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Before changing headers to V6 and changing portLONG, portSHORt and portCHAR to their standard C types.
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Richard Barry
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20091005/Demo/ARM7_LPC2138_Rowley/main.c
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20091005/Demo/ARM7_LPC2138_Rowley/main.c
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/*
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FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation and modified by the FreeRTOS exception.
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**NOTE** The exception to the GPL is included to allow you to distribute a
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combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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Alternative commercial license and support terms are also available upon
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request. See the licensing section of http://www.FreeRTOS.org for full
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license details.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details.
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You should have received a copy of the GNU General Public License along
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with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
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Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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***************************************************************************
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* *
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* Looking for a quick start? Then check out the FreeRTOS eBook! *
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* See http://www.FreeRTOS.org/Documentation for details *
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* *
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***************************************************************************
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1 tab == 4 spaces!
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Please ensure to read the configuration and relevant port sections of the
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online documentation.
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/*
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* This file contains a demo created to execute on the Rowley Associates
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* LPC2138 CrossFire development board.
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*
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* main() creates all the demo application tasks, then starts the scheduler.
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* The WEB documentation provides more details of the standard demo application
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* tasks.
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*
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* Main.c also creates a task called "Check". This only executes every few
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* seconds but has a high priority so is guaranteed to get processor time.
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* Its function is to