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Prepare the MSP430X IAR demo for release.

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Richard Barry 2011-01-01 11:27:48 +00:00
parent eb94f856a8
commit 34f15ddecd
12 changed files with 797 additions and 532 deletions
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293
Demo/MSP430X_MSP430F5438_IAR/main.c
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@ -51,6 +51,87 @@
licensing and training services.
*/
/*
* The documentation page for this demo available on http://www.FreeRTOS.org
* documents the hardware configuration required to run this demo. It also
* provides more information on the expected demo application behaviour.
*
* main() creates all the demo application tasks, then starts the scheduler.
* A lot of the created tasks are from the pool of "standard demo" tasks. The
* web documentation provides more details of the standard demo tasks, which
* provide no particular functionality but do provide good examples of how to
* use the FreeRTOS API.
*
* In addition to the standard demo tasks, the following tasks, interrupts and
* tests are defined and/or created within this file:
*
* "LCD" task - The LCD task is a 'gatekeeper' task. It is the only task that
* is permitted to access the LCD and therefore ensures access to the LCD is
* always serialised and there are no mutual exclusion issues. When a task or
* an interrupt wants to write to the LCD, it does not access the LCD directly
* but instead sends the message to the LCD task. The LCD task then performs
* the actual LCD output. This mechanism also allows interrupts to, in effect,
* write to the LCD by sending messages to the LCD task.
*
* The LCD task is also a demonstration of a 'controller' task design pattern.
* Some tasks do not actually send a string to the LCD task directly, but
* instead send a command that is interpreted by the LCD task. In a normal
* application these commands can be control values or set points, in this
* simple example the commands just result in messages being displayed on the
* LCD.
*
* "Button Poll" task - This task polls the state of the 'up' key on the
* joystick input device. It uses the vTaskDelay() API function to control
* the poll rate to ensure debouncing is not necessary and that the task does
* not use all the available CPU processing time.
*
* Button Interrupt and run time stats display - The select button on the
* joystick input device is configured to generate an external interrupt. The
* handler for this interrupt sends a message to LCD task, which interprets the
* message to mean, firstly write a message to the LCD, and secondly, generate
* a table of run time statistics. The run time statistics are displayed as a
* table that contains information on how much processing time each task has
* been allocated since the application started to execute. This information
* is provided both as an absolute time, and as a percentage of the total run
* time. The information is displayed in the terminal IO window of the IAR
* embedded workbench. The online documentation for this demo shows a screen
* shot demonstrating where the run time stats can be viewed.
*
* Idle Hook - The idle hook is a function that is called on each iteration of
* the idle task. In this case it is used to place the processor into a low
* power mode. Note however that this application is implemented using standard
* components, and is therefore not optimised for low power operation. Lower
* power consumption would be achieved by converting polling tasks into event
* driven tasks, and slowing the tick interrupt frequency.
*
* "Check" function called from the tick hook - The tick hook is called during
* each tick interrupt. It is called from an interrupt context so must execute
* quickly, not attempt to block, and not call any FreeRTOS API functions that
* do not end in "FromISR". In this case the tick hook executes a 'check'
* function. This only executes every five seconds. Its main function is to
* check that all the standard demo tasks are still operational. Each time it
* executes it sends a status code to the LCD task. The LCD task interprets the
* code and displays an appropriate message - which will be PASS if no tasks
* have reported any errors, or a message stating which task has reported an
* error.
*
* "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 check variable is incremented on each iteration of the
* test loop. A register containing an unexpected value is indicative of an
* error in the context switching mechanism and will result in a branch to a
* null loop - which in turn will prevent the check variable from incrementing
* any further and allow the check task (described a above) to determine that an
* error has occurred. The nature of the reg test tasks necessitates that they
* are written in assembly code.
*
* *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
* the application set up a timer to generate the tick interrupt. In this
* example a timer A0 is used for this purpose.
