2 FreeRTOS.org V4.4.0 - Copyright (C) 2003-2007 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 See http://www.FreeRTOS.org for documentation, latest information, license
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28 and contact details. Please ensure to read the configuration and relevant
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29 port sections of the online documentation.
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31 Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
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32 with commercial development and support options.
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33 ***************************************************************************
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37 * Creates the demo application tasks, then starts the scheduler. The WEB
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38 * documentation provides more details of the demo application tasks.
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40 * Main. c also creates four other tasks:
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43 * This only executes every few seconds but has the highest priority so is
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44 * guaranteed to get processor time. Its main function is to check that all
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45 * the standard demo application tasks are still operational and have not
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46 * experienced any errors. vErrorChecks() will toggle the on board LED
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47 * every mainNO_ERROR_FLASH_PERIOD milliseconds if none of the demo application
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48 * tasks have reported an error. Should any task report an error at any time
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49 * the rate at which the on board LED is toggled is increased to
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50 * mainERROR_FLASH_PERIOD - providing visual feedback that something has gone
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53 * 2) vRegisterCheck()
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54 * This is a very simple task that checks that all the registers are always
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55 * in their expected state. The task only makes use of the A register, so
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56 * all the other registers should always contain their initial values.
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57 * An incorrect value indicates an error in the context switch mechanism.
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58 * The task operates at the idle priority so will be preempted regularly.
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59 * Any error will cause the toggle rate of the on board LED to increase to
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60 * mainERROR_FLASH_PERIOD milliseconds.
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62 * 3 and 4) vFLOPCheck1() and vFLOPCheck2()
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63 * These are very basic versions of the standard FLOP tasks. They are good
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64 * at detecting errors in the context switch mechanism, and also check that
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65 * the floating point libraries are correctly built to be re-enterant. The
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66 * stack restrictions of the 8051 prevent the use of the standard FLOP demo
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70 /* Standard includes. */
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73 /* Scheduler includes. */
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74 #include "FreeRTOS.h"
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77 /* Demo application includes. */
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78 #include "partest.h"
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80 #include "integer.h"
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82 #include "comtest2.h"
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83 #include "semtest.h"
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85 /* Demo task priorities. */
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86 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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87 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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88 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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89 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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90 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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91 #define mainINTEGER_PRIORITY tskIDLE_PRIORITY
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93 /* Constants required to disable the watchdog. */
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94 #define mainDISABLE_BYTE_1 ( ( unsigned portCHAR ) 0xde )
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95 #define mainDISABLE_BYTE_2 ( ( unsigned portCHAR ) 0xad )
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97 /* Constants to setup and use the on board LED. */
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98 #define ucLED_BIT ( ( unsigned portCHAR ) 0x40 )
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99 #define mainPORT_1_BIT_6 ( ( unsigned portCHAR ) 0x40 )
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100 #define mainENABLE_CROSS_BAR ( ( unsigned portCHAR ) 0x40 )
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102 /* Constants to set the clock frequency. */
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103 #define mainSELECT_INTERNAL_OSC ( ( unsigned portCHAR ) 0x80 )
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104 #define mainDIVIDE_CLOCK_BY_1 ( ( unsigned portCHAR ) 0x03 )
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105 #define mainPLL_USES_INTERNAL_OSC ( ( unsigned portCHAR ) 0x04 )
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106 #define mainFLASH_READ_TIMING ( ( unsigned portCHAR ) 0x30 )
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107 #define mainPLL_POWER_ON ( ( unsigned portCHAR ) 0x01 )
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108 #define mainPLL_NO_PREDIVIDE ( ( unsigned portCHAR ) 0x01 )
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109 #define mainPLL_FILTER ( ( unsigned portCHAR ) 0x01 )
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110 #define mainPLL_MULTIPLICATION ( ( unsigned portCHAR ) 0x04 )
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111 #define mainENABLE_PLL ( ( unsigned portCHAR ) 0x02 )
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112 #define mainPLL_LOCKED ( ( unsigned portCHAR ) 0x10 )
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113 #define mainSELECT_PLL_AS_SOURCE ( ( unsigned portCHAR ) 0x02 )
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115 /* Toggle rate for the on board LED - which is dependent on whether or not
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116 an error has been detected. */
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117 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 5000 )
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118 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 250 )
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120 /* Baud rate used by the serial port tasks. */
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121 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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123 /* Pass an invalid LED number to the COM test task as we don't want it to flash
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124 an LED. There are only 8 LEDs (excluding the on board LED) wired in and these
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125 are all used by the flash tasks. */
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126 #define mainCOM_TEST_LED ( 200 )
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128 /* We want the Cygnal to act as much as possible as a standard 8052. */
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129 #define mainAUTO_SFR_OFF ( ( unsigned portCHAR ) 0 )
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131 /* Constants required to setup the IO pins for serial comms. */
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132 #define mainENABLE_COMS ( ( unsigned portCHAR ) 0x04 )
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133 #define mainCOMS_LINES_TO_PUSH_PULL ( ( unsigned portCHAR ) 0x03 )
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135 /* Pointer passed as a parameter to vRegisterCheck() just so it has some know
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136 values to check for in the DPH, DPL and B registers. */
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137 #define mainDUMMY_POINTER ( ( xdata void * ) 0xabcd )
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139 /* Macro that lets vErrorChecks() know that one of the tasks defined in
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140 main. c has detected an error. A critical region is used around xLatchError
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141 as it is accessed from vErrorChecks(), which has a higher priority. */
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142 #define mainLATCH_ERROR() \
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144 portENTER_CRITICAL(); \
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145 xLatchedError = pdTRUE; \
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146 portEXIT_CRITICAL(); \
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150 * Setup the Cygnal microcontroller for its fastest operation.
