2 FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS books - available as PDF or paperback *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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54 /* Standard includes. */
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57 /* FreeRTOS includes. */
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58 #include "FreeRTOS.h"
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62 /* Hardware includes. */
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64 #include "hal_MSP-EXP430F5438.h"
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66 /* Standard demo includes. */
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67 #include "ParTest.h"
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68 #include "comtest2.h"
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70 /* Codes sent within messages to the LCD task so the LCD task can interpret
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71 exactly what the message it just received was. These are sent in the
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72 cMessageID member of the message structure (defined below). */
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73 #define mainMESSAGE_BUTTON_UP ( 1 )
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74 #define mainMESSAGE_BUTTON_SEL ( 2 )
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75 #define mainMESSAGE_STATUS ( 3 )
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77 /* When the cMessageID member of the message sent to the LCD task is
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78 mainMESSAGE_STATUS then these definitions are sent in the ulMessageValue member
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79 of the same message and indicate what the status actually is. */
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80 #define mainERROR_DYNAMIC_TASKS ( pdPASS + 1 )
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81 #define mainERROR_COM_TEST ( pdPASS + 2 )
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82 #define mainERROR_GEN_QUEUE_TEST ( pdPASS + 3 )
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83 #define mainERROR_REG_TEST ( pdPASS + 4 )
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85 /* The length of the queue (the number of items the queue can hold) that is used
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86 to send messages from tasks and interrupts the the LCD task. */
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87 #define mainQUEUE_LENGTH ( 5 )
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89 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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90 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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92 /* The LED used by the comtest tasks. See the comtest.c file for more
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93 information. In this case it is deliberately out of range as there are only
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94 two LEDs, and they are both already in use. */
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95 #define mainCOM_TEST_LED ( 3 )
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98 /*-----------------------------------------------------------*/
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100 extern void vRegTest1Task( void *pvParameters );
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101 extern void vRegTest2Task( void *pvParameters );
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102 static void prvSetupHardware( void );
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103 static void prvTerminalIOTask( void *pvParameters );
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104 static void prvButtonPollTask( void *pvParameters );
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105 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue );
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107 /*-----------------------------------------------------------*/
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109 volatile unsigned short usRegTest1Counter = 0, usRegTest2Counter = 0;
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110 volatile unsigned long ulStatsOverflowCount = 0;
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112 /* The handle of the queue used to send messages from tasks and interrupts to
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114 static xQueueHandle xLCDQueue = NULL;
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116 /* The definition of each message sent from tasks and interrupts to the LCD
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120 char cMessageID; /* << States what the message is. */
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121 unsigned long ulMessageValue; /* << States the message value (can be an integer, string pointer, etc. depending on the value of cMessageID. */
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123 /*-----------------------------------------------------------*/
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127 prvSetupHardware();
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129 /* Create the queue used by tasks and interrupts to send strings to the LCD
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131 xLCDQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( xQueueMessage ) );
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133 if( xLCDQueue != NULL )
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135 /* Add the created queue to the queue registry so it can be viewed in
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136 the IAR FreeRTOS state viewer plug-in. */
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137 vQueueAddToRegistry( xLCDQueue, "LCDQueue" );
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139 /* Create the standard demo tasks. */
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140 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, 9600, mainCOM_TEST_LED );
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142 /* Create the terminal IO and button poll tasks, as described at the top
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144 xTaskCreate( prvTerminalIOTask, ( signed char * ) "IO", configMINIMAL_STACK_SIZE * 2, NULL, mainLCD_TASK_PRIORITY, NULL );
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145 xTaskCreate( prvButtonPollTask, ( signed char * ) "BPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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147 xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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148 xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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149 vTaskStartScheduler();
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153 /*-----------------------------------------------------------*/
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155 static void prvTerminalIOTask( void *pvParameters )
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157 xQueueMessage xReceivedMessage;
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159 /* Buffer into which strings are formatted and placed ready for display on the
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160 LCD. Note this is a static variable to prevent it being allocated on the task
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161 stack, which is too small to hold such a variable. The stack size is configured
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162 when the task is created. */
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163 static char cBuffer[ 512 ];
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165 /* This function is the only function that uses printf(). If printf() is
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166 used from any other function then some sort of mutual exclusion on stdout
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169 This is also the only function that is permitted to access the LCD.
