/*\r
- FreeRTOS.org V5.1.1 - Copyright (C) 2003-2009 Richard Barry.\r
+ FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.\r
\r
- This file is part of the FreeRTOS.org distribution.\r
+ This file is part of the FreeRTOS distribution.\r
\r
- FreeRTOS.org is free software; you can redistribute it and/or modify\r
- it under the terms of the GNU General Public License as published by\r
- the Free Software Foundation; either version 2 of the License, or\r
- (at your option) any later version.\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 a\r
+ combined work that includes FreeRTOS without being obliged to provide the\r
+ source code for proprietary components outside of the FreeRTOS kernel.\r
+ Alternative commercial license and support terms are also available upon\r
+ request. See the licensing section of http://www.FreeRTOS.org for full\r
+ license details.\r
\r
- FreeRTOS.org is distributed in the hope that it will be useful,\r
- but WITHOUT ANY WARRANTY; without even the implied warranty of\r
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
- GNU General Public License for more details.\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
+ more details.\r
\r
- You should have received a copy of the GNU General Public License\r
- along with FreeRTOS.org; if not, write to the Free Software\r
- Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ You should have received a copy of the GNU General Public License along\r
+ with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59\r
+ Temple Place, Suite 330, Boston, MA 02111-1307 USA.\r
\r
- A special exception to the GPL can be applied should you wish to distribute\r
- a combined work that includes FreeRTOS.org, without being obliged to provide\r
- the source code for any proprietary components. See the licensing section\r
- of http://www.FreeRTOS.org for full details of how and when the exception\r
- can be applied.\r
\r
- ***************************************************************************\r
***************************************************************************\r
* *\r
- * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *\r
- * and even write all or part of your application on your behalf. *\r
- * See http://www.OpenRTOS.com for details of the services we provide to *\r
- * expedite your project. *\r
+ * The FreeRTOS eBook and reference manual are available to purchase for a *\r
+ * small fee. Help yourself get started quickly while also helping the *\r
+ * FreeRTOS project! See http://www.FreeRTOS.org/Documentation for details *\r
* *\r
- ***************************************************************************\r
***************************************************************************\r
\r
- Please ensure to read the configuration and relevant port sections of the\r
- online documentation.\r
+ 1 tab == 4 spaces!\r
\r
- http://www.FreeRTOS.org - Documentation, latest information, license and\r
- contact details.\r
+ Please ensure to read the configuration and relevant port sections of the\r
+ online documentation.\r
\r
- http://www.SafeRTOS.com - A version that is certified for use in safety\r
- critical systems.\r
+ http://www.FreeRTOS.org - Documentation, latest information, license and\r
+ contact details.\r
\r
- http://www.OpenRTOS.com - Commercial support, development, porting,\r
- licensing and training services.\r
+ http://www.SafeRTOS.com - A version that is certified for use in safety\r
+ critical systems.\r
+\r
+ http://www.OpenRTOS.com - Commercial support, development, porting,\r