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152 static void prvSetupSystemClock( void );
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155 * Setup the peripherals, including the on board LED.
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157 static void prvSetupHardware( void );
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160 * Toggle the state of the on board LED.
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162 static void prvToggleOnBoardLED( void );
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165 * See comments at the top of the file for details.
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167 static void vErrorChecks( void *pvParameters );
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170 * See comments at the top of the file for details.
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172 static void vRegisterCheck( void *pvParameters );
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175 * See comments at the top of the file for details.
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177 static void vFLOPCheck1( void *pvParameters );
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180 * See comments at the top of the file for details.
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182 static void vFLOPCheck2( void *pvParameters );
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184 /* File scope variable used to communicate the occurrence of an error between
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186 static portBASE_TYPE xLatchedError = pdFALSE;
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188 /*-----------------------------------------------------------*/
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191 * Starts all the other tasks, then starts the scheduler.
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195 /* Initialise the hardware including the system clock and on board
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197 prvSetupHardware();
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199 /* Initialise the port that controls the external LED's utilized by the
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201 vParTestInitialise();
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203 /* Start the used standard demo tasks. */
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204 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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205 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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206 vStartIntegerMathTasks( mainINTEGER_PRIORITY );
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207 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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208 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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210 /* Start the tasks defined in this file. The first three never block so
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211 must not be used with the co-operative scheduler. */
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212 #if configUSE_PREEMPTION == 1
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214 xTaskCreate( vRegisterCheck, "RegChck", configMINIMAL_STACK_SIZE, mainDUMMY_POINTER, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
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215 xTaskCreate( vFLOPCheck1, "FLOP", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
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216 xTaskCreate( vFLOPCheck2, "FLOP", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
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220 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, ( xTaskHandle * ) NULL );
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222 /* Finally kick off the scheduler. This function should never return. */
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223 vTaskStartScheduler();
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225 /* Should never reach here as the tasks will now be executing under control
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226 of the scheduler. */
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228 /*-----------------------------------------------------------*/
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231 * Setup the hardware prior to using the scheduler. Most of the Cygnal
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232 * specific initialisation is performed here leaving standard 8052 setup
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233 * only in the driver code.
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235 static void prvSetupHardware( void )
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237 unsigned portCHAR ucOriginalSFRPage;
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239 /* Remember the SFR page before it is changed so it can get set back
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240 before the function exits. */
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241 ucOriginalSFRPage = SFRPAGE;
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243 /* Setup the SFR page to access the config SFR's. */
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244 SFRPAGE = CONFIG_PAGE;
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246 /* Don't allow the microcontroller to automatically switch SFR page, as the
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247 SFR page is not stored as part of the task context. */
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248 SFRPGCN = mainAUTO_SFR_OFF;
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250 /* Disable the watchdog. */
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251 WDTCN = mainDISABLE_BYTE_1;
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252 WDTCN = mainDISABLE_BYTE_2;
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254 /* Set the on board LED to push pull. */
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255 P1MDOUT |= mainPORT_1_BIT_6;
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257 /* Setup the cross bar to enable serial comms here as it is not part of the
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258 standard 8051 setup and therefore is not in the driver code. */
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259 XBR0 |= mainENABLE_COMS;
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260 P0MDOUT |= mainCOMS_LINES_TO_PUSH_PULL;
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262 /* Enable the cross bar so our hardware setup takes effect. */
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263 XBR2 = mainENABLE_CROSS_BAR;
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265 /* Setup a fast system clock. */
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266 prvSetupSystemClock();
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268 /* Return the SFR page. */
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269 SFRPAGE = ucOriginalSFRPage;
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271 /*-----------------------------------------------------------*/
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273 static void prvSetupSystemClock( void )
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275 volatile unsigned portSHORT usWait;
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276 const unsigned portSHORT usWaitTime = ( unsigned portSHORT ) 0x2ff;
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277 unsigned portCHAR ucOriginalSFRPage;
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279 /* Remember the SFR page so we can set it back at the end. */
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280 ucOriginalSFRPage = SFRPAGE;
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281 SFRPAGE = CONFIG_PAGE;
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283 /* Use the internal oscillator set to its fasted frequency. */
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284 OSCICN = mainSELECT_INTERNAL_OSC | mainDIVIDE_CLOCK_BY_1;
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286 /* Ensure the clock is stable. */
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287 for( usWait = 0; usWait < usWaitTime; usWait++ );
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289 /* Setup the clock source for the PLL. */
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290 PLL0CN &= ~mainPLL_USES_INTERNAL_OSC;
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292 /* Change the read timing for the flash ready for the fast clock. */
