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 * The documentation page for this demo available on http://www.FreeRTOS.org
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31 * documents the hardware configuration required to run this demo. It also
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32 * provides more information on the expected demo application behaviour.
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34 * main() creates all the demo application tasks, then starts the scheduler.
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35 * A lot of the created tasks are from the pool of "standard demo" tasks. The
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36 * web documentation provides more details of the standard demo tasks, which
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37 * provide no particular functionality but do provide good examples of how to
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38 * use the FreeRTOS API.
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40 * In addition to the standard demo tasks, the following tasks, interrupts and
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41 * tests are defined and/or created within this file:
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43 * "LCD" task - The LCD task is a 'gatekeeper' task. It is the only task that
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44 * is permitted to access the LCD and therefore ensures access to the LCD is
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45 * always serialised and there are no mutual exclusion issues. When a task or
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46 * an interrupt wants to write to the LCD, it does not access the LCD directly
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47 * but instead sends the message to the LCD task. The LCD task then performs
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48 * the actual LCD output. This mechanism also allows interrupts to, in effect,
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49 * write to the LCD by sending messages to the LCD task.
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51 * The LCD task is also a demonstration of a 'controller' task design pattern.
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52 * Some tasks do not actually send a string to the LCD task directly, but
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53 * instead send a command that is interpreted by the LCD task. In a normal
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54 * application these commands can be control values or set points, in this
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55 * simple example the commands just result in messages being displayed on the
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58 * "Button Poll" task - This task polls the state of the 'up' key on the
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59 * joystick input device. It uses the vTaskDelay() API function to control
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60 * the poll rate to ensure debouncing is not necessary and that the task does
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61 * not use all the available CPU processing time.
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63 * Button Interrupt and run time stats display - The select button on the
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64 * joystick input device is configured to generate an external interrupt. The
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65 * handler for this interrupt sends a message to LCD task, which interprets the
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66 * message to mean, firstly write a message to the LCD, and secondly, generate
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67 * a table of run time statistics. The run time statistics are displayed as a
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68 * table that contains information on how much processing time each task has
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69 * been allocated since the application started to execute. This information
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70 * is provided both as an absolute time, and as a percentage of the total run
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71 * time. The information is displayed in the terminal IO window of the IAR
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72 * embedded workbench. The online documentation for this demo shows a screen
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73 * shot demonstrating where the run time stats can be viewed.
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75 * Idle Hook - The idle hook is a function that is called on each iteration of
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76 * the idle task. In this case it is used to place the processor into a low
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77 * power mode. Note however that this application is implemented using standard
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78 * components, and is therefore not optimised for low power operation. Lower
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79 * power consumption would be achieved by converting polling tasks into event
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80 * driven tasks, and slowing the tick interrupt frequency.
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82 * "Check" function called from the tick hook - The tick hook is called during
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83 * each tick interrupt. It is called from an interrupt context so must execute
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84 * quickly, not attempt to block, and not call any FreeRTOS API functions that
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85 * do not end in "FromISR". In this case the tick hook executes a 'check'
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86 * function. This only executes every five seconds. Its main function is to
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87 * check that all the standard demo tasks are still operational. Each time it
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88 * executes it sends a status code to the LCD task. The LCD task interprets the
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89 * code and displays an appropriate message - which will be PASS if no tasks
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90 * have reported any errors, or a message stating which task has reported an
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93 * "Reg test" tasks - These fill the registers with known values, then check
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94 * that each register still contains its expected value. Each task uses
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95 * different values. The tasks run with very low priority so get preempted
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96 * very frequently. A check variable is incremented on each iteration of the
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97 * test loop. A register containing an unexpected value is indicative of an
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98 * error in the context switching mechanism and will result in a branch to a
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99 * null loop - which in turn will prevent the check variable from incrementing
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100 * any further and allow the check task (described a above) to determine that an
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101 * error has occurred. The nature of the reg test tasks necessitates that they
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102 * are written in assembly code.
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104 * *NOTE 1* vApplicationSetupTimerInterrupt() is called by the kernel to let
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105 * the application set up a timer to generate the tick interrupt. In this
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106 * example a timer A0 is used for this purpose.
