From: richardbarry Date: Sun, 10 Feb 2008 14:45:24 +0000 (+0000) Subject: git-svn-id: https://svn.code.sf.net/p/freertos/code/trunk@156 1d2547de-c912-0410... X-Git-Tag: V4.7.2~56 X-Git-Url: https://git.sur5r.net/?a=commitdiff_plain;h=e4a318d398e835c3daf5bbe7bbdbacf6c2c9536c;p=freertos git-svn-id: https://svn.code.sf.net/p/freertos/code/trunk@156 1d2547de-c912-0410-9cb9-b8ca96c0e9e2 --- diff --git a/Demo/MB91460_Softune/SRC/main.c b/Demo/MB91460_Softune/SRC/main.c new file mode 100644 index 000000000..d1a30ac93 --- /dev/null +++ b/Demo/MB91460_Softune/SRC/main.c @@ -0,0 +1,312 @@ +/* THIS SAMPLE CODE IS PROVIDED AS IS AND IS SUBJECT TO ALTERATIONS. FUJITSU */ +/* MICROELECTRONICS ACCEPTS NO RESPONSIBILITY OR LIABILITY FOR ANY ERRORS OR */ +/* ELIGIBILITY FOR ANY PURPOSES. */ +/* (C) Fujitsu Microelectronics Europe GmbH */ +/*------------------------------------------------------------------------ + MAIN.C + - description + - See README.TXT for project description and disclaimer. +-------------------------------------------------------------------------*/ + + +/* + * Creates all the demo application tasks, then starts the scheduler. The WEB + * documentation provides more details of the demo application tasks. + * + * Main.c also creates a task called "Check". This only executes every three + * seconds but has the highest priority so is guaranteed to get processor time. + * Its main function is to check that all the other tasks are still operational. + * Each task (other than the "flash" tasks) maintains a unique count that is + * incremented each time the task successfully completes its function. Should + * any error occur within such a task the count is permanently halted. The + * check task inspects the count of each task to ensure it has changed since + * the last time the check task executed. If all the count variables have + * changed all the tasks are still executing error free, and the check task + * toggles the onboard LED. Should any task contain an error at any time + * the LED toggle rate will change from 3 seconds to 500ms. + * + */ + + +/* Hardware specific includes. */ +#include "mb91467d.h" +#include "vectors.h" +#include "watchdog.h" + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Demo app includes. */ +#include "flash.h" +#include "integer.h" +#include "comtest.h" +#include "PollQ.h" +#include "semtest.h" +#include "BlockQ.h" +#include "dynamic.h" +#include "flop.h" +#include "crflash.h" +#include "crhook.h" +#include "GenQTest.h" +#include "QPeek.h" +#include "BlockTim.h" +#include "death.h" +#include "taskutility.h" + +/* Demo task priorities. */ +#define mainWATCHDOG_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 ) +#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 ) +#define mainUTILITY_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) +#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 ) +#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 ) +#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 ) +#define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 2 ) +#define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 ) +#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 ) +#define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY ) + +/* Baud rate used by the COM test tasks. */ +#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 ) + +/* The frequency at which the 'Check' tasks executes. See the comments at the +top of the page. When the system is operating error free the 'Check' task +toggles an LED every three seconds. If an error is discovered in any task the +rate is increased to 500 milliseconds. [in this case the '*' characters on the +LCD represent LED's]*/ +#define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS ) +#define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS ) + +/* The total number of LEDs available. */ +#define ledNUMBER_OF_LEDS ( 8 ) + +/* The first LED used by the comtest tasks. */ +#define mainCOM_TEST_LED ( 0x05 ) + +/* The LED used by the check task. */ +#define mainCHECK_TEST_LED ( 0x07 ) + +/* The number of interrupt levels to use. */ +#define mainINTERRUPT_LEVELS ( 31 ) + +/*---------------------------------------------------------------------------*/ + +/* + * The function that implements the Check task. See the comments at the head + * of the page for implementation details. + */ +static void vErrorChecks( void *pvParameters ); + +/* + * Called by the Check task. Returns pdPASS if all the other tasks are found + * to be operating without error - otherwise returns pdFAIL. + */ +static portSHORT prvCheckOtherTasksAreStillRunning( void ); + +/* + * Setup the microcontroller as used by this demo. + */ +static void prvSetupHardware( void ); + +/*---------------------------------------------------------------------------*/ + +/* Start all the demo application tasks, then start the scheduler. */ +void main(void) +{ + /* Initialise the hardware ready for the demo. */ + prvSetupHardware(); + + /* Start the standard demo application tasks. */ + vStartLEDFlashTasks( mainLED_TASK_PRIORITY ); + vStartIntegerMathTasks( tskIDLE_PRIORITY ); + vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 ); + vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); + vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); + vStartBlockingQueueTasks ( mainQUEUE_BLOCK_PRIORITY ); + vStartDynamicPriorityTasks(); + vStartMathTasks( tskIDLE_PRIORITY ); + vStartFlashCoRoutines(ledNUMBER_OF_LEDS); + vStartHookCoRoutines(); + vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY ); + vStartQueuePeekTasks(); + vCreateBlockTimeTasks(); + + /* Start the 'Check' task which is defined in this file. */ + xTaskCreate( vErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); + + /* Start the task that write trace information to the UART. */ + vUtilityStartTraceTask( mainUTILITY_TASK_PRIORITY ); + + /* If we are going to service the watchdog from within a task, then create + the task here. */ + #if WATCHDOG == WTC_IN_TASK + vStartWatchdogTask( mainWATCHDOG_TASK_PRIORITY ); + #endif + + /* The suicide tasks must be started last as they record the number of other + tasks that exist within the system. The value is then used to ensure at run + time the number of tasks that exists is within expected bounds. */ + vCreateSuicidalTasks( mainDEATH_PRIORITY ); + + /* Now start the scheduler. Following this call the created tasks should + be executing. */ + vTaskStartScheduler( ); + + /* vTaskStartScheduler() will only return if an error occurs while the + idle task is being created. */ + for( ;; ); +} +/*-----------------------------------------------------------*/ + +static void vErrorChecks( void *pvParameters ) +{ +portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY; + + /* Cycle for ever, delaying then checking all the other tasks are still + operating without error. */ + for( ;; ) + { + /* Wait until it is time to check again. The time we wait here depends + on whether an error has been detected or not. When an error is + detected the time is shortened resulting in a faster LED flash rate. */ + vTaskDelay( xDelayPeriod ); + + /* See if the other tasks are all ok. */ + if( prvCheckOtherTasksAreStillRunning() != pdPASS ) + { + /* An error occurred in one of the tasks so shorten the delay + period - which has the effect of increasing the frequency of the + LED toggle. */ + xDelayPeriod = mainERROR_CHECK_DELAY; + } + + /* Flash! */ + vParTestToggleLED(mainCHECK_TEST_LED); + } +} +/*-----------------------------------------------------------*/ + +static portSHORT prvCheckOtherTasksAreStillRunning( void ) +{ +static portBASE_TYPE xErrorOccurred = pdFALSE; + + /* The demo tasks maintain a count that increments every cycle of the task + provided that the task has never encountered an error. This function + checks the counts maintained by the tasks to ensure they are still being + incremented. A count remaining at the same value between calls therefore + indicates that an error has been detected. */ + + if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) + { + xErrorOccurred = pdTRUE + } + + if( xArePollingQueuesStillRunning() != pdTRUE ) + { + xErrorOccurred = pdTRUE + } + + if( xAreComTestTasksStillRunning() != pdTRUE ) + { + xErrorOccurred = pdTRUE + } + + if( xAreSemaphoreTasksStillRunning() != pdTRUE ) + { + xErrorOccurred = pdTRUE + } + + if( xAreBlockingQueuesStillRunning() != pdTRUE ) + { + xErrorOccurred = pdTRUE + } + + if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) + { + xErrorOccurred = pdTRUE + } + + if( xAreMathsTaskStillRunning() != pdTRUE ) + { + xErrorOccurred = pdTRUE + } + + if( xAreFlashCoRoutinesStillRunning() != pdTRUE ) + { + xErrorOccurred = pdTRUE + } + + if( xAreHookCoRoutinesStillRunning() != pdTRUE ) + { + xErrorOccurred = pdTRUE + } + + if( xIsCreateTaskStillRunning() != pdTRUE ) + { + xErrorOccurred = pdTRUE + } + + if( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) + { + xErrorOccurred = pdTRUE + } + + if ( xAreGenericQueueTasksStillRunning() != pdTRUE ) + { + xErrorOccurred = pdTRUE + } + + if ( xAreQueuePeekTasksStillRunning() != pdTRUE ) + { + xErrorOccurred = pdTRUE + } + + return sNoErrorFound; +} +/*-----------------------------------------------------------*/ + +static void prvSetupHardware( void ) +{ + /* Allow all interrupt levels. */ + __set_il( mainINTERRUPT_LEVELS ); + + /* Initialise interrupts. */ + InitIrqLevels(); + + /* Initialise the ports used by the LEDs. */ + vParTestInitialise(); + + /* If we are going to use the watchdog, then initialise it now. */ + #if WATCHDOG != WTC_NONE + InitWatchdog(); + #endif +} +/*-----------------------------------------------------------*/ + +/* The below callback function is called from Tick ISR if configUSE_TICK_HOOK +is configured as 1. This function needs to be uncommented if the crhook.c +is not used, since the crhook.c has also defined vApplicationTickHook(). */ +#if configUSE_TICK_HOOK == 1 + void vApplicationTickHook ( void ) + { + /* Are we using the tick interrupt to kick the watchdog? */ + #if WATCHDOG == WTC_IN_TICK + Kick_Watchdog(); + #endif + } +#endif +/*-----------------------------------------------------------*/ + +/* The below callback function is called from Delayed ISR if configUSE_IDLE_HOOK +is configured as 1. */ +#if configUSE_IDLE_HOOK == 1 + void vApplicationIdleHook ( void ) + { + /* Are we using the idle task to kick the watchdog? */ + #if WATCHDOG == WTC_IN_IDLE + Kick_Watchdog(); + #endif + + vCoRoutineSchedule(); + } +#endif