2 FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
\r
4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
\r
5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 ***************************************************************************
\r
9 * FreeRTOS tutorial books are available in pdf and paperback. *
\r
10 * Complete, revised, and edited pdf reference manuals are also *
\r
13 * Purchasing FreeRTOS documentation will not only help you, by *
\r
14 * ensuring you get running as quickly as possible and with an *
\r
15 * in-depth knowledge of how to use FreeRTOS, it will also help *
\r
16 * the FreeRTOS project to continue with its mission of providing *
\r
17 * professional grade, cross platform, de facto standard solutions *
\r
18 * for microcontrollers - completely free of charge! *
\r
20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
\r
22 * Thank you for using FreeRTOS, and thank you for your support! *
\r
24 ***************************************************************************
\r
27 This file is part of the FreeRTOS distribution.
\r
29 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
30 the terms of the GNU General Public License (version 2) as published by the
\r
31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
\r
33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
\r
34 distribute a combined work that includes FreeRTOS without being obliged to
\r
35 provide the source code for proprietary components outside of the FreeRTOS
\r
38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
\r
41 details. You should have received a copy of the GNU General Public License
\r
42 and the FreeRTOS license exception along with FreeRTOS; if not itcan be
\r
43 viewed here: http://www.freertos.org/a00114.html and also obtained by
\r
44 writing to Real Time Engineers Ltd., contact details for whom are available
\r
45 on the FreeRTOS WEB site.
\r
49 ***************************************************************************
\r
51 * Having a problem? Start by reading the FAQ "My application does *
\r
52 * not run, what could be wrong?" *
\r
54 * http://www.FreeRTOS.org/FAQHelp.html *
\r
56 ***************************************************************************
\r
59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
\r
60 license and Real Time Engineers Ltd. contact details.
\r
62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
\r
64 fully thread aware and reentrant UDP/IP stack.
\r
66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
\r
67 Integrity Systems, who sell the code with commercial support,
\r
68 indemnification and middleware, under the OpenRTOS brand.
\r
70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
71 engineered and independently SIL3 certified version for use in safety and
\r
72 mission critical applications that require provable dependability.
\r
77 * ENSURE TO READ THE DOCUMENTATION PAGE FOR THIS PORT AND DEMO APPLICATION ON
\r
78 * THE http://www.FreeRTOS.org WEB SITE FOR FULL INFORMATION ON USING THIS DEMO
\r
79 * APPLICATION, AND ITS ASSOCIATE FreeRTOS ARCHITECTURE PORT!
\r
82 * main() creates the demo application tasks and timers, then starts the
\r
85 * This demo is configured to run on the RL78/G13 Promotion Board, which is
\r
86 * fitted with a R5F100LEA microcontroller. The R5F100LEA contains a little
\r
87 * under 4K bytes of usable internal RAM. The RAM size restricts the number of
\r
88 * demo tasks that can be created, and the demo creates 13 tasks, 4 queues and
\r
89 * two timers. The RL78 range does however include parts with up to 32K bytes
\r
90 * of RAM (at the time of writing). Using FreeRTOS on such a part will allow an
\r
91 * application to make a more comprehensive use of FreeRTOS tasks, and other
\r
92 * FreeRTOS features.
\r
94 * In addition to the standard demo tasks, the following tasks, tests and timers
\r
95 * are created within this file:
\r
97 * "Reg test" tasks - These fill the registers with known values, then check
\r
98 * that each register still contains its expected value. Each task uses a
\r
99 * different set of values. The reg test tasks execute with a very low priority,
\r
100 * so get preempted very frequently. A register containing an unexpected value
\r
101 * is indicative of an error in the context switching mechanism.
\r
103 * The "Demo" Timer and Callback Function:
\r
104 * The demo timer callback function does nothing more than increment a variable.
\r
105 * The period of the demo timer is set relative to the period of the check timer
\r
106 * (described below). This allows the check timer to know how many times the
\r
107 * demo timer callback function should execute between each execution of the
\r
108 * check timer callback function. The variable incremented in the demo timer
\r
109 * callback function is used to determine how many times the callback function
\r
112 * The "Check" Timer and Callback Function:
\r
113 * The check timer period is initially set to three seconds. The check timer
\r
114 * callback function checks that all the standard demo tasks, the reg test tasks,
\r
115 * and the demo timer are not only still executing, but are executing without
\r
116 * reporting any errors. If the check timer discovers that a task or timer has
\r
117 * stalled, or reported an error, then it changes its own period from the
\r
118 * initial three seconds, to just 200ms. The check timer callback function also
\r
119 * toggles the user LED each time it is called. This provides a visual
\r
120 * indication of the system status: If the LED toggles every three seconds,
\r
121 * then no issues have been discovered. If the LED toggles every 200ms, then an
\r
122 * issue has been discovered with at least one task.