*
*/
/* Standard includes. */
#include <stdio.h>
@ -88,30 +169,58 @@ of the same message and indicate what the status actually is. */
to send messages from tasks and interrupts the the LCD task. */
#define mainQUEUE_LENGTH ( 5 )
/* Priorities used by the test and demo tasks. */
#define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainGENERIC_QUEUE_TEST_PRIORITY ( tskIDLE_PRIORITY )
/* The LED used by the comtest tasks. See the comtest.c file for more
information. In this case it is deliberately out of range as there are only
two LEDs, and they are both already in use. */
#define mainCOM_TEST_LED ( 3 )
information. */
#define mainCOM_TEST_LED ( 1 )
/* The baud rate used by the comtest tasks described at the top of this file. */
#define mainCOM_TEST_BAUD_RATE ( 9600 )
#define mainCOM_TEST_BAUD_RATE ( 115200 )
/* The maximum number of lines of text that can be displayed on the LCD. */
#define mainMAX_LCD_LINES ( 8 )
/*-----------------------------------------------------------*/
/*
* The reg test tasks as described at the top of this file.
*/
extern void vRegTest1Task( void *pvParameters );
extern void vRegTest2Task( void *pvParameters );
/*
* Configures clocks, LCD, port pints, etc. necessary to execute this demo.
*/
static void prvSetupHardware( void );
static void prvTerminalIOTask( void *pvParameters );
/*
* Definition of the LCD/controller task described in the comments at the top
* of this file.
*/
static void prvLCDTask( void *pvParameters );
/*
* Definition of the button poll task described in the comments at the top of
* this file.
*/
static void prvButtonPollTask( void *pvParameters );
/*
* Converts a status message value into an appropriate string for display on
* the LCD. The string is written to pcBuffer.
*/
static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue );
/*-----------------------------------------------------------*/
/* Variables that are incremented on each iteration of the reg test tasks -
provided the tasks have not reported any errors. The check task inspects these
variables to ensure they are still incrementing as expected. If a variable
stops incrementing then it is likely that its associate task has stalled. */
volatile unsigned short usRegTest1Counter = 0, usRegTest2Counter = 0;
volatile unsigned long ulStatsOverflowCount = 0;
/* The handle of the queue used to send messages from tasks and interrupts to
the LCD task. */
@ -121,19 +230,24 @@ static xQueueHandle xLCDQueue = NULL;
task. */
typedef struct
{
char cMessageID; /* << States what the message is. */
unsigned long ulMessageValue; /* << States the message value (can be an integer, string pointer, etc. depending on the value of cMessageID. */
char cMessageID; /* << States what the message is. */
unsigned long ulMessageValue; /* << States the message value (can be an integer, string pointer, etc. depending on the value of cMessageID). */
} xQueueMessage;
/*-----------------------------------------------------------*/
void main( void )
{
/* Configure the peripherals used by this demo application. This includes
configuring the joystick input select button to generate interrupts. */
prvSetupHardware();
/* Create the queue used by tasks and interrupts to send strings to the LCD
task. */
xLCDQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( xQueueMessage ) );
/* If the queue could not be created then don't create any tasks that might
attempt to use the queue. */
if( xLCDQueue != NULL )
{
/* Add the created queue to the queue registry so it can be viewed in
@ -145,22 +259,26 @@ void main( void )
vStartDynamicPriorityTasks();
vStartGenericQueueTasks( mainGENERIC_QUEUE_TEST_PRIORITY );
/* Create the terminal IO and button poll tasks, as described at the top
of this file. */
xTaskCreate( prvTerminalIOTask, ( signed char * ) "IO", configMINIMAL_STACK_SIZE * 2, NULL, mainLCD_TASK_PRIORITY, NULL );
/* Create the LCD, button poll and register test tasks, as described at
the top of this file. */
xTaskCreate( prvLCDTask, ( signed char * ) "LCD", configMINIMAL_STACK_SIZE * 2, NULL, mainLCD_TASK_PRIORITY, NULL );