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110 /* Standard includes. */
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113 /* FreeRTOS includes. */
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114 #include "FreeRTOS.h"
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118 /* Hardware includes. */
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119 #include "msp430.h"
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120 #include "hal_MSP-EXP430F5438.h"
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122 /* Standard demo includes. */
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123 #include "ParTest.h"
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124 #include "dynamic.h"
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125 #include "comtest2.h"
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126 #include "GenQTest.h"
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128 /* Codes sent within messages to the LCD task so the LCD task can interpret
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129 exactly what the message it just received was. These are sent in the
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130 cMessageID member of the message structure (defined below). */
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131 #define mainMESSAGE_BUTTON_UP ( 1 )
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132 #define mainMESSAGE_BUTTON_SEL ( 2 )
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133 #define mainMESSAGE_STATUS ( 3 )
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135 /* When the cMessageID member of the message sent to the LCD task is
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136 mainMESSAGE_STATUS then these definitions are sent in the ulMessageValue member
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137 of the same message and indicate what the status actually is. */
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138 #define mainERROR_DYNAMIC_TASKS ( pdPASS + 1 )
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139 #define mainERROR_COM_TEST ( pdPASS + 2 )
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140 #define mainERROR_GEN_QUEUE_TEST ( pdPASS + 3 )
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141 #define mainERROR_REG_TEST ( pdPASS + 4 )
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143 /* The length of the queue (the number of items the queue can hold) that is used
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144 to send messages from tasks and interrupts the the LCD task. */
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145 #define mainQUEUE_LENGTH ( 5 )
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147 /* Priorities used by the test and demo tasks. */
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148 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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149 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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150 #define mainGENERIC_QUEUE_TEST_PRIORITY ( tskIDLE_PRIORITY )
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152 /* The LED used by the comtest tasks. See the comtest.c file for more
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154 #define mainCOM_TEST_LED ( 1 )
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156 /* The baud rate used by the comtest tasks described at the top of this file. */
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157 #define mainCOM_TEST_BAUD_RATE ( 38400 )
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159 /* The maximum number of lines of text that can be displayed on the LCD. */
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160 #define mainMAX_LCD_LINES ( 8 )
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162 /* Just used to ensure parameters are passed into tasks correctly. */
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163 #define mainTASK_PARAMETER_CHECK_VALUE ( ( void * ) 0xDEAD )
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164 /*-----------------------------------------------------------*/
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167 * The reg test tasks as described at the top of this file.
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169 extern void vRegTest1Task( void *pvParameters );
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170 extern void vRegTest2Task( void *pvParameters );
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173 * Configures clocks, LCD, port pints, etc. necessary to execute this demo.
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175 static void prvSetupHardware( void );
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178 * Definition of the LCD/controller task described in the comments at the top
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181 static void prvLCDTask( void *pvParameters );
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184 * Definition of the button poll task described in the comments at the top of
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187 static void prvButtonPollTask( void *pvParameters );
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190 * Converts a status message value into an appropriate string for display on
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191 * the LCD. The string is written to pcBuffer.
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193 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue );
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195 /*-----------------------------------------------------------*/
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197 /* Variables that are incremented on each iteration of the reg test tasks -
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198 provided the tasks have not reported any errors. The check task inspects these
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199 variables to ensure they are still incrementing as expected. If a variable
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200 stops incrementing then it is likely that its associate task has stalled. */
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201 volatile unsigned short usRegTest1Counter = 0, usRegTest2Counter = 0;
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203 /* The handle of the queue used to send messages from tasks and interrupts to
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205 static QueueHandle_t xLCDQueue = NULL;
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207 /* The definition of each message sent from tasks and interrupts to the LCD
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211 char cMessageID; /* << States what the message is. */
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212 unsigned long ulMessageValue; /* << States the message value (can be an integer, string pointer, etc. depending on the value of cMessageID). */
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215 /*-----------------------------------------------------------*/
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217 /* The linker script can be used to test the FreeRTOS ports use of 20bit
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218 addresses by locating all code in high memory. The following pragma ensures
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219 that main remains in low memory when that is done. The ISR_CODE segment is used
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220 for convenience as ISR functions are always placed in low memory. */
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221 #pragma location="ISR_CODE"
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224 /* Configure the peripherals used by this demo application. This includes
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225 configuring the joystick input select button to generate interrupts. */
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226 prvSetupHardware();
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228 /* Create the queue used by tasks and interrupts to send strings to the LCD
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230 xLCDQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( xQueueMessage ) );
