/* | |
* 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 | |
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* 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 | |
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* | |
* 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> | |
/* 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 constants used in the calculation. */ | |
#define intgCONST1 ( ( long ) 123 ) | |
#define intgCONST2 ( ( long ) 234567 ) | |
#define intgCONST3 ( ( long ) -3 ) | |
#define intgCONST4 ( ( long ) 7 ) | |
#define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 ) | |
/* | |
* 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 ); | |
portBASE_TYPE xLocalError = pdFALSE; | |
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 portTASK_FUNCTION( vErrorChecks, pvParameters ) | |
{ | |
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 ); | |
/* 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 ulLastIdleLoopCount = 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( xLocalError == pdTRUE ) | |
{ | |
sNoErrorFound = pdFALSE; | |
} | |
if( ulIdleLoops == ulLastIdleLoopCount ) | |
{ | |
sNoErrorFound = pdFALSE; | |
} | |
else | |
{ | |
ulLastIdleLoopCount = 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. This is just copied from the demo supplied by SoftBaugh | |
for the ES449 demo board. */ | |
P1SEL = 0x32; | |
P2SEL = 0x00; | |
P3SEL = 0x00; | |
P4SEL = 0xFC; | |
P5SEL = 0xFF; | |
} | |
/*-----------------------------------------------------------*/ | |
/* The idle hook is just a copy of the standard integer maths tasks. See | |
Demo/Common/integer.c for rationale. */ | |
void vApplicationIdleHook( void ) __toplevel | |
{ | |
/* These variables are all effectively set to constants so they are volatile to | |
ensure the compiler does not just get rid of them. */ | |
volatile long lValue; | |
volatile signed portBASE_TYPE *pxTaskHasExecuted; | |
/* Keep performing a calculation and checking the result against a constant. */ | |
for( ;; ) | |
{ | |
/* Perform the calculation. This will store partial value in | |
registers, resulting in a good test of the context switch mechanism. */ | |
lValue = intgCONST1; | |
lValue += intgCONST2; | |
/* Yield in case cooperative scheduling is being used. */ | |
#if configUSE_PREEMPTION == 0 | |
{ | |
taskYIELD(); | |
} | |
#endif | |
/* Finish off the calculation. */ | |
lValue *= intgCONST3; | |
lValue /= intgCONST4; | |
/* If the calculation is found to be incorrect we stop setting the | |
TaskHasExecuted variable so the check task can see an error has | |
occurred. */ | |
if( lValue != intgEXPECTED_ANSWER ) /*lint !e774 volatile used to prevent this being optimised out. */ | |
{ | |
/* Don't bother with mutual exclusion - it is only read from the | |
check task and never written. */ | |
xLocalError = pdTRUE; | |
} | |
/* Yield in case cooperative scheduling is being used. */ | |
#if configUSE_PREEMPTION == 0 | |
{ | |
taskYIELD(); | |
} | |
#endif | |
ulIdleLoops++; | |
/* Place the processor into low power mode. */ | |
LPM3; | |
} | |
} | |