/* | |
FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd. | |
*************************************************************************** | |
* * | |
* FreeRTOS tutorial books are available in pdf and paperback. * | |
* Complete, revised, and edited pdf reference manuals are also * | |
* available. * | |
* * | |
* Purchasing FreeRTOS documentation will not only help you, by * | |
* ensuring you get running as quickly as possible and with an * | |
* in-depth knowledge of how to use FreeRTOS, it will also help * | |
* the FreeRTOS project to continue with its mission of providing * | |
* professional grade, cross platform, de facto standard solutions * | |
* for microcontrollers - completely free of charge! * | |
* * | |
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< * | |
* * | |
* Thank you for using FreeRTOS, and thank you for your support! * | |
* * | |
*************************************************************************** | |
This file is part of the FreeRTOS distribution. | |
FreeRTOS is free software; you can redistribute it and/or modify it under | |
the terms of the GNU General Public License (version 2) as published by the | |
Free Software Foundation AND MODIFIED BY the FreeRTOS exception. | |
>>>NOTE<<< The modification to the GPL is included to allow you to | |
distribute a combined work that includes FreeRTOS without being obliged to | |
provide the source code for proprietary components outside of the FreeRTOS | |
kernel. FreeRTOS is distributed in the hope that it will be useful, but | |
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY | |
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for | |
more details. You should have received a copy of the GNU General Public | |
License and the FreeRTOS license exception along with FreeRTOS; if not it | |
can be viewed here: http://www.freertos.org/a00114.html and also obtained | |
by writing to Richard Barry, contact details for whom are available on the | |
FreeRTOS WEB site. | |
1 tab == 4 spaces! | |
http://www.FreeRTOS.org - Documentation, latest information, license and | |
contact details. | |
http://www.SafeRTOS.com - A version that is certified for use in safety | |
critical systems. | |
http://www.OpenRTOS.com - Commercial support, development, porting, | |
licensing and training services. | |
*/ | |
/* | |
* Creates all the demo application tasks, then starts the scheduler. The WEB | |
* documentation provides more details of the standard demo application tasks. | |
* In addition to the standard demo tasks, the following tasks and tests are | |
* defined and/or created within this file: | |
* | |
* "Check" task - This only executes every three seconds but has a high priority | |
* to ensure it gets processor time. Its main function is to check that all the | |
* standard demo tasks are still operational. If everything is running as | |
* expected then the check task will toggle an LED every 3 seconds. An error | |
* being discovered in any task will cause the toggle rate to increase to 500ms. | |
* | |
* "Reg test" tasks - These fill the registers with known values, then check | |
* that each register still contains its expected value. Each task uses | |
* different values. The tasks run with very low priority so get preempted very | |
* frequently. A register containing an unexpected value is indicative of an | |
* error in the context switching mechanism. | |
* | |
* | |
* Also in addition to the standard demo tasks is a button push task. This is | |
* a very basic task that is included as an example of how to write an interrupt | |
* service routine that interacts with a task. The button on the target board | |
* is used to generate an interrupt that 'gives' a semaphore in order to unblock | |
* a task. In doing so the task is synchronised with the interrupt. Each time | |
* the task unblocks it simply toggles an LED before entering the Blocked state | |
* again to wait for the next button push. | |
*/ | |
/* Standard includes. */ | |
#include <stdlib.h> | |
#include <string.h> | |
/* Scheduler include files. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Standard demo file headers. */ | |
#include "PollQ.h" | |
#include "semtest.h" | |
#include "GenQTest.h" | |
#include "dynamic.h" | |
#include "blocktim.h" | |
/* | |
* Priority definitions for most of the tasks in the demo application. Some | |