xTaskCreate( prvButtonPollTask, ( signed char * ) "BPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
/* Create the register test tasks as described at the top of this file. */
xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
/* Start the scheduler. */
vTaskStartScheduler();
}
/* If all is well then this line will never be reached. If it is reached
then it is likely that there was insufficient (FreeRTOS) heap memory space
to create the idle task. This may have been trapped by the malloc() failed
hook function, if one is configured. */
for( ;; );
}
/*-----------------------------------------------------------*/
static void prvTerminalIOTask( void *pvParameters )
static void prvLCDTask( void *pvParameters )
{
xQueueMessage xReceivedMessage;
@ -192,7 +310,7 @@ unsigned char ucLine = 1;
xQueueReceive( xLCDQueue, &xReceivedMessage, portMAX_DELAY );
/* Clear the LCD if no room remains for any more text output. */
if( ucLine > 8 )
if( ucLine > mainMAX_LCD_LINES )
{
halLcdClearScreen();
ucLine = 0;
@ -225,7 +343,7 @@ unsigned char ucLine = 1;
the LCD - in this case the
pointer to the string to print
is sent directly in the
lMessageValue member of the
ulMessageValue member of the
message. This just demonstrates
a different communication
technique. */
@ -244,6 +362,9 @@ unsigned char ucLine = 1;
break;
}
/* Output the message that was placed into the cBuffer array within the
switch statement above, then move onto the next line ready for the next
message to arrive on the queue. */
halLcdPrintLine( cBuffer, ucLine, OVERWRITE_TEXT );
ucLine++;
}
@ -260,7 +381,7 @@ static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue )
break;
case mainERROR_DYNAMIC_TASKS : sprintf( pcBuffer, "Err: Dynamic tsks" );
break;
case mainERROR_COM_TEST : sprintf( pcBuffer, "Err: COM test" ); /* Error in COM test - is the Loopback connector connected? */
case mainERROR_COM_TEST : sprintf( pcBuffer, "Err: COM test" );
break;
case mainERROR_GEN_QUEUE_TEST : sprintf( pcBuffer, "Error: Gen Q test" );
break;
@ -286,6 +407,7 @@ xQueueMessage xMessage;
if( ucState != 0 )
{
/* The button was pressed. */
ucState = pdTRUE;
}
@ -307,6 +429,8 @@ xQueueMessage xMessage;
static void prvSetupHardware( void )
{
/* Convert a Hz value to a KHz value, as required by the Init_FLL_Settle()
function. */
unsigned long ulCPU_Clock_KHz = ( configCPU_CLOCK_HZ / 1000UL );
halBoardInit();
@ -316,64 +440,18 @@ unsigned long ulCPU_Clock_KHz = ( configCPU_CLOCK_HZ / 1000UL );
halButtonsInit( BUTTON_ALL );
halButtonsInterruptEnable( BUTTON_SELECT );
/* Initialise the LCD, but note that the backlight is not used as the
library function uses timer A0 to modulate the backlight, and this file
defines vApplicationSetupTimerInterrupt() to also use timer A0 to generate
the tick interrupt. If the backlight is required, then change either the
halLCD library or vApplicationSetupTimerInterrupt() to use a different
timer. Timer A1 is used for the run time stats time base6. */
halLcdInit();
halLcdBackLightInit();
halLcdSetBackLight( 0 );
halLcdSetContrast( 100 );
halLcdClearScreen();
halLcdPrintLine( " www.FreeRTOS.org", 0, OVERWRITE_TEXT );
while( ( halButtonsPressed() & BUTTON_UP ) == 0 );
}
/*-----------------------------------------------------------*/
void vApplicationSetupTimerInterrupt( void )
{
const unsigned short usACLK_Frequency_Hz = 32768;
/* Ensure the timer is stopped. */
TA0CTL = 0;
/* Run the timer from the ACLK. */
TA0CTL = TASSEL_1;
/* Clear everything to start with. */
TA0CTL |= TACLR;
/* Set the compare match value according to the tick rate we want. */
TA0CCR0 = usACLK_Frequency_Hz / configTICK_RATE_HZ;
/* Enable the interrupts. */
TA0CCTL0 = CCIE;
/* Start up clean. */
TA0CTL |= TACLR;
/* Up mode. */
TA0CTL |= MC_1;
}
/*-----------------------------------------------------------*/
void vApplicationMallocFailedHook( void )
{
for( ;; );
}
/*-----------------------------------------------------------*/
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
{
