begriffs open source - cmsis-freertos/blob - Demo/msp430

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 demo application tasks.

73 *

74 * This demo is configured to execute on the ES449 prototyping board from

75 * SoftBaugh. The ES449 has a built in LCD display and a single built in user

76 * LED. Therefore, in place of flashing an LED, the 'flash' and 'check' tasks

77 * toggle '*' characters on the LCD. The left most '*' represents LED 0, the

78 * next LED 1, etc.

79 *

80 * Main. c also creates a task called 'Check'. This only executes every three

81 * seconds but has the highest priority so is guaranteed to get processor time.

82 * Its main function is to check that all the other tasks are still operational.

83 * Each task that does not flash an LED maintains a unique count that is

84 * incremented each time the task successfully completes its function. Should

85 * any error occur within such a task the count is permanently halted. The

86 * 'check' task inspects the count of each task to ensure it has changed since

87 * the last time the check task executed. If all the count variables have

88 * changed all the tasks are still executing error free, and the check task

89 * toggles an LED with a three second period. Should any task contain an error

90 * at any time the LED toggle rate will increase to 500ms.

91 *

92 * Please read the documentation for the MSP430 port available on

93 * http://www.FreeRTOS.org.

94 */

95

96 /* Standard includes. */

97 #include <stdlib.h>

98

99 /* Scheduler includes. */

100 #include "FreeRTOS.h"

101 #include "task.h"

102

103 /* Demo application includes. */

104 #include "partest.h"

105 #include "flash.h"

106 #include "integer.h"

107 #include "comtest2.h"

108 #include "PollQ.h"

109

110 /* Constants required for hardware setup. */

111 #define mainALL_BITS_OUTPUT ( ( unsigned char ) 0xff )

112 #define mainMAX_FREQUENCY ( ( unsigned char ) 121 )

113

114 /* Constants that define the LED's used by the various tasks. [in this case

115 the '*' characters on the LCD represent LED's] */

116 #define mainCHECK_LED ( 4 )

117 #define mainCOM_TEST_LED ( 10 )

118

119 /* Demo task priorities. */

120 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )

121 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )

122 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )

123 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )

124

125 /* Baud rate used by the COM test tasks. */

126 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )

127

128 /* The frequency at which the 'Check' tasks executes. See the comments at the

129 top of the page. When the system is operating error free the 'Check' task

130 toggles an LED every three seconds. If an error is discovered in any task the

131 rate is increased to 500 milliseconds. [in this case the '*' characters on the

132 LCD represent LED's]*/

133 #define mainNO_ERROR_CHECK_DELAY ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )

134 #define mainERROR_CHECK_DELAY ( ( TickType_t ) 500 / portTICK_PERIOD_MS )

135

136 /* The constants used in the calculation. */

137 #define intgCONST1 ( ( long ) 123 )

138 #define intgCONST2 ( ( long ) 234567 )

139 #define intgCONST3 ( ( long ) -3 )

140 #define intgCONST4 ( ( long ) 7 )

141 #define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )

142

143 /*

144 * The function that implements the Check task. See the comments at the head

145 * of the page for implementation details.

146 */

147 static void vErrorChecks( void *pvParameters );

148

149 /*

150 * Called by the Check task. Returns pdPASS if all the other tasks are found

151 * to be operating without error - otherwise returns pdFAIL.

152 */

153 static short prvCheckOtherTasksAreStillRunning( void );

154

155 /*

156 * Perform the hardware setup required by the ES449 in order to run the demo

157 * application.

158 */

159 static void prvSetupHardware( void );

160

161

162 portBASE_TYPE xLocalError = pdFALSE;

163 volatile unsigned long ulIdleLoops = 0UL;

164

165 /*-----------------------------------------------------------*/

166

167 /*

168 * Start the demo application tasks - then start the real time scheduler.

169 */

170 int main( void )

171 {

172 /* Setup the hardware ready for the demo. */

173 prvSetupHardware();

174 vParTestInitialise();

175

176 /* Start the standard demo application tasks. */

177 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );

178 vStartIntegerMathTasks( tskIDLE_PRIORITY );

179 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );

180 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );

181

182 /* Start the 'Check' task which is defined in this file. */

183 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

184

185 /* Start the scheduler. */

186 vTaskStartScheduler();

187

188 /* As the scheduler has been started the demo applications tasks will be

189 executing and we should never get here! */

190 return 0;

191 }

192 /*-----------------------------------------------------------*/

193

194 static portTASK_FUNCTION( vErrorChecks, pvParameters )

195 {

196 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_DELAY;

197

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

199 operating without error. */

200 for( ;; )

