/*\r
- FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd.\r
+ FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.\r
+ \r
\r
***************************************************************************\r
- * *\r
- * If you are: *\r
- * *\r
- * + New to FreeRTOS, *\r
- * + Wanting to learn FreeRTOS or multitasking in general quickly *\r
- * + Looking for basic training, *\r
- * + Wanting to improve your FreeRTOS skills and productivity *\r
- * *\r
- * then take a look at the FreeRTOS books - available as PDF or paperback *\r
- * *\r
- * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *\r
- * http://www.FreeRTOS.org/Documentation *\r
- * *\r
- * A pdf reference manual is also available. Both are usually delivered *\r
- * to your inbox within 20 minutes to two hours when purchased between 8am *\r
- * and 8pm GMT (although please allow up to 24 hours in case of *\r
- * exceptional circumstances). Thank you for your support! *\r
- * *\r
+ * *\r
+ * FreeRTOS tutorial books are available in pdf and paperback. *\r
+ * Complete, revised, and edited pdf reference manuals are also *\r
+ * available. *\r
+ * *\r
+ * Purchasing FreeRTOS documentation will not only help you, by *\r
+ * ensuring you get running as quickly as possible and with an *\r
+ * in-depth knowledge of how to use FreeRTOS, it will also help *\r
+ * the FreeRTOS project to continue with its mission of providing *\r
+ * professional grade, cross platform, de facto standard solutions *\r
+ * for microcontrollers - completely free of charge! *\r
+ * *\r
+ * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *\r
+ * *\r
+ * Thank you for using FreeRTOS, and thank you for your support! *\r
+ * *\r
***************************************************************************\r
\r
+\r
This file is part of the FreeRTOS distribution.\r
\r
FreeRTOS is free software; you can redistribute it and/or modify it under\r
the terms of the GNU General Public License (version 2) as published by the\r
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
- ***NOTE*** The exception to the GPL is included to allow you to distribute\r
- a combined work that includes FreeRTOS without being obliged to provide the\r
- source code for proprietary components outside of the FreeRTOS kernel.\r
- FreeRTOS is distributed in the hope that it will be useful, but WITHOUT\r
- ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or\r
- FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
+ >>>NOTE<<< The modification to the GPL is included to allow you to\r
+ distribute a combined work that includes FreeRTOS without being obliged to\r
+ provide the source code for proprietary components outside of the FreeRTOS\r
+ kernel. FreeRTOS is distributed in the hope that it will be useful, but\r
+ WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY\r
+ or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
more details. You should have received a copy of the GNU General Public\r
License and the FreeRTOS license exception along with FreeRTOS; if not it\r
can be viewed here: http://www.freertos.org/a00114.html and also obtained\r
http://www.OpenRTOS.com - Commercial support, development, porting,\r
licensing and training services.\r
*/\r
+\r
+/*\r
+ * The documentation page for this demo available on http://www.FreeRTOS.org\r
+ * documents the hardware configuration required to run this demo. It also\r
+ * provides more information on the expected demo application behaviour.\r
+ *\r
+ * main() creates all the demo application tasks, then starts the scheduler.\r
+ * A lot of the created tasks are from the pool of "standard demo" tasks. The\r
+ * web documentation provides more details of the standard demo tasks, which\r
+ * provide no particular functionality but do provide good examples of how to\r
+ * use the FreeRTOS API.\r
+ *\r
+ * In addition to the standard demo tasks, the following tasks, interrupts and\r
+ * tests are defined and/or created within this file:\r
