FreeRTOS/Demo/Cygnal/main.c - third_party/github/FreeRTOS/FreeRTOS-Kernel - Git at Google

 /*
  * FreeRTOS Kernel V10.3.0
  * 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 the demo application tasks, then starts the scheduler.  The WEB
  * documentation provides more details of the demo application tasks.
  *
  * Main. c also creates four other tasks:
  *
  * 1) vErrorChecks()
  * This only executes every few seconds but has the highest priority so is
  * guaranteed to get processor time.  Its main function is to check that all
  * the standard demo application tasks are still operational and have not
  * experienced any errors.  vErrorChecks() will toggle the on board LED
  * every mainNO_ERROR_FLASH_PERIOD milliseconds if none of the demo application
  * tasks have reported an error.  Should any task report an error at any time
  * the rate at which the on board LED is toggled is increased to
  * mainERROR_FLASH_PERIOD - providing visual feedback that something has gone
  * wrong.
  *
  * 2) vRegisterCheck()
  * This is a very simple task that checks that all the registers are always
  * in their expected state.  The task only makes use of the A register, so
  * all the other registers should always contain their initial values.
  * An incorrect value indicates an error in the context switch mechanism.
  * The task operates at the idle priority so will be preempted regularly.
  * Any error will cause the toggle rate of the on board LED to increase to
  * mainERROR_FLASH_PERIOD milliseconds.
  *
  * 3 and 4) vFLOPCheck1() and vFLOPCheck2()
  * These are very basic versions of the standard FLOP tasks.  They are good
  * at detecting errors in the context switch mechanism, and also check that
  * the floating point libraries are correctly built to be re-enterant.  The
  * stack restrictions of the 8051 prevent the use of the standard FLOP demo
  * tasks.
  */

 /* Standard includes. */
 #include <stdlib.h>

 /* Scheduler includes. */
 #include "FreeRTOS.h"
 #include "task.h"

 /* Demo application includes. */
 #include "partest.h"
 #include "flash.h"
 #include "integer.h"
 #include "PollQ.h"
 #include "comtest2.h"
 #include "semtest.h"

 /* Demo task priorities. */
 #define mainLED_TASK_PRIORITY		( tskIDLE_PRIORITY + 1 )
 #define mainQUEUE_POLL_PRIORITY		( tskIDLE_PRIORITY + 2 )
 #define mainCOM_TEST_PRIORITY		( tskIDLE_PRIORITY + 2 )
 #define mainCHECK_TASK_PRIORITY		( tskIDLE_PRIORITY + 3 )
 #define mainSEM_TEST_PRIORITY		( tskIDLE_PRIORITY + 2 )
 #define mainINTEGER_PRIORITY		tskIDLE_PRIORITY

 /* Constants required to disable the watchdog. */
 #define mainDISABLE_BYTE_1			( ( unsigned char ) 0xde )
 #define mainDISABLE_BYTE_2			( ( unsigned char ) 0xad )

 /* Constants to setup and use the on board LED. */
 #define ucLED_BIT					( ( unsigned char ) 0x40 )
 #define mainPORT_1_BIT_6			( ( unsigned char ) 0x40 )
 #define mainENABLE_CROSS_BAR		( ( unsigned char ) 0x40 )

 /* Constants to set the clock frequency. */
 #define mainSELECT_INTERNAL_OSC		( ( unsigned char ) 0x80 )
 #define mainDIVIDE_CLOCK_BY_1		( ( unsigned char ) 0x03 )
 #define mainPLL_USES_INTERNAL_OSC	( ( unsigned char ) 0x04 )
 #define mainFLASH_READ_TIMING		( ( unsigned char ) 0x30 )
 #define mainPLL_POWER_ON			( ( unsigned char ) 0x01 )
 #define mainPLL_NO_PREDIVIDE		( ( unsigned char ) 0x01 )
 #define mainPLL_FILTER				( ( unsigned char ) 0x01 )
 #define mainPLL_MULTIPLICATION		( ( unsigned char ) 0x04 )
 #define mainENABLE_PLL				( ( unsigned char ) 0x02 )
 #define mainPLL_LOCKED				( ( unsigned char ) 0x10 )
 #define mainSELECT_PLL_AS_SOURCE	( ( unsigned char ) 0x02 )