* tasks just use the idle priority. | |
*/ | |
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainSEMTEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainBUTTON_PRIORITY ( configMAX_PRIORITIES - 1 ) | |
#define mainGEN_QUEUE_PRIORITY ( tskIDLE_PRIORITY ) | |
/* The period between executions of the check task. */ | |
#define mainNO_ERROR_TOGGLE_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS ) | |
#define mainERROR_TOGGLE_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS ) | |
/* The LED toggled by the check task. */ | |
#define mainLED_0 P7_bit.no6 | |
/* A value that is passed in as the parameter to the 'check' task. This is done | |
purely to check that the parameter passing mechanism is functioning correctly. */ | |
#define mainCHECK_PARAMETER_VALUE ( 0x5678 ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* The function that defines the 'check' task as described at the top of this | |
* file. | |
*/ | |
static void vErrorChecks( void *pvParameters ); | |
/* | |
* This function is called from the C startup routine to setup the processor - | |
* in particular the clock source. | |
*/ | |
int __low_level_init(void); | |
/* | |
* Functions that define the RegTest tasks as described at the top of this file. | |
*/ | |
extern void vRegTest1( void *pvParameters ); | |
extern void vRegTest2( void *pvParameters ); | |
/* | |
* Function that defines the button push task as described at the top of this | |
* file. | |
*/ | |
extern void vButtonTask( void *pvParameters ); | |
/*-----------------------------------------------------------*/ | |
/* If an error is discovered by one of the RegTest tasks then this flag is set | |
to pdFAIL. The 'check' task then inspects this flag to detect errors within | |
the RegTest tasks. */ | |
static short sRegTestStatus = pdPASS; | |
/* 78K0R Option Byte Definition. Watchdog disabled, LVI enabled, OCD interface | |
enabled. */ | |
__root __far const unsigned portCHAR OptionByte[] @ 0x00C0 = | |
{ | |
WATCHDOG_DISABLED, LVI_ENABLED, RESERVED_FF, OCD_ENABLED | |
}; | |
/* Security byte definition */ | |
__root __far const unsigned portCHAR SecuIDCode[] @ 0x00C4 = | |
{ | |
0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff | |
}; | |
/*-----------------------------------------------------------*/ | |
short main( void ) | |
{ | |
/* Creates all the tasks, then starts the scheduler. */ | |
/* First create the 'standard demo' tasks. These are used to demonstrate | |
API functions being used and also to test the kernel port. More information | |
is provided on the FreeRTOS.org WEB site. */ | |
vStartDynamicPriorityTasks(); | |
/* Create the RegTest tasks as described at the top of this file. */ | |
xTaskCreate( vRegTest1, "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL ); | |
xTaskCreate( vRegTest2, "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL ); | |
/* Create the button push task as described at the top of this file. */ | |
xTaskCreate( vButtonTask, "Button", configMINIMAL_STACK_SIZE, NULL, mainBUTTON_PRIORITY, NULL ); | |
/* Create the 'check' task as described at the top of this file. */ | |
xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, ( void* )mainCHECK_PARAMETER_VALUE, mainCHECK_TASK_PRIORITY, NULL ); | |
#ifdef __IAR_78K0R_Kx3__ | |
{ | |
/* The Kx3 has enough RAM to create more of the standard demo tasks. */ | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
vStartSemaphoreTasks(mainSEMTEST_PRIORITY); | |
vStartGenericQueueTasks( mainGEN_QUEUE_PRIORITY ); | |
vCreateBlockTimeTasks(); | |
} | |
#endif | |
/* Finally start the scheduler running. */ | |
vTaskStartScheduler(); | |
/* If this line is reached then vTaskStartScheduler() returned because there | |
was insufficient heap memory remaining for the idle task to be created. */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void vErrorChecks( void *pvParameters ) | |
{ | |
portTickType xToggleRate = mainNO_ERROR_TOGGLE_PERIOD, xLastWakeTime; | |
/* Ensure the parameter was passed in as expected. This is just a test of | |
the kernel port, the parameter is not actually used for anything. The | |
pointer will only actually be either 3 or 2 bytes, depending on the memory | |
model. */ | |
if( pvParameters != ( void * ) mainCHECK_PARAMETER_VALUE ) | |
{ | |
xToggleRate = mainERROR_TOGGLE_PERIOD; | |
} | |