201 {

202 /* Wait until it is time to check again. The time we wait here depends

203 on whether an error has been detected or not. When an error is

204 detected the time is shortened resulting in a faster LED flash rate. */

205 vTaskDelay( xDelayPeriod );

206

207 /* See if the other tasks are all ok. */

208 if( prvCheckOtherTasksAreStillRunning() != pdPASS )

209 {

210 /* An error occurred in one of the tasks so shorten the delay

211 period - which has the effect of increasing the frequency of the

212 LED toggle. */

213 xDelayPeriod = mainERROR_CHECK_DELAY;

214 }

215

216 /* Flash! */

217 vParTestToggleLED( mainCHECK_LED );

218 }

219 }

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

221

222 static short prvCheckOtherTasksAreStillRunning( void )

223 {

224 static short sNoErrorFound = pdTRUE;

225 static unsigned long ulLastIdleLoopCount = 0UL;

226

227 /* The demo tasks maintain a count that increments every cycle of the task

228 provided that the task has never encountered an error. This function

229 checks the counts maintained by the tasks to ensure they are still being

230 incremented. A count remaining at the same value between calls therefore

231 indicates that an error has been detected. Only tasks that do not flash

232 an LED are checked. */

233

234 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )

235 {

236 sNoErrorFound = pdFALSE;

237 }

238

239 if( xAreComTestTasksStillRunning() != pdTRUE )

240 {

241 sNoErrorFound = pdFALSE;

242 }

243

244 if( xArePollingQueuesStillRunning() != pdTRUE )

245 {

246 sNoErrorFound = pdFALSE;

247 }

248

249 if( xLocalError == pdTRUE )

250 {

251 sNoErrorFound = pdFALSE;

252 }

253

254 if( ulIdleLoops == ulLastIdleLoopCount )

255 {

256 sNoErrorFound = pdFALSE;

257 }

258 else

259 {

260 ulLastIdleLoopCount = ulIdleLoops;

261 }

262

263 return sNoErrorFound;

264 }

265 /*-----------------------------------------------------------*/

266

267 static void prvSetupHardware( void )

268 {

269 /* Stop the watchdog. */

270 WDTCTL = WDTPW + WDTHOLD;

271

272 /* Setup DCO+ for ( xtal * D * (N + 1) ) operation. */

273 FLL_CTL0 |= DCOPLUS + XCAP18PF;

274

275 /* X2 DCO frequency, 8MHz nominal DCO */

276 SCFI0 |= FN_4;

277

278 /* (121+1) x 32768 x 2 = 7.99 Mhz */

279 SCFQCTL = mainMAX_FREQUENCY;

280

281 /* Setup the IO. This is just copied from the demo supplied by SoftBaugh

282 for the ES449 demo board. */

283 P1SEL = 0x32;

284 P2SEL = 0x00;

285 P3SEL = 0x00;

286 P4SEL = 0xFC;

287 P5SEL = 0xFF;

288 }

289 /*-----------------------------------------------------------*/

290

291 /* The idle hook is just a copy of the standard integer maths tasks. See

292 Demo/Common/integer.c for rationale. */

293

294 void vApplicationIdleHook( void ) __toplevel

295 {

296 /* These variables are all effectively set to constants so they are volatile to

297 ensure the compiler does not just get rid of them. */

298 volatile long lValue;

299 volatile signed portBASE_TYPE *pxTaskHasExecuted;

300

301 /* Keep performing a calculation and checking the result against a constant. */

302 for( ;; )

303 {

304 /* Perform the calculation. This will store partial value in

305 registers, resulting in a good test of the context switch mechanism. */

306 lValue = intgCONST1;

307 lValue += intgCONST2;

308

309 /* Yield in case cooperative scheduling is being used. */

310 #if configUSE_PREEMPTION == 0

311 {

312 taskYIELD();

313 }

314 #endif

315

316 /* Finish off the calculation. */

317 lValue *= intgCONST3;

318 lValue /= intgCONST4;

319

320 /* If the calculation is found to be incorrect we stop setting the

321 TaskHasExecuted variable so the check task can see an error has

322 occurred. */

323 if( lValue != intgEXPECTED_ANSWER ) /*lint !e774 volatile used to prevent this being optimised out. */

324 {

325 /* Don't bother with mutual exclusion - it is only read from the

326 check task and never written. */

327 xLocalError = pdTRUE;

328 }

329 /* Yield in case cooperative scheduling is being used. */

330 #if configUSE_PREEMPTION == 0

331 {

332 taskYIELD();

333 }

334 #endif

335

336 ulIdleLoops++;

337

338 /* Place the processor into low power mode. */

339 LPM3;

340 }

341 }