2 FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd.
\r
4 ***************************************************************************
\r
8 * + New to FreeRTOS, *
\r
9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
\r
10 * + Looking for basic training, *
\r
11 * + Wanting to improve your FreeRTOS skills and productivity *
\r
13 * then take a look at the FreeRTOS books - available as PDF or paperback *
\r
15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
\r
16 * http://www.FreeRTOS.org/Documentation *
\r
18 * A pdf reference manual is also available. Both are usually delivered *
\r
19 * to your inbox within 20 minutes to two hours when purchased between 8am *
\r
20 * and 8pm GMT (although please allow up to 24 hours in case of *
\r
21 * exceptional circumstances). Thank you for your support! *
\r
23 ***************************************************************************
\r
25 This file is part of the FreeRTOS distribution.
\r
27 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
28 the terms of the GNU General Public License (version 2) as published by the
\r
29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
\r
30 ***NOTE*** The exception to the GPL is included to allow you to distribute
\r
31 a combined work that includes FreeRTOS without being obliged to provide the
\r
32 source code for proprietary components outside of the FreeRTOS kernel.
\r
33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
\r
34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
\r
35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
\r
36 more details. You should have received a copy of the GNU General Public
\r
37 License and the FreeRTOS license exception along with FreeRTOS; if not it
\r
38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
\r
39 by writing to Richard Barry, contact details for whom are available on the
\r
44 http://www.FreeRTOS.org - Documentation, latest information, license and
\r
47 http://www.SafeRTOS.com - A version that is certified for use in safety
\r
50 http://www.OpenRTOS.com - Commercial support, development, porting,
\r
51 licensing and training services.
\r
55 #include "FreeRTOS.h"
\r
60 #include "hal_MSP-EXP430F5438.h"
\r
62 /* The rate at which mainCHECK_LED will toggle when all the tasks are running
\r
63 without error. Controlled by the check task as described at the top of this
\r
65 #define mainNO_ERROR_CYCLE_TIME ( 5000 / portTICK_RATE_MS )
\r
67 /* The rate at which mainCHECK_LED will toggle when an error has been reported
\r
68 by at least one task. Controlled by the check task as described at the top of
\r
70 #define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )
\r
72 /* Codes sent within messages to the LCD task so the LCD task can interpret
\r
73 exactly what the message it just received was. These are sent in the
\r
74 cMessageID member of the message structure (defined below). */
\r
75 #define mainMESSAGE_BUTTON_UP ( 1 )
\r
76 #define mainMESSAGE_BUTTON_SEL ( 2 )
\r
77 #define mainMESSAGE_STATUS ( 3 )
\r
79 /* When the cMessageID member of the message sent to the LCD task is
\r
80 mainMESSAGE_STATUS then these definitions are sent in the cMessageValue member
\r
81 of the same message and indicate what the status actually is. */
\r
82 #define mainERROR_DYNAMIC_TASKS ( pdPASS + 1 )
\r
83 #define mainERROR_COM_TEST ( pdPASS + 2 )
\r
84 #define mainERROR_GEN_QUEUE_TEST ( pdPASS + 3 )
\r
86 /* The length of the queue (the number of items the queue can hold) that is used
\r
87 to send messages from tasks and interrupts the the LCD task. */
\r
88 #define mainQUEUE_LENGTH ( 5 )
\r
90 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
92 /*-----------------------------------------------------------*/
\r
94 extern void vRegTest1Task( void *pvParameters );
\r
95 extern void vRegTest2Task( void *pvParameters );
\r
96 static void prvCheckTask( void *pvParameters );
\r
97 static void prvSetupHardware( void );
\r
98 static void prvTerminalIOTask( void *pvParameters );
\r
99 static void prvButtonPollTask( void *pvParameters );
\r