 /* Toggle rate for the on board LED - which is dependent on whether or not
 an error has been detected. */
 #define mainNO_ERROR_FLASH_PERIOD	( ( TickType_t ) 5000 )
 #define mainERROR_FLASH_PERIOD		( ( TickType_t ) 250 )

 /* Baud rate used by the serial port tasks. */
 #define mainCOM_TEST_BAUD_RATE		( ( unsigned long ) 115200 )

 /* Pass an invalid LED number to the COM test task as we don't want it to flash
 an LED.  There are only 8 LEDs (excluding the on board LED) wired in and these
 are all used by the flash tasks. */
 #define mainCOM_TEST_LED			( 200 )

 /* We want the Cygnal to act as much as possible as a standard 8052. */
 #define mainAUTO_SFR_OFF			( ( unsigned char ) 0 )

 /* Constants required to setup the IO pins for serial comms. */
 #define mainENABLE_COMS 			( ( unsigned char ) 0x04 )
 #define mainCOMS_LINES_TO_PUSH_PULL ( ( unsigned char ) 0x03 )

 /* Pointer passed as a parameter to vRegisterCheck() just so it has some know
 values to check for in the DPH, DPL and B registers. */
 #define mainDUMMY_POINTER		( ( xdata void * ) 0xabcd )

 /* Macro that lets vErrorChecks() know that one of the tasks defined in
 main. c has detected an error.  A critical region is used around xLatchError
 as it is accessed from vErrorChecks(), which has a higher priority. */
 #define mainLATCH_ERROR()			\
 {									\
 	portENTER_CRITICAL();			\
 		xLatchedError = pdTRUE;		\
 	portEXIT_CRITICAL();			\
 }

 /*
  * Setup the Cygnal microcontroller for its fastest operation.
  */
 static void prvSetupSystemClock( void );

 /*
  * Setup the peripherals, including the on board LED.
  */
 static void prvSetupHardware( void );

 /*
  * Toggle the state of the on board LED.
  */
 static void prvToggleOnBoardLED( void );

 /*
  * See comments at the top of the file for details.
  */
 static void vErrorChecks( void *pvParameters );

 /*
  * See comments at the top of the file for details.
  */
 static void vRegisterCheck( void *pvParameters );

 /*
  * See comments at the top of the file for details.
  */
 static void vFLOPCheck1( void *pvParameters );

 /*
  * See comments at the top of the file for details.
  */
 static void vFLOPCheck2( void *pvParameters );

 /* File scope variable used to communicate the occurrence of an error between
 tasks. */
 static portBASE_TYPE xLatchedError = pdFALSE;

 /*-----------------------------------------------------------*/

 /*
  * Starts all the other tasks, then starts the scheduler.
  */
 void main( void )
 {
 	/* Initialise the hardware including the system clock and on board
 	LED. */
 	prvSetupHardware();

 	/* Initialise the port that controls the external LED's utilized by the
 	flash tasks. */
 	vParTestInitialise();

 	/* Start the used standard demo tasks. */
 	vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
 	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
 	vStartIntegerMathTasks( mainINTEGER_PRIORITY );
 	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
 	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );

 	/* Start the tasks defined in this file.  The first three never block so
 	must not be used with the co-operative scheduler. */
 	#if configUSE_PREEMPTION == 1
 	{
 		xTaskCreate( vRegisterCheck, "RegChck", configMINIMAL_STACK_SIZE, mainDUMMY_POINTER, tskIDLE_PRIORITY, ( TaskHandle_t * ) NULL );
 		xTaskCreate( vFLOPCheck1, "FLOP", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, ( TaskHandle_t * ) NULL );
 		xTaskCreate( vFLOPCheck2, "FLOP", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, ( TaskHandle_t * ) NULL );
 	}
 	#endif

 	xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, ( TaskHandle_t * ) NULL );

 	/* Finally kick off the scheduler.  This function should never return. */
 	vTaskStartScheduler();

 	/* Should never reach here as the tasks will now be executing under control
 	of the scheduler. */
 }
 /*-----------------------------------------------------------*/

 /*
  * Setup the hardware prior to using the scheduler.  Most of the Cygnal
  * specific initialisation is performed here leaving standard 8052 setup
  * only in the driver code.
  */
 static void prvSetupHardware( void )
 {
 unsigned char ucOriginalSFRPage;

 	/* Remember the SFR page before it is changed so it can get set back
 	before the function exits. */
 	ucOriginalSFRPage = SFRPAGE;

