--- /dev/null
+/*\r
+ FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org 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
+\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
+\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
+\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
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+/*---------------------------------------------------------------------------\r
+ MAIN.C\r
+ - description\r
+ - See README.TXT for project description and disclaimer.\r
+\r
+/*---------------------------------------------------------------------------*/\r
+\r
+/* 16FX includes */\r
+#include "mb96348hs.h"\r
+\r
+/* Scheduler includes. */\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+#include "semphr.h"\r
+#include <watchdog.h>\r
+#include <config.h>\r
+\r
+/*---------------------------------------------------------------------------*/\r
+\r
+/* Demo task priorities. */\r
+#define WTC_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )\r
+#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )\r
+#define TASK_UTILITY_PRIORITY ( tskIDLE_PRIORITY + 3 )\r
+#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )\r
+#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
+#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
+#define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
+#define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
+#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
+#define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )\r
+\r
+/* Baud rate used by the COM test tasks. */\r
+#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )\r
+\r
+/* The frequency at which the 'Check' tasks executes. See the comments at the \r
+top of the page. When the system is operating error free the 'Check' task\r
+toggles an LED every three seconds. If an error is discovered in any task the\r
+rate is increased to 500 milliseconds. [in this case the '*' characters on the \r
+LCD represent LED's]*/\r
+#define mainNO_ERROR_CHECK_DELAY ( (portTickType) 3000 / portTICK_RATE_MS )\r
+#define mainERROR_CHECK_DELAY ( (portTickType) 500 / portTICK_RATE_MS )\r
+\r
+/*---------------------------------------------------------------------------*/\r
+#define ledNUMBER_OF_LEDS 8\r
+#define mainCOM_TEST_LED 0x05\r
+#define mainCHECK_TEST_LED 0x07\r
+\r
+/*---------------------------------------------------------------------------*/\r
+\r
+/* \r
+ * The function that implements the Check task. See the comments at the head\r
+ * of the page for implementation details.\r
+ */\r
+static void vErrorChecks( void *pvParameters );\r
+\r
+/*\r
+ * Called by the Check task. Returns pdPASS if all the other tasks are found\r
+ * to be operating without error - otherwise returns pdFAIL.\r
+ */\r
+static portSHORT prvCheckOtherTasksAreStillRunning( void );\r
+\r
+/*---------------------------------------------------------------------------*/\r
+static unsigned portCHAR sState[2] = { 0xFF, 0xFF };\r
+\r
+/*---------------------------------------------------------------------------\r
+ * The below callback function is called from Tick ISR if configUSE_TICK_HOOK \r