100 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue );
\r
102 /*-----------------------------------------------------------*/
\r
104 volatile unsigned short usRegTest1Counter = 0, usRegTest2Counter = 0;
\r
106 /* The handle of the queue used to send messages from tasks and interrupts to
\r
108 static xQueueHandle xLCDQueue = NULL;
\r
110 /* The definition of each message sent from tasks and interrupts to the LCD
\r
114 char cMessageID; /* << States what the message is. */
\r
115 char cMessageValue; /* << States the message value (can be an integer, string pointer, etc. depending on the value of cMessageID. */
\r
117 /*-----------------------------------------------------------*/
\r
121 prvSetupHardware();
\r
123 /* Create the queue used by tasks and interrupts to send strings to the LCD
\r
125 xLCDQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( xQueueMessage ) );
\r
127 if( xLCDQueue != NULL )
\r
129 /* Add the created queue to the queue registry so it can be viewed in
\r
130 the IAR FreeRTOS state viewer plug-in. */
\r
131 vQueueAddToRegistry( xLCDQueue, "LCDQueue" );
\r
133 /* Create the terminal IO and button poll tasks, as described at the top
\r
135 xTaskCreate( prvTerminalIOTask, ( signed char * ) "LCD", configMINIMAL_STACK_SIZE, NULL, mainLCD_TASK_PRIORITY, NULL );
\r
136 xTaskCreate( prvButtonPollTask, ( signed char * ) "ButPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
\r
138 xTaskCreate( vRegTest1Task, "RegTest1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
\r
139 xTaskCreate( vRegTest2Task, "RegTest2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
\r
140 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
\r
141 vTaskStartScheduler();
\r
145 /*-----------------------------------------------------------*/
\r
147 static void prvTerminalIOTask( void *pvParameters )
\r
149 xQueueMessage xReceivedMessage;
\r
151 /* Buffer into which strings are formatted and placed ready for display on the
\r
152 LCD. Note this is a static variable to prevent it being allocated on the task
\r
153 stack, which is too small to hold such a variable. The stack size is configured
\r
154 when the task is created. */
\r
155 static char cBuffer[ 512 ];
\r
157 /* This function is the only function that uses printf(). If printf() is
\r
158 used from any other function then some sort of mutual exclusion on stdout
\r
161 This is also the only function that is permitted to access the LCD.
\r
163 First print out the number of bytes that remain in the FreeRTOS heap. This
\r
164 can be viewed in the terminal IO window within the IAR Embedded Workbench. */
\r
165 printf( "%d bytes of heap space remain unallocated\n", ( int ) xPortGetFreeHeapSize() );
\r
169 /* Wait for a message to be received. Using portMAX_DELAY as the block
\r
170 time will result in an indefinite wait provided INCLUDE_vTaskSuspend is
\r
171 set to 1 in FreeRTOSConfig.h, therefore there is no need to check the
\r
172 function return value and the function will only return when a value
\r
173 has been received. */
\r
174 xQueueReceive( xLCDQueue, &xReceivedMessage, portMAX_DELAY );
\r
176 /* What is this message? What does it contain? */
\r
177 switch( xReceivedMessage.cMessageID )
\r
179 case mainMESSAGE_BUTTON_UP : /* The button poll task has just
\r
180 informed this task that the up
\r
181 button on the joystick input has
\r
182 been pressed or released. */
\r
183 sprintf( cBuffer, "Button up = %d", xReceivedMessage.cMessageValue );
\r
186 case mainMESSAGE_BUTTON_SEL : /* The select button interrupt
\r
187 just informed this task that the
\r
188 select button was pressed.
\r
189 Generate a table of task run time
\r
190 statistics and output this to
\r
191 the terminal IO window in the IAR
\r
192 embedded workbench. */
\r
193 printf( "\nTask\t Abs Time\t %%Time\n*****************************************" );
\r
194 // vTaskGetRunTimeStats( ( signed char * ) cBuffer );
\r
195 // printf( cBuffer );
\r
198 case mainMESSAGE_STATUS : /* The tick interrupt hook
\r
199 function has just informed this
\r
200 task of the system status.