/* Initialise xLastWakeTime before it is used. After this point it is not | |
written to directly. */ | |
xLastWakeTime = xTaskGetTickCount(); | |
/* Cycle for ever, delaying then checking all the other tasks are still | |
operating without error. */ | |
for( ;; ) | |
{ | |
/* Wait until it is time to check all the other tasks again. */ | |
vTaskDelayUntil( &xLastWakeTime, xToggleRate ); | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
xToggleRate = mainERROR_TOGGLE_PERIOD; | |
} | |
if( sRegTestStatus != pdPASS ) | |
{ | |
xToggleRate = mainERROR_TOGGLE_PERIOD; | |
} | |
#ifdef __IAR_78K0R_Kx3__ | |
{ | |
/* Only the Kx3 runs all the tasks. */ | |
if( xArePollingQueuesStillRunning() != pdTRUE) | |
{ | |
xToggleRate = mainERROR_TOGGLE_PERIOD; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdTRUE) | |
{ | |
xToggleRate = mainERROR_TOGGLE_PERIOD; | |
} | |
if( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
{ | |
xToggleRate = mainERROR_TOGGLE_PERIOD; | |
} | |
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) | |
{ | |
xToggleRate = mainERROR_TOGGLE_PERIOD; | |
} | |
} | |
#endif | |
/* Toggle the LED. The toggle rate will depend on whether or not an | |
error has been found in any tasks. */ | |
mainLED_0 = !mainLED_0; | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
int __low_level_init(void) | |
{ | |
unsigned portCHAR ucResetFlag = RESF; | |
portDISABLE_INTERRUPTS(); | |
/* Clock Configuration: | |
In this port, to use the internal high speed clock source of the microcontroller | |
define the configCLOCK_SOURCE as 1 in FreeRTOSConfig.h. To use an external | |
clock define configCLOCK_SOURCE as 0. */ | |
#if configCLOCK_SOURCE == 1 | |
{ | |
/* Set XT1 and XT2 in Input Port Mode | |
Set X1 and X2 in Input Port Mode | |
High speed oscillator frequency 2MHz <= fMX <= 10MHz */ | |
CMC = 0x00; | |
/* X1 external oszillation stopped. */ | |
MSTOP = 1; | |
/* Enable internal high speed oszillation. */ | |
HIOSTOP = 0; | |
MCM0 = 0; | |
/* Stop internal subsystem clock. */ | |
XTSTOP = 1; | |
/* Set clock speed. */ | |
CSS = 0; | |
CKC &= (unsigned portCHAR)~0x07; | |
CKC |= 0x00; | |
} | |
#else | |
{ | |
/* XT1 and XT2 pin in input port mode | |
X1 and X2 pin in crystal resonator mode | |
High speed oszillation frequency 10MHz < fMX <= 20MHz */ | |
CMC = 0x41; | |
/* Set oscillation stabilization time. */ | |
OSTS = 0x07; | |
/* Set speed mode: fMX > 10MHz for Flash memory high speed operation. */ | |
OSMC = 0x01; | |
/* Start up X1 oscillator operation | |
Internal high-speed oscillator operating. */ | |
MSTOP = 0; | |
/* Check oscillation stabilization time status. */ | |
while(OSTC < 0x07) | |
{ | |
/* Wait until X1 clock stabilization time. */ | |
portNOP(); | |
} | |
/* Switch CPU clock to X1 oscillator. */ | |
MCM0 = 1; | |
while(MCS != 1) | |
{ | |
/* Wait until CPU and peripherals operate with fX1 clock. */ | |
portNOP(); | |
} | |
/* Stop the internal high-speed oscillator operation. */ | |
HIOSTOP = 1; | |
/* Stop the XT1 oscillator operation. */ | |
XTSTOP = 1; | |
/* Operating frequency f = fx | |
Change clock generator setting, if necessary. */ | |
CKC &= 0xF8; | |
/* From here onwards the X1 oscillator is supplied to the CPU. */ | |
} | |
#endif | |
/* LED port initialization - set port register. */ | |
P7 = 0x80; | |
/* Set port mode register. */ | |
PM7 = 0x3F; | |
/* Switch pin initialization - enable pull-up resistor. */ | |
PU12_bit.no0 = 1; | |
/* INTP0 is used by the button on the target board. */ | |
/* INTP0 disable. */ | |
PMK0 = 1; | |
/* INTP0 IF clear. */ | |
PIF0 = 0; | |
EGN0_bit.no0 = 1; | |
/* INTP0 priority low. */ | |
PPR10 = 0; | |
PPR00 = 1; | |
/* Enable ext. INTP0 interrupt */ | |
PMK0 = 0; | |
return pdTRUE; | |
} | |
/*-----------------------------------------------------------*/ | |
void vRegTestError( void ) | |
{ | |
/* Called by the RegTest tasks if an error is found. lRegTestStatus is | |
inspected by the check task. */ | |
sRegTestStatus = pdFAIL; | |
/* Do not return from here as the reg test tasks clobber all registers so | |
function calls may not function correctly. */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationStackOverflowHook( void ) | |
{ | |
/* This will get called if an overflow is detected in the stack of a task. | |
Inspect pxCurrentTCB to see which was the offending task. */ | |
for( ;; ); | |
} | |