 	/* Setup the SFR page to access the config SFR's. */
 	SFRPAGE = CONFIG_PAGE;

 	/* Don't allow the microcontroller to automatically switch SFR page, as the
 	SFR page is not stored as part of the task context. */
 	SFRPGCN = mainAUTO_SFR_OFF;

 	/* Disable the watchdog. */
 	WDTCN = mainDISABLE_BYTE_1;
 	WDTCN = mainDISABLE_BYTE_2;

 	/* Set the on board LED to push pull. */
 	P1MDOUT |= mainPORT_1_BIT_6;

 	/* Setup the cross bar to enable serial comms here as it is not part of the
 	standard 8051 setup and therefore is not in the driver code. */
 	XBR0 |= mainENABLE_COMS;
 	P0MDOUT |= mainCOMS_LINES_TO_PUSH_PULL;

 	/* Enable the cross bar so our hardware setup takes effect. */
 	XBR2 = mainENABLE_CROSS_BAR;

 	/* Setup a fast system clock. */
 	prvSetupSystemClock();

 	/* Return the SFR page. */
 	SFRPAGE = ucOriginalSFRPage;
 }
 /*-----------------------------------------------------------*/

 static void prvSetupSystemClock( void )
 {
 volatile unsigned short usWait;
 const unsigned short usWaitTime = ( unsigned short ) 0x2ff;
 unsigned char ucOriginalSFRPage;

 	/* Remember the SFR page so we can set it back at the end. */
 	ucOriginalSFRPage = SFRPAGE;
 	SFRPAGE = CONFIG_PAGE;

 	/* Use the internal oscillator set to its fasted frequency. */
 	OSCICN = mainSELECT_INTERNAL_OSC | mainDIVIDE_CLOCK_BY_1;

 	/* Ensure the clock is stable. */
 	for( usWait = 0; usWait < usWaitTime; usWait++ );

 	/* Setup the clock source for the PLL. */
 	PLL0CN &= ~mainPLL_USES_INTERNAL_OSC;

 	/* Change the read timing for the flash ready for the fast clock. */
 	SFRPAGE = LEGACY_PAGE;
 	FLSCL |= mainFLASH_READ_TIMING;

 	/* Turn on the PLL power. */
 	SFRPAGE = CONFIG_PAGE;
 	PLL0CN |= mainPLL_POWER_ON;

 	/* Don't predivide the clock. */
 	PLL0DIV = mainPLL_NO_PREDIVIDE;

 	/* Set filter for fastest clock. */
 	PLL0FLT = mainPLL_FILTER;
 	PLL0MUL = mainPLL_MULTIPLICATION;

 	/* Ensure the clock is stable. */
 	for( usWait = 0; usWait < usWaitTime; usWait++ );

 	/* Enable the PLL and wait for it to lock. */
 	PLL0CN |= mainENABLE_PLL;
 	for( usWait = 0; usWait < usWaitTime; usWait++ )
 	{
 		if( PLL0CN & mainPLL_LOCKED )
 		{
 			break;
 		}
 	}

 	/* Select the PLL as the clock source. */
 	CLKSEL |= mainSELECT_PLL_AS_SOURCE;

 	/* Return the SFR back to its original value. */
 	SFRPAGE = ucOriginalSFRPage;
 }
 /*-----------------------------------------------------------*/

 static void prvToggleOnBoardLED( void )
 {
 	/* If the on board LED is on, turn it off and vice versa. */
 	if( P1 & ucLED_BIT )
 	{
 		P1 &= ~ucLED_BIT;
 	}
 	else
 	{
 		P1 |= ucLED_BIT;
 	}
 }
 /*-----------------------------------------------------------*/

 /*
  * See the documentation at the top of this file.
  */
 static void vErrorChecks( void *pvParameters )
 {
 portBASE_TYPE xErrorHasOccurred = pdFALSE;

 	/* Just to prevent compiler warnings. */
 	( void ) pvParameters;

 	/* Cycle for ever, delaying then checking all the other tasks are still
 	operating without error.   The delay period depends on whether an error
 	has ever been detected. */
 	for( ;; )
 	{
 		if( xLatchedError == pdFALSE )
 		{
 			/* No errors have been detected so delay for a longer period.  The
 			on board LED will get toggled every mainNO_ERROR_FLASH_PERIOD ms. */
 			vTaskDelay( mainNO_ERROR_FLASH_PERIOD );
 		}
 		else
 		{
 			/* We have at some time recognised an error in one of the demo
 			application tasks, delay for a shorter period.  The on board LED
 			will get toggled every mainERROR_FLASH_PERIOD ms. */
 			vTaskDelay( mainERROR_FLASH_PERIOD );
 		}


