begriffs open source - cmsis-freertos/blob - Demo/NEC_V850ES

1 /*

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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

90 /* Standard include files. */

91 #include <stdlib.h>

92 #include <string.h>

93

94 /* Scheduler include files. */

95 #include "FreeRTOS.h"

96 #include "task.h"

97

98 /* Demo file headers. */

99 #include <intrinsics.h>

100 #include "BlockQ.h"

101 #include "death.h"

102 #include "flash.h"

103 #include "partest.h"

104 #include "semtest.h"

105 #include "PollQ.h"

106 #include "GenQTest.h"

107 #include "QPeek.h"

108 #include "recmutex.h"

109 #include "comtest2.h"

110

111 /*

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

113 * tasks just use the idle priority.

114 */

115 #define mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 1 )

116 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )

117 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )

118 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )

119 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )

120 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )

121 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )

122 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )

123 #define mainCOMTEST_PRIORITY ( tskIDLE_PRIORITY + 1 )

124

125 /* Passed into the check task just as a test that the parameter passing

126 mechanism is working correctly. */

127 #define mainCHECK_PARAMETER ( ( void * ) 0x12345678 )

128

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

130 #define mainNO_ERROR_DELAY ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )

131 #define mainERROR_DELAY ( ( TickType_t ) 500 / portTICK_PERIOD_MS )

132

133 /* There are no spare LEDs for the comtest tasks, so this is just set to an

134 invalid number. */

135 #define mainCOMTEST_LED ( 4 )

136

137 /* The baud rate used by the comtest task. */

138 #define mainBAUD_RATE ( 9600 )

139

140 /*-----------------------------------------------------------*/

141

142 /* The implementation of the 'check' task as described at the top of this file. */

143 static void prvCheckTask( void *pvParameters );

144

145 /* Just sets up the LED outputs. Most generic setup is done in

146 __low_level_init(). */

147 static void prvSetupHardware( void );

148

149 /* The RegTest functions as described at the top of this file. */

150 extern void vRegTest1( void *pvParameters );

151 extern void vRegTest2( void *pvParameters );

152

153 /* A variable that will get set to fail if a RegTest task finds an error. The

154 variable is inspected by the 'Check' task. */

155 static volatile long lRegTestStatus = pdPASS;

156

157 /*-----------------------------------------------------------*/

158

159 /* Create all the demo tasks then start the scheduler. */

160 void main( void )

161 {

162 /* Just sets up the LED outputs. */

163 prvSetupHardware();

164

165 /* Standard demo tasks. */

166 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );

167 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );

168 vStartQueuePeekTasks();

169

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

171 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, mainCHECK_PARAMETER, mainCHECK_TASK_PRIORITY, NULL );

172

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

174 xTaskCreate( vRegTest1, "Reg1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );

175 xTaskCreate( vRegTest2, "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );

176

177 #ifdef __IAR_V850ES_Fx3__

178 {

179 /* The extra IO required for the com test and led flashing tasks is only

180 available on the application board, not the target boards. */

181 vAltStartComTestTasks( mainCOMTEST_PRIORITY, mainBAUD_RATE, mainCOMTEST_LED );

182 vStartLEDFlashTasks( mainFLASH_PRIORITY );

183

184 /* The Fx3 also has enough RAM to run loads more tasks. */

185 vStartRecursiveMutexTasks();

186 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

187 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );

188 }

189 #endif

190

191 /* The suicide tasks must be created last as they need to know how many

192 tasks were running prior to their creation in order to ascertain whether

193 or not the correct/expected number of tasks are running at any given time. */

194 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );

195

196 /* Start the scheduler. */

197 vTaskStartScheduler();

198

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

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

201 for( ;; );

202 }

203 /*-----------------------------------------------------------*/

204

205 static void prvCheckTask( void *pvParameters )

206 {

207 TickType_t xDelayPeriod = mainNO_ERROR_DELAY, xLastWakeTime;

208 unsigned portBASE_TYPE uxLEDToUse = 0;

209

210 /* Ensure parameter is passed in correctly. */

211 if( pvParameters != mainCHECK_PARAMETER )

212 {

213 xDelayPeriod = mainERROR_DELAY;

214 }

215

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

217 written to directly. */

218 xLastWakeTime = xTaskGetTickCount();

219

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

221 operating without error. */

222 for( ;; )

223 {

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

225 vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );

226

227 if( lRegTestStatus != pdPASS )

228 {

229 xDelayPeriod = mainERROR_DELAY;

230 }

231

232 if( xAreGenericQueueTasksStillRunning() != pdTRUE )

233 {

234 xDelayPeriod = mainERROR_DELAY;

235 }

236

237 if( xAreQueuePeekTasksStillRunning() != pdTRUE )

238 {

239 xDelayPeriod = mainERROR_DELAY;

240 }

241

242 if( xAreSemaphoreTasksStillRunning() != pdTRUE )

243 {

244 xDelayPeriod = mainERROR_DELAY;

245 }

246

247 if( xIsCreateTaskStillRunning() != pdTRUE )

248 {

249 xDelayPeriod = mainERROR_DELAY;

250 }

251

252 /* The Fx3 runs more tasks, so more checks are performed. */

253 #ifdef __IAR_V850ES_Fx3__

254 {

255 if( xAreComTestTasksStillRunning() != pdTRUE )

256 {

257 xDelayPeriod = mainERROR_DELAY;

258 }

259

260 if( xArePollingQueuesStillRunning() != pdTRUE )

261 {

262 xDelayPeriod = mainERROR_DELAY;

263 }

264

265 if( xAreBlockingQueuesStillRunning() != pdTRUE )

266 {

267 xDelayPeriod = mainERROR_DELAY;

268 }

269

270 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )

271 {

272 xDelayPeriod = mainERROR_DELAY;

273 }

274

275 /* The application board has more LEDs and uses the flash tasks

276 so the check task instead uses LED3 as LED3 is still spare. */

277 uxLEDToUse = 3;

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 vParTestToggleLED( uxLEDToUse );

284 }

285 }

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

287

288 static void prvSetupHardware( void )

289 {

290 /* Setup the LED outputs. */

291 vParTestInitialise();

292

293 /* Any additional hardware configuration can be added here. */

294 }

295 /*-----------------------------------------------------------*/

296

297 void vApplicationStackOverflowHook( void )

298 {

299 /* This will be called if a task overflows its stack. pxCurrentTCB

300 can be inspected to see which is the offending task. */

301 for( ;; );

302 }

303 /*-----------------------------------------------------------*/

304

305 void vRegTestFailed( void )

306 {

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

308 inspected by the check task. */

309 lRegTestStatus = pdFAIL;

310

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

312 function calls may not function correctly. */

313 for( ;; );

314 }