+ licensing and training services.\r
*/\r
\r
+/*\r
+ * Creates all the demo application tasks, then starts the scheduler. The WEB\r
+ * documentation provides more details of the standard demo application tasks.\r
+ * In addition to the standard demo tasks, the following tasks and tests are\r
+ * defined and/or created within this file:\r
+ *\r
+ * "Check" task - This only executes every three seconds but has a high priority\r
+ * to ensure it gets processor time. Its main function is to check that all the\r
+ * standard demo tasks are still operational. If everything is running as\r
+ * expected then the check task will toggle an LED every 3 seconds. An error\r
+ * being discovered in any task will cause the toggle rate to increase to 500ms.\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 very\r
+ * frequently. A register containing an unexpected value is indicative of an\r
+ * error in the context switching mechanism.\r
+ *\r
+ *\r
+ * Also in addition to the standard demo tasks is a button push task. This is\r
+ * a very basic task that is included as an example of how to write an interrupt\r
+ * service routine that interacts with a task. The button on the target board\r
+ * is used to generate an interrupt that 'gives' a semaphore in order to unblock\r
+ * a task. In doing so the task is synchronised with the interrupt. Each time\r
+ * the task unblocks it simply toggles an LED before entering the Blocked state\r
+ * again to wait for the next button push.\r
+ */\r
+\r
/* Standard includes. */\r
#include <stdlib.h>\r
#include <string.h>\r
#include "FreeRTOS.h"\r
#include "task.h"\r
\r
-/* Demo file headers. */\r
-#include "int78K0R.h"\r
+/* Standard demo file headers. */\r
#include "PollQ.h"\r
-#include "LED.h"\r
-#include "print.h"\r
#include "semtest.h"\r
+#include "GenQTest.h"\r
+#include "dynamic.h"\r
+#include "blocktim.h"\r
\r
/*\r
* Priority definitions for most of the tasks in the demo application. Some\r
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
#define mainSEMTEST_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
-#define mainLED_TOGGLE_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
+#define mainBUTTON_PRIORITY ( configMAX_PRIORITIES - 1 )\r
+#define mainGEN_QUEUE_PRIORITY ( tskIDLE_PRIORITY )\r
\r
/* The period between executions of the check task. */\r
#define mainNO_ERROR_TOGGLE_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )\r
#define mainERROR_TOGGLE_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )\r
\r
-/*\r
- * 78K0R/Kx3 Option Byte Definition\r
- * watchdog disabled, LVI enabled, OCD interface enabled\r
- */\r
-__root __far const unsigned portCHAR OptionByte[OPT_BYTES_SIZE] @ 0x00C0 =\r
-{\r
- WATCHDOG_DISABLED, LVI_ENABLED, RESERVED_FF, OCD_ENABLED\r
-};\r
+/* The LED toggled by the check task. */\r
+#define mainLED_0 P7_bit.no6\r
\r
-/* Security Byte Definition */\r
-__root __far const unsigned portCHAR SecuIDCode[SECU_ID_SIZE] @ 0x00C4 =\r
-{\r
- 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff\r
-};\r
+/* A value that is passed in as the parameter to the 'check' task. This is done\r
+purely to check that the parameter passing mechanism is functioning correctly. */\r
+#define mainCHECK_PARAMETER_VALUE ( 0x5678 )\r
+\r
+/*-----------------------------------------------------------*/\r
\r
-/* The task function for the "Check" task. */\r
+/*\r
+ * The function that defines the 'check' task as described at the top of this\r
+ * file.\r
+ */\r
static void vErrorChecks( void *pvParameters );\r