+ * is configured as 1.\r
+ *---------------------------------------------------------------------------*/\r
+\r
+/*void vApplicationTickHook ( void )\r
+{\r
+#if WATCHDOG == WTC_IN_TICK\r
+ Kick_Watchdog();\r
+#endif\r
+}*/\r
+\r
+/*---------------------------------------------------------------------------\r
+ * The below callback function is called from Delayed ISR if configUSE_IDLE_HOOK \r
+ * is configured as 1.\r
+ *---------------------------------------------------------------------------*/\r
+void vApplicationIdleHook( void )\r
+{\r
+ #if WATCHDOG == WTC_IN_IDLE\r
+ Kick_Watchdog();\r
+ #endif\r
+ #if ( INCLUDE_StartFlashCoRoutines == 1 || INCLUDE_StartHookCoRoutines == 1 )\r
+ vCoRoutineSchedule();\r
+ #endif\r
+}\r
+\r
+/*---------------------------------------------------------------------------\r
+ * Initialize Port 00\r
+ *---------------------------------------------------------------------------*/\r
+static void prvInitPort00( void )\r
+{\r
+ DDR00 = 0xFF;\r
+ PDR00 = 0xFF;\r
+ DDR09 = 0xFF;\r
+ PDR09 = 0xFF;\r
+}\r
+\r
+/*---------------------------------------------------------------------------\r
+ * Setup the hardware\r
+ *---------------------------------------------------------------------------*/\r
+static void prvSetupHardware( void )\r
+{\r
+ prvInitPort00();\r
+\r
+ #if WATCHDOG != WTC_NONE\r
+ InitWatchdog();\r
+ #endif\r
+}\r
+\r
+/*---------------------------------------------------------------------------\r
+ * main()\r
+ *---------------------------------------------------------------------------*/\r
+void main( void )\r
+{\r
+ InitIrqLevels(); /* Initialize interrupts */\r
+ __set_il( 7 ); /* Allow all levels */\r
+\r
+ prvSetupHardware();\r
+\r
+ #if WATCHDOG == WTC_IN_TASK\r
+ vStartWatchdogTask( WTC_TASK_PRIORITY );\r
+ #endif\r
+\r
+ /* Start the standard demo application tasks. */\r
+ #if ( INCLUDE_StartLEDFlashTasks == 1 )\r
+ vStartLEDFlashTasks( mainLED_TASK_PRIORITY );\r
+ #endif\r
+ #if ( INCLUDE_StartIntegerMathTasks == 1 )\r
+ vStartIntegerMathTasks( tskIDLE_PRIORITY );\r
+ #endif\r
+ #if ( INCLUDE_AltStartComTestTasks == 1 )\r
+ vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );\r
+ #endif\r
+ #if ( INCLUDE_StartPolledQueueTasks == 1 )\r
+ vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );\r
+ #endif\r
+ #if ( INCLUDE_StartSemaphoreTasks == 1 )\r
+ vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );\r
+ #endif\r
+ #if ( INCLUDE_StartBlockingQueueTasks == 1 )\r
+ vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );\r
+ #endif\r
+ #if ( INCLUDE_StartDynamicPriorityTasks == 1 )\r
+ vStartDynamicPriorityTasks();\r
+ #endif\r
+ #if ( INCLUDE_StartMathTasks == 1 )\r
+ vStartMathTasks( tskIDLE_PRIORITY );\r
+ #endif\r
+ #if ( INCLUDE_StartFlashCoRoutines == 1 )\r
+ vStartFlashCoRoutines( ledNUMBER_OF_LEDS );\r
+ #endif\r
+ #if ( INCLUDE_StartHookCoRoutines == 1 )\r
+ vStartHookCoRoutines();\r
+ #endif\r
+ #if ( INCLUDE_StartGenericQueueTasks == 1 )\r
+ vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );\r
+ #endif\r
+ #if ( INCLUDE_StartQueuePeekTasks == 1 )\r
+ vStartQueuePeekTasks();\r
+ #endif\r
+ #if ( INCLUDE_CreateBlockTimeTasks == 1 )\r
