begriffs open source - cmsis-freertos/blob

1 /*

4

5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

6

7 This file is part of the FreeRTOS distribution.

8

9 FreeRTOS is free software; you can redistribute it and/or modify it under

10 the terms of the GNU General Public License (version 2) as published by the

11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.

12

13 ***************************************************************************

14 >>! NOTE: The modification to the GPL is included to allow you to !<<

15 >>! distribute a combined work that includes FreeRTOS without being !<<

16 >>! obliged to provide the source code for proprietary components !<<

17 >>! outside of the FreeRTOS kernel. !<<

18 ***************************************************************************

19

20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY

21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS

22 FOR A PARTICULAR PURPOSE. Full license text is available on the following

23 link: http://www.freertos.org/a00114.html

24

25 ***************************************************************************

26 * *

27 * FreeRTOS provides completely free yet professionally developed, *

28 * robust, strictly quality controlled, supported, and cross *

29 * platform software that is more than just the market leader, it *

30 * is the industry's de facto standard. *

31 * *

32 * Help yourself get started quickly while simultaneously helping *

33 * to support the FreeRTOS project by purchasing a FreeRTOS *

34 * tutorial book, reference manual, or both: *

35 * http://www.FreeRTOS.org/Documentation *

36 * *

37 ***************************************************************************

38

39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading

40 the FAQ page "My application does not run, what could be wrong?". Have you

41 defined configASSERT()?

42

43 http://www.FreeRTOS.org/support - In return for receiving this top quality

44 embedded software for free we request you assist our global community by

45 participating in the support forum.

46

47 http://www.FreeRTOS.org/training - Investing in training allows your team to

48 be as productive as possible as early as possible. Now you can receive

49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers

50 Ltd, and the world's leading authority on the world's leading RTOS.

51

52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,

53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS

54 compatible FAT file system, and our tiny thread aware UDP/IP stack.

55

56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.

57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

58

59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High

60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS

61 licenses offer ticketed support, indemnification and commercial middleware.

62

63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety

64 engineered and independently SIL3 certified version for use in safety and

65 mission critical applications that require provable dependability.

66

67 1 tab == 4 spaces!

68 */

69

70 /*

71 * Creates all the demo application tasks, then starts the scheduler. The WEB

72 * documentation provides more details of the standard demo application tasks.

73 * In addition to the standard demo tasks, the following tasks and tests are

74 * defined and/or created within this file:

75 *

76 * "Check" task - This only executes every three seconds but has a high priority

77 * to ensure it gets processor time. Its main function is to check that all the

78 * standard demo tasks are still operational. If everything is running as

79 * expected then the check task will toggle an LED every 3 seconds. An error

80 * being discovered in any task will cause the toggle rate to increase to 500ms.

81 *

82 * "Reg test" tasks - These fill the registers with known values, then check

83 * that each register still contains its expected value. Each task uses

84 * different values. The tasks run with very low priority so get preempted very

85 * frequently. A register containing an unexpected value is indicative of an

86 * error in the context switching mechanism.

87 *

88 *

89 * Also in addition to the standard demo tasks is a button push task. This is

90 * a very basic task that is included as an example of how to write an interrupt

91 * service routine that interacts with a task. The button on the target board

92 * is used to generate an interrupt that 'gives' a semaphore in order to unblock

93 * a task. In doing so the task is synchronised with the interrupt. Each time

94 * the task unblocks it simply toggles an LED before entering the Blocked state

95 * again to wait for the next button push.

96 */

97

98 /* Standard includes. */

99 #include <stdlib.h>

100 #include <string.h>

101

102 /* Scheduler include files. */

103 #include "FreeRTOS.h"

104 #include "task.h"

105

106 /* Standard demo file headers. */

107 #include "PollQ.h"

108 #include "semtest.h"

109 #include "GenQTest.h"

110 #include "dynamic.h"

111 #include "blocktim.h"

112

113 /*

114 * Priority definitions for most of the tasks in the demo application. Some

115 * tasks just use the idle priority.

116 */

117 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )

118 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )

119 #define mainSEMTEST_PRIORITY ( tskIDLE_PRIORITY + 1 )

120 #define mainBUTTON_PRIORITY ( configMAX_PRIORITIES - 1 )

121 #define mainGEN_QUEUE_PRIORITY ( tskIDLE_PRIORITY )

122

123 /* The period between executions of the check task. */

124 #define mainNO_ERROR_TOGGLE_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )

125 #define mainERROR_TOGGLE_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )

126

127 /* The LED toggled by the check task. */

128 #define mainLED_0 P7_bit.no6

129

130 /* A value that is passed in as the parameter to the 'check' task. This is done

131 purely to check that the parameter passing mechanism is functioning correctly. */

132 #define mainCHECK_PARAMETER_VALUE ( 0x5678 )

133

134 /*-----------------------------------------------------------*/

135

136 /*

137 * The function that defines the 'check' task as described at the top of this

138 * file.