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232 /* If the queue could not be created then don't create any tasks that might
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233 attempt to use the queue. */
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234 if( xLCDQueue != NULL )
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236 /* Add the created queue to the queue registry so it can be viewed in
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237 the IAR FreeRTOS state viewer plug-in. */
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238 vQueueAddToRegistry( xLCDQueue, "LCDQueue" );
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240 /* Create the standard demo tasks. */
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241 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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242 vStartDynamicPriorityTasks();
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243 vStartGenericQueueTasks( mainGENERIC_QUEUE_TEST_PRIORITY );
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245 /* Create the LCD, button poll and register test tasks, as described at
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246 the top of this file. */
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247 xTaskCreate( prvLCDTask, "LCD", configMINIMAL_STACK_SIZE * 2, mainTASK_PARAMETER_CHECK_VALUE, mainLCD_TASK_PRIORITY, NULL );
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248 xTaskCreate( prvButtonPollTask, "BPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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249 xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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250 xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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252 /* Start the scheduler. */
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253 vTaskStartScheduler();
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256 /* If all is well then this line will never be reached. If it is reached
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257 then it is likely that there was insufficient (FreeRTOS) heap memory space
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258 to create the idle task. This may have been trapped by the malloc() failed
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259 hook function, if one is configured. */
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262 /*-----------------------------------------------------------*/
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264 static void prvLCDTask( void *pvParameters )
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266 xQueueMessage xReceivedMessage;
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268 /* Buffer into which strings are formatted and placed ready for display on the
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269 LCD. Note this is a static variable to prevent it being allocated on the task
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270 stack, which is too small to hold such a variable. The stack size is configured
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271 when the task is created. */
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272 static char cBuffer[ 512 ];
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273 unsigned char ucLine = 1;
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276 /* This function is the only function that uses printf(). If printf() is
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277 used from any other function then some sort of mutual exclusion on stdout
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280 This is also the only function that is permitted to access the LCD.
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282 First print out the number of bytes that remain in the FreeRTOS heap. This
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283 can be viewed in the terminal IO window within the IAR Embedded Workbench. */
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284 printf( "%d bytes of heap space remain unallocated\n", ( int ) xPortGetFreeHeapSize() );
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286 /* Just as a test of the port, and for no functional reason, check the task
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287 parameter contains its expected value. */
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288 if( pvParameters != mainTASK_PARAMETER_CHECK_VALUE )
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290 halLcdPrintLine( "Invalid parameter", ucLine, OVERWRITE_TEXT );
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296 /* Wait for a message to be received. Using portMAX_DELAY as the block
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297 time will result in an indefinite wait provided INCLUDE_vTaskSuspend is
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298 set to 1 in FreeRTOSConfig.h, therefore there is no need to check the
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299 function return value and the function will only return when a value
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300 has been received. */
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301 xQueueReceive( xLCDQueue, &xReceivedMessage, portMAX_DELAY );
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303 /* Clear the LCD if no room remains for any more text output. */
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304 if( ucLine > mainMAX_LCD_LINES )
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306 halLcdClearScreen();
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310 /* What is this message? What does it contain? */
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311 switch( xReceivedMessage.cMessageID )
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313 case mainMESSAGE_BUTTON_UP : /* The button poll task has just
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314 informed this task that the up
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315 button on the joystick input has
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316 been pressed or released. */
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317 sprintf( cBuffer, "Button up = %d", ( int ) xReceivedMessage.ulMessageValue );
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320 case mainMESSAGE_BUTTON_SEL : /* The select button interrupt
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321 just informed this task that the
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322 select button was pressed.
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323 Generate a table of task run time
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324 statistics and output this to
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325 the terminal IO window in the IAR
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326 embedded workbench. */
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327 printf( "\nTask\t Abs Time\t %%Time\n*****************************************" );
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328 vTaskGetRunTimeStats( cBuffer );
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331 /* Also print out a message to
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332 the LCD - in this case the
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333 pointer to the string to print
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334 is sent directly in the
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335 ulMessageValue member of the
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336 message. This just demonstrates
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337 a different communication
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339 sprintf( cBuffer, "%s", ( char * ) xReceivedMessage.ulMessageValue );
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342 case mainMESSAGE_STATUS : /* The tick interrupt hook
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343 function has just informed this
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344 task of the system status.