+ vCreateBlockTimeTasks();\r
+ #endif\r
+ #if ( INCLUDE_CreateSuicidalTasks == 1 )\r
+ vCreateSuicidalTasks( mainDEATH_PRIORITY );\r
+ #endif\r
+ #if ( INCLUDE_TraceListTasks == 1 )\r
+ vTraceListTasks( TASK_UTILITY_PRIORITY );\r
+ #endif\r
+\r
+ /* Start the 'Check' task which is defined in this file. */\r
+ xTaskCreate( vErrorChecks, (signed portCHAR *) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );\r
+\r
+ vTaskStartScheduler();\r
+\r
+ /* Should not reach here */\r
+ while( 1 )\r
+ {\r
+ __asm( " NOP " ); /* // */\r
+ }\r
+}\r
+\r
+/*-----------------------------------------------------------*/\r
+void vParTestToggleLED( unsigned portBASE_TYPE uxLED )\r
+{\r
+ if( uxLED < ledNUMBER_OF_LEDS )\r
+ {\r
+ vTaskSuspendAll();\r
+\r
+ /* Toggle the state of the single genuine on board LED. */\r
+ if( (sState[0] & ((portCHAR) (1 << uxLED))) == 0 )\r
+ {\r
+ PDR09 |= ( 1 << uxLED );\r
+ sState[0] |= ( 1 << uxLED );\r
+ }\r
+ else\r
+ {\r
+ PDR09 &= ~( 1 << uxLED );\r
+ sState[0] &= ~( 1 << uxLED );\r
+ }\r
+\r
+ xTaskResumeAll();\r
+ }\r
+ else\r
+ {\r
+ vTaskSuspendAll();\r
+\r
+ uxLED -= ledNUMBER_OF_LEDS;\r
+\r
+ if( (sState[1] & ((portCHAR) (1 << uxLED))) == 0 )\r
+ {\r
+ PDR00 |= ( 1 << uxLED );\r
+ sState[1] |= ( 1 << uxLED );\r
+ }\r
+ else\r
+ {\r
+ PDR00 &= ~( 1 << uxLED );\r
+ sState[1] &= ~( 1 << uxLED );\r
+ }\r
+\r
+ xTaskResumeAll();\r
+ }\r
+}\r
+\r
+/*-----------------------------------------------------------*/\r
+void vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )\r
+{\r
+ /* Set or clear the output [in this case show or hide the '*' character. */\r
+ if( uxLED < ledNUMBER_OF_LEDS )\r
+ {\r
+ vTaskSuspendAll();\r
+ {\r
+ if( xValue )\r
+ {\r
+ PDR09 &= ~( 1 << uxLED );\r
+ sState[0] &= ~( 1 << uxLED );\r
+ }\r
+ else\r
+ {\r
+ PDR09 |= ( 1 << uxLED );\r
+ sState[0] |= ( 1 << uxLED );\r
+ }\r
+ }\r
+\r
+ xTaskResumeAll();\r
+ }\r
+ else\r
+ {\r
+ vTaskSuspendAll();\r
+ {\r
+ if( xValue )\r
+ {\r
+ PDR00 &= ~( 1 << uxLED );\r
+ sState[1] &= ~( 1 << uxLED );\r
+ }\r
+ else\r
+ {\r
+ PDR00 |= ( 1 << uxLED );\r
+ sState[1] |= ( 1 << uxLED );\r
+ }\r
+ }\r
+\r
+ xTaskResumeAll();\r
+ }\r
+}\r
+\r
+/*-----------------------------------------------------------*/\r
+static void vErrorChecks( void *pvParameters )\r
+{\r
+ static volatile unsigned portLONG ulDummyVariable = 3UL;\r
+ portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;\r
+ ( void ) pvParameters;\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 again. The time we wait here depends\r
+ on whether an error has been detected or not. When an error is \r
+ detected the time is shortened resulting in a faster LED flash rate. */\r
+ vTaskDelay( xDelayPeriod );\r
+\r
+ /* Perform a bit of 32bit maths to ensure the registers used by the \r
+ integer tasks get some exercise outside of the integer tasks \r
+ themselves. The result here is not important we are just deliberately\r
+ changing registers used by other tasks to ensure that their context\r
+ switch is operating as required. - see the demo application \r
+ documentation for more info. */\r
+ ulDummyVariable *= 3UL;\r
+\r
+ /* See if the other tasks are all ok. */\r