( void ) pxTask;
( void ) pcTaskName;
for( ;; );
}
/*-----------------------------------------------------------*/
void vApplicationIdleHook( void )
{
/* Want to leave the SMCLK running so the COMTest tasks don't fail. */
__bis_SR_register( LPM1_bits + GIE );
}
/*-----------------------------------------------------------*/
@ -413,8 +491,8 @@ static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };
xStatusMessage.ulMessageValue = mainERROR_GEN_QUEUE_TEST;
}
/* Check the reg test tasks are still cycling. They will stop incrementing
their loop counters if they encounter an error. */
/* Check the reg test tasks are still cycling. They will stop
incrementing their loop counters if they encounter an error. */
if( usRegTest1Counter == usLastRegTest1Counter )
{
xStatusMessage.ulMessageValue = mainERROR_REG_TEST;
@ -435,17 +513,18 @@ static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };
ulCounter = 0;
}
/* Just periodically toggle an LED to show that the tick interrupt is
running. Note that this access LED_PORT_OUT in a non-atomic way, so tasks
that access the same port must do so from a critical section. */
if( ( ulCounter & 0xff ) == 0 )
{
if( ( LED_PORT_OUT & LED_1 ) == 0 )
{
LED_PORT_OUT |= LED_1;
LED_PORT_OUT &= ~LED_2;
}
else
{
LED_PORT_OUT &= ~LED_1;
LED_PORT_OUT |= LED_2;
}
}
}
@ -473,46 +552,68 @@ portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
}
/*-----------------------------------------------------------*/
void vConfigureTimerForRunTimeStats( void )
/* The MSP430X port uses this callback function to configure its tick interrupt.
This allows the application to choose the tick interrupt source.
configTICK_INTERRUPT_VECTOR must also be set in FreeRTOSConfig.h to the correct
interrupt vector for the chosen tick interrupt source. This implementation of
vApplicationSetupTimerInterrupt() generates the tick from timer A0, so in this
case configTICK_INTERRUPT_VECTOR is set to TIMER0_A0_VECTOR. */
void vApplicationSetupTimerInterrupt( void )
{
/* Ensure the timer is stopped. */
TA1CTL = 0;
const unsigned short usACLK_Frequency_Hz = 32768;
/* Run the timer from the ACLK/4. */
TA1CTL = TASSEL_1 | ID__4;
/* Ensure the timer is stopped. */
TA0CTL = 0;
/* Run the timer from the ACLK. */
TA0CTL = TASSEL_1;
/* Clear everything to start with. */
TA1CTL |= TACLR;
TA0CTL |= TACLR;
/* Set the compare match value according to the tick rate we want. */
TA0CCR0 = usACLK_Frequency_Hz / configTICK_RATE_HZ;
/* Enable the interrupts. */
TA1CCTL0 = CCIE;
TA0CCTL0 = CCIE;
/* Start up clean. */
TA1CTL |= TACLR;
TA0CTL |= TACLR;
/* Continuous mode. */
TA1CTL |= MC__CONTINOUS;
/* Up mode. */
TA0CTL |= MC_1;
}
/*-----------------------------------------------------------*/
#pragma vector=TIMER1_A0_VECTOR
static __interrupt void prvRunTimeStatsOverflowISR( void )
void vApplicationIdleHook( void )
{
ulStatsOverflowCount++;
/* Called on each iteration of the idle task. In this case the idle task
just enters a low(ish) power mode. */
__bis_SR_register( LPM1_bits + GIE );
}
/*-----------------------------------------------------------*/
inline unsigned long ulGetRunTimeStatsTime( void )
void vApplicationMallocFailedHook( void )
{
unsigned long ulReturn;
/* Called if a call to pvPortMalloc() fails because there is insufficient
free memory available in the FreeRTOS heap. pvPortMalloc() is called
internally by FreeRTOS API functions that create tasks, queues or
semaphores. */
taskDISABLE_INTERRUPTS();
for( ;; );
}
/*-----------------------------------------------------------*/
TA1CTL &= ~MC__CONTINOUS;
ulReturn = ( ( ulStatsOverflowCount << 16UL ) | ( unsigned long ) TA1R );
TA1CTL |= MC__CONTINOUS;
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
{
( void ) pxTask;
( void ) pcTaskName;
return ulReturn;
/* Run time stack overflow checking is performed if
configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
function is called if a stack overflow is detected. */
taskDISABLE_INTERRUPTS();
for( ;; );
}
/*-----------------------------------------------------------*/