1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
|
/*
* FreeRTOS V202111.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
/*
* Creates all the demo application tasks, then starts the scheduler. The WEB
* documentation provides more details of the demo application tasks.
*
* This demo is configured to execute on the ES449 prototyping board from
* SoftBaugh. The ES449 has a built in LCD display and a single built in user
* LED. Therefore, in place of flashing an LED, the 'flash' and 'check' tasks
* toggle '*' characters on the LCD. The left most '*' represents LED 0, the
* next LED 1, etc.
*
* Main. c also creates a task called 'Check'. This only executes every three
* seconds but has the highest priority so is guaranteed to get processor time.
* Its main function is to check that all the other tasks are still operational.
* Each task that does not flash an LED maintains a unique count that is
* incremented each time the task successfully completes its function. Should
* any error occur within such a task the count is permanently halted. The
* 'check' task inspects the count of each task to ensure it has changed since
* the last time the check task executed. If all the count variables have
* changed all the tasks are still executing error free, and the check task
* toggles an LED with a three second period. Should any task contain an error
* at any time the LED toggle rate will increase to 500ms.
*
* Please read the documentation for the MSP430 port available on
* http://www.FreeRTOS.org.
*/
/* Standard includes. */
#include <stdlib.h>
#include <signal.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo application includes. */
#include "partest.h"
#include "flash.h"
#include "integer.h"
#include "comtest2.h"
#include "PollQ.h"
/* Constants required for hardware setup. */
#define mainALL_BITS_OUTPUT ( ( unsigned char ) 0xff )
#define mainMAX_FREQUENCY ( ( unsigned char ) 121 )
/* Constants that define the LED's used by the various tasks. [in this case
the '*' characters on the LCD represent LED's] */
#define mainCHECK_LED ( 4 )
#define mainCOM_TEST_LED ( 10 )
/* Demo task priorities. */
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
/* Baud rate used by the COM test tasks. */
#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
/* The frequency at which the 'Check' tasks executes. See the comments at the
top of the page. When the system is operating error free the 'Check' task
toggles an LED every three seconds. If an error is discovered in any task the
rate is increased to 500 milliseconds. [in this case the '*' characters on the
LCD represent LED's]*/
#define mainNO_ERROR_CHECK_DELAY ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
#define mainERROR_CHECK_DELAY ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
/*
* The function that implements the Check task. See the comments at the head
* of the page for implementation details.
*/
static void vErrorChecks( void *pvParameters );
/*
* Called by the Check task. Returns pdPASS if all the other tasks are found
* to be operating without error - otherwise returns pdFAIL.
*/
static short prvCheckOtherTasksAreStillRunning( void );
/*
* Perform the hardware setup required by the ES449 in order to run the demo
* application.
*/
static void prvSetupHardware( void );
/* Used to detect the idle hook function stalling. */
static volatile unsigned long ulIdleLoops = 0UL;
/*-----------------------------------------------------------*/
/*
* Start the demo application tasks - then start the real time scheduler.
*/
int main( void )
{
/* Setup the hardware ready for the demo. */
prvSetupHardware();
vParTestInitialise();
/* Start the standard demo application tasks. */
vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
vStartIntegerMathTasks( tskIDLE_PRIORITY );
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
/* Start the 'Check' task which is defined in this file. */
xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Start the scheduler. */
vTaskStartScheduler();
/* As the scheduler has been started the demo applications tasks will be
executing and we should never get here! */
return 0;
}
/*-----------------------------------------------------------*/
static void vErrorChecks( void *pvParameters )
{
static volatile unsigned long ulDummyVariable = 3UL;
TickType_t xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
/* Cycle for ever, delaying then checking all the other tasks are still
operating without error. */
for( ;; )
{
/* Wait until it is time to check again. The time we wait here depends
on whether an error has been detected or not. When an error is
detected the time is shortened resulting in a faster LED flash rate. */
vTaskDelay( xDelayPeriod );
/* Perform a bit of 32bit maths to ensure the registers used by the
integer tasks get some exercise outside of the integer tasks
themselves. The result here is not important we are just deliberately
changing registers used by other tasks to ensure that their context
switch is operating as required. - see the demo application
documentation for more info. */
ulDummyVariable *= 3UL;
/* See if the other tasks are all ok. */
if( prvCheckOtherTasksAreStillRunning() != pdPASS )
{
/* An error occurred in one of the tasks so shorten the delay
period - which has the effect of increasing the frequency of the
LED toggle. */
xDelayPeriod = mainERROR_CHECK_DELAY;
}
/* Flash! */
vParTestToggleLED( mainCHECK_LED );
}
}
/*-----------------------------------------------------------*/
static short prvCheckOtherTasksAreStillRunning( void )
{
static short sNoErrorFound = pdTRUE;
static unsigned long ulLastIdleLoops = 0UL;
/* The demo tasks maintain a count that increments every cycle of the task
provided that the task has never encountered an error. This function
checks the counts maintained by the tasks to ensure they are still being
incremented. A count remaining at the same value between calls therefore
indicates that an error has been detected. Only tasks that do not flash
an LED are checked. */
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
if( xAreComTestTasksStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
if( xArePollingQueuesStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
if( ulLastIdleLoops == ulIdleLoops )
{
sNoErrorFound = pdFALSE;
}
ulLastIdleLoops = ulIdleLoops;
return sNoErrorFound;
}
/*-----------------------------------------------------------*/
static void prvSetupHardware( void )
{
/* Stop the watchdog. */
WDTCTL = WDTPW + WDTHOLD;
/* Setup DCO+ for ( xtal * D * (N + 1) ) operation. */
FLL_CTL0 |= DCOPLUS + XCAP18PF;
/* X2 DCO frequency, 8MHz nominal DCO */
SCFI0 |= FN_4;
/* (121+1) x 32768 x 2 = 7.99 Mhz */
SCFQCTL = mainMAX_FREQUENCY;
/* Setup the IO as per the SoftBaugh demo for the same target hardware. */
P1SEL = 0x32;
P2SEL = 0x00;
P3SEL = 0x00;
P4SEL = 0xFC;
P5SEL = 0xFF;
}
/*-----------------------------------------------------------*/
void vApplicationIdleHook( void );
void vApplicationIdleHook( void )
{
/* Simple put the CPU into lowpower mode. */
_BIS_SR( LPM3_bits );
ulIdleLoops++;
}
/*-----------------------------------------------------------*/
|