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293 SFRPAGE = LEGACY_PAGE;
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294 FLSCL |= mainFLASH_READ_TIMING;
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296 /* Turn on the PLL power. */
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297 SFRPAGE = CONFIG_PAGE;
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298 PLL0CN |= mainPLL_POWER_ON;
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300 /* Don't predivide the clock. */
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301 PLL0DIV = mainPLL_NO_PREDIVIDE;
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303 /* Set filter for fastest clock. */
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304 PLL0FLT = mainPLL_FILTER;
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305 PLL0MUL = mainPLL_MULTIPLICATION;
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307 /* Ensure the clock is stable. */
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308 for( usWait = 0; usWait < usWaitTime; usWait++ );
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310 /* Enable the PLL and wait for it to lock. */
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311 PLL0CN |= mainENABLE_PLL;
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312 for( usWait = 0; usWait < usWaitTime; usWait++ )
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314 if( PLL0CN & mainPLL_LOCKED )
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320 /* Select the PLL as the clock source. */
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321 CLKSEL |= mainSELECT_PLL_AS_SOURCE;
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323 /* Return the SFR back to its original value. */
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324 SFRPAGE = ucOriginalSFRPage;
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326 /*-----------------------------------------------------------*/
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328 static void prvToggleOnBoardLED( void )
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330 /* If the on board LED is on, turn it off and visa versa. */
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331 if( P1 & ucLED_BIT )
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340 /*-----------------------------------------------------------*/
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343 * See the documentation at the top of this file.
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345 static void vErrorChecks( void *pvParameters )
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347 portBASE_TYPE xErrorHasOccurred = pdFALSE;
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349 /* Just to prevent compiler warnings. */
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350 ( void ) pvParameters;
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352 /* Cycle for ever, delaying then checking all the other tasks are still
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353 operating without error. The delay period depends on whether an error
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354 has ever been detected. */
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357 if( xLatchedError == pdFALSE )
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359 /* No errors have been detected so delay for a longer period. The
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360 on board LED will get toggled every mainNO_ERROR_FLASH_PERIOD ms. */
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361 vTaskDelay( mainNO_ERROR_FLASH_PERIOD );
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365 /* We have at some time recognised an error in one of the demo
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366 application tasks, delay for a shorter period. The on board LED
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367 will get toggled every mainERROR_FLASH_PERIOD ms. */
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368 vTaskDelay( mainERROR_FLASH_PERIOD );
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373 /* Check the demo application tasks for errors. */
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375 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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377 xErrorHasOccurred = pdTRUE;
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380 if( xArePollingQueuesStillRunning() != pdTRUE )
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382 xErrorHasOccurred = pdTRUE;
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385 if( xAreComTestTasksStillRunning() != pdTRUE )
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387 xErrorHasOccurred = pdTRUE;
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390 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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392 xErrorHasOccurred = pdTRUE;
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395 /* If an error has occurred, latch it to cause the LED flash rate to
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397 if( xErrorHasOccurred == pdTRUE )
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399 xLatchedError = pdTRUE;
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402 /* Toggle the LED to indicate the completion of a check cycle. The
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403 frequency of check cycles is dependent on whether or not we have
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404 latched an error. */
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405 prvToggleOnBoardLED();
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408 /*-----------------------------------------------------------*/
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411 * See the documentation at the top of this file. Also see the standard FLOP
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412 * demo task documentation for the rationale of these tasks.
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414 static void vFLOPCheck1( void *pvParameters )
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416 volatile portFLOAT fVal1, fVal2, fResult;
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418 ( void ) pvParameters;
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422 fVal1 = ( portFLOAT ) -1234.5678;
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423 fVal2 = ( portFLOAT ) 2345.6789;
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425 fResult = fVal1 + fVal2;
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426 if( ( fResult > ( portFLOAT ) 1111.15 ) || ( fResult < ( portFLOAT ) 1111.05 ) )
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431 fResult = fVal1 / fVal2;
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432 if( ( fResult > ( portFLOAT ) -0.51 ) || ( fResult < ( portFLOAT ) -0.53 ) )
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438 /*-----------------------------------------------------------*/
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441 * See the documentation at the top of this file.
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443 static void vFLOPCheck2( void *pvParameters )
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445 volatile portFLOAT fVal1, fVal2, fResult;
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447 ( void ) pvParameters;
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451 fVal1 = ( portFLOAT ) -12340.5678;
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452 fVal2 = ( portFLOAT ) 23450.6789;
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454 fResult = fVal1 + fVal2;
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455 if( ( fResult > ( portFLOAT ) 11110.15 ) || ( fResult < ( portFLOAT ) 11110.05 ) )
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460 fResult = fVal1 / -fVal2;
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461 if( ( fResult > ( portFLOAT ) 0.53 ) || ( fResult < ( portFLOAT ) 0.51 ) )
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467 /*-----------------------------------------------------------*/
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470 * See the documentation at the top of this file.
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472 static void vRegisterCheck( void *pvParameters )
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474 ( void ) pvParameters;
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478 if( SP != configSTACK_START )
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