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 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 #include <signal.h>

99

100 /* Scheduler includes. */

101 #include "FreeRTOS.h"

102 #include "task.h"

103

104 /* Demo application includes. */

105 #include "partest.h"

106 #include "flash.h"

107 #include "integer.h"

108 #include "comtest2.h"

109 #include "PollQ.h"

110

111 /* Constants required for hardware setup. */

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

113 #define mainMAX_FREQUENCY ( ( unsigned char ) 121 )

114

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

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

117 #define mainCHECK_LED ( 4 )

118 #define mainCOM_TEST_LED ( 10 )

119

120 /* Demo task priorities. */

121 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )

122 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )

123 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )

124 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )

125

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

127 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )

128

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

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

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

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

133 LCD represent LED's]*/

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

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

136

137 /*

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

139 * of the page for implementation details.

140 */

141 static void vErrorChecks( void *pvParameters );

142

143 /*

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

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

146 */

147 static short prvCheckOtherTasksAreStillRunning( void );

148

149 /*

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

151 * application.

152 */

153 static void prvSetupHardware( void );

154

155 /* Used to detect the idle hook function stalling. */

156 static volatile unsigned long ulIdleLoops = 0UL;

157

158 /*-----------------------------------------------------------*/

159

160 /*

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

162 */

163 int main( void )

164 {

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

166 prvSetupHardware();

167 vParTestInitialise();

168

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

170 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );

171 vStartIntegerMathTasks( tskIDLE_PRIORITY );

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

173 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );

174

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

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

177

178 /* Start the scheduler. */

179 vTaskStartScheduler();

180

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

182 executing and we should never get here! */

183 return 0;

184 }

185 /*-----------------------------------------------------------*/

186

187 static void vErrorChecks( void *pvParameters )

188 {

189 static volatile unsigned long ulDummyVariable = 3UL;

190 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_DELAY;

191

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

193 operating without error. */

194 for( ;; )

195 {

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

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

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

199 vTaskDelay( xDelayPeriod );

200

201 /* Perform a bit of 32bit maths to ensure the registers used by the

202 integer tasks get some exercise outside of the integer tasks

203 themselves. The result here is not important we are just deliberately

204 changing registers used by other tasks to ensure that their context

205 switch is operating as required. - see the demo application

206 documentation for more info. */

207 ulDummyVariable *= 3UL;

208

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

210 if( prvCheckOtherTasksAreStillRunning() != pdPASS )

211 {

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

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

214 LED toggle. */

215 xDelayPeriod = mainERROR_CHECK_DELAY;

216 }

217

218 /* Flash! */

219 vParTestToggleLED( mainCHECK_LED );

220 }

221 }

222 /*-----------------------------------------------------------*/

223

224 static short prvCheckOtherTasksAreStillRunning( void )

225 {

226 static short sNoErrorFound = pdTRUE;

227 static unsigned long ulLastIdleLoops = 0UL;

228

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

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

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

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

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

234 an LED are checked. */

235

236 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )

237 {

238 sNoErrorFound = pdFALSE;

239 }

240

241 if( xAreComTestTasksStillRunning() != pdTRUE )

242 {

243 sNoErrorFound = pdFALSE;

244 }

245

246 if( xArePollingQueuesStillRunning() != pdTRUE )

247 {

248 sNoErrorFound = pdFALSE;

249 }

250

251 if( ulLastIdleLoops == ulIdleLoops )

252 {

253 sNoErrorFound = pdFALSE;

254 }

255

256 ulLastIdleLoops = ulIdleLoops;

257

258 return sNoErrorFound;

259 }

260 /*-----------------------------------------------------------*/

261

262 static void prvSetupHardware( void )

263 {

264 /* Stop the watchdog. */

265 WDTCTL = WDTPW + WDTHOLD;

266

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

268 FLL_CTL0 |= DCOPLUS + XCAP18PF;

269

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

271 SCFI0 |= FN_4;

272

273 /* (121+1) x 32768 x 2 = 7.99 Mhz */

274 SCFQCTL = mainMAX_FREQUENCY;

275

276 /* Setup the IO as per the SoftBaugh demo for the same target hardware. */

277 P1SEL = 0x32;

278 P2SEL = 0x00;

279 P3SEL = 0x00;

280 P4SEL = 0xFC;

281 P5SEL = 0xFF;

282 }

283 /*-----------------------------------------------------------*/

284

285 void vApplicationIdleHook( void );

286 void vApplicationIdleHook( void )

287 {

288 /* Simple put the CPU into lowpower mode. */

289 _BIS_SR( LPM3_bits );

290 ulIdleLoops++;

291 }

292 /*-----------------------------------------------------------*/