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345 Generate a string in accordance
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346 with the status value. */
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347 prvGenerateStatusMessage( cBuffer, xReceivedMessage.ulMessageValue );
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350 default : sprintf( cBuffer, "Unknown message" );
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354 /* Output the message that was placed into the cBuffer array within the
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355 switch statement above, then move onto the next line ready for the next
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356 message to arrive on the queue. */
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357 halLcdPrintLine( cBuffer, ucLine, OVERWRITE_TEXT );
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361 /*-----------------------------------------------------------*/
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363 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue )
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365 /* Just a utility function to convert a status value into a meaningful
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366 string for output onto the LCD. */
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367 switch( lStatusValue )
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369 case pdPASS : sprintf( pcBuffer, "Status = PASS" );
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371 case mainERROR_DYNAMIC_TASKS : sprintf( pcBuffer, "Err: Dynamic tsks" );
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373 case mainERROR_COM_TEST : sprintf( pcBuffer, "Err: COM test" );
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375 case mainERROR_GEN_QUEUE_TEST : sprintf( pcBuffer, "Error: Gen Q test" );
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377 case mainERROR_REG_TEST : sprintf( pcBuffer, "Error: Reg test" );
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379 default : sprintf( pcBuffer, "Unknown status" );
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383 /*-----------------------------------------------------------*/
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385 static void prvButtonPollTask( void *pvParameters )
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387 unsigned char ucLastState = pdFALSE, ucState;
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388 xQueueMessage xMessage;
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390 /* This tasks performs the button polling functionality as described at the
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391 top of this file. */
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394 /* Check the button state. */
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395 ucState = ( halButtonsPressed() & BUTTON_UP );
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399 /* The button was pressed. */
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403 if( ucState != ucLastState )
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405 /* The state has changed, send a message to the LCD task. */
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406 xMessage.cMessageID = mainMESSAGE_BUTTON_UP;
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407 xMessage.ulMessageValue = ( unsigned long ) ucState;
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408 ucLastState = ucState;
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409 xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
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412 /* Block for 10 milliseconds so this task does not utilise all the CPU
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413 time and debouncing of the button is not necessary. */
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414 vTaskDelay( 10 / portTICK_PERIOD_MS );
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417 /*-----------------------------------------------------------*/
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419 static void prvSetupHardware( void )
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423 LFXT_Start( XT1DRIVE_0 );
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424 hal430SetSystemClock( configCPU_CLOCK_HZ, configLFXT_CLOCK_HZ );
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426 halButtonsInit( BUTTON_ALL );
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427 halButtonsInterruptEnable( BUTTON_SELECT );
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429 /* Initialise the LCD, but note that the backlight is not used as the
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430 library function uses timer A0 to modulate the backlight, and this file
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431 defines vApplicationSetupTimerInterrupt() to also use timer A0 to generate
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432 the tick interrupt. If the backlight is required, then change either the
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433 halLCD library or vApplicationSetupTimerInterrupt() to use a different
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434 timer. Timer A1 is used for the run time stats time base6. */
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436 halLcdSetContrast( 100 );
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437 halLcdClearScreen();
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439 halLcdPrintLine( " www.FreeRTOS.org", 0, OVERWRITE_TEXT );
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441 /*-----------------------------------------------------------*/
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443 void vApplicationTickHook( void )
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445 static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
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446 static unsigned long ulCounter = 0;
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447 static const unsigned long ulCheckFrequency = 5000UL / portTICK_PERIOD_MS;
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448 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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450 /* Define the status message that is sent to the LCD task. By default the
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452 static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };
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454 /* This is called from within the tick interrupt and performs the 'check'
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455 functionality as described in the comments at the top of this file.