139 */

140 static void vErrorChecks( void *pvParameters );

141

142

143 /*

144 * This function is called from the C startup routine to setup the processor -

145 * in particular the clock source.

146 */

147 int __low_level_init(void);

148

149 /*

150 * Functions that define the RegTest tasks as described at the top of this file.

151 */

152 extern void vRegTest1( void *pvParameters );

153 extern void vRegTest2( void *pvParameters );

154

155 /*

156 * Function that defines the button push task as described at the top of this

157 * file.

158 */

159 extern void vButtonTask( void *pvParameters );

160

161 /*-----------------------------------------------------------*/

162

163 /* If an error is discovered by one of the RegTest tasks then this flag is set

164 to pdFAIL. The 'check' task then inspects this flag to detect errors within

165 the RegTest tasks. */

166 static short sRegTestStatus = pdPASS;

167

168 /* 78K0R Option Byte Definition. Watchdog disabled, LVI enabled, OCD interface

169 enabled. */

170 __root __far const unsigned char OptionByte[] @ 0x00C0 =

171 {

172 WATCHDOG_DISABLED, LVI_ENABLED, RESERVED_FF, OCD_ENABLED

173 };

174

175 /* Security byte definition */

176 __root __far const unsigned char SecuIDCode[] @ 0x00C4 =

177 {

178 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff

179 };

180

181

182 /*-----------------------------------------------------------*/

183

184 short main( void )

185 {

186 /* Creates all the tasks, then starts the scheduler. */

187

188 /* First create the 'standard demo' tasks. These are used to demonstrate

189 API functions being used and also to test the kernel port. More information

190 is provided on the FreeRTOS.org WEB site. */

191 vStartDynamicPriorityTasks();

192

193 /* Create the RegTest tasks as described at the top of this file. */

194 xTaskCreate( vRegTest1, "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );

195 xTaskCreate( vRegTest2, "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );

196

197 /* Create the button push task as described at the top of this file. */

198 xTaskCreate( vButtonTask, "Button", configMINIMAL_STACK_SIZE, NULL, mainBUTTON_PRIORITY, NULL );

199

200 /* Create the 'check' task as described at the top of this file. */

201 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, ( void* )mainCHECK_PARAMETER_VALUE, mainCHECK_TASK_PRIORITY, NULL );

202

203 #ifdef __IAR_78K0R_Kx3__

204 {

205 /* The Kx3 has enough RAM to create more of the standard demo tasks. */

206 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );

207 vStartSemaphoreTasks(mainSEMTEST_PRIORITY);

208 vStartGenericQueueTasks( mainGEN_QUEUE_PRIORITY );

209 vCreateBlockTimeTasks();

210 }

211 #endif

212

213 /* Finally start the scheduler running. */

214 vTaskStartScheduler();

215

216 /* If this line is reached then vTaskStartScheduler() returned because there

217 was insufficient heap memory remaining for the idle task to be created. */

218 for( ;; );

219 }

220 /*-----------------------------------------------------------*/

221

222 static void vErrorChecks( void *pvParameters )

223 {

224 TickType_t xToggleRate = mainNO_ERROR_TOGGLE_PERIOD, xLastWakeTime;

225

226 /* Ensure the parameter was passed in as expected. This is just a test of

227 the kernel port, the parameter is not actually used for anything. The

228 pointer will only actually be either 3 or 2 bytes, depending on the memory

229 model. */

230 if( pvParameters != ( void * ) mainCHECK_PARAMETER_VALUE )

231 {

232 xToggleRate = mainERROR_TOGGLE_PERIOD;

233 }

234

235 /* Initialise xLastWakeTime before it is used. After this point it is not

236 written to directly. */

237 xLastWakeTime = xTaskGetTickCount();

238

239 /* Cycle for ever, delaying then checking all the other tasks are still

240 operating without error. */

241 for( ;; )

242 {

243 /* Wait until it is time to check all the other tasks again. */

244 vTaskDelayUntil( &xLastWakeTime, xToggleRate );

245

246 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )

247 {

248 xToggleRate = mainERROR_TOGGLE_PERIOD;

249 }

250

251 if( sRegTestStatus != pdPASS )

252 {

253 xToggleRate = mainERROR_TOGGLE_PERIOD;

254 }

255

256 #ifdef __IAR_78K0R_Kx3__

257 {

258 /* Only the Kx3 runs all the tasks. */

259 if( xArePollingQueuesStillRunning() != pdTRUE)

