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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [msp430_CrossWorks/] [main.c] - Blame information for rev 593

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1 583 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 demo application tasks.
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 *
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 * This demo is configured to execute on the ES449 prototyping board from
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 * SoftBaugh. The ES449 has a built in LCD display and a single built in user
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 * LED.  Therefore, in place of flashing an LED, the 'flash' and 'check' tasks
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 * toggle '*' characters on the LCD.  The left most '*' represents LED 0, the
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 * next LED 1, etc.
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 *
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 * Main. c also creates a task called 'Check'.  This only executes every three
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 * seconds but has the highest priority so is guaranteed to get processor time.
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 * Its main function is to check that all the other tasks are still operational.
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 * Each task that does not flash an LED maintains a unique count that is
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 * incremented each time the task successfully completes its function.  Should
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 * any error occur within such a task the count is permanently halted.  The
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 * 'check' task inspects the count of each task to ensure it has changed since
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 * the last time the check task executed.  If all the count variables have
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 * changed all the tasks are still executing error free, and the check task
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 * toggles an LED with a three second period.  Should any task contain an error
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 * at any time the LED toggle rate will increase to 500ms.
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 *
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 * Please read the documentation for the MSP430 port available on
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 * http://www.FreeRTOS.org.
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 */
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/* Standard includes. */
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#include <stdlib.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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/* Demo application includes. */
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#include "partest.h"
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#include "flash.h"
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#include "integer.h"
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#include "comtest2.h"
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#include "PollQ.h"
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/* Constants required for hardware setup. */
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#define mainALL_BITS_OUTPUT             ( ( unsigned char ) 0xff )
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#define mainMAX_FREQUENCY               ( ( unsigned char ) 121 )
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/* Constants that define the LED's used by the various tasks. [in this case
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the '*' characters on the LCD represent LED's] */
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#define mainCHECK_LED                   ( 4 )
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#define mainCOM_TEST_LED                ( 10 )
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/* Demo task priorities. */
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#define mainCHECK_TASK_PRIORITY                 ( tskIDLE_PRIORITY + 3 )
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#define mainCOM_TEST_PRIORITY                   ( tskIDLE_PRIORITY + 2 )
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#define mainQUEUE_POLL_PRIORITY                 ( tskIDLE_PRIORITY + 2 )
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#define mainLED_TASK_PRIORITY                   ( tskIDLE_PRIORITY + 1 )
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/* Baud rate used by the COM test tasks. */
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#define mainCOM_TEST_BAUD_RATE                  ( ( unsigned long ) 19200 )
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/* The frequency at which the 'Check' tasks executes.  See the comments at the
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top of the page.  When the system is operating error free the 'Check' task
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toggles an LED every three seconds.  If an error is discovered in any task the
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rate is increased to 500 milliseconds.  [in this case the '*' characters on the
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LCD represent LED's]*/
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#define mainNO_ERROR_CHECK_DELAY                ( ( portTickType ) 3000 / portTICK_RATE_MS  )
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#define mainERROR_CHECK_DELAY                   ( ( portTickType ) 500 / portTICK_RATE_MS  )
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/* The constants used in the calculation. */
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#define intgCONST1                              ( ( long ) 123 )
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#define intgCONST2                              ( ( long ) 234567 )
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#define intgCONST3                              ( ( long ) -3 )
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#define intgCONST4                              ( ( long ) 7 )
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#define intgEXPECTED_ANSWER             ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
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/*
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 * The function that implements the Check task.  See the comments at the head
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 * of the page for implementation details.
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 */
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static void vErrorChecks( void *pvParameters );
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/*
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 * Called by the Check task.  Returns pdPASS if all the other tasks are found
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 * to be operating without error - otherwise returns pdFAIL.
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 */
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static short prvCheckOtherTasksAreStillRunning( void );
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/*
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 * Perform the hardware setup required by the ES449 in order to run the demo
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 * application.
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 */
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static void prvSetupHardware( void );
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portBASE_TYPE xLocalError = pdFALSE;
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volatile unsigned long ulIdleLoops = 0UL;
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/*-----------------------------------------------------------*/
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/*
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 * Start the demo application tasks - then start the real time scheduler.
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 */
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int main( void )
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{
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        /* Setup the hardware ready for the demo. */
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        prvSetupHardware();
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        vParTestInitialise();
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        /* Start the standard demo application tasks. */
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        vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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        vStartIntegerMathTasks( tskIDLE_PRIORITY );
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        vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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        vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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        /* Start the 'Check' task which is defined in this file. */
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        xTaskCreate( vErrorChecks, ( const signed char * const ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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        /* Start the scheduler. */
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        vTaskStartScheduler();
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        /* As the scheduler has been started the demo applications tasks will be
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        executing and we should never get here! */