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457 Is it time to perform the 'check' functionality again? */
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459 if( ulCounter >= ulCheckFrequency )
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461 /* See if the standard demo tasks are executing as expected, changing
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462 the message that is sent to the LCD task from PASS to an error code if
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463 any tasks set reports an error. */
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464 if( xAreComTestTasksStillRunning() != pdPASS )
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466 xStatusMessage.ulMessageValue = mainERROR_COM_TEST;
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469 if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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471 xStatusMessage.ulMessageValue = mainERROR_DYNAMIC_TASKS;
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474 if( xAreGenericQueueTasksStillRunning() != pdPASS )
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476 xStatusMessage.ulMessageValue = mainERROR_GEN_QUEUE_TEST;
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479 /* Check the reg test tasks are still cycling. They will stop
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480 incrementing their loop counters if they encounter an error. */
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481 if( usRegTest1Counter == usLastRegTest1Counter )
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483 xStatusMessage.ulMessageValue = mainERROR_REG_TEST;
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486 if( usRegTest2Counter == usLastRegTest2Counter )
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488 xStatusMessage.ulMessageValue = mainERROR_REG_TEST;
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491 usLastRegTest1Counter = usRegTest1Counter;
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492 usLastRegTest2Counter = usRegTest2Counter;
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494 /* As this is the tick hook the lHigherPriorityTaskWoken parameter is not
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495 needed (a context switch is going to be performed anyway), but it must
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496 still be provided. */
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497 xQueueSendFromISR( xLCDQueue, &xStatusMessage, &xHigherPriorityTaskWoken );
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501 /* Just periodically toggle an LED to show that the tick interrupt is
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502 running. Note that this access LED_PORT_OUT in a non-atomic way, so tasks
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503 that access the same port must do so from a critical section. */
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504 if( ( ulCounter & 0xff ) == 0 )
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506 if( ( LED_PORT_OUT & LED_1 ) == 0 )
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508 LED_PORT_OUT |= LED_1;
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512 LED_PORT_OUT &= ~LED_1;
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516 /*-----------------------------------------------------------*/
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518 #pragma vector=PORT2_VECTOR
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519 __interrupt static void prvSelectButtonInterrupt(void)
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521 /* Define the message sent to the LCD task from this interrupt. */
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522 static const xQueueMessage xMessage = { mainMESSAGE_BUTTON_SEL, ( unsigned long ) "Select Interrupt" };
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523 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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525 /* This is the interrupt handler for the joystick select button input.
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526 The button has been pushed, write a message to the LCD via the LCD task. */
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527 xQueueSendFromISR( xLCDQueue, &xMessage, &xHigherPriorityTaskWoken );
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531 /* If writing to xLCDQueue caused a task to unblock, and the unblocked task
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532 has a priority equal to or above the task that this interrupt interrupted,
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533 then lHigherPriorityTaskWoken will have been set to pdTRUE internally within
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534 xQueuesendFromISR(), and portEND_SWITCHING_ISR() will ensure that this
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535 interrupt returns directly to the higher priority unblocked task. */
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536 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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538 /*-----------------------------------------------------------*/
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540 /* The MSP430X port uses this callback function to configure its tick interrupt.
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541 This allows the application to choose the tick interrupt source.
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542 configTICK_VECTOR must also be set in FreeRTOSConfig.h to the correct
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543 interrupt vector for the chosen tick interrupt source. This implementation of
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544 vApplicationSetupTimerInterrupt() generates the tick from timer A0, so in this
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545 case configTICK_VECTOR is set to TIMER0_A0_VECTOR. */
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546 void vApplicationSetupTimerInterrupt( void )
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548 const unsigned short usACLK_Frequency_Hz = 32768;
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550 /* Ensure the timer is stopped. */
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553 /* Run the timer from the ACLK. */
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556 /* Clear everything to start with. */
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559 /* Set the compare match value according to the tick rate we want. */
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560 TA0CCR0 = usACLK_Frequency_Hz / configTICK_RATE_HZ;
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562 /* Enable the interrupts. */
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565 /* Start up clean. */
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571 /*-----------------------------------------------------------*/
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573 void vApplicationIdleHook( void )
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575 /* Called on each iteration of the idle task. In this case the idle task
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576 just enters a low power mode. */
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577 __bis_SR_register( LPM3_bits + GIE );
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579 /*-----------------------------------------------------------*/
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581 void vApplicationMallocFailedHook( void )
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583 /* Called if a call to pvPortMalloc() fails because there is insufficient
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584 free memory available in the FreeRTOS heap. pvPortMalloc() is called
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585 internally by FreeRTOS API functions that create tasks, queues or
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587 taskDISABLE_INTERRUPTS();
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590 /*-----------------------------------------------------------*/
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592 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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595 ( void ) pcTaskName;
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597 /* Run time stack overflow checking is performed if
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598 configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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599 function is called if a stack overflow is detected. */
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600 taskDISABLE_INTERRUPTS();
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603 /*-----------------------------------------------------------*/
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projects / freertos / blob