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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [PIC32MX_MPLAB/] [main.c] - Blame information for rev 614

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1 614 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
/*
55
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
56
 * documentation provides more details of the standard demo application tasks.
57
 * In addition to the standard demo tasks, the following tasks and tests are
58
 * defined and/or created within this file:
59
 *
60
 * "LCD" task - the LCD task is a 'gatekeeper' task.  It is the only task that
61
 * is permitted to access the display directly.  Other tasks wishing to write a
62
 * message to the LCD send the message on a queue to the LCD task instead of
63
 * accessing the LCD themselves.  The LCD task just blocks on the queue waiting
64
 * for messages - waking and displaying the messages as they arrive.
65
 *
66
 * "Check" task -  This only executes every three seconds but has the highest
67
 * priority so is guaranteed to get processor time.  Its main function is to
68
 * check that all the standard demo tasks are still operational.  Should any
69
 * unexpected behaviour within a demo task be discovered the check task will
70
 * write an error to the LCD (via the LCD task).  If all the demo tasks are
71
 * executing with their expected behaviour then the check task instead writes
72
 * a count of the number of times the high frequency interrupt has incremented
73
 * ulHighFrequencyTimerInterrupts - which is one in every 20,000 interrupts.
74
 *
75
 * "Register test" tasks - These tasks are used in part to test the kernel port.
76
 * They set each processor register to a known value, then check that the
77
 * register still contains that value.  Each of the tasks sets the registers
78
 * to different values, and will get swapping in and out between setting and
79
 * then subsequently checking the register values.  Discovery of an incorrect
80
 * value would be indicative of an error in the task switching mechanism.
81
 *
82
 * By way of demonstration, the demo application defines
83
 * configMAX_SYSCALL_INTERRUPT_PRIORITY to be 3, configKERNEL_INTERRUPT_PRIORITY
84
 * to be 1, and all other interrupts as follows:
85
 *
86
 *      + The UART is allocated a priority of 2. This means it can interrupt the
87
 *    RTOS tick, and can also safely use queues.
88
 *  + Two timers are configured to generate interrupts just to test the nesting
89
 *    and queue access mechanisms. These timers are allocated priorities 2 and 3
90
 *    respectively. Even though they both access the same two queues, the
91
 *    priority 3 interrupt can safely interrupt the priority 2 interrupt. Both
92
 *    can interrupt the RTOS tick.
93
 *  + Finally a high frequency timer interrupt is configured to use priority 4 -
94
 *    therefore kernel activity will never prevent the high frequency timer from
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 *    executing immediately that the interrupt is raised (within the limitations
96
 *    of the hardware itself). It would not be safe to access a queue from this
97
 *    interrupt as it is above configMAX_SYSCALL_INTERRUPT_PRIORITY.
98
 *
99
 * See the online documentation for this demo for more information on interrupt
100
 * usage.
101
 */
102
 
103
/* Standard includes. */
104
#include <stdio.h>
105
 
106
/* Scheduler includes. */
107
#include "FreeRTOS.h"
108
#include "task.h"
109
#include "queue.h"
110
 
111
/* Demo application includes. */
112
#include "partest.h"
113
#include "blocktim.h"
114
#include "flash.h"
115
#include "semtest.h"
116
#include "GenQTest.h"
117
#include "QPeek.h"
118
#include "lcd.h"
119
#include "comtest2.h"
120
#include "timertest.h"
121
#include "IntQueue.h"
122
 
123
#pragma config FPLLMUL = MUL_20, FPLLIDIV = DIV_2, FPLLODIV = DIV_1, FWDTEN = OFF
124
#pragma config POSCMOD = HS, FNOSC = PRIPLL, FPBDIV = DIV_2
125
 
126
/*-----------------------------------------------------------*/
127
 
128
/* The rate at which the LED controlled by the 'check' task will flash when no
129
errors have been detected. */
130
#define mainNO_ERROR_PERIOD     ( 3000 / portTICK_RATE_MS )
131
 
132
/* The rate at which the LED controlled by the 'check' task will flash when an
133
error has been detected. */
134
#define mainERROR_PERIOD        ( 500 / portTICK_RATE_MS )
135
 
136
/* The priorities of the various demo application tasks. */
137
#define mainCHECK_TASK_PRIORITY                         ( tskIDLE_PRIORITY + 4 )
138
#define mainSEM_TEST_PRIORITY                           ( tskIDLE_PRIORITY + 1 )
139
#define mainBLOCK_Q_PRIORITY                            ( tskIDLE_PRIORITY + 2 )
140
#define mainCOM_TEST_PRIORITY                           ( tskIDLE_PRIORITY + 2 )
141
#define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )
142
#define mainGEN_QUEUE_TASK_PRIORITY                     ( tskIDLE_PRIORITY )
143
 
144
/* The LED controlled by the 'check' task. */
145
#define mainCHECK_LED                                           ( 7 )
146
 