\r
201 Generate a string in accordance
\r
202 with the status value. */
\r
203 prvGenerateStatusMessage( cBuffer, xReceivedMessage.cMessageValue );
\r
206 default : sprintf( cBuffer, "Unknown message" );
\r
210 /* Output the message that was placed into the cBuffer array within the
\r
211 switch statement above. */
\r
212 printf( "%s", cBuffer );
\r
215 /*-----------------------------------------------------------*/
\r
217 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue )
\r
219 /* Just a utility function to convert a status value into a meaningful
\r
220 string for output onto the LCD. */
\r
221 switch( lStatusValue )
\r
223 case pdPASS : sprintf( pcBuffer, "Task status = PASS" );
\r
225 case mainERROR_DYNAMIC_TASKS : sprintf( pcBuffer, "Error: Dynamic tasks" );
\r
227 case mainERROR_COM_TEST : sprintf( pcBuffer, "Err: loop connected?" ); /* Error in COM test - is the Loopback connector connected? */
\r
229 case mainERROR_GEN_QUEUE_TEST : sprintf( pcBuffer, "Error: Gen Q test" );
\r
231 default : sprintf( pcBuffer, "Unknown status" );
\r
235 /*-----------------------------------------------------------*/
\r
237 static void prvButtonPollTask( void *pvParameters )
\r
239 unsigned char ucLastState = pdFALSE, ucState;
\r
240 xQueueMessage xMessage;
\r
242 /* This tasks performs the button polling functionality as described at the
\r
243 top of this file. */
\r
246 /* Check the button state. */
\r
247 ucState = ( halButtonsPressed() & BUTTON_UP );
\r
248 if( ucState != ucLastState )
\r
250 /* The state has changed, send a message to the LCD task. */
\r
251 xMessage.cMessageID = mainMESSAGE_BUTTON_UP;
\r
252 xMessage.cMessageValue = ucState;
\r
253 ucLastState = ucState;
\r
254 xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
\r
257 /* Block for 10 milliseconds so this task does not utilise all the CPU
\r
258 time and debouncing of the button is not necessary. */
\r
259 vTaskDelay( 10 / portTICK_RATE_MS );
\r
262 /*-----------------------------------------------------------*/
\r
264 static void prvSetupHardware( void )
\r
267 halButtonsInit( BUTTON_ALL );
\r
268 halButtonsInterruptEnable( BUTTON_SELECT );
\r
269 LFXT_Start (XT1DRIVE_0);
\r
270 Init_FLL_Settle( 25000, 488 );
\r
272 /*-----------------------------------------------------------*/
\r
274 static void prvCheckTask( void *pvParameters )
\r
276 volatile unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
\r
277 portTickType xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;
\r
278 const char *pcStatusMessage = "OK";
\r
280 /* Initialise xNextWakeTime - this only needs to be done once. */
\r
281 xNextWakeTime = xTaskGetTickCount();
\r
285 /* Place this task in the blocked state until it is time to run again. */
\r
286 vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
\r
288 /* Check the reg test tasks are still cycling. They will stop incrementing
\r
289 their loop counters if they encounter an error. */
\r
290 if( usRegTest1Counter == usLastRegTest1Counter )
\r
292 pcStatusMessage = "Error: RegTest1";
\r
295 if( usRegTest2Counter == usLastRegTest2Counter )
\r
297 pcStatusMessage = "Error: RegTest2";
\r
300 usLastRegTest1Counter = usRegTest1Counter;
\r
301 usLastRegTest2Counter = usRegTest2Counter;
\r
303 printf( "%s, tick count = %u\n", pcStatusMessage, ( unsigned int ) xTaskGetTickCount() );
\r
307 /*-----------------------------------------------------------*/
\r
309 void vApplicationSetupTimerInterrupt( void )
\r
311 const unsigned short usACLK_Frequency_Hz = 32768;
\r
313 /* Ensure the timer is stopped. */
\r
316 /* Run the timer of the ACLK. */
\r
319 /* Clear everything to start with. */
\r
322 /* Set the compare match value according to the tick rate we want. */
\r
323 TA0CCR0 = usACLK_Frequency_Hz / configTICK_RATE_HZ;
\r
325 /* Enable the interrupts. */
\r
328 /* Start up clean. */
\r
334 /*-----------------------------------------------------------*/
\r
336 void vApplicationMallocFailedHook( void )
\r
340 /*-----------------------------------------------------------*/
\r
342 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
\r
345 ( void ) pcTaskName;
\r
349 /*-----------------------------------------------------------*/
\r
351 void vApplicationIdleHook( void )
\r
353 __bis_SR_register( LPM3_bits + GIE );
\r