+ if( prvCheckOtherTasksAreStillRunning() != pdPASS )\r
+ {\r
+ /* An error occurred in one of the tasks so shorten the delay \r
+ period - which has the effect of increasing the frequency of the\r
+ LED toggle. */\r
+ xDelayPeriod = mainERROR_CHECK_DELAY;\r
+ }\r
+\r
+ /* Flash! */\r
+ vParTestToggleLED( mainCHECK_TEST_LED );\r
+ }\r
+}\r
+\r
+/*-----------------------------------------------------------*/\r
+static portSHORT prvCheckOtherTasksAreStillRunning( void )\r
+{\r
+ static portSHORT sNoErrorFound = pdTRUE;\r
+\r
+ /* The demo tasks maintain a count that increments every cycle of the task\r
+ provided that the task has never encountered an error. This function \r
+ checks the counts maintained by the tasks to ensure they are still being\r
+ incremented. A count remaining at the same value between calls therefore\r
+ indicates that an error has been detected. Only tasks that do not flash\r
+ an LED are checked. */\r
+ #if ( INCLUDE_StartIntegerMathTasks == 1 )\r
+ if( xAreIntegerMathsTaskStillRunning() != pdTRUE )\r
+ {\r
+ sNoErrorFound = pdFALSE;\r
+ }\r
+\r
+ #endif\r
+ #if ( INCLUDE_AltStartComTestTasks == 1 )\r
+ if( xAreComTestTasksStillRunning() != pdTRUE )\r
+ {\r
+ sNoErrorFound = pdFALSE;\r
+ }\r
+\r
+ #endif\r
+ #if ( INCLUDE_StartPolledQueueTasks == 1 )\r
+ if( xArePollingQueuesStillRunning() != pdTRUE )\r
+ {\r
+ sNoErrorFound = pdFALSE;\r
+ }\r
+\r
+ #endif\r
+ #if ( INCLUDE_StartSemaphoreTasks == 1 )\r
+ if( xAreSemaphoreTasksStillRunning() != pdTRUE )\r
+ {\r
+ sNoErrorFound = pdFALSE;\r
+ }\r
+\r
+ #endif\r
+ #if ( INCLUDE_StartBlockingQueueTasks == 1 )\r
+ if( xAreBlockingQueuesStillRunning() != pdTRUE )\r
+ {\r
+ sNoErrorFound = pdFALSE;\r
+ }\r
+\r
+ #endif\r
+ #if ( INCLUDE_StartDynamicPriorityTasks == 1 )\r
+ if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )\r
+ {\r
+ sNoErrorFound = pdFALSE;\r
+ }\r
+\r
+ #endif\r
+ #if ( INCLUDE_StartMathTasks == 1 )\r
+ if( xAreMathsTaskStillRunning() != pdTRUE )\r
+ {\r
+ sNoErrorFound = pdFALSE;\r
+ }\r
+\r
+ #endif\r
+ #if ( INCLUDE_StartFlashCoRoutines == 1 )\r
+ if( xAreFlashCoRoutinesStillRunning() != pdTRUE )\r
+ {\r
+ sNoErrorFound = pdFALSE;\r
+ }\r
+\r
+ #endif\r
+ #if ( INCLUDE_StartHookCoRoutines == 1 )\r
+ if( xAreHookCoRoutinesStillRunning() != pdTRUE )\r
+ {\r
+ sNoErrorFound = pdFALSE;\r
+ }\r
+\r
+ #endif\r
+ #if ( INCLUDE_StartGenericQueueTasks == 1 )\r
+ if( xAreGenericQueueTasksStillRunning() != pdTRUE )\r
+ {\r
+ sNoErrorFound = pdFALSE;\r
+ }\r
+\r
+ #endif\r
+ #if ( INCLUDE_StartQueuePeekTasks == 1 )\r
+ if( xAreQueuePeekTasksStillRunning() != pdTRUE )\r
+ {\r
+ sNoErrorFound = pdFALSE;\r
+ }\r
+\r
+ #endif\r
+ #if ( INCLUDE_CreateBlockTimeTasks == 1 )\r
+ if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )\r
+ {\r
+ sNoErrorFound = pdFALSE;\r
+ }\r
+\r
+ #endif\r
+ #if ( INCLUDE_CreateSuicidalTasks == 1 )\r
+ if( xIsCreateTaskStillRunning() != pdTRUE )\r
+ {\r
+ sNoErrorFound = pdFALSE;\r
+ }\r
+\r
+ #endif\r
+ return sNoErrorFound;\r
+}\r
+\r
+/*---------------------------------------------------------------------------*/\r
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