\r
\r
-/* 78K0R/Kx3 low level init Initialization of the System Clock */\r
+/*\r
+ * This function is called from the C startup routine to setup the processor -\r
+ * in particular the clock source.\r
+ */\r
int __low_level_init(void);\r
\r
+/*\r
+ * Functions that define the RegTest tasks as described at the top of this file.\r
+ */\r
extern void vRegTest1( void *pvParameters );\r
extern void vRegTest2( void *pvParameters );\r
\r
+/*\r
+ * Function that defines the button push task as described at the top of this\r
+ * file.\r
+ */\r
+extern void vButtonTask( void *pvParameters );\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/* If an error is discovered by one of the RegTest tasks then this flag is set\r
+to pdFAIL. The 'check' task then inspects this flag to detect errors within\r
+the RegTest tasks. */\r
static short sRegTestStatus = pdPASS;\r
\r
-portSHORT main( void )\r
+/* 78K0R Option Byte Definition. Watchdog disabled, LVI enabled, OCD interface\r
+enabled. */\r
+__root __far const unsigned portCHAR OptionByte[] @ 0x00C0 =\r
+{\r
+ WATCHDOG_DISABLED, LVI_ENABLED, RESERVED_FF, OCD_ENABLED\r
+};\r
+\r
+/* Security byte definition */\r
+__root __far const unsigned portCHAR SecuIDCode[] @ 0x00C4 =\r
+{\r
+ 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff\r
+};\r
+\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+short main( void )\r
{\r
- /* Create the standard demo tasks. */\r
- vStartIntegerMathTasks( tskIDLE_PRIORITY );\r
- vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );\r
- vStartSemaphoreTasks(mainSEMTEST_PRIORITY);\r
+ /* Creates all the tasks, then starts the scheduler. */\r
\r
- /* Create the tasks defined within this file. */\r
- xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, (void*)0x12345678, mainCHECK_TASK_PRIORITY, NULL );\r
+ /* First create the 'standard demo' tasks. These are used to demonstrate\r
+ API functions being used and also to test the kernel port. More information\r
+ is provided on the FreeRTOS.org WEB site. */\r
+ vStartDynamicPriorityTasks();\r
\r
+ /* Create the RegTest tasks as described at the top of this file. */\r
xTaskCreate( vRegTest1, "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );\r
xTaskCreate( vRegTest2, "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL ); \r
+ \r
+ /* Create the button push task as described at the top of this file. */\r
+ xTaskCreate( vButtonTask, "Button", configMINIMAL_STACK_SIZE, NULL, mainBUTTON_PRIORITY, NULL ); \r
+ \r
+ /* Create the 'check' task as described at the top of this file. */\r
+ xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, ( void* )mainCHECK_PARAMETER_VALUE, mainCHECK_TASK_PRIORITY, NULL );\r
\r
- /* In this port, to use preemptive scheduler define configUSE_PREEMPTION\r
- * as 1 in FreeRTOSconfig.h. To use the cooperative scheduler define\r
- * configUSE_PREEMPTION as 0.\r
- */\r
+ #ifdef __IAR_78K0R_Kx3__\r
+ {\r
+ /* The Kx3 has enough RAM to create more of the standard demo tasks. */\r
+ vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );\r
+ vStartSemaphoreTasks(mainSEMTEST_PRIORITY);\r
+ vStartGenericQueueTasks( mainGEN_QUEUE_PRIORITY );\r
+ vCreateBlockTimeTasks();\r
+ }\r
+ #endif\r
+ \r
+ /* Finally start the scheduler running. */\r
vTaskStartScheduler();\r
\r
- return 0;\r
+ /* If this line is reached then vTaskStartScheduler() returned because there\r
+ was insufficient heap memory remaining for the idle task to be created. */\r
+ for( ;; );\r
}\r
/*-----------------------------------------------------------*/\r