+ *\r
+ * "LCD" task - The LCD task is a 'gatekeeper' task. It is the only task that\r
+ * is permitted to access the LCD and therefore ensures access to the LCD is\r
+ * always serialised and there are no mutual exclusion issues. When a task or\r
+ * an interrupt wants to write to the LCD, it does not access the LCD directly\r
+ * but instead sends the message to the LCD task. The LCD task then performs\r
+ * the actual LCD output. This mechanism also allows interrupts to, in effect,\r
+ * write to the LCD by sending messages to the LCD task.\r
+ *\r
+ * The LCD task is also a demonstration of a 'controller' task design pattern.\r
+ * Some tasks do not actually send a string to the LCD task directly, but\r
+ * instead send a command that is interpreted by the LCD task. In a normal\r
+ * application these commands can be control values or set points, in this\r
+ * simple example the commands just result in messages being displayed on the\r
+ * LCD.\r
+ *\r
+ * "Button Poll" task - This task polls the state of the 'up' key on the\r
+ * joystick input device. It uses the vTaskDelay() API function to control\r
+ * the poll rate to ensure debouncing is not necessary and that the task does\r
+ * not use all the available CPU processing time.\r
+ *\r
+ * Button Interrupt and run time stats display - The select button on the\r
+ * joystick input device is configured to generate an external interrupt. The\r
+ * handler for this interrupt sends a message to LCD task, which interprets the\r
+ * message to mean, firstly write a message to the LCD, and secondly, generate\r
+ * a table of run time statistics. The run time statistics are displayed as a\r
+ * table that contains information on how much processing time each task has\r
+ * been allocated since the application started to execute. This information\r
+ * is provided both as an absolute time, and as a percentage of the total run\r
+ * time. The information is displayed in the terminal IO window of the IAR\r
+ * embedded workbench. The online documentation for this demo shows a screen\r
+ * shot demonstrating where the run time stats can be viewed.\r
+ *\r
+ * Idle Hook - The idle hook is a function that is called on each iteration of\r
+ * the idle task. In this case it is used to place the processor into a low\r
+ * power mode. Note however that this application is implemented using standard\r
+ * components, and is therefore not optimised for low power operation. Lower\r
+ * power consumption would be achieved by converting polling tasks into event\r
+ * driven tasks, and slowing the tick interrupt frequency.\r
+ *\r
+ * "Check" function called from the tick hook - The tick hook is called during\r
+ * each tick interrupt. It is called from an interrupt context so must execute\r
+ * quickly, not attempt to block, and not call any FreeRTOS API functions that\r
+ * do not end in "FromISR". In this case the tick hook executes a 'check'\r
+ * function. This only executes every five seconds. Its main function is to\r
+ * check that all the standard demo tasks are still operational. Each time it\r
+ * executes it sends a status code to the LCD task. The LCD task interprets the\r
+ * code and displays an appropriate message - which will be PASS if no tasks\r
+ * have reported any errors, or a message stating which task has reported an\r
+ * error.\r
+ *\r
+ * "Reg test" tasks - These fill the registers with known values, then check\r
+ * that each register still contains its expected value. Each task uses\r
+ * different values. The tasks run with very low priority so get preempted\r
+ * very frequently. A check variable is incremented on each iteration of the\r
+ * test loop. A register containing an unexpected value is indicative of an\r
+ * error in the context switching mechanism and will result in a branch to a\r
+ * null loop - which in turn will prevent the check variable from incrementing\r