\r
126 /* Scheduler include files. */
\r
127 #include "FreeRTOS.h"
\r
129 #include "timers.h"
\r
131 /* Standard demo includes. */
\r
132 #include "dynamic.h"
\r
134 #include "blocktim.h"
\r
136 /* Hardware includes. */
\r
137 #include "port_iodefine.h"
\r
138 #include "port_iodefine_ext.h"
\r
141 /* The period at which the check timer will expire, in ms, provided no errors
\r
142 have been reported by any of the standard demo tasks. ms are converted to the
\r
143 equivalent in ticks using the portTICK_RATE_MS constant. */
\r
144 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
\r
146 /* The period at which the check timer will expire, in ms, if an error has been
\r
147 reported in one of the standard demo tasks, the check tasks, or the demo timer.
\r
148 ms are converted to the equivalent in ticks using the portTICK_RATE_MS
\r
150 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
\r
152 /* These two definitions are used to set the period of the demo timer. The demo
\r
153 timer period is always relative to the check timer period, so the check timer
\r
154 can determine if the demo timer has expired the expected number of times between
\r
155 its own executions. */
\r
156 #define mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT ( 100UL )
\r
157 #define mainDEMO_TIMER_PERIOD_MS ( mainCHECK_TIMER_PERIOD_MS / mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT )
\r
159 /* A block time of zero simple means "don't block". */
\r
160 #define mainDONT_BLOCK ( 0U )
\r
162 /*-----------------------------------------------------------*/
\r
165 * The 'check' timer callback function, as described at the top of this file.
\r
167 static void prvCheckTimerCallback( xTimerHandle xTimer );
\r
170 * The 'demo' timer callback function, as described at the top of this file.
\r
172 static void prvDemoTimerCallback( xTimerHandle xTimer );
\r
175 * This function is called from the C startup routine to setup the processor -
\r
176 * in particular the clock source.
\r
178 int __low_level_init(void);
\r
181 * Functions that define the RegTest tasks, as described at the top of this file.
\r
183 extern void vRegTest1( void *pvParameters );
\r
184 extern void vRegTest2( void *pvParameters );
\r
187 /*-----------------------------------------------------------*/
\r
189 /* Variables that are incremented on each cycle of the two reg tests to allow
\r
190 the check timer to know that they are still executing. */
\r
191 unsigned short usRegTest1LoopCounter = 0, usRegTest2LoopCounter;
\r
193 /* The check timer. This uses prvCheckTimerCallback() as its callback
\r
195 static xTimerHandle xCheckTimer = NULL;
\r
197 /* The demo timer. This uses prvDemoTimerCallback() as its callback function. */
\r
198 static xTimerHandle xDemoTimer = NULL;
\r
200 /* This variable is incremented each time the demo timer expires. */
\r
201 static volatile unsigned long ulDemoSoftwareTimerCounter = 0UL;
\r
203 /* RL78/G13 Option Byte Definition. Watchdog disabled, LVI enabled, OCD interface
\r
205 __root __far const unsigned char OptionByte[] @ 0x00C0 =
\r
207 0x00U, 0xFFU, 0xF8U, 0x81U
\r
210 /* Security byte definition */
\r
211 __root __far const unsigned char ucSecurityCode[] @ 0x00C4 =
\r
213 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
\r
216 /*-----------------------------------------------------------*/
\r
220 /* Creates all the tasks and timers, then starts the scheduler. */
\r
222 /* First create the 'standard demo' tasks. These are used to demonstrate
\r
223 API functions being used and also to test the kernel port. More information
\r
224 is provided on the FreeRTOS.org WEB site. */
\r
225 vStartDynamicPriorityTasks();
\r
226 vStartPolledQueueTasks( tskIDLE_PRIORITY );
\r
227 vCreateBlockTimeTasks();
\r
229 /* Create the RegTest tasks as described at the top of this file. */
\r
230 xTaskCreate( vRegTest1, "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
\r
231 xTaskCreate( vRegTest2, "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
\r
233 /* Create the software timer that performs the 'check' functionality,
\r
234 as described at the top of this file. */
\r
235 xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
\r
236 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
\r
237 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
\r
238 ( void * ) 0, /* The ID is not used, so can be set to anything. */
\r
239 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
\r
242 /* Create the software timer that just increments a variable for demo
\r
244 xDemoTimer = xTimerCreate( ( const signed char * ) "DemoTimer",/* A text name, purely to help debugging. */
\r
245 ( mainDEMO_TIMER_PERIOD_MS ), /* The timer period, in this case it is always calculated relative to the check timer period (see the definition of mainDEMO_TIMER_PERIOD_MS). */
\r
246 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
\r
247 ( void * ) 0, /* The ID is not used, so can be set to anything. */
\r
248 prvDemoTimerCallback /* The callback function that inspects the status of all the other tasks. */
\r
251 /* Start both the check timer and the demo timer. The timers won't actually
\r
252 start until the scheduler is started. */
\r
253 xTimerStart( xCheckTimer, mainDONT_BLOCK );
\r
254 xTimerStart( xDemoTimer, mainDONT_BLOCK );
\r
256 /* Finally start the scheduler running. */
