2 FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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32 >>>NOTE<<< The modification to the GPL is included to allow you to
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33 distribute a combined work that includes FreeRTOS without being obliged to
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34 provide the source code for proprietary components outside of the FreeRTOS
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35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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38 more details. You should have received a copy of the GNU General Public
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39 License and the FreeRTOS license exception along with FreeRTOS; if not it
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40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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41 by writing to Richard Barry, contact details for whom are available on the
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46 ***************************************************************************
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48 * Having a problem? Start by reading the FAQ "My application does *
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49 * not run, what could be wrong?" *
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51 * http://www.FreeRTOS.org/FAQHelp.html *
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53 ***************************************************************************
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56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
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57 and contact details.
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59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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60 including FreeRTOS+Trace - an indispensable productivity tool.
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62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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63 the code with commercial support, indemnification, and middleware, under
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64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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65 provide a safety engineered and independently SIL3 certified version under
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66 the SafeRTOS brand: http://www.SafeRTOS.com.
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70 * Creates all the demo application tasks, then starts the scheduler. The WEB
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71 * documentation provides more details of the demo application tasks.
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73 * This demo is configured to execute on the ES449 prototyping board from
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74 * SoftBaugh. The ES449 has a built in LCD display and a single built in user
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75 * LED. Therefore, in place of flashing an LED, the 'flash' and 'check' tasks
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76 * toggle '*' characters on the LCD. The left most '*' represents LED 0, the
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79 * Main. c also creates a task called 'Check'. This only executes every three
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80 * seconds but has the highest priority so is guaranteed to get processor time.
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81 * Its main function is to check that all the other tasks are still operational.
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82 * Each task that does not flash an LED maintains a unique count that is
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83 * incremented each time the task successfully completes its function. Should
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84 * any error occur within such a task the count is permanently halted. The
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85 * 'check' task inspects the count of each task to ensure it has changed since
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86 * the last time the check task executed. If all the count variables have
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87 * changed all the tasks are still executing error free, and the check task
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88 * toggles an LED with a three second period. Should any task contain an error
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89 * at any time the LED toggle rate will increase to 500ms.
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91 * Please read the documentation for the MSP430 port available on
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92 * http://www.FreeRTOS.org.
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95 /* Standard includes. */
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98 /* Scheduler includes. */
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99 #include "FreeRTOS.h"
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102 /* Demo application includes. */
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103 #include "partest.h"
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105 #include "integer.h"
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106 #include "comtest2.h"
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109 /* Constants required for hardware setup. */
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110 #define mainALL_BITS_OUTPUT ( ( unsigned portCHAR ) 0xff )
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111 #define mainMAX_FREQUENCY ( ( unsigned portCHAR ) 121 )
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113 /* Constants that define the LED's used by the various tasks. [in this case
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114 the '*' characters on the LCD represent LED's] */
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115 #define mainCHECK_LED ( 4 )
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116 #define mainCOM_TEST_LED ( 10 )
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118 /* Demo task priorities. */
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119 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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120 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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121 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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122 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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124 /* Baud rate used by the COM test tasks. */
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125 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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127 /* The frequency at which the 'Check' tasks executes. See the comments at the
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128 top of the page. When the system is operating error free the 'Check' task
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129 toggles an LED every three seconds. If an error is discovered in any task the
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130 rate is increased to 500 milliseconds. [in this case the '*' characters on the
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131 LCD represent LED's]*/
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132 #define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
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133 #define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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135 /* The constants used in the calculation. */
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136 #define intgCONST1 ( ( portLONG ) 123 )
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137 #define intgCONST2 ( ( portLONG ) 234567 )
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138 #define intgCONST3 ( ( portLONG ) -3 )
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139 #define intgCONST4 ( ( portLONG ) 7 )
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140 #define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
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143 * The function that implements the Check task. See the comments at the head
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144 * of the page for implementation details.
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146 static void vErrorChecks( void *pvParameters );
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149 * Called by the Check task. Returns pdPASS if all the other tasks are found
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150 * to be operating without error - otherwise returns pdFAIL.
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152 static portSHORT prvCheckOtherTasksAreStillRunning( void );
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155 * Perform the hardware setup required by the ES449 in order to run the demo
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158 static void prvSetupHardware( void );
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161 portBASE_TYPE xLocalError = pdFALSE;
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162 volatile unsigned portLONG ulIdleLoops = 0UL;
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164 /*-----------------------------------------------------------*/
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167 * Start the demo application tasks - then start the real time scheduler.