+ * any further and allow the check task (described a above) to determine that an\r
+ * error has occurred. The nature of the reg test tasks necessitates that they\r
+ * are written in assembly code.\r
+ *\r
+ * *NOTE 1* vApplicationSetupTimerInterrupt() is called by the kernel to let\r
+ * the application set up a timer to generate the tick interrupt. In this\r
+ * example a timer A0 is used for this purpose.\r
+ *\r
+*/\r
+\r
+/* Standard includes. */\r
#include <stdio.h>\r
\r
+/* FreeRTOS includes. */\r
#include "FreeRTOS.h"\r
#include "task.h"\r
#include "queue.h"\r
\r
+/* Hardware includes. */\r
#include "msp430.h"\r
#include "hal_MSP-EXP430F5438.h"\r
\r
-/* The rate at which mainCHECK_LED will toggle when all the tasks are running\r
-without error. Controlled by the check task as described at the top of this\r
-file. */\r
-#define mainNO_ERROR_CYCLE_TIME ( 5000 / portTICK_RATE_MS )\r
-\r
-/* The rate at which mainCHECK_LED will toggle when an error has been reported\r
-by at least one task. Controlled by the check task as described at the top of\r
-this file. */\r
-#define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )\r
+/* Standard demo includes. */\r
+#include "ParTest.h"\r
+#include "dynamic.h"\r
+#include "comtest2.h"\r
+#include "GenQTest.h"\r
\r
/* Codes sent within messages to the LCD task so the LCD task can interpret\r
exactly what the message it just received was. These are sent in the\r
#define mainMESSAGE_STATUS ( 3 )\r
\r
/* When the cMessageID member of the message sent to the LCD task is\r
-mainMESSAGE_STATUS then these definitions are sent in the cMessageValue member\r
+mainMESSAGE_STATUS then these definitions are sent in the ulMessageValue member\r
of the same message and indicate what the status actually is. */\r
#define mainERROR_DYNAMIC_TASKS ( pdPASS + 1 )\r
#define mainERROR_COM_TEST ( pdPASS + 2 )\r
#define mainERROR_GEN_QUEUE_TEST ( pdPASS + 3 )\r
+#define mainERROR_REG_TEST ( pdPASS + 4 )\r
\r
/* The length of the queue (the number of items the queue can hold) that is used\r
to send messages from tasks and interrupts the the LCD task. */\r
#define mainQUEUE_LENGTH ( 5 )\r
\r
+/* Priorities used by the test and demo tasks. */\r
#define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
+#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
+#define mainGENERIC_QUEUE_TEST_PRIORITY ( tskIDLE_PRIORITY )\r
+\r
+/* The LED used by the comtest tasks. See the comtest.c file for more\r
+information. */\r
+#define mainCOM_TEST_LED ( 1 )\r
+\r
+/* The baud rate used by the comtest tasks described at the top of this file. */\r
+#define mainCOM_TEST_BAUD_RATE ( 38400 )\r
\r
+/* The maximum number of lines of text that can be displayed on the LCD. */\r
+#define mainMAX_LCD_LINES ( 8 )\r
+\r
+/* Just used to ensure parameters are passed into tasks correctly. */\r
+#define mainTASK_PARAMETER_CHECK_VALUE ( ( void * ) 0xDEAD )\r
/*-----------------------------------------------------------*/\r
\r
+/*\r
+ * The reg test tasks as described at the top of this file.\r
+ */\r
extern void vRegTest1Task( void *pvParameters );\r
extern void vRegTest2Task( void *pvParameters );\r
-static void prvCheckTask( void *pvParameters );\r
+\r
+/*\r
+ * Configures clocks, LCD, port pints, etc. necessary to execute this demo.\r
+ */\r
static void prvSetupHardware( void );\r
-static void prvTerminalIOTask( void *pvParameters );\r
+\r
+/*\r
+ * Definition of the LCD/controller task described in the comments at the top\r
+ * of this file.\r
+ */\r
+static void prvLCDTask( void *pvParameters );\r
+\r
+/*\r
+ * Definition of the button poll task described in the comments at the top of\r
+ * this file.\r
+ */\r
static void prvButtonPollTask( void *pvParameters );\r
+\r
+/*\r
+ * Converts a status message value into an appropriate string for display on\r
+ * the LCD. The string is written to pcBuffer.\r
+ */\r
static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue );\r
