2 FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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67 * Creates all the demo application tasks, then starts the scheduler. The WEB
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68 * documentation provides more details of the demo application tasks.
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70 * This demo is configured to execute on the ES449 prototyping board from
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71 * SoftBaugh. The ES449 has a built in LCD display and a single built in user
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72 * LED. Therefore, in place of flashing an LED, the 'flash' and 'check' tasks
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73 * toggle '*' characters on the LCD. The left most '*' represents LED 0, the
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76 * Main. c also creates a task called 'Check'. This only executes every three
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77 * seconds but has the highest priority so is guaranteed to get processor time.
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78 * Its main function is to check that all the other tasks are still operational.
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79 * Each task that does not flash an LED maintains a unique count that is
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80 * incremented each time the task successfully completes its function. Should
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81 * any error occur within such a task the count is permanently halted. The
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82 * 'check' task inspects the count of each task to ensure it has changed since
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83 * the last time the check task executed. If all the count variables have
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84 * changed all the tasks are still executing error free, and the check task
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85 * toggles an LED with a three second period. Should any task contain an error
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86 * at any time the LED toggle rate will increase to 500ms.
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88 * Please read the documentation for the MSP430 port available on
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89 * http://www.FreeRTOS.org.
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92 /* Standard includes. */
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96 /* Scheduler includes. */
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97 #include "FreeRTOS.h"
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100 /* Demo application includes. */
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101 #include "partest.h"
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103 #include "integer.h"
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104 #include "comtest2.h"
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107 /* Constants required for hardware setup. */
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108 #define mainALL_BITS_OUTPUT ( ( unsigned char ) 0xff )
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109 #define mainMAX_FREQUENCY ( ( unsigned char ) 121 )
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111 /* Constants that define the LED's used by the various tasks. [in this case
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112 the '*' characters on the LCD represent LED's] */
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113 #define mainCHECK_LED ( 4 )
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114 #define mainCOM_TEST_LED ( 10 )
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116 /* Demo task priorities. */
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117 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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118 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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119 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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120 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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122 /* Baud rate used by the COM test tasks. */
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123 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
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125 /* The frequency at which the 'Check' tasks executes. See the comments at the
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126 top of the page. When the system is operating error free the 'Check' task
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127 toggles an LED every three seconds. If an error is discovered in any task the
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128 rate is increased to 500 milliseconds. [in this case the '*' characters on the
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129 LCD represent LED's]*/
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130 #define mainNO_ERROR_CHECK_DELAY ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
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131 #define mainERROR_CHECK_DELAY ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
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134 * The function that implements the Check task. See the comments at the head
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135 * of the page for implementation details.
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137 static void vErrorChecks( void *pvParameters );
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140 * Called by the Check task. Returns pdPASS if all the other tasks are found
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141 * to be operating without error - otherwise returns pdFAIL.
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143 static short prvCheckOtherTasksAreStillRunning( void );
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146 * Perform the hardware setup required by the ES449 in order to run the demo
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149 static void prvSetupHardware( void );
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151 /* Used to detect the idle hook function stalling. */
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152 static volatile unsigned long ulIdleLoops = 0UL;
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154 /*-----------------------------------------------------------*/
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157 * Start the demo application tasks - then start the real time scheduler.
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161 /* Setup the hardware ready for the demo. */
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162 prvSetupHardware();
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163 vParTestInitialise();
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165 /* Start the standard demo application tasks. */
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166 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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167 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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168 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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169 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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171 /* Start the 'Check' task which is defined in this file. */
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172 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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174 /* Start the scheduler. */
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175 vTaskStartScheduler();
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177 /* As the scheduler has been started the demo applications tasks will be
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178 executing and we should never get here! */
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181 /*-----------------------------------------------------------*/
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183 static void vErrorChecks( void *pvParameters )
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185 static volatile unsigned long ulDummyVariable = 3UL;
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186 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
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188 /* Cycle for ever, delaying then checking all the other tasks are still
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189 operating without error. */
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192 /* Wait until it is time to check again. The time we wait here depends
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193 on whether an error has been detected or not. When an error is
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194 detected the time is shortened resulting in a faster LED flash rate. */
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195 vTaskDelay( xDelayPeriod );
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197 /* Perform a bit of 32bit maths to ensure the registers used by the
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198 integer tasks get some exercise outside of the integer tasks
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199 themselves. The result here is not important we are just deliberately
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200 changing registers used by other tasks to ensure that their context
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201 switch is operating as required. - see the demo application
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202 documentation for more info. */
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203 ulDummyVariable *= 3UL;
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205 /* See if the other tasks are all ok. */
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206 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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208 /* An error occurred in one of the tasks so shorten the delay
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209 period - which has the effect of increasing the frequency of the
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211 xDelayPeriod = mainERROR_CHECK_DELAY;
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215 vParTestToggleLED( mainCHECK_LED );
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218 /*-----------------------------------------------------------*/
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220 static short prvCheckOtherTasksAreStillRunning( void )
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222 static short sNoErrorFound = pdTRUE;
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223 static unsigned long ulLastIdleLoops = 0UL;
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225 /* The demo tasks maintain a count that increments every cycle of the task
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226 provided that the task has never encountered an error. This function
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227 checks the counts maintained by the tasks to ensure they are still being
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228 incremented. A count remaining at the same value between calls therefore
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229 indicates that an error has been detected. Only tasks that do not flash
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230 an LED are checked. */
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232 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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234 sNoErrorFound = pdFALSE;
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237 if( xAreComTestTasksStillRunning() != pdTRUE )
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239 sNoErrorFound = pdFALSE;
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242 if( xArePollingQueuesStillRunning() != pdTRUE )
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244 sNoErrorFound = pdFALSE;
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247 if( ulLastIdleLoops == ulIdleLoops )
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249 sNoErrorFound = pdFALSE;
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252 ulLastIdleLoops = ulIdleLoops;
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254 return sNoErrorFound;
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256 /*-----------------------------------------------------------*/
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258 static void prvSetupHardware( void )
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260 /* Stop the watchdog. */
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261 WDTCTL = WDTPW + WDTHOLD;
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263 /* Setup DCO+ for ( xtal * D * (N + 1) ) operation. */
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264 FLL_CTL0 |= DCOPLUS + XCAP18PF;
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266 /* X2 DCO frequency, 8MHz nominal DCO */
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269 /* (121+1) x 32768 x 2 = 7.99 Mhz */
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270 SCFQCTL = mainMAX_FREQUENCY;
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272 /* Setup the IO as per the SoftBaugh demo for the same target hardware. */
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279 /*-----------------------------------------------------------*/
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281 void vApplicationIdleHook( void );
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282 void vApplicationIdleHook( void )
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284 /* Simple put the CPU into lowpower mode. */
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285 _BIS_SR( LPM3_bits );
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288 /*-----------------------------------------------------------*/
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