2 FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
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4 This file is part of the FreeRTOS distribution.
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6 FreeRTOS is free software; you can redistribute it and/or modify it under
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7 the terms of the GNU General Public License (version 2) as published by the
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8 Free Software Foundation and modified by the FreeRTOS exception.
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9 **NOTE** The exception to the GPL is included to allow you to distribute a
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10 combined work that includes FreeRTOS without being obliged to provide the
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11 source code for proprietary components outside of the FreeRTOS kernel.
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12 Alternative commercial license and support terms are also available upon
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13 request. See the licensing section of http://www.FreeRTOS.org for full
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16 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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18 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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21 You should have received a copy of the GNU General Public License along
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22 with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
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23 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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26 ***************************************************************************
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28 * The FreeRTOS eBook and reference manual are available to purchase for a *
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29 * small fee. Help yourself get started quickly while also helping the *
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30 * FreeRTOS project! See http://www.FreeRTOS.org/Documentation for details *
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32 ***************************************************************************
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36 Please ensure to read the configuration and relevant port sections of the
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37 online documentation.
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39 http://www.FreeRTOS.org - Documentation, latest information, license and
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42 http://www.SafeRTOS.com - A version that is certified for use in safety
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45 http://www.OpenRTOS.com - Commercial support, development, porting,
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46 licensing and training services.
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50 * Creates all the demo application tasks, then starts the scheduler. The WEB
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51 * documentation provides more details of the demo application tasks.
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53 * This demo is configured to execute on the ES449 prototyping board from
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54 * SoftBaugh. The ES449 has a built in LCD display and a single built in user
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55 * LED. Therefore, in place of flashing an LED, the 'flash' and 'check' tasks
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56 * toggle '*' characters on the LCD. The left most '*' represents LED 0, the
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59 * Main. c also creates a task called 'Check'. This only executes every three
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60 * seconds but has the highest priority so is guaranteed to get processor time.
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61 * Its main function is to check that all the other tasks are still operational.
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62 * Each task that does not flash an LED maintains a unique count that is
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63 * incremented each time the task successfully completes its function. Should
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64 * any error occur within such a task the count is permanently halted. The
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65 * 'check' task inspects the count of each task to ensure it has changed since
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66 * the last time the check task executed. If all the count variables have
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67 * changed all the tasks are still executing error free, and the check task
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68 * toggles an LED with a three second period. Should any task contain an error
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69 * at any time the LED toggle rate will increase to 500ms.
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71 * Please read the documentation for the MSP430 port available on
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72 * http://www.FreeRTOS.org.
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75 /* Standard includes. */
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79 /* Scheduler includes. */
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80 #include "FreeRTOS.h"
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83 /* Demo application includes. */
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84 #include "partest.h"
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86 #include "integer.h"
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87 #include "comtest2.h"
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90 /* Constants required for hardware setup. */
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91 #define mainALL_BITS_OUTPUT ( ( unsigned char ) 0xff )
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92 #define mainMAX_FREQUENCY ( ( unsigned char ) 121 )
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94 /* Constants that define the LED's used by the various tasks. [in this case
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95 the '*' characters on the LCD represent LED's] */
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96 #define mainCHECK_LED ( 4 )
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97 #define mainCOM_TEST_LED ( 10 )
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99 /* Demo task priorities. */
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100 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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101 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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102 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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103 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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105 /* Baud rate used by the COM test tasks. */
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106 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
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108 /* The frequency at which the 'Check' tasks executes. See the comments at the
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109 top of the page. When the system is operating error free the 'Check' task
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110 toggles an LED every three seconds. If an error is discovered in any task the
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111 rate is increased to 500 milliseconds. [in this case the '*' characters on the
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112 LCD represent LED's]*/
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113 #define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
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114 #define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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117 * The function that implements the Check task. See the comments at the head
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118 * of the page for implementation details.
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120 static void vErrorChecks( void *pvParameters );
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123 * Called by the Check task. Returns pdPASS if all the other tasks are found
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124 * to be operating without error - otherwise returns pdFAIL.