\r
/*-----------------------------------------------------------*/\r
\r
+/* Variables that are incremented on each iteration of the reg test tasks -\r
+provided the tasks have not reported any errors. The check task inspects these\r
+variables to ensure they are still incrementing as expected. If a variable\r
+stops incrementing then it is likely that its associate task has stalled. */\r
volatile unsigned short usRegTest1Counter = 0, usRegTest2Counter = 0;\r
\r
/* The handle of the queue used to send messages from tasks and interrupts to\r
task. */\r
typedef struct\r
{\r
- char cMessageID; /* << States what the message is. */\r
- char cMessageValue; /* << States the message value (can be an integer, string pointer, etc. depending on the value of cMessageID. */\r
+ char cMessageID; /* << States what the message is. */\r
+ unsigned long ulMessageValue; /* << States the message value (can be an integer, string pointer, etc. depending on the value of cMessageID). */\r
} xQueueMessage;\r
+\r
/*-----------------------------------------------------------*/\r
\r
+/* The linker script can be used to test the FreeRTOS ports use of 20bit \r
+addresses by locating all code in high memory. The following pragma ensures \r
+that main remains in low memory when that is done. The ISR_CODE segment is used \r
+for convenience as ISR functions are always placed in low memory. */\r
+#pragma location="ISR_CODE"\r
void main( void )\r
{\r
+ /* Configure the peripherals used by this demo application. This includes\r
+ configuring the joystick input select button to generate interrupts. */\r
prvSetupHardware();\r
- \r
+\r
/* Create the queue used by tasks and interrupts to send strings to the LCD\r
task. */\r
xLCDQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( xQueueMessage ) );\r
- \r
+\r
+ /* If the queue could not be created then don't create any tasks that might\r
+ attempt to use the queue. */\r
if( xLCDQueue != NULL )\r
{\r
/* Add the created queue to the queue registry so it can be viewed in\r
the IAR FreeRTOS state viewer plug-in. */\r
vQueueAddToRegistry( xLCDQueue, "LCDQueue" );\r
\r
- /* Create the terminal IO and button poll tasks, as described at the top\r
- of this file. */\r
- xTaskCreate( prvTerminalIOTask, ( signed char * ) "LCD", configMINIMAL_STACK_SIZE, NULL, mainLCD_TASK_PRIORITY, NULL );\r
- xTaskCreate( prvButtonPollTask, ( signed char * ) "ButPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
-\r
- xTaskCreate( vRegTest1Task, "RegTest1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );\r
- xTaskCreate( vRegTest2Task, "RegTest2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );\r
- xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );\r
+ /* Create the standard demo tasks. */\r
+ vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );\r
+ vStartDynamicPriorityTasks();\r
+ vStartGenericQueueTasks( mainGENERIC_QUEUE_TEST_PRIORITY );\r
+ \r
+ /* Create the LCD, button poll and register test tasks, as described at\r
+ the top of this file. */\r
+ xTaskCreate( prvLCDTask, ( signed char * ) "LCD", configMINIMAL_STACK_SIZE * 2, mainTASK_PARAMETER_CHECK_VALUE, mainLCD_TASK_PRIORITY, NULL );\r
+ xTaskCreate( prvButtonPollTask, ( signed char * ) "BPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
+ xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );\r
+ xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );\r
+\r
+ /* Start the scheduler. */\r
vTaskStartScheduler();\r
}\r
+ \r
+ /* If all is well then this line will never be reached. If it is reached\r
+ then it is likely that there was insufficient (FreeRTOS) heap memory space\r
+ to create the idle task. This may have been trapped by the malloc() failed\r
+ hook function, if one is configured. */ \r
for( ;; );\r
}\r
/*-----------------------------------------------------------*/\r
\r
-static void prvTerminalIOTask( void *pvParameters )\r
+static void prvLCDTask( void *pvParameters )\r
{\r