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171 /* Setup the hardware ready for the demo. */
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172 prvSetupHardware();
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173 vParTestInitialise();
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175 /* Start the standard demo application tasks. */
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176 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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177 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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178 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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179 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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181 /* Start the 'Check' task which is defined in this file. */
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182 xTaskCreate( vErrorChecks, ( const signed portCHAR * const ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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184 /* Start the scheduler. */
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185 vTaskStartScheduler();
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187 /* As the scheduler has been started the demo applications tasks will be
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188 executing and we should never get here! */
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191 /*-----------------------------------------------------------*/
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193 static portTASK_FUNCTION( vErrorChecks, pvParameters )
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195 portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
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197 /* Cycle for ever, delaying then checking all the other tasks are still
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198 operating without error. */
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201 /* Wait until it is time to check again. The time we wait here depends
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202 on whether an error has been detected or not. When an error is
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203 detected the time is shortened resulting in a faster LED flash rate. */
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204 vTaskDelay( xDelayPeriod );
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206 /* See if the other tasks are all ok. */
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207 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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209 /* An error occurred in one of the tasks so shorten the delay
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210 period - which has the effect of increasing the frequency of the
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212 xDelayPeriod = mainERROR_CHECK_DELAY;
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216 vParTestToggleLED( mainCHECK_LED );
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219 /*-----------------------------------------------------------*/
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221 static portSHORT prvCheckOtherTasksAreStillRunning( void )
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223 static portSHORT sNoErrorFound = pdTRUE;
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224 static unsigned portLONG ulLastIdleLoopCount = 0UL;
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226 /* The demo tasks maintain a count that increments every cycle of the task
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227 provided that the task has never encountered an error. This function
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228 checks the counts maintained by the tasks to ensure they are still being
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229 incremented. A count remaining at the same value between calls therefore
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230 indicates that an error has been detected. Only tasks that do not flash
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231 an LED are checked. */
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233 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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235 sNoErrorFound = pdFALSE;
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238 if( xAreComTestTasksStillRunning() != pdTRUE )
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240 sNoErrorFound = pdFALSE;
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243 if( xArePollingQueuesStillRunning() != pdTRUE )
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245 sNoErrorFound = pdFALSE;
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248 if( xLocalError == pdTRUE )
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250 sNoErrorFound = pdFALSE;
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253 if( ulIdleLoops == ulLastIdleLoopCount )
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255 sNoErrorFound = pdFALSE;
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259 ulLastIdleLoopCount = ulIdleLoops;
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262 return sNoErrorFound;
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264 /*-----------------------------------------------------------*/
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266 static void prvSetupHardware( void )
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268 /* Stop the watchdog. */
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269 WDTCTL = WDTPW + WDTHOLD;
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271 /* Setup DCO+ for ( xtal * D * (N + 1) ) operation. */
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272 FLL_CTL0 |= DCOPLUS + XCAP18PF;
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274 /* X2 DCO frequency, 8MHz nominal DCO */
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277 /* (121+1) x 32768 x 2 = 7.99 Mhz */
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278 SCFQCTL = mainMAX_FREQUENCY;
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280 /* Setup the IO. This is just copied from the demo supplied by SoftBaugh
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281 for the ES449 demo board. */
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288 /*-----------------------------------------------------------*/
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290 /* The idle hook is just a copy of the standard integer maths tasks. See
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291 Demo/Common/integer.c for rationale. */
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293 void vApplicationIdleHook( void )
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295 /* These variables are all effectively set to constants so they are volatile to
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296 ensure the compiler does not just get rid of them. */
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297 volatile portLONG lValue;
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299 /* Keep performing a calculation and checking the result against a constant. */
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302 /* Perform the calculation. This will store partial value in
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303 registers, resulting in a good test of the context switch mechanism. */
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304 lValue = intgCONST1;
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305 lValue += intgCONST2;
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307 /* Yield in case cooperative scheduling is being used. */
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308 #if configUSE_PREEMPTION == 0
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314 /* Finish off the calculation. */
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315 lValue *= intgCONST3;
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316 lValue /= intgCONST4;
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318 /* If the calculation is found to be incorrect we stop setting the
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319 TaskHasExecuted variable so the check task can see an error has
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321 if( lValue != intgEXPECTED_ANSWER ) /*lint !e774 volatile used to prevent this being optimised out. */
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323 /* Don't bother with mutual exclusion - it is only read from the
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324 check task and never written. */
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325 xLocalError = pdTRUE;
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327 /* Yield in case cooperative scheduling is being used. */
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328 #if configUSE_PREEMPTION == 0
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336 /* Place the processor into low power mode. */
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