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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [dsPIC_MPLAB/] [main.c] - Blame information for rev 799

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1 591 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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 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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 * using a free running timer to demonstrate the use of the
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 * configKERNEL_INTERRUPT_PRIORITY configuration constant.  The interrupt
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 * service routine measures the number of processor clocks that occur between
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 * each interrupt - and in so doing measures the jitter in the interrupt
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 * timing.  The maximum measured jitter time is latched in the usMaxJitter
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 * variable, and displayed on the LCD by the 'Check' as described below.
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 * The fast interrupt is configured and handled in the timer_test.c source
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 * 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 directly.  Other tasks wishing to write a
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 * message to the LCD send the message on a queue to the LCD task instead of
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 * accessing the LCD themselves.  The LCD task just blocks on the queue waiting
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 * for messages - waking and displaying the messages as they arrive.  The LCD
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 * task is defined in lcd.c.
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 *
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 * "Check" task -  This only executes every three seconds but has the highest
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 * priority so is guaranteed to get processor time.  Its main function is to
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 * check that all the standard demo tasks are still operational.  Should any
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 * unexpected behaviour within a demo task be discovered the 'check' task will
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 * write "FAIL #n" to the LCD (via the LCD task).  If all the demo tasks are
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 * executing with their expected behaviour then the check task writes the max
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 * jitter time to the LCD (again via the LCD task), as described above.
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 */
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/* Standard includes. */
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#include <stdio.h>
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/* Scheduler 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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#include "croutine.h"
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/* Demo application includes. */
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#include "BlockQ.h"
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#include "crflash.h"
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#include "blocktim.h"
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#include "integer.h"
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#include "comtest2.h"
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#include "partest.h"
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#include "lcd.h"
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#include "timertest.h"
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/* Demo task priorities. */
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#define mainBLOCK_Q_PRIORITY                            ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY                         ( tskIDLE_PRIORITY + 3 )
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#define mainCOM_TEST_PRIORITY                           ( 2 )
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/* The check task may require a bit more stack as it calls sprintf(). */
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#define mainCHECK_TAKS_STACK_SIZE                       ( configMINIMAL_STACK_SIZE * 2 )
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/* The execution period of the check task. */
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#define mainCHECK_TASK_PERIOD                           ( ( portTickType ) 3000 / portTICK_RATE_MS )
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/* The number of flash co-routines to create. */
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#define mainNUM_FLASH_COROUTINES                        ( 5 )
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/* Baud rate used by the comtest tasks. */
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#define mainCOM_TEST_BAUD_RATE                          ( 19200 )
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/* The LED used by the comtest tasks.  mainCOM_TEST_LED + 1 is also used.
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See the comtest.c file for more information. */
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#define mainCOM_TEST_LED                                        ( 6 )
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/* The frequency at which the "fast interrupt test" interrupt will occur. */
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#define mainTEST_INTERRUPT_FREQUENCY            ( 20000 )
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/* The number of processor clocks we expect to occur between each "fast
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interrupt test" interrupt. */
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#define mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ( configCPU_CLOCK_HZ / mainTEST_INTERRUPT_FREQUENCY )
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/* The number of nano seconds between each processor clock. */
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#define mainNS_PER_CLOCK ( ( unsigned short ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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/* Dimension the buffer used to hold the value of the maximum jitter time when
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it is converted to a string. */
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#define mainMAX_STRING_LENGTH                           ( 20 )
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/*-----------------------------------------------------------*/
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/*
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 * The check task as described at the top of this file.
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 */
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static void vCheckTask( void *pvParameters );
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/*
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 * Setup the processor ready for the demo.
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 */
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static void prvSetupHardware( void );
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/*-----------------------------------------------------------*/
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/* The queue used to send messages to the LCD task. */
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static xQueueHandle xLCDQueue;
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/*-----------------------------------------------------------*/
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/*
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 * Create the demo tasks then start the scheduler.
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 */
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int main( void )
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{
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        /* Configure any hardware required for this demo. */
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        prvSetupHardware();
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        /* Create the standard demo tasks. */
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        vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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        vStartIntegerMathTasks( tskIDLE_PRIORITY );
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        vStartFlashCoRoutines( mainNUM_FLASH_COROUTINES );
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        vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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        vCreateBlockTimeTasks();
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        /* Create the test tasks defined within this file. */
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        xTaskCreate( vCheckTask, ( signed char * ) "Check", mainCHECK_TAKS_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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        /* Start the task that will control the LCD.  This returns the handle
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        to the queue used to write text out to the task. */
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        xLCDQueue = xStartLCDTask();
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        /* Start the high frequency interrupt test. */
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        vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );
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        /* Finally start the scheduler. */
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        vTaskStartScheduler();
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        /* Will only reach here if there is insufficient heap available to start
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        the scheduler. */
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        return 0;
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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        vParTestInitialise();
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}
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/*-----------------------------------------------------------*/
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static void vCheckTask( void *pvParameters )
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{
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/* Used to wake the task at the correct frequency. */
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portTickType xLastExecutionTime;
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/* The maximum jitter time measured by the fast interrupt test. */
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extern unsigned short usMaxJitter ;
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/* Buffer into which the maximum jitter time is written as a string. */
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static char cStringBuffer[ mainMAX_STRING_LENGTH ];
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/* The message that is sent on the queue to the LCD task.  The first
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parameter is the minimum time (in ticks) that the message should be
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left on the LCD without being overwritten.  The second parameter is a pointer
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to the message to display itself. */
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xLCDMessage xMessage = { 0, cStringBuffer };
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/* Set to pdTRUE should an error be detected in any of the standard demo tasks. */
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unsigned short usErrorDetected = pdFALSE;
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        /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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        works correctly. */
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        xLastExecutionTime = xTaskGetTickCount();
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        for( ;; )
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        {
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                /* Wait until it is time for the next cycle. */
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                vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_PERIOD );
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                /* Has an error been found in any of the standard demo tasks? */
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                if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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                {
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                        usErrorDetected = pdTRUE;
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                        sprintf( cStringBuffer, "FAIL #1" );
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                }
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                if( xAreComTestTasksStillRunning() != pdTRUE )
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                {
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                        usErrorDetected = pdTRUE;
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                        sprintf( cStringBuffer, "FAIL #2" );
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                }
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                if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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                {
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                        usErrorDetected = pdTRUE;
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                        sprintf( cStringBuffer, "FAIL #3" );
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                }
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                if( xAreBlockingQueuesStillRunning() != pdTRUE )
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                {
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                        usErrorDetected = pdTRUE;
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                        sprintf( cStringBuffer, "FAIL #4" );
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                }
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                if( usErrorDetected == pdFALSE )
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                {
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                        /* No errors have been discovered, so display the maximum jitter
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                        timer discovered by the "fast interrupt test". */
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                        sprintf( cStringBuffer, "%dns max jitter", ( short ) ( usMaxJitter - mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ) * mainNS_PER_CLOCK );
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                }
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                /* Send the message to the LCD gatekeeper for display. */
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                xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
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        }
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}
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/*-----------------------------------------------------------*/
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void vApplicationIdleHook( void )
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{
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        /* Schedule the co-routines from within the idle task hook. */
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        vCoRoutineSchedule();
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}
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/*-----------------------------------------------------------*/
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