 		/* Check the demo application tasks for errors. */

 		if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
 		{
 			xErrorHasOccurred = pdTRUE;
 		}

 		if( xArePollingQueuesStillRunning() != pdTRUE )
 		{
 			xErrorHasOccurred = pdTRUE;
 		}

 		if( xAreComTestTasksStillRunning() != pdTRUE )
 		{
 			xErrorHasOccurred = pdTRUE;
 		}

 		if( xAreSemaphoreTasksStillRunning() != pdTRUE )
 		{
 			xErrorHasOccurred = pdTRUE;
 		}

 		/* If an error has occurred, latch it to cause the LED flash rate to
 		increase. */
 		if( xErrorHasOccurred == pdTRUE )
 		{
 			xLatchedError = pdTRUE;
 		}

 		/* Toggle the LED to indicate the completion of a check cycle.  The
 		frequency of check cycles is dependent on whether or not we have
 		latched an error. */
 		prvToggleOnBoardLED();
 	}
 }
 /*-----------------------------------------------------------*/

 /*
  * See the documentation at the top of this file.  Also see the standard FLOP
  * demo task documentation for the rationale of these tasks.
  */
 static void vFLOPCheck1( void *pvParameters )
 {
 volatile portFLOAT fVal1, fVal2, fResult;

 	( void ) pvParameters;

 	for( ;; )
 	{
 		fVal1 = ( portFLOAT ) -1234.5678;
 		fVal2 = ( portFLOAT ) 2345.6789;

 		fResult = fVal1 + fVal2;
 		if( ( fResult > ( portFLOAT )  1111.15 ) || ( fResult < ( portFLOAT ) 1111.05 ) )
 		{
 			mainLATCH_ERROR();
 		}

 		fResult = fVal1 / fVal2;
 		if( ( fResult > ( portFLOAT ) -0.51 ) || ( fResult < ( portFLOAT ) -0.53 ) )
 		{
 			mainLATCH_ERROR();
 		}
 	}
 }
 /*-----------------------------------------------------------*/

 /*
  * See the documentation at the top of this file.
  */
 static void vFLOPCheck2( void *pvParameters )
 {
 volatile portFLOAT fVal1, fVal2, fResult;

 	( void ) pvParameters;

 	for( ;; )
 	{
 		fVal1 = ( portFLOAT ) -12340.5678;
 		fVal2 = ( portFLOAT ) 23450.6789;

 		fResult = fVal1 + fVal2;
 		if( ( fResult > ( portFLOAT ) 11110.15 ) || ( fResult < ( portFLOAT ) 11110.05 ) )
 		{
 			mainLATCH_ERROR();
 		}

 		fResult = fVal1 / -fVal2;
 		if( ( fResult > ( portFLOAT ) 0.53 ) || ( fResult < ( portFLOAT ) 0.51 ) )
 		{
 			mainLATCH_ERROR();
 		}
 	}
 }
 /*-----------------------------------------------------------*/

 /*
  * See the documentation at the top of this file.
  */
 static void vRegisterCheck( void *pvParameters )
 {
 	( void ) pvParameters;

 	for( ;; )
 	{
 		if( SP != configSTACK_START )
 		{
 			mainLATCH_ERROR();
 		}

 		_asm
 			MOV ACC, ar0
 		_endasm;

 		if( ACC != 0 )
 		{
 			mainLATCH_ERROR();
 		}

 		_asm
 			MOV ACC, ar1
 		_endasm;

 		if( ACC != 1 )
 		{
 			mainLATCH_ERROR();
 		}
 		_asm
 			MOV ACC, ar2
 		_endasm;

 		if( ACC != 2 )
 		{
 			mainLATCH_ERROR();
 		}
 		_asm
 			MOV ACC, ar3
 		_endasm;

 		if( ACC != 3 )
 		{
 			mainLATCH_ERROR();
 		}
 		_asm
 			MOV ACC, ar4
 		_endasm;

 		if( ACC != 4 )
 		{
 			mainLATCH_ERROR();
 		}
 		_asm
 			MOV ACC, ar5
 		_endasm;