147
/* The LED used by the comtest tasks.  mainCOM_TEST_LED + 1 is also used.
148
See the comtest.c file for more information. */
149
#define mainCOM_TEST_LED                                        ( 4 )
150
 
151
/* Baud rate used by the comtest tasks. */
152
#define mainCOM_TEST_BAUD_RATE                          ( 115200 )
153
 
154
/* Misc. */
155
#define mainDONT_WAIT                                           ( 0 )
156
 
157
/* Dimension the buffer used to hold the value of the high frequency timer
158
count when it is converted to a string. */
159
#define mainMAX_STRING_LENGTH                           ( 20 )
160
 
161
/* The frequency at which the "fast interrupt test" interrupt will occur. */
162
#define mainTEST_INTERRUPT_FREQUENCY            ( 20000 )
163
 
164
/* The number of timer clocks we expect to occur between each "fast
165
interrupt test" interrupt. */
166
#define mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ( ( configCPU_CLOCK_HZ >> 1 ) / mainTEST_INTERRUPT_FREQUENCY )
167
 
168
/* The number of nano seconds between each core clock. */
169
#define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) ( configCPU_CLOCK_HZ >> 1 ) ) * 1000000000.0 ) )
170
 
171
/*-----------------------------------------------------------*/
172
 
173
/*
174
 * Setup the processor ready for the demo.
175
 */
176
static void prvSetupHardware( void );
177
 
178
/*
179
 * Implements the 'check' task functionality as described at the top of this
180
 * file.
181
 */
182
static void prvCheckTask( void *pvParameters ) __attribute__((noreturn));
183
 
184
/*
185
 * Tasks that test the context switch mechanism by filling the processor
186
 * registers with known values, then checking that the values contained
187
 * within the registers is as expected.  The tasks are likely to get swapped
188
 * in and out between setting the register values and checking the register
189
 * values. */
190
static void prvTestTask1( void *pvParameters );
191
static void prvTestTask2( void *pvParameters );
192
 
193
/*-----------------------------------------------------------*/
194
 
195
/* The queue used to send messages to the LCD task. */
196
static xQueueHandle xLCDQueue;
197
 
198
/* Flag used by prvTestTask1() and prvTestTask2() to indicate their status
199
(pass/fail). */
200
unsigned portLONG ulStatus1 = pdPASS;
201
 
202
/* Variables incremented by prvTestTask1() and prvTestTask2() respectively on
203
each iteration of their function.  This is used to detect either task stopping
204
their execution.. */
205
unsigned portLONG ulRegTest1Cycles = 0, ulRegTest2Cycles = 0;
206
 
207
/*-----------------------------------------------------------*/
208
 
209
/*
210
 * Create the demo tasks then start the scheduler.
211
 */
212
int main( void )
213
{
214
        /* Configure any hardware required for this demo. */
215
        prvSetupHardware();
216
 
217
        /* Create the LCD task - this returns the queue to use when writing
218
        messages to the LCD. */
219
        xLCDQueue = xStartLCDTask();
220
 
221
        /* Create all the other standard demo tasks. */
222
        vStartLEDFlashTasks( tskIDLE_PRIORITY );
223
    vCreateBlockTimeTasks();
224
    vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
225
    vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
226
    vStartQueuePeekTasks();
227
        vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
228
        vStartInterruptQueueTasks();
229
 
230
        /* Create the tasks defined within this file. */
231
        xTaskCreate( prvTestTask1, "Tst1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
232
        xTaskCreate( prvTestTask2, "Tst2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
233
 
234
        /* prvCheckTask uses sprintf so requires more stack. */
235
        xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
236
 
237
        /* Finally start the scheduler. */
238
        vTaskStartScheduler();
239
 
240
        /* Will only reach here if there is insufficient heap available to start
241
        the scheduler. */
242
        return 0;
243
}
244
/*-----------------------------------------------------------*/
245
 
246
static void prvTestTask1( void *pvParameters )
247
{
248
extern void vRegTest1( unsigned long * );
249
 
250
        for( ;; )
251
        {
252
                /* Perform the register test function. */
253
                vRegTest1( &ulStatus1 );
254
 
255
                /* Increment the counter so the check task knows we are still
256
                running. */
257
                ulRegTest1Cycles++;
258
        }
259
}
260
/*-----------------------------------------------------------*/
261
 
262
static void prvTestTask2( void *pvParameters )
263
{
264
extern void vRegTest2( unsigned long * );
265
 
266
        for( ;; )
267
        {
268
                /* Perform the register test function. */
269
                vRegTest2( &ulStatus1 );
270
 
271
                /* Increment the counter so the check task knows we are still
272
                running. */
273
                ulRegTest2Cycles++;
274
        }
275
}
276
/*-----------------------------------------------------------*/
277
 
278
static void prvSetupHardware( void )
279
{
280
        /* Set the system and peripheral bus speeds and enable the program cache*/
281
    SYSTEMConfigPerformance( configCPU_CLOCK_HZ - 1 );
282
        mOSCSetPBDIV( OSC_PB_DIV_2 );
283
 
