flash tasks
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                        so the check task instead uses LED3 as LED3 is still spare. */
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                        uxLEDToUse = 3;
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                }
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                #endif
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                /* Toggle the LED.  The toggle rate will depend on whether or not an
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                error has been found in any tasks. */
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                vParTestToggleLED( uxLEDToUse );
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        }
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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        /* Setup the LED outputs. */
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        vParTestInitialise();
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        /* Any additional hardware configuration can be added here. */
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( void )
282
{
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        /* This will be called if a task overflows its stack.  pxCurrentTCB
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        can be inspected to see which is the offending task. */
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        for( ;; );
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}
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/*-----------------------------------------------------------*/
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void vRegTestFailed( void )
290
{
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        /* Called by the RegTest tasks if an error is found.  lRegTestStatus is
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        inspected by the check task. */
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        lRegTestStatus = pdFAIL;
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        /* Do not return from here as the reg test tasks clobber all registers so
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        function calls may not function correctly. */
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        for( ;; );
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}

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