\r
{\r
portTickType xToggleRate = mainNO_ERROR_TOGGLE_PERIOD, xLastWakeTime;\r
\r
- /* The pointer will only actually be either 3 or 2 bytes, depending on the\r
- memory model. */\r
- if( pvParameters != ( void * ) 0x12345678 )\r
+ /* Ensure the parameter was passed in as expected. This is just a test of\r
+ the kernel port, the parameter is not actually used for anything. The\r
+ pointer will only actually be either 3 or 2 bytes, depending on the memory\r
+ model. */\r
+ if( pvParameters != ( void * ) mainCHECK_PARAMETER_VALUE )\r
{\r
xToggleRate = mainERROR_TOGGLE_PERIOD;\r
}\r
\r
+ /* Initialise xLastWakeTime before it is used. After this point it is not\r
+ written to directly. */\r
xLastWakeTime = xTaskGetTickCount();\r
\r
/* Cycle for ever, delaying then checking all the other tasks are still\r
operating without error. */\r
for( ;; )\r
{\r
+ /* Wait until it is time to check all the other tasks again. */\r
vTaskDelayUntil( &xLastWakeTime, xToggleRate );\r
\r
- if( xAreIntegerMathsTaskStillRunning() != pdTRUE )\r
- {\r
- xToggleRate = mainERROR_TOGGLE_PERIOD;\r
- }\r
-\r
- if( xArePollingQueuesStillRunning() != pdTRUE)\r
+ if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )\r
{\r
xToggleRate = mainERROR_TOGGLE_PERIOD;\r
}\r
\r
- if( xAreSemaphoreTasksStillRunning() != pdTRUE)\r
+ if( sRegTestStatus != pdPASS )\r
{\r
xToggleRate = mainERROR_TOGGLE_PERIOD;\r
}\r
\r
- if( sRegTestStatus != pdPASS )\r
+ #ifdef __IAR_78K0R_Kx3__\r
{\r
- xToggleRate = mainERROR_TOGGLE_PERIOD;\r
+ /* Only the Kx3 runs all the tasks. */\r
+ if( xArePollingQueuesStillRunning() != pdTRUE)\r
+ {\r
+ xToggleRate = mainERROR_TOGGLE_PERIOD;\r
+ }\r
+ \r
+ if( xAreSemaphoreTasksStillRunning() != pdTRUE)\r
+ {\r
+ xToggleRate = mainERROR_TOGGLE_PERIOD;\r
+ }\r
+ \r
+ if( xAreGenericQueueTasksStillRunning() != pdTRUE )\r
+ {\r
+ xToggleRate = mainERROR_TOGGLE_PERIOD;\r
+ } \r
+ \r
+ if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )\r
+ {\r
+ xToggleRate = mainERROR_TOGGLE_PERIOD;\r
+ } \r
}\r
-\r
- /* Toggle the LED. */\r
- LED01 = !LED01;\r
+ #endif\r
+ \r
+ /* Toggle the LED. The toggle rate will depend on whether or not an\r
+ error has been found in any tasks. */\r
+ mainLED_0 = !mainLED_0;\r
}\r
}\r
/*-----------------------------------------------------------*/\r
\r
int __low_level_init(void)\r
{\r
-unsigned portCHAR resetflag = RESF;\r
+unsigned portCHAR ucResetFlag = RESF;\r
\r
portDISABLE_INTERRUPTS();\r
\r
- /*\r
- * Clock Configuration:\r
- * In this port, to use the internal high speed clock source of the microcontroller\r
- * define the configCLOCK_SOURCE as 1 in FreeRTOSConfig.h. To use an external\r
- * clock define configCLOCK_SOURCE as 0.\r
- */\r
+ /* Clock Configuration:\r
+ In this port, to use the internal high speed clock source of the microcontroller\r
+ define the configCLOCK_SOURCE as 1 in FreeRTOSConfig.h. To use an external\r
+ clock define configCLOCK_SOURCE as 0. */\r
#if configCLOCK_SOURCE == 1\r
{\r
- /*\r
- * Set XT1 and XT2 in Input Port Mode\r
- * Set X1 and X2 in Input Port Mode\r
- * High speed oszillation frequency 2MHz <= fMX <= 10MHz\r
- */\r
+ /* Set XT1 and XT2 in Input Port Mode\r
+ Set X1 and X2 in Input Port Mode\r
+ High speed oscillator frequency 2MHz <= fMX <= 10MHz */\r
CMC = 0x00;\r
\r
- /* X1 external oszillation stopped */\r
+ /* X1 external oszillation stopped. */\r
MSTOP = 1;\r
\r
- /* enable internal high speed oszillation */\r
+ /* Enable internal high speed oszillation. */\r
HIOSTOP = 0;\r
MCM0 = 0;\r
\r
