2 * FreeRTOS Kernel V10.0.0
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3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software. If you wish to use our Amazon
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14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
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16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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23 * http://www.FreeRTOS.org
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24 * http://aws.amazon.com/freertos
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26 * 1 tab == 4 spaces!
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30 * Creates all the demo application tasks, then starts the scheduler. The WEB
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31 * documentation provides more details of the demo application tasks.
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33 * This demo is configured to execute on the ES449 prototyping board from
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34 * SoftBaugh. The ES449 has a built in LCD display and a single built in user
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35 * LED. Therefore, in place of flashing an LED, the 'flash' and 'check' tasks
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36 * toggle '*' characters on the LCD. The left most '*' represents LED 0, the
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39 * Main. c also creates a task called 'Check'. This only executes every three
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40 * seconds but has the highest priority so is guaranteed to get processor time.
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41 * Its main function is to check that all the other tasks are still operational.
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42 * Each task that does not flash an LED maintains a unique count that is
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43 * incremented each time the task successfully completes its function. Should
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44 * any error occur within such a task the count is permanently halted. The
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45 * 'check' task inspects the count of each task to ensure it has changed since
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46 * the last time the check task executed. If all the count variables have
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47 * changed all the tasks are still executing error free, and the check task
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48 * toggles an LED with a three second period. Should any task contain an error
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49 * at any time the LED toggle rate will increase to 500ms.
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51 * Please read the documentation for the MSP430 port available on
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52 * http://www.FreeRTOS.org.
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55 /* Standard includes. */
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58 /* Scheduler includes. */
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59 #include "FreeRTOS.h"
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62 /* Demo application includes. */
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63 #include "partest.h"
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65 #include "integer.h"
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66 #include "comtest2.h"
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69 /* Constants required for hardware setup. */
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70 #define mainALL_BITS_OUTPUT ( ( unsigned char ) 0xff )
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71 #define mainMAX_FREQUENCY ( ( unsigned char ) 121 )
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73 /* Constants that define the LED's used by the various tasks. [in this case
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74 the '*' characters on the LCD represent LED's] */
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75 #define mainCHECK_LED ( 4 )
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76 #define mainCOM_TEST_LED ( 10 )
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78 /* Demo task priorities. */
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79 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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80 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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81 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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82 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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84 /* Baud rate used by the COM test tasks. */
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85 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
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87 /* The frequency at which the 'Check' tasks executes. See the comments at the
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88 top of the page. When the system is operating error free the 'Check' task
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89 toggles an LED every three seconds. If an error is discovered in any task the
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90 rate is increased to 500 milliseconds. [in this case the '*' characters on the
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91 LCD represent LED's]*/
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92 #define mainNO_ERROR_CHECK_DELAY ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
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93 #define mainERROR_CHECK_DELAY ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
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95 /* The constants used in the calculation. */
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96 #define intgCONST1 ( ( long ) 123 )
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97 #define intgCONST2 ( ( long ) 234567 )
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98 #define intgCONST3 ( ( long ) -3 )
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99 #define intgCONST4 ( ( long ) 7 )
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100 #define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
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103 * The function that implements the Check task. See the comments at the head
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104 * of the page for implementation details.
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106 static void vErrorChecks( void *pvParameters );
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109 * Called by the Check task. Returns pdPASS if all the other tasks are found
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110 * to be operating without error - otherwise returns pdFAIL.
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112 static short prvCheckOtherTasksAreStillRunning( void );
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115 * Perform the hardware setup required by the ES449 in order to run the demo
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118 static void prvSetupHardware( void );
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121 portBASE_TYPE xLocalError = pdFALSE;
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122 volatile unsigned long ulIdleLoops = 0UL;
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124 /*-----------------------------------------------------------*/
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127 * Start the demo application tasks - then start the real time scheduler.