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        return 0;
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}
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/*-----------------------------------------------------------*/
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static portTASK_FUNCTION( vErrorChecks, pvParameters )
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{
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portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
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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 again.  The time we wait here depends
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                on whether an error has been detected or not.  When an error is
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                detected the time is shortened resulting in a faster LED flash rate. */
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                vTaskDelay( xDelayPeriod );
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                /* See if the other tasks are all ok. */
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                if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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                {
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                        /* An error occurred in one of the tasks so shorten the delay
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                        period - which has the effect of increasing the frequency of the
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                        LED toggle. */
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                        xDelayPeriod = mainERROR_CHECK_DELAY;
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                }
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                /* Flash! */
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                vParTestToggleLED( mainCHECK_LED );
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        }
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}
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/*-----------------------------------------------------------*/
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static short prvCheckOtherTasksAreStillRunning( void )
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{
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static short sNoErrorFound = pdTRUE;
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static unsigned long ulLastIdleLoopCount = 0UL;
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        /* The demo tasks maintain a count that increments every cycle of the task
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        provided that the task has never encountered an error.  This function
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        checks the counts maintained by the tasks to ensure they are still being
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        incremented.  A count remaining at the same value between calls therefore
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        indicates that an error has been detected.  Only tasks that do not flash
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        an LED are checked. */
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        if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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        {
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                sNoErrorFound = pdFALSE;
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        }
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        if( xAreComTestTasksStillRunning() != pdTRUE )
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        {
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                sNoErrorFound = pdFALSE;
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        }
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        if( xArePollingQueuesStillRunning() != pdTRUE )
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        {
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                sNoErrorFound = pdFALSE;
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        }
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        if( xLocalError == pdTRUE )
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        {
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                sNoErrorFound = pdFALSE;
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        }
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    if( ulIdleLoops == ulLastIdleLoopCount )
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    {
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        sNoErrorFound = pdFALSE;
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    }
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    else
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    {
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        ulLastIdleLoopCount = ulIdleLoops;
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    }
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        return sNoErrorFound;
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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        /* Stop the watchdog. */
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        WDTCTL = WDTPW + WDTHOLD;
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        /* Setup DCO+ for ( xtal * D * (N + 1) ) operation. */
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        FLL_CTL0 |= DCOPLUS + XCAP18PF;
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        /* X2 DCO frequency, 8MHz nominal DCO */
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        SCFI0 |= FN_4;
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        /* (121+1) x 32768 x 2 = 7.99 Mhz */
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        SCFQCTL = mainMAX_FREQUENCY;
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        /* Setup the IO.  This is just copied from the demo supplied by SoftBaugh
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         for the ES449 demo board. */
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        P1SEL = 0x32;
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        P2SEL = 0x00;
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        P3SEL = 0x00;
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        P4SEL = 0xFC;
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        P5SEL = 0xFF;
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}
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/*-----------------------------------------------------------*/
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/* The idle hook is just a copy of the standard integer maths tasks.  See
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Demo/Common/integer.c for rationale. */
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void vApplicationIdleHook( void ) __toplevel
279
{
280
/* These variables are all effectively set to constants so they are volatile to
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ensure the compiler does not just get rid of them. */
282
volatile long lValue;
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volatile signed portBASE_TYPE *pxTaskHasExecuted;
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        /* Keep performing a calculation and checking the result against a constant. */
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        for( ;; )
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        {
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                /* Perform the calculation.  This will store partial value in
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                registers, resulting in a good test of the context switch mechanism. */
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                lValue = intgCONST1;
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                lValue += intgCONST2;
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                /* Yield in case cooperative scheduling is being used. */
294
                #if configUSE_PREEMPTION == 0
295
                {
296
                        taskYIELD();
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                }
298
                #endif
299
 
300
                /* Finish off the calculation. */
301
                lValue *= intgCONST3;
302
                lValue /= intgCONST4;
303
 
304
                /* If the calculation is found to be incorrect we stop setting the
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                TaskHasExecuted variable so the check task can see an error has
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                occurred. */
307
                if( lValue != intgEXPECTED_ANSWER ) /*lint !e774 volatile used to prevent this being optimised out. */
308
                {
309
                        /* Don't bother with mutual exclusion - it is only read from the
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                        check task and never written. */
311
                        xLocalError = pdTRUE;
312
                }
313
                /* Yield in case cooperative scheduling is being used. */
314
                #if configUSE_PREEMPTION == 0
315
                {
316
                        taskYIELD();
317
                }
318
                #endif
319
 
320
        ulIdleLoops++;
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322
        /* Place the processor into low power mode. */
323
        LPM3;
324
        }
325
}
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