284
        /* Setup to use the external interrupt controller. */
285
    INTEnableSystemMultiVectoredInt();
286
 
287
        portDISABLE_INTERRUPTS();
288
 
289
        /* Setup the digital IO for the LED's. */
290
        vParTestInitialise();
291
}
292
/*-----------------------------------------------------------*/
293
 
294
static void prvCheckTask( void *pvParameters )
295
{
296
unsigned portLONG ulLastRegTest1Value = 0, ulLastRegTest2Value = 0, ulTicksToWait = mainNO_ERROR_PERIOD;
297
portTickType xLastExecutionTime;
298
 
299
/* Buffer into which the high frequency timer count is written as a string. */
300
static portCHAR cStringBuffer[ mainMAX_STRING_LENGTH ];
301
 
302
/* The count of the high frequency timer interrupts. */
303
extern unsigned portLONG ulHighFrequencyTimerInterrupts;
304
xLCDMessage xMessage = { ( 200 / portTICK_RATE_MS ), cStringBuffer };
305
 
306
        /* Setup the high frequency, high priority, timer test.  It is setup here
307
        to ensure it does not fire before the scheduler is started. */
308
        vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );
309
 
310
        /* Initialise the variable used to control our iteration rate prior to
311
        its first use. */
312
        xLastExecutionTime = xTaskGetTickCount();
313
 
314
        for( ;; )
315
        {
316
                /* Wait until it is time to run the tests again. */
317
                vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
318
 
319
                /* Has either register check 1 or 2 task discovered an error? */
320
                if( ulStatus1 != pdPASS )
321
                {
322
                        ulTicksToWait = mainERROR_PERIOD;
323
                        xMessage.pcMessage = "Error: Reg test1";
324
                }
325
 
326
                /* Check that the register test 1 task is still running. */
327
                if( ulLastRegTest1Value == ulRegTest1Cycles )
328
                {
329
                        ulTicksToWait = mainERROR_PERIOD;
330
                        xMessage.pcMessage = "Error: Reg test2";
331
                }
332
                ulLastRegTest1Value = ulRegTest1Cycles;
333
 
334
 
335
                /* Check that the register test 2 task is still running. */
336
                if( ulLastRegTest2Value == ulRegTest2Cycles )
337
                {
338
                        ulTicksToWait = mainERROR_PERIOD;
339
                        xMessage.pcMessage = "Error: Reg test3";
340
                }
341
                ulLastRegTest2Value = ulRegTest2Cycles;
342
 
343
 
344
                /* Have any of the standard demo tasks detected an error in their
345
                operation? */
346
                if( xAreGenericQueueTasksStillRunning() != pdTRUE )
347
                {
348
                        ulTicksToWait = mainERROR_PERIOD;
349
                        xMessage.pcMessage = "Error: Gen Q";
350
                }
351
                else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
352
                {
353
                        ulTicksToWait = mainERROR_PERIOD;
354
                        xMessage.pcMessage = "Error: Q Peek";
355
                }
356
                else if( xAreComTestTasksStillRunning() != pdTRUE )
357
                {
358
                        ulTicksToWait = mainERROR_PERIOD;
359
                        xMessage.pcMessage = "Error: COM test";
360
                }
361
                else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
362
                {
363
                        ulTicksToWait = mainERROR_PERIOD;
364
                        xMessage.pcMessage = "Error: Blck time";
365
                }
366
            else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
367
            {
368
                ulTicksToWait = mainERROR_PERIOD;
369
                        xMessage.pcMessage = "Error: Sem test";
370
            }
371
                else if( xAreIntQueueTasksStillRunning() != pdTRUE )
372
                {
373
                        ulTicksToWait = mainERROR_PERIOD;
374
                        xMessage.pcMessage = "Error: Int queue";
375
                }
376
 
377
                /* Write the ulHighFrequencyTimerInterrupts value to the string
378
                buffer.  It will only be displayed if no errors have been detected. */
379
                sprintf( cStringBuffer, "Pass %u", ( unsigned int ) ulHighFrequencyTimerInterrupts );
380
 
381
                xQueueSend( xLCDQueue, &xMessage, mainDONT_WAIT );
382
                vParTestToggleLED( mainCHECK_LED );
383
        }
384
}
385
/*-----------------------------------------------------------*/
386
 
387
void vApplicationStackOverflowHook( void )
388
{
389
        /* Look at pxCurrentTCB to see which task overflowed its stack. */
390
        for( ;; );
391
}
392
/*-----------------------------------------------------------*/
393
 
394
void _general_exception_handler( unsigned portLONG ulCause, unsigned portLONG ulStatus )
395
{
396
        /* This overrides the definition provided by the kernel.  Other exceptions
397
        should be handled here. */
398
        for( ;; );
399
}
400
/*-----------------------------------------------------------*/
401
 

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