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131 /* Setup the hardware ready for the demo. */
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132 prvSetupHardware();
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133 vParTestInitialise();
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135 /* Start the standard demo application tasks. */
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136 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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137 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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138 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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139 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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141 /* Start the 'Check' task which is defined in this file. */
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142 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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144 /* Start the scheduler. */
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145 vTaskStartScheduler();
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147 /* As the scheduler has been started the demo applications tasks will be
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148 executing and we should never get here! */
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151 /*-----------------------------------------------------------*/
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153 static portTASK_FUNCTION( vErrorChecks, pvParameters )
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155 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
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157 /* Cycle for ever, delaying then checking all the other tasks are still
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158 operating without error. */
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161 /* Wait until it is time to check again. The time we wait here depends
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162 on whether an error has been detected or not. When an error is
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163 detected the time is shortened resulting in a faster LED flash rate. */
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164 vTaskDelay( xDelayPeriod );
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166 /* See if the other tasks are all ok. */
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167 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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169 /* An error occurred in one of the tasks so shorten the delay
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170 period - which has the effect of increasing the frequency of the
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172 xDelayPeriod = mainERROR_CHECK_DELAY;
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176 vParTestToggleLED( mainCHECK_LED );
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179 /*-----------------------------------------------------------*/
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181 static short prvCheckOtherTasksAreStillRunning( void )
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183 static short sNoErrorFound = pdTRUE;
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184 static unsigned long ulLastIdleLoopCount = 0UL;
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186 /* The demo tasks maintain a count that increments every cycle of the task
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187 provided that the task has never encountered an error. This function
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188 checks the counts maintained by the tasks to ensure they are still being
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189 incremented. A count remaining at the same value between calls therefore
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190 indicates that an error has been detected. Only tasks that do not flash
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191 an LED are checked. */
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193 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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195 sNoErrorFound = pdFALSE;
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198 if( xAreComTestTasksStillRunning() != pdTRUE )
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200 sNoErrorFound = pdFALSE;
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203 if( xArePollingQueuesStillRunning() != pdTRUE )
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205 sNoErrorFound = pdFALSE;
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208 if( xLocalError == pdTRUE )
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210 sNoErrorFound = pdFALSE;
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213 if( ulIdleLoops == ulLastIdleLoopCount )
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215 sNoErrorFound = pdFALSE;
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219 ulLastIdleLoopCount = ulIdleLoops;
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222 return sNoErrorFound;
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224 /*-----------------------------------------------------------*/
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226 static void prvSetupHardware( void )
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228 /* Stop the watchdog. */
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229 WDTCTL = WDTPW + WDTHOLD;
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231 /* Setup DCO+ for ( xtal * D * (N + 1) ) operation. */
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232 FLL_CTL0 |= DCOPLUS + XCAP18PF;
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234 /* X2 DCO frequency, 8MHz nominal DCO */
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237 /* (121+1) x 32768 x 2 = 7.99 Mhz */
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238 SCFQCTL = mainMAX_FREQUENCY;
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240 /* Setup the IO. This is just copied from the demo supplied by SoftBaugh
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241 for the ES449 demo board. */
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248 /*-----------------------------------------------------------*/
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250 /* The idle hook is just a copy of the standard integer maths tasks. See
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251 Demo/Common/integer.c for rationale. */
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253 void vApplicationIdleHook( void )
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255 /* These variables are all effectively set to constants so they are volatile to
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256 ensure the compiler does not just get rid of them. */
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257 volatile long lValue;
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259 /* Keep performing a calculation and checking the result against a constant. */
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262 /* Perform the calculation. This will store partial value in
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263 registers, resulting in a good test of the context switch mechanism. */
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264 lValue = intgCONST1;
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265 lValue += intgCONST2;
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267 /* Yield in case cooperative scheduling is being used. */
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268 #if configUSE_PREEMPTION == 0
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274 /* Finish off the calculation. */
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275 lValue *= intgCONST3;
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276 lValue /= intgCONST4;
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278 /* If the calculation is found to be incorrect we stop setting the
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279 TaskHasExecuted variable so the check task can see an error has
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281 if( lValue != intgEXPECTED_ANSWER ) /*lint !e774 volatile used to prevent this being optimised out. */
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283 /* Don't bother with mutual exclusion - it is only read from the
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284 check task and never written. */
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285 xLocalError = pdTRUE;
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287 /* Yield in case cooperative scheduling is being used. */
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288 #if configUSE_PREEMPTION == 0
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296 /* Place the processor into low power mode. */
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