xQueueMessage xReceivedMessage;\r
\r
stack, which is too small to hold such a variable. The stack size is configured\r
when the task is created. */\r
static char cBuffer[ 512 ];\r
+unsigned char ucLine = 1;\r
+\r
\r
/* This function is the only function that uses printf(). If printf() is\r
used from any other function then some sort of mutual exclusion on stdout\r
First print out the number of bytes that remain in the FreeRTOS heap. This\r
can be viewed in the terminal IO window within the IAR Embedded Workbench. */\r
printf( "%d bytes of heap space remain unallocated\n", ( int ) xPortGetFreeHeapSize() );\r
+ \r
+ /* Just as a test of the port, and for no functional reason, check the task\r
+ parameter contains its expected value. */\r
+ if( pvParameters != mainTASK_PARAMETER_CHECK_VALUE )\r
+ {\r
+ halLcdPrintLine( "Invalid parameter", ucLine, OVERWRITE_TEXT );\r
+ ucLine++; \r
+ }\r
\r
for( ;; )\r
{\r
has been received. */\r
xQueueReceive( xLCDQueue, &xReceivedMessage, portMAX_DELAY );\r
\r
+ /* Clear the LCD if no room remains for any more text output. */\r
+ if( ucLine > mainMAX_LCD_LINES )\r
+ {\r
+ halLcdClearScreen();\r
+ ucLine = 0;\r
+ }\r
+ \r
/* What is this message? What does it contain? */\r
switch( xReceivedMessage.cMessageID )\r
{\r
informed this task that the up\r
button on the joystick input has\r
been pressed or released. */\r
- sprintf( cBuffer, "Button up = %d", xReceivedMessage.cMessageValue );\r
+ sprintf( cBuffer, "Button up = %d", ( int ) xReceivedMessage.ulMessageValue );\r
break;\r
\r
case mainMESSAGE_BUTTON_SEL : /* The select button interrupt\r
the terminal IO window in the IAR\r
embedded workbench. */\r
printf( "\nTask\t Abs Time\t %%Time\n*****************************************" );\r
-// vTaskGetRunTimeStats( ( signed char * ) cBuffer );\r
-// printf( cBuffer );\r
+ vTaskGetRunTimeStats( ( signed char * ) cBuffer );\r
+ printf( cBuffer );\r
+ \r
+ /* Also print out a message to\r
+ the LCD - in this case the\r
+ pointer to the string to print\r
+ is sent directly in the\r
+ ulMessageValue member of the\r
+ message. This just demonstrates\r
+ a different communication\r
+ technique. */\r
+ sprintf( cBuffer, "%s", ( char * ) xReceivedMessage.ulMessageValue );\r
break;\r
\r
case mainMESSAGE_STATUS : /* The tick interrupt hook\r
task of the system status.\r
Generate a string in accordance\r
with the status value. */\r
- prvGenerateStatusMessage( cBuffer, xReceivedMessage.cMessageValue );\r
+ prvGenerateStatusMessage( cBuffer, xReceivedMessage.ulMessageValue );\r
break;\r
\r
default : sprintf( cBuffer, "Unknown message" );\r
}\r
\r
/* Output the message that was placed into the cBuffer array within the\r
- switch statement above. */\r
- printf( "%s", cBuffer );\r
+ switch statement above, then move onto the next line ready for the next\r
+ message to arrive on the queue. */\r
+ halLcdPrintLine( cBuffer, ucLine, OVERWRITE_TEXT );\r
+ ucLine++;\r
}\r
}\r
/*-----------------------------------------------------------*/\r
string for output onto the LCD. */\r
switch( lStatusValue )\r
{\r
- case pdPASS : sprintf( pcBuffer, "Task status = PASS" );\r
+ case pdPASS : sprintf( pcBuffer, "Status = PASS" );\r
break;\r
- case mainERROR_DYNAMIC_TASKS : sprintf( pcBuffer, "Error: Dynamic tasks" );\r
+ case mainERROR_DYNAMIC_TASKS : sprintf( pcBuffer, "Err: Dynamic tsks" );\r
break;\r
- case mainERROR_COM_TEST : sprintf( pcBuffer, "Err: loop connected?" ); /* Error in COM test - is the Loopback connector connected? */ \r
+ case mainERROR_COM_TEST : sprintf( pcBuffer, "Err: COM test" );\r
break;\r
case mainERROR_GEN_QUEUE_TEST : sprintf( pcBuffer, "Error: Gen Q test" );\r
break;\r
+ case mainERROR_REG_TEST : sprintf( pcBuffer, "Error: Reg test" );\r
+ break;\r
default : sprintf( pcBuffer, "Unknown status" );\r
break;\r
}\r
{\r
/* Check the button state. */\r
ucState = ( halButtonsPressed() & BUTTON_UP );\r
+ \r
+ if( ucState != 0 )\r
+ {\r
+ /* The button was pressed. */\r