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171 First print out the number of bytes that remain in the FreeRTOS heap. This
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172 can be viewed in the terminal IO window within the IAR Embedded Workbench. */
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173 printf( "%d bytes of heap space remain unallocated\n", ( int ) xPortGetFreeHeapSize() );
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177 /* Wait for a message to be received. Using portMAX_DELAY as the block
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178 time will result in an indefinite wait provided INCLUDE_vTaskSuspend is
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179 set to 1 in FreeRTOSConfig.h, therefore there is no need to check the
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180 function return value and the function will only return when a value
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181 has been received. */
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182 xQueueReceive( xLCDQueue, &xReceivedMessage, portMAX_DELAY );
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184 /* What is this message? What does it contain? */
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185 switch( xReceivedMessage.cMessageID )
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187 case mainMESSAGE_BUTTON_UP : /* The button poll task has just
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188 informed this task that the up
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189 button on the joystick input has
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190 been pressed or released. */
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191 sprintf( cBuffer, "Button up = %d", ( int ) xReceivedMessage.ulMessageValue );
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194 case mainMESSAGE_BUTTON_SEL : /* The select button interrupt
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195 just informed this task that the
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196 select button was pressed.
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197 Generate a table of task run time
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198 statistics and output this to
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199 the terminal IO window in the IAR
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200 embedded workbench. */
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201 printf( "\nTask\t Abs Time\t %%Time\n*****************************************" );
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203 vTaskGetRunTimeStats( ( signed char * ) cBuffer );
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204 // printf( cBuffer );
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207 case mainMESSAGE_STATUS : /* The tick interrupt hook
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208 function has just informed this
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209 task of the system status.
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210 Generate a string in accordance
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211 with the status value. */
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212 prvGenerateStatusMessage( cBuffer, xReceivedMessage.ulMessageValue );
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215 default : sprintf( cBuffer, "Unknown message" );
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219 /* Output the message that was placed into the cBuffer array within the
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220 switch statement above. */
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221 printf( "%s : %u\n", cBuffer, ( unsigned int ) xTaskGetTickCount() );
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225 /*-----------------------------------------------------------*/
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227 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue )
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229 /* Just a utility function to convert a status value into a meaningful
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230 string for output onto the LCD. */
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231 switch( lStatusValue )
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233 case pdPASS : sprintf( pcBuffer, "Task status = PASS" );
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235 case mainERROR_DYNAMIC_TASKS : sprintf( pcBuffer, "Error: Dynamic tasks" );
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237 case mainERROR_COM_TEST : sprintf( pcBuffer, "Err: COM test" ); /* Error in COM test - is the Loopback connector connected? */
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239 case mainERROR_GEN_QUEUE_TEST : sprintf( pcBuffer, "Error: Gen Q test" );
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241 case mainERROR_REG_TEST : sprintf( pcBuffer, "Error: Reg test" );
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243 default : sprintf( pcBuffer, "Unknown status" );
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247 /*-----------------------------------------------------------*/
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249 static void prvButtonPollTask( void *pvParameters )
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251 unsigned char ucLastState = pdFALSE, ucState;
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252 xQueueMessage xMessage;
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254 /* This tasks performs the button polling functionality as described at the
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255 top of this file. */
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258 /* Check the button state. */
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259 ucState = ( halButtonsPressed() & BUTTON_UP );
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266 if( ucState != ucLastState )
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268 /* The state has changed, send a message to the LCD task. */
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269 xMessage.cMessageID = mainMESSAGE_BUTTON_UP;
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270 xMessage.ulMessageValue = ( unsigned long ) ucState;
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271 ucLastState = ucState;
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272 xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
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275 /* Block for 10 milliseconds so this task does not utilise all the CPU
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276 time and debouncing of the button is not necessary. */
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277 vTaskDelay( 10 / portTICK_RATE_MS );
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280 /*-----------------------------------------------------------*/
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282 static void prvSetupHardware( void )
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284 unsigned long ulCPU_Clock_KHz = ( configCPU_CLOCK_HZ / 1000UL );
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287 halButtonsInit( BUTTON_ALL );
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288 halButtonsInterruptEnable( BUTTON_SELECT );
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289 LFXT_Start( XT1DRIVE_0 );
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290 Init_FLL_Settle( ( unsigned short ) ulCPU_Clock_KHz, 488 );
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292 /*-----------------------------------------------------------*/
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294 void vApplicationSetupTimerInterrupt( void )
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296 const unsigned short usACLK_Frequency_Hz = 32768;
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298 /* Ensure the timer is stopped. */
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301 /* Run the timer from the ACLK. */
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304 /* Clear everything to start with. */
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307 /* Set the compare match value according to the tick rate we want. */
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308 TA0CCR0 = usACLK_Frequency_Hz / configTICK_RATE_HZ;
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310 /* Enable the interrupts. */
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313 /* Start up clean. */
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319 /*-----------------------------------------------------------*/
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321 void vApplicationMallocFailedHook( void )
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325 /*-----------------------------------------------------------*/
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327 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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330 ( void ) pcTaskName;
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334 /*-----------------------------------------------------------*/
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336 void vApplicationIdleHook( void )
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338 __bis_SR_register( LPM3_bits + GIE );
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340 /*-----------------------------------------------------------*/
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342 void vApplicationTickHook( void )
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344 static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
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345 static unsigned long ulCounter = 0;
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346 static const unsigned long ulCheckFrequency = 5000UL / portTICK_RATE_MS;
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347 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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349 /* Define the status message that is sent to the LCD task. By default the
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351 static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };
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353 /* This is called from within the tick interrupt and performs the 'check'
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354 functionality as described in the comments at the top of this file.