\r
257 vTaskStartScheduler();
\r
259 /* If this line is reached then vTaskStartScheduler() returned because there
\r
260 was insufficient heap memory remaining for the idle task to be created. */
\r
263 /*-----------------------------------------------------------*/
\r
265 static void prvDemoTimerCallback( xTimerHandle xTimer )
\r
267 /* The demo timer has expired. All it does is increment a variable. The
\r
268 period of the demo timer is relative to that of the check timer, so the
\r
269 check timer knows how many times this variable should have been incremented
\r
270 between each execution of the check timer's own callback. */
\r
271 ulDemoSoftwareTimerCounter++;
\r
273 /*-----------------------------------------------------------*/
\r
275 static void prvCheckTimerCallback( xTimerHandle xTimer )
\r
277 static portBASE_TYPE xChangedTimerPeriodAlready = pdFALSE, xErrorStatus = pdPASS;
\r
278 static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
\r
280 /* Inspect the status of the standard demo tasks. */
\r
281 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
\r
283 xErrorStatus = pdFAIL;
\r
286 if( xArePollingQueuesStillRunning() != pdTRUE )
\r
288 xErrorStatus = pdFAIL;
\r
291 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
293 xErrorStatus = pdFAIL;
\r
296 /* Indicate an error if either of the reg test loop counters have not
\r
297 incremented since the last time this function was called. */
\r
298 if( usLastRegTest1Counter == usRegTest1LoopCounter )
\r
300 xErrorStatus = pdFAIL;
\r
304 usLastRegTest1Counter = usRegTest1LoopCounter;
\r
307 if( usLastRegTest2Counter == usRegTest2LoopCounter )
\r
309 xErrorStatus = pdFAIL;
\r
313 usLastRegTest2Counter = usRegTest2LoopCounter;
\r
316 /* Ensure that the demo software timer has expired
\r
317 mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT times in between
\r
318 each call of this function. A critical section is not required to access
\r
319 ulDemoSoftwareTimerCounter as the variable is only accessed from another
\r
320 software timer callback, and only one software timer callback can be
\r
321 executing at any time. */
\r
322 if( ( ulDemoSoftwareTimerCounter < ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT - 1 ) ) ||
\r
323 ( ulDemoSoftwareTimerCounter > ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT + 1 ) )
\r
326 xErrorStatus = pdFAIL;
\r
330 ulDemoSoftwareTimerCounter = 0UL;
\r
333 if( ( xErrorStatus == pdFAIL ) && ( xChangedTimerPeriodAlready == pdFALSE ) )
\r
335 /* An error has occurred, but the timer's period has not yet been changed,
\r
336 change it now, and remember that it has been changed. Shortening the
\r
337 timer's period means the LED will toggle at a faster rate, giving a
\r
338 visible indication that something has gone wrong. */
\r
339 xChangedTimerPeriodAlready = pdTRUE;
\r
341 /* This call to xTimerChangePeriod() uses a zero block time. Functions
\r
342 called from inside of a timer callback function must *never* attempt to
\r
344 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
\r
347 /* Toggle the LED. The toggle rate will depend on whether or not an error
\r
348 has been found in any tasks. */
\r
349 LED_BIT = !LED_BIT;
\r
351 /*-----------------------------------------------------------*/
\r
353 int __low_level_init(void)
\r
355 unsigned char ucResetFlag = RESF;
\r
357 portDISABLE_INTERRUPTS();
\r
376 /* LED port initialization. */
\r
381 /*-----------------------------------------------------------*/
\r
383 void vRegTestError( void )
\r
385 /* Called by both reg test tasks if an error is found. There is no way out
\r
386 of this function so the loop counter of the calling task will stop
\r
387 incrementing, which will result in the check timer signialling an error. */
\r
390 /*-----------------------------------------------------------*/
\r
392 void vApplicationMallocFailedHook( void )
\r
394 /* Called if a call to pvPortMalloc() fails because there is insufficient
\r
395 free memory available in the FreeRTOS heap. pvPortMalloc() is called
\r
396 internally by FreeRTOS API functions that create tasks, queues, software
\r
397 timers, and semaphores. The size of the FreeRTOS heap is set by the
\r
398 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
\r
399 taskDISABLE_INTERRUPTS();
\r
402 /*-----------------------------------------------------------*/
\r
404 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
\r
406 ( void ) pcTaskName;
\r
409 /* Run time stack overflow checking is performed if
\r
410 configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
\r
411 function is called if a stack overflow is detected. */
\r
412 taskDISABLE_INTERRUPTS();
\r
415 /*-----------------------------------------------------------*/
\r
417 void vApplicationIdleHook( void )
\r
419 volatile size_t xFreeHeapSpace;
\r
421 /* This is just a trivial example of an idle hook. It is called on each
\r
422 cycle of the idle task. It must *NOT* attempt to block. In this case the
\r
423 idle task just queries the amount of FreeRTOS heap that remains. See the
\r
424 memory management section on the http://www.FreeRTOS.org web site for memory
\r
425 management options. If there is a lot of heap memory free then the
\r
426 configTOTAL_HEAP_SIZE value in FreeRTOSConfig.h can be reduced to free up
\r
428 xFreeHeapSpace = xPortGetFreeHeapSize();
\r