+ ucState = pdTRUE;\r
+ }\r
+ \r
if( ucState != ucLastState )\r
{\r
/* The state has changed, send a message to the LCD task. */\r
xMessage.cMessageID = mainMESSAGE_BUTTON_UP;\r
- xMessage.cMessageValue = ucState;\r
+ xMessage.ulMessageValue = ( unsigned long ) ucState;\r
ucLastState = ucState;\r
xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );\r
}\r
\r
static void prvSetupHardware( void )\r
{\r
+/* Convert a Hz value to a KHz value, as required by the Init_FLL_Settle()\r
+function. */\r
+unsigned long ulCPU_Clock_KHz = ( configCPU_CLOCK_HZ / 1000UL );\r
+\r
halBoardInit();\r
+\r
+ LFXT_Start( XT1DRIVE_0 );\r
+ Init_FLL_Settle( ( unsigned short ) ulCPU_Clock_KHz, 488 );\r
+\r
halButtonsInit( BUTTON_ALL );\r
halButtonsInterruptEnable( BUTTON_SELECT );\r
- LFXT_Start (XT1DRIVE_0);\r
- Init_FLL_Settle( 25000, 488 );\r
+\r
+ /* Initialise the LCD, but note that the backlight is not used as the\r
+ library function uses timer A0 to modulate the backlight, and this file\r
+ defines vApplicationSetupTimerInterrupt() to also use timer A0 to generate\r
+ the tick interrupt. If the backlight is required, then change either the\r
+ halLCD library or vApplicationSetupTimerInterrupt() to use a different\r
+ timer. Timer A1 is used for the run time stats time base6. */\r
+ halLcdInit();\r
+ halLcdSetContrast( 100 );\r
+ halLcdClearScreen();\r
+ \r
+ halLcdPrintLine( " www.FreeRTOS.org", 0, OVERWRITE_TEXT );\r
}\r
/*-----------------------------------------------------------*/\r
\r
-static void prvCheckTask( void *pvParameters )\r
+void vApplicationTickHook( void )\r
{\r
-volatile unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;\r
-portTickType xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;\r
-const char *pcStatusMessage = "OK";\r
+static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;\r
+static unsigned long ulCounter = 0;\r
+static const unsigned long ulCheckFrequency = 5000UL / portTICK_RATE_MS;\r
+portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;\r
\r
- /* Initialise xNextWakeTime - this only needs to be done once. */\r
- xNextWakeTime = xTaskGetTickCount();\r
+/* Define the status message that is sent to the LCD task. By default the\r
+status is PASS. */\r
+static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };\r
\r
- for( ;; )\r
+ /* This is called from within the tick interrupt and performs the 'check'\r
+ functionality as described in the comments at the top of this file.\r
+\r
+ Is it time to perform the 'check' functionality again? */\r
+ ulCounter++;\r
+ if( ulCounter >= ulCheckFrequency )\r
{\r
- /* Place this task in the blocked state until it is time to run again. */\r
- vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );\r
+ /* See if the standard demo tasks are executing as expected, changing\r
+ the message that is sent to the LCD task from PASS to an error code if\r
+ any tasks set reports an error. */\r
+ if( xAreComTestTasksStillRunning() != pdPASS )\r
+ {\r
+ xStatusMessage.ulMessageValue = mainERROR_COM_TEST;\r
+ }\r
+\r
+ if( xAreDynamicPriorityTasksStillRunning() != pdPASS )\r
+ {\r
+ xStatusMessage.ulMessageValue = mainERROR_DYNAMIC_TASKS;\r
+ }\r
+ \r
+ if( xAreGenericQueueTasksStillRunning() != pdPASS )\r
+ {\r
+ xStatusMessage.ulMessageValue = mainERROR_GEN_QUEUE_TEST;\r
+ } \r
\r
- /* Check the reg test tasks are still cycling. They will stop incrementing\r
- their loop counters if they encounter an error. */\r
+ /* Check the reg test tasks are still cycling. They will stop\r
+ incrementing their loop counters if they encounter an error. */\r
if( usRegTest1Counter == usLastRegTest1Counter )\r
{\r
- pcStatusMessage = "Error: RegTest1";\r
+ xStatusMessage.ulMessageValue = mainERROR_REG_TEST;\r
}\r
\r
if( usRegTest2Counter == usLastRegTest2Counter )\r
{\r
- pcStatusMessage = "Error: RegTest2";\r
+ xStatusMessage.ulMessageValue = mainERROR_REG_TEST;\r
}\r
\r
usLastRegTest1Counter = usRegTest1Counter;\r