 		if( ACC != 5 )
 		{
 			mainLATCH_ERROR();
 		}
 		_asm
 			MOV ACC, ar6
 		_endasm;

 		if( ACC != 6 )
 		{
 			mainLATCH_ERROR();
 		}
 		_asm
 			MOV ACC, ar7
 		_endasm;

 		if( ACC != 7 )
 		{
 			mainLATCH_ERROR();
 		}

 		if( DPL != 0xcd )
 		{
 			mainLATCH_ERROR();
 		}

 		if( DPH != 0xab )
 		{
 			mainLATCH_ERROR();
 		}

 		if( B != 0x01 )
 		{
 			mainLATCH_ERROR();
 		}
 	}
 }
	/*
	* FreeRTOS Kernel V10.3.0
	* 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 the demo application tasks, then starts the scheduler. The WEB
	* documentation provides more details of the demo application tasks.
	*
	* Main. c also creates four other tasks:
	*
	* 1) vErrorChecks()
	* This only executes every few seconds but has the highest priority so is
	* guaranteed to get processor time. Its main function is to check that all
	* the standard demo application tasks are still operational and have not
	* experienced any errors. vErrorChecks() will toggle the on board LED
	* every mainNO_ERROR_FLASH_PERIOD milliseconds if none of the demo application
	* tasks have reported an error. Should any task report an error at any time
	* the rate at which the on board LED is toggled is increased to
	* mainERROR_FLASH_PERIOD - providing visual feedback that something has gone
	* wrong.
	*
	* 2) vRegisterCheck()
	* This is a very simple task that checks that all the registers are always
	* in their expected state. The task only makes use of the A register, so
	* all the other registers should always contain their initial values.
	* An incorrect value indicates an error in the context switch mechanism.
	* The task operates at the idle priority so will be preempted regularly.
	* Any error will cause the toggle rate of the on board LED to increase to
	* mainERROR_FLASH_PERIOD milliseconds.
	*
	* 3 and 4) vFLOPCheck1() and vFLOPCheck2()
	* These are very basic versions of the standard FLOP tasks. They are good
	* at detecting errors in the context switch mechanism, and also check that
	* the floating point libraries are correctly built to be re-enterant. The
	* stack restrictions of the 8051 prevent the use of the standard FLOP demo
	* tasks.
	*/

	/* Standard includes. */
	#include <stdlib.h>

	/* Scheduler includes. */
	#include "FreeRTOS.h"
	#include "task.h"

	/* Demo application includes. */
	#include "partest.h"
	#include "flash.h"
	#include "integer.h"
	#include "PollQ.h"
	#include "comtest2.h"
	#include "semtest.h"

	/* Demo task priorities. */
	#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
	#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
	#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
	#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
	#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
	#define mainINTEGER_PRIORITY tskIDLE_PRIORITY

	/* Constants required to disable the watchdog. */
	#define mainDISABLE_BYTE_1 ( ( unsigned char ) 0xde )
	#define mainDISABLE_BYTE_2 ( ( unsigned char ) 0xad )

	/* Constants to setup and use the on board LED. */
	#define ucLED_BIT ( ( unsigned char ) 0x40 )
	#define mainPORT_1_BIT_6 ( ( unsigned char ) 0x40 )
	#define mainENABLE_CROSS_BAR ( ( unsigned char ) 0x40 )

	/* Constants to set the clock frequency. */
	#define mainSELECT_INTERNAL_OSC ( ( unsigned char ) 0x80 )
	#define mainDIVIDE_CLOCK_BY_1 ( ( unsigned char ) 0x03 )
	#define mainPLL_USES_INTERNAL_OSC ( ( unsigned char ) 0x04 )
	#define mainFLASH_READ_TIMING ( ( unsigned char ) 0x30 )
	#define mainPLL_POWER_ON ( ( unsigned char ) 0x01 )
	#define mainPLL_NO_PREDIVIDE ( ( unsigned char ) 0x01 )
	#define mainPLL_FILTER ( ( unsigned char ) 0x01 )
	#define mainPLL_MULTIPLICATION ( ( unsigned char ) 0x04 )
	#define mainENABLE_PLL ( ( unsigned char ) 0x02 )
	#define mainPLL_LOCKED ( ( unsigned char ) 0x10 )
	#define mainSELECT_PLL_AS_SOURCE ( ( unsigned char ) 0x02 )