260 {

261 xToggleRate = mainERROR_TOGGLE_PERIOD;

262 }

263

264 if( xAreSemaphoreTasksStillRunning() != pdTRUE)

265 {

266 xToggleRate = mainERROR_TOGGLE_PERIOD;

267 }

268

269 if( xAreGenericQueueTasksStillRunning() != pdTRUE )

270 {

271 xToggleRate = mainERROR_TOGGLE_PERIOD;

272 }

273

274 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )

275 {

276 xToggleRate = mainERROR_TOGGLE_PERIOD;

277 }

278 }

279 #endif

280

281 /* Toggle the LED. The toggle rate will depend on whether or not an

282 error has been found in any tasks. */

283 mainLED_0 = !mainLED_0;

284 }

285 }

286 /*-----------------------------------------------------------*/

287

288 int __low_level_init(void)

289 {

290 unsigned char ucResetFlag = RESF;

291

292 portDISABLE_INTERRUPTS();

293

294 /* Clock Configuration:

295 In this port, to use the internal high speed clock source of the microcontroller

296 define the configCLOCK_SOURCE as 1 in FreeRTOSConfig.h. To use an external

297 clock define configCLOCK_SOURCE as 0. */

298 #if configCLOCK_SOURCE == 1

299 {

300 /* Set XT1 and XT2 in Input Port Mode

301 Set X1 and X2 in Input Port Mode

302 High speed oscillator frequency 2MHz <= fMX <= 10MHz */

303 CMC = 0x00;

304

305 /* X1 external oszillation stopped. */

306 MSTOP = 1;

307

308 /* Enable internal high speed oszillation. */

309 HIOSTOP = 0;

310 MCM0 = 0;

311

312 /* Stop internal subsystem clock. */

313 XTSTOP = 1;

314

315 /* Set clock speed. */

316 CSS = 0;

317 CKC &= (unsigned char)~0x07;

318 CKC |= 0x00;

319 }

320 #else

321 {

322 /* XT1 and XT2 pin in input port mode

323 X1 and X2 pin in crystal resonator mode

324 High speed oszillation frequency 10MHz < fMX <= 20MHz */

325 CMC = 0x41;

326

327 /* Set oscillation stabilization time. */

328 OSTS = 0x07;

329

330 /* Set speed mode: fMX > 10MHz for Flash memory high speed operation. */

331 OSMC = 0x01;

332

333 /* Start up X1 oscillator operation

334 Internal high-speed oscillator operating. */

335 MSTOP = 0;

336

337 /* Check oscillation stabilization time status. */

338 while(OSTC < 0x07)

339 {

340 /* Wait until X1 clock stabilization time. */

341 portNOP();

342 }

343

344 /* Switch CPU clock to X1 oscillator. */

345 MCM0 = 1;

346 while(MCS != 1)

347 {

348 /* Wait until CPU and peripherals operate with fX1 clock. */

349 portNOP();

350 }

351

352 /* Stop the internal high-speed oscillator operation. */

353 HIOSTOP = 1;

354

355 /* Stop the XT1 oscillator operation. */

356 XTSTOP = 1;

357

358 /* Operating frequency f = fx

359 Change clock generator setting, if necessary. */

360 CKC &= 0xF8;

361

362 /* From here onwards the X1 oscillator is supplied to the CPU. */

363 }

364 #endif

365

366 /* LED port initialization - set port register. */

367 P7 = 0x80;

368

369 /* Set port mode register. */

370 PM7 = 0x3F;

371

372 /* Switch pin initialization - enable pull-up resistor. */

373 PU12_bit.no0 = 1;

374

375 /* INTP0 is used by the button on the target board. */

376

377 /* INTP0 disable. */

378 PMK0 = 1;

379

380 /* INTP0 IF clear. */

381 PIF0 = 0;

382 EGN0_bit.no0 = 1;

383

384 /* INTP0 priority low. */

385 PPR10 = 0;

386 PPR00 = 1;

387

388 /* Enable ext. INTP0 interrupt */

389 PMK0 = 0;

390

391 return pdTRUE;

392 }

393 /*-----------------------------------------------------------*/

394

395 void vRegTestError( void )

396 {

397 /* Called by the RegTest tasks if an error is found. lRegTestStatus is

398 inspected by the check task. */

399 sRegTestStatus = pdFAIL;

400

401 /* Do not return from here as the reg test tasks clobber all registers so

402 function calls may not function correctly. */

403 for( ;; );

404 }

405 /*-----------------------------------------------------------*/

406

407 void vApplicationStackOverflowHook( void )

408 {

409 /* This will get called if an overflow is detected in the stack of a task.

410 Inspect pxCurrentTCB to see which was the offending task. */

411 for( ;; );

412 }

413