usLastRegTest2Counter = usRegTest2Counter;\r
\r
- printf( "%s, tick count = %u\n", pcStatusMessage, ( unsigned int ) xTaskGetTickCount() );\r
- fflush( stdout );\r
+ /* As this is the tick hook the lHigherPriorityTaskWoken parameter is not\r
+ needed (a context switch is going to be performed anyway), but it must\r
+ still be provided. */\r
+ xQueueSendFromISR( xLCDQueue, &xStatusMessage, &xHigherPriorityTaskWoken );\r
+ ulCounter = 0;\r
+ }\r
+\r
+ /* Just periodically toggle an LED to show that the tick interrupt is\r
+ running. Note that this access LED_PORT_OUT in a non-atomic way, so tasks\r
+ that access the same port must do so from a critical section. */\r
+ if( ( ulCounter & 0xff ) == 0 )\r
+ {\r
+ if( ( LED_PORT_OUT & LED_1 ) == 0 )\r
+ {\r
+ LED_PORT_OUT |= LED_1;\r
+ }\r
+ else\r
+ {\r
+ LED_PORT_OUT &= ~LED_1;\r
+ }\r
}\r
}\r
/*-----------------------------------------------------------*/\r
\r
+#pragma vector=PORT2_VECTOR\r
+__interrupt static void prvSelectButtonInterrupt(void)\r
+{\r
+/* Define the message sent to the LCD task from this interrupt. */\r
+static const xQueueMessage xMessage = { mainMESSAGE_BUTTON_SEL, ( unsigned long ) "Select Interrupt" };\r
+portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;\r
+\r
+ /* This is the interrupt handler for the joystick select button input.\r
+ The button has been pushed, write a message to the LCD via the LCD task. */\r
+ xQueueSendFromISR( xLCDQueue, &xMessage, &xHigherPriorityTaskWoken );\r
+\r
+ P2IFG = 0;\r
+ \r
+ /* If writing to xLCDQueue caused a task to unblock, and the unblocked task\r
+ has a priority equal to or above the task that this interrupt interrupted,\r
+ then lHigherPriorityTaskWoken will have been set to pdTRUE internally within\r
+ xQueuesendFromISR(), and portEND_SWITCHING_ISR() will ensure that this\r
+ interrupt returns directly to the higher priority unblocked task. */\r
+ portYIELD_FROM_ISR( xHigherPriorityTaskWoken );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+/* The MSP430X port uses this callback function to configure its tick interrupt.\r
+This allows the application to choose the tick interrupt source.\r
+configTICK_VECTOR must also be set in FreeRTOSConfig.h to the correct\r
+interrupt vector for the chosen tick interrupt source. This implementation of\r
+vApplicationSetupTimerInterrupt() generates the tick from timer A0, so in this\r
+case configTICK_VECTOR is set to TIMER0_A0_VECTOR. */\r
void vApplicationSetupTimerInterrupt( void )\r
{\r
const unsigned short usACLK_Frequency_Hz = 32768;\r
/* Ensure the timer is stopped. */\r
TA0CTL = 0;\r
\r
- /* Run the timer of the ACLK. */\r
+ /* Run the timer from the ACLK. */\r
TA0CTL = TASSEL_1;\r
\r
/* Clear everything to start with. */\r
}\r
/*-----------------------------------------------------------*/\r
\r
+void vApplicationIdleHook( void )\r
+{\r
+ /* Called on each iteration of the idle task. In this case the idle task\r
+ just enters a low power mode. */\r
+ __bis_SR_register( LPM3_bits + GIE );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
void vApplicationMallocFailedHook( void )\r
{\r
+ /* Called if a call to pvPortMalloc() fails because there is insufficient\r
+ free memory available in the FreeRTOS heap. pvPortMalloc() is called\r
+ internally by FreeRTOS API functions that create tasks, queues or\r
+ semaphores. */\r
+ taskDISABLE_INTERRUPTS();\r
for( ;; );\r
}\r
/*-----------------------------------------------------------*/\r
( void ) pxTask;\r
( void ) pcTaskName;\r
\r
+ /* Run time stack overflow checking is performed if\r
+ configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook\r
+ function is called if a stack overflow is detected. */\r
+ taskDISABLE_INTERRUPTS();\r
for( ;; );\r
}\r
/*-----------------------------------------------------------*/\r
\r
-void vApplicationIdleHook( void )\r
-{\r
- __bis_SR_register( LPM3_bits + GIE );\r
-}\r
-\r
-\r
-\r
projects / freertos / blobdiff