	/* Toggle rate for the on board LED - which is dependent on whether or not
	an error has been detected. */
	#define mainNO_ERROR_FLASH_PERIOD ( ( TickType_t ) 5000 )
	#define mainERROR_FLASH_PERIOD ( ( TickType_t ) 250 )

	/* Baud rate used by the serial port tasks. */
	#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )

	/* Pass an invalid LED number to the COM test task as we don't want it to flash
	an LED. There are only 8 LEDs (excluding the on board LED) wired in and these
	are all used by the flash tasks. */
	#define mainCOM_TEST_LED ( 200 )

	/* We want the Cygnal to act as much as possible as a standard 8052. */
	#define mainAUTO_SFR_OFF ( ( unsigned char ) 0 )

	/* Constants required to setup the IO pins for serial comms. */
	#define mainENABLE_COMS ( ( unsigned char ) 0x04 )
	#define mainCOMS_LINES_TO_PUSH_PULL ( ( unsigned char ) 0x03 )

	/* Pointer passed as a parameter to vRegisterCheck() just so it has some know
	values to check for in the DPH, DPL and B registers. */
	#define mainDUMMY_POINTER ( ( xdata void * ) 0xabcd )

	/* Macro that lets vErrorChecks() know that one of the tasks defined in
	main. c has detected an error. A critical region is used around xLatchError
	as it is accessed from vErrorChecks(), which has a higher priority. */
	#define mainLATCH_ERROR() \
	{ \
	portENTER_CRITICAL(); \
	xLatchedError = pdTRUE; \
	portEXIT_CRITICAL(); \
	}

	/*
	* Setup the Cygnal microcontroller for its fastest operation.
	*/
	static void prvSetupSystemClock( void );

	/*
	* Setup the peripherals, including the on board LED.
	*/
	static void prvSetupHardware( void );

	/*
	* Toggle the state of the on board LED.
	*/
	static void prvToggleOnBoardLED( void );

	/*
	* See comments at the top of the file for details.
	*/
	static void vErrorChecks( void *pvParameters );

	/*
	* See comments at the top of the file for details.
	*/
	static void vRegisterCheck( void *pvParameters );

	/*
	* See comments at the top of the file for details.
	*/
	static void vFLOPCheck1( void *pvParameters );

	/*
	* See comments at the top of the file for details.
	*/
	static void vFLOPCheck2( void *pvParameters );

	/* File scope variable used to communicate the occurrence of an error between
	tasks. */
	static portBASE_TYPE xLatchedError = pdFALSE;

	/-----------------------------------------------------------/

	/*
	* Starts all the other tasks, then starts the scheduler.
	*/
	void main( void )
	{
	/* Initialise the hardware including the system clock and on board
	LED. */
	prvSetupHardware();

	/* Initialise the port that controls the external LED's utilized by the
	flash tasks. */
	vParTestInitialise();

	/* Start the used standard demo tasks. */
	vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartIntegerMathTasks( mainINTEGER_PRIORITY );
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );

	/* Start the tasks defined in this file. The first three never block so
	must not be used with the co-operative scheduler. */
	#if configUSE_PREEMPTION == 1
	{
	xTaskCreate( vRegisterCheck, "RegChck", configMINIMAL_STACK_SIZE, mainDUMMY_POINTER, tskIDLE_PRIORITY, ( TaskHandle_t * ) NULL );
	xTaskCreate( vFLOPCheck1, "FLOP", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, ( TaskHandle_t * ) NULL );
	xTaskCreate( vFLOPCheck2, "FLOP", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, ( TaskHandle_t * ) NULL );
	}
	#endif

	xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, ( TaskHandle_t * ) NULL );

	/* Finally kick off the scheduler. This function should never return. */
	vTaskStartScheduler();

	/* Should never reach here as the tasks will now be executing under control
	of the scheduler. */
	}
	/-----------------------------------------------------------/

	/*
	* Setup the hardware prior to using the scheduler. Most of the Cygnal
	* specific initialisation is performed here leaving standard 8052 setup
	* only in the driver code.
	*/
	static void prvSetupHardware( void )
	{
	unsigned char ucOriginalSFRPage;

	/* Remember the SFR page before it is changed so it can get set back
	before the function exits. */
	ucOriginalSFRPage = SFRPAGE;

	/* Setup the SFR page to access the config SFR's. */
	SFRPAGE = CONFIG_PAGE;