- /* stop internal subsystem clock */\r
+ /* Stop internal subsystem clock. */\r
XTSTOP = 1;\r
\r
- /* Set clock speed */\r
+ /* Set clock speed. */\r
CSS = 0;\r
CKC &= (unsigned portCHAR)~0x07;\r
CKC |= 0x00;\r
}\r
#else\r
{\r
- /*\r
- * XT1 and XT2 pin in input port mode\r
- * X1 and X2 pin in crystal resonator mode\r
- * High speed oszillation frequency 10MHz < fMX <= 20MHz\r
- */\r
+ /* XT1 and XT2 pin in input port mode\r
+ X1 and X2 pin in crystal resonator mode\r
+ High speed oszillation frequency 10MHz < fMX <= 20MHz */\r
CMC = 0x41;\r
\r
- /* Set oscillation stabilization time */\r
+ /* Set oscillation stabilization time. */\r
OSTS = 0x07;\r
\r
- /* Set speed mode: fMX > 10MHz for Flash memory high speed operation */\r
+ /* Set speed mode: fMX > 10MHz for Flash memory high speed operation. */\r
OSMC = 0x01;\r
\r
- /*\r
- * Start up X1 oscillator operation\r
- * Internal high-speed oscillator operating\r
- */\r
+ /* Start up X1 oscillator operation\r
+ Internal high-speed oscillator operating. */\r
MSTOP = 0;\r
\r
- /* Check oscillation stabilization time status */\r
+ /* Check oscillation stabilization time status. */\r
while(OSTC < 0x07)\r
{\r
- /* wait until X1 clock stabilization time */\r
+ /* Wait until X1 clock stabilization time. */\r
portNOP();\r
}\r
\r
- /* Switch CPU clock to X1 oscillator */\r
+ /* Switch CPU clock to X1 oscillator. */\r
MCM0 = 1;\r
while(MCS != 1)\r
{\r
- /* wait until CPU and peripherals operate with fX1 clock */\r
+ /* Wait until CPU and peripherals operate with fX1 clock. */\r
portNOP();\r
}\r
\r
- /* Stop the internal high-speed oscillator operation */\r
+ /* Stop the internal high-speed oscillator operation. */\r
HIOSTOP = 1;\r
\r
- /* Stop the XT1 oscillator operation */\r
+ /* Stop the XT1 oscillator operation. */\r
XTSTOP = 1;\r
\r
- /*\r
- * operating frequency f = fx\r
- * Change clock generator setting, if necessary\r
- */\r
+ /* Operating frequency f = fx\r
+ Change clock generator setting, if necessary. */\r
CKC &= 0xF8;\r
\r
- /* From here onwards the X1 oscillator is supplied to the CPU */\r
+ /* From here onwards the X1 oscillator is supplied to the CPU. */\r
}\r
#endif\r
\r
- /* LED Port Initialization - set Port Register */\r
+ /* LED port initialization - set port register. */\r
P7 = 0x80;\r
\r
- /* Set Port Mode Register */\r
+ /* Set port mode register. */\r
PM7 = 0x3F;\r
\r
- /* Switch Pin Initialization - enable pull-up resistor */\r
+ /* Switch pin initialization - enable pull-up resistor. */\r
PU12_bit.no0 = 1;\r
+\r
+ /* INTP0 is used by the button on the target board. */\r
\r
- /* INTP0 disable */\r
+ /* INTP0 disable. */\r
PMK0 = 1; \r
\r
- /* INTP0 IF clear */\r
+ /* INTP0 IF clear. */\r
PIF0 = 0; \r
EGN0_bit.no0 = 1;\r
\r
- /* INTP0 priority low */\r
+ /* INTP0 priority low. */\r
PPR10 = 0;\r
PPR00 = 1;\r
\r
- /* enable ext. INTP0 interrupt */\r
+ /* Enable ext. INTP0 interrupt */\r
PMK0 = 0; \r
\r
return pdTRUE;\r
\r
void vRegTestError( void )\r
{\r
+ /* Called by the RegTest tasks if an error is found. lRegTestStatus is\r
+ inspected by the check task. */\r
sRegTestStatus = pdFAIL;\r
+\r
+ /* Do not return from here as the reg test tasks clobber all registers so\r
+ function calls may not function correctly. */\r
+ for( ;; );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vApplicationStackOverflowHook( void )\r
+{\r
+ /* This will get called if an overflow is detected in the stack of a task.\r
+ Inspect pxCurrentTCB to see which was the offending task. */\r
for( ;; );\r
}\r
+\r
projects / freertos / blobdiff