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356 Is it time to perform the 'check' functionality again? */
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358 if( ulCounter >= ulCheckFrequency )
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360 #ifdef LEFT_OVER_FROM_CUT_AND_PASTE
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361 /* See if the standard demo tasks are executing as expected, changing
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362 the message that is sent to the LCD task from PASS to an error code if
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363 any tasks set reports an error. */
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364 if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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366 xStatusMessage.lMessageValue = mainERROR_DYNAMIC_TASKS;
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369 if( xAreGenericQueueTasksStillRunning() != pdPASS )
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371 xStatusMessage.lMessageValue = mainERROR_GEN_QUEUE_TEST;
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374 /* See if the standard demo tasks are executing as expected, changing
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375 the message that is sent to the LCD task from PASS to an error code if
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376 any tasks set reports an error. */
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377 if( xAreComTestTasksStillRunning() != pdPASS )
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379 xStatusMessage.ulMessageValue = mainERROR_COM_TEST;
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383 /* Check the reg test tasks are still cycling. They will stop incrementing
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384 their loop counters if they encounter an error. */
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385 if( usRegTest1Counter == usLastRegTest1Counter )
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387 xStatusMessage.ulMessageValue = mainERROR_REG_TEST;
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390 if( usRegTest2Counter == usLastRegTest2Counter )
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392 xStatusMessage.ulMessageValue = mainERROR_REG_TEST;
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395 usLastRegTest1Counter = usRegTest1Counter;
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396 usLastRegTest2Counter = usRegTest2Counter;
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399 /* As this is the tick hook the lHigherPriorityTaskWoken parameter is not
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400 needed (a context switch is going to be performed anyway), but it must
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401 still be provided. */
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402 xQueueSendFromISR( xLCDQueue, &xStatusMessage, &xHigherPriorityTaskWoken );
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406 if( ( ulCounter & 0xff ) == 0 )
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408 if( ( LED_PORT_OUT & LED_1 ) == 0 )
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410 LED_PORT_OUT |= LED_1;
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411 LED_PORT_OUT &= ~LED_2;
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415 LED_PORT_OUT &= ~LED_1;
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416 LED_PORT_OUT |= LED_2;
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420 /*-----------------------------------------------------------*/
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422 #pragma vector=PORT2_VECTOR
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423 __interrupt static void prvSelectButtonInterrupt(void)
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425 /* Define the message sent to the LCD task from this interrupt. */
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426 static const xQueueMessage xMessage = { mainMESSAGE_BUTTON_SEL, ( unsigned long ) "Select Interrupt!" };
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427 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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429 /* This is the interrupt handler for the joystick select button input.
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430 The button has been pushed, write a message to the LCD via the LCD task. */
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431 xQueueSendFromISR( xLCDQueue, &xMessage, &xHigherPriorityTaskWoken );
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435 /* If writing to xLCDQueue caused a task to unblock, and the unblocked task
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436 has a priority equal to or above the task that this interrupt interrupted,
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437 then lHigherPriorityTaskWoken will have been set to pdTRUE internally within
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438 xQueuesendFromISR(), and portEND_SWITCHING_ISR() will ensure that this
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439 interrupt returns directly to the higher priority unblocked task. */
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440 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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442 /*-----------------------------------------------------------*/
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444 void vConfigureTimerForRunTimeStats( void )
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446 /* Ensure the timer is stopped. */
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449 /* Run the timer from the ACLK/4. */
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450 TA1CTL = TASSEL_1 | ID__4;
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452 /* Clear everything to start with. */
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455 /* Enable the interrupts. */
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458 /* Start up clean. */
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461 /* Continuous mode. */
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462 TA1CTL |= MC__CONTINOUS;
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464 /*-----------------------------------------------------------*/
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466 #pragma vector=TIMER1_A0_VECTOR
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467 static __interrupt void prvRunTimeStatsOverflowISR( void )
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469 ulStatsOverflowCount++;
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471 /*-----------------------------------------------------------*/
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473 inline unsigned long ulGetRunTimeStatsTime( void )
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475 unsigned long ulReturn;
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477 TA1CTL &= ~MC__CONTINOUS;
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478 ulReturn = ( ( ulStatsOverflowCount << 16UL ) | ( unsigned long ) TA1R );
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479 TA1CTL |= MC__CONTINOUS;
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