	/* Don't allow the microcontroller to automatically switch SFR page, as the
	SFR page is not stored as part of the task context. */
	SFRPGCN = mainAUTO_SFR_OFF;

	/* Disable the watchdog. */
	WDTCN = mainDISABLE_BYTE_1;
	WDTCN = mainDISABLE_BYTE_2;

	/* Set the on board LED to push pull. */
	P1MDOUT \|= mainPORT_1_BIT_6;

	/* Setup the cross bar to enable serial comms here as it is not part of the
	standard 8051 setup and therefore is not in the driver code. */
	XBR0 \|= mainENABLE_COMS;
	P0MDOUT \|= mainCOMS_LINES_TO_PUSH_PULL;

	/* Enable the cross bar so our hardware setup takes effect. */
	XBR2 = mainENABLE_CROSS_BAR;

	/* Setup a fast system clock. */
	prvSetupSystemClock();

	/* Return the SFR page. */
	SFRPAGE = ucOriginalSFRPage;
	}
	/-----------------------------------------------------------/

	static void prvSetupSystemClock( void )
	{
	volatile unsigned short usWait;
	const unsigned short usWaitTime = ( unsigned short ) 0x2ff;
	unsigned char ucOriginalSFRPage;

	/* Remember the SFR page so we can set it back at the end. */
	ucOriginalSFRPage = SFRPAGE;
	SFRPAGE = CONFIG_PAGE;

	/* Use the internal oscillator set to its fasted frequency. */
	OSCICN = mainSELECT_INTERNAL_OSC \| mainDIVIDE_CLOCK_BY_1;

	/* Ensure the clock is stable. */
	for( usWait = 0; usWait < usWaitTime; usWait++ );

	/* Setup the clock source for the PLL. */
	PLL0CN &= ~mainPLL_USES_INTERNAL_OSC;

	/* Change the read timing for the flash ready for the fast clock. */
	SFRPAGE = LEGACY_PAGE;
	FLSCL \|= mainFLASH_READ_TIMING;

	/* Turn on the PLL power. */
	SFRPAGE = CONFIG_PAGE;
	PLL0CN \|= mainPLL_POWER_ON;

	/* Don't predivide the clock. */
	PLL0DIV = mainPLL_NO_PREDIVIDE;

	/* Set filter for fastest clock. */
	PLL0FLT = mainPLL_FILTER;
	PLL0MUL = mainPLL_MULTIPLICATION;

	/* Ensure the clock is stable. */
	for( usWait = 0; usWait < usWaitTime; usWait++ );

	/* Enable the PLL and wait for it to lock. */
	PLL0CN \|= mainENABLE_PLL;
	for( usWait = 0; usWait < usWaitTime; usWait++ )
	{
	if( PLL0CN & mainPLL_LOCKED )
	{
	break;
	}
	}

	/* Select the PLL as the clock source. */
	CLKSEL \|= mainSELECT_PLL_AS_SOURCE;

	/* Return the SFR back to its original value. */
	SFRPAGE = ucOriginalSFRPage;
	}
	/-----------------------------------------------------------/

	static void prvToggleOnBoardLED( void )
	{
	/* If the on board LED is on, turn it off and vice versa. */
	if( P1 & ucLED_BIT )
	{
	P1 &= ~ucLED_BIT;
	}
	else
	{
	P1 \|= ucLED_BIT;
	}
	}
	/-----------------------------------------------------------/

	/*
	* See the documentation at the top of this file.
	*/
	static void vErrorChecks( void *pvParameters )
	{
	portBASE_TYPE xErrorHasOccurred = pdFALSE;

	/* Just to prevent compiler warnings. */
	( void ) pvParameters;

	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error. The delay period depends on whether an error
	has ever been detected. */
	for( ;; )
	{
	if( xLatchedError == pdFALSE )
	{
	/* No errors have been detected so delay for a longer period. The
	on board LED will get toggled every mainNO_ERROR_FLASH_PERIOD ms. */
	vTaskDelay( mainNO_ERROR_FLASH_PERIOD );
	}
	else
	{
	/* We have at some time recognised an error in one of the demo
	application tasks, delay for a shorter period. The on board LED
	will get toggled every mainERROR_FLASH_PERIOD ms. */
	vTaskDelay( mainERROR_FLASH_PERIOD );
	}



	/* Check the demo application tasks for errors. */

	if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
	{
	xErrorHasOccurred = pdTRUE;
	}

	if( xArePollingQueuesStillRunning() != pdTRUE )
	{
	xErrorHasOccurred = pdTRUE;
	}

	if( xAreComTestTasksStillRunning() != pdTRUE )
	{
	xErrorHasOccurred = pdTRUE;
	}

	if( xAreSemaphoreTasksStillRunning() != pdTRUE )
	{
	xErrorHasOccurred = pdTRUE;
	}

	/* If an error has occurred, latch it to cause the LED flash rate to
	increase. */
	if( xErrorHasOccurred == pdTRUE )
	{
	xLatchedError = pdTRUE;
	}

	/* Toggle the LED to indicate the completion of a check cycle. The
	frequency of check cycles is dependent on whether or not we have
	latched an error. */
	prvToggleOnBoardLED();
	}
	}
	/-----------------------------------------------------------/

	/*
	* See the documentation at the top of this file. Also see the standard FLOP
	* demo task documentation for the rationale of these tasks.
	*/
	static void vFLOPCheck1( void *pvParameters )
	{
	volatile portFLOAT fVal1, fVal2, fResult;

	( void ) pvParameters;

	for( ;; )
	{
	fVal1 = ( portFLOAT ) -1234.5678;
	fVal2 = ( portFLOAT ) 2345.6789;

	fResult = fVal1 + fVal2;
	if( ( fResult > ( portFLOAT ) 1111.15 ) \|\| ( fResult < ( portFLOAT ) 1111.05 ) )
	{
	mainLATCH_ERROR();
	}

	fResult = fVal1 / fVal2;
	if( ( fResult > ( portFLOAT ) -0.51 ) \|\| ( fResult < ( portFLOAT ) -0.53 ) )
	{
	mainLATCH_ERROR();
	}
	}
	}
	/-----------------------------------------------------------/

	/*
	* See the documentation at the top of this file.
	*/
	static void vFLOPCheck2( void *pvParameters )
	{
	volatile portFLOAT fVal1, fVal2, fResult;

	( void ) pvParameters;

	for( ;; )
	{
	fVal1 = ( portFLOAT ) -12340.5678;
	fVal2 = ( portFLOAT ) 23450.6789;

	fResult = fVal1 + fVal2;
	if( ( fResult > ( portFLOAT ) 11110.15 ) \|\| ( fResult < ( portFLOAT ) 11110.05 ) )
	{
	mainLATCH_ERROR();
	}

	fResult = fVal1 / -fVal2;
	if( ( fResult > ( portFLOAT ) 0.53 ) \|\| ( fResult < ( portFLOAT ) 0.51 ) )
	{
	mainLATCH_ERROR();
	}
	}
	}
	/-----------------------------------------------------------/

	/*
	* See the documentation at the top of this file.
	*/
	static void vRegisterCheck( void *pvParameters )
	{
	( void ) pvParameters;

	for( ;; )
	{
	if( SP != configSTACK_START )
	{
	mainLATCH_ERROR();
	}

	_asm
	MOV ACC, ar0
	_endasm;

	if( ACC != 0 )
	{
	mainLATCH_ERROR();
	}

	_asm
	MOV ACC, ar1
	_endasm;

	if( ACC != 1 )
	{
	mainLATCH_ERROR();
	}
	_asm
	MOV ACC, ar2
	_endasm;

	if( ACC != 2 )
	{
	mainLATCH_ERROR();
	}
	_asm
	MOV ACC, ar3
	_endasm;

	if( ACC != 3 )
	{
	mainLATCH_ERROR();
	}
	_asm
	MOV ACC, ar4
	_endasm;

	if( ACC != 4 )
	{
	mainLATCH_ERROR();
	}
	_asm
	MOV ACC, ar5
	_endasm;

	if( ACC != 5 )
	{
	mainLATCH_ERROR();
	}
	_asm
	MOV ACC, ar6
	_endasm;

	if( ACC != 6 )
	{
	mainLATCH_ERROR();
	}
	_asm
	MOV ACC, ar7
	_endasm;

	if( ACC != 7 )
	{
	mainLATCH_ERROR();
	}

	if( DPL != 0xcd )
	{
	mainLATCH_ERROR();
	}

	if( DPH != 0xab )
	{
	mainLATCH_ERROR();
	}

	if( B != 0x01 )
	{
	mainLATCH_ERROR();
	}
	}
	}