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126 static short prvCheckOtherTasksAreStillRunning( void );
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129 * Perform the hardware setup required by the ES449 in order to run the demo
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132 static void prvSetupHardware( void );
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134 /* Used to detect the idle hook function stalling. */
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135 static volatile unsigned long ulIdleLoops = 0UL;
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137 /*-----------------------------------------------------------*/
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140 * Start the demo application tasks - then start the real time scheduler.
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144 /* Setup the hardware ready for the demo. */
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145 prvSetupHardware();
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146 vParTestInitialise();
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148 /* Start the standard demo application tasks. */
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149 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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150 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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151 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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152 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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154 /* Start the 'Check' task which is defined in this file. */
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155 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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157 /* Start the scheduler. */
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158 vTaskStartScheduler();
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160 /* As the scheduler has been started the demo applications tasks will be
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161 executing and we should never get here! */
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164 /*-----------------------------------------------------------*/
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166 static void vErrorChecks( void *pvParameters )
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168 static volatile unsigned long ulDummyVariable = 3UL;
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169 portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
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171 /* Cycle for ever, delaying then checking all the other tasks are still
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172 operating without error. */
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175 /* Wait until it is time to check again. The time we wait here depends
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176 on whether an error has been detected or not. When an error is
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177 detected the time is shortened resulting in a faster LED flash rate. */
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178 vTaskDelay( xDelayPeriod );
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180 /* Perform a bit of 32bit maths to ensure the registers used by the
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181 integer tasks get some exercise outside of the integer tasks
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182 themselves. The result here is not important we are just deliberately
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183 changing registers used by other tasks to ensure that their context
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184 switch is operating as required. - see the demo application
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185 documentation for more info. */
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186 ulDummyVariable *= 3UL;
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188 /* See if the other tasks are all ok. */
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189 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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191 /* An error occurred in one of the tasks so shorten the delay
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192 period - which has the effect of increasing the frequency of the
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194 xDelayPeriod = mainERROR_CHECK_DELAY;
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198 vParTestToggleLED( mainCHECK_LED );
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201 /*-----------------------------------------------------------*/
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203 static short prvCheckOtherTasksAreStillRunning( void )
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205 static short sNoErrorFound = pdTRUE;
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206 static unsigned long ulLastIdleLoops = 0UL;
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208 /* The demo tasks maintain a count that increments every cycle of the task
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209 provided that the task has never encountered an error. This function
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210 checks the counts maintained by the tasks to ensure they are still being
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211 incremented. A count remaining at the same value between calls therefore
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212 indicates that an error has been detected. Only tasks that do not flash
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213 an LED are checked. */
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215 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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217 sNoErrorFound = pdFALSE;
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220 if( xAreComTestTasksStillRunning() != pdTRUE )
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222 sNoErrorFound = pdFALSE;
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225 if( xArePollingQueuesStillRunning() != pdTRUE )
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227 sNoErrorFound = pdFALSE;
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230 if( ulLastIdleLoops == ulIdleLoops )
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232 sNoErrorFound = pdFALSE;
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235 ulLastIdleLoops = ulIdleLoops;
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237 return sNoErrorFound;
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239 /*-----------------------------------------------------------*/
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241 static void prvSetupHardware( void )
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243 /* Stop the watchdog. */
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244 WDTCTL = WDTPW + WDTHOLD;
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246 /* Setup DCO+ for ( xtal * D * (N + 1) ) operation. */
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247 FLL_CTL0 |= DCOPLUS + XCAP18PF;
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249 /* X2 DCO frequency, 8MHz nominal DCO */
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252 /* (121+1) x 32768 x 2 = 7.99 Mhz */
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253 SCFQCTL = mainMAX_FREQUENCY;
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255 /* Setup the IO as per the SoftBaugh demo for the same target hardware. */
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262 /*-----------------------------------------------------------*/
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264 void vApplicationIdleHook( void );
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265 void vApplicationIdleHook( void )
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267 /* Simple put the CPU into lowpower mode. */
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268 _BIS_SR( LPM3_bits );
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271 /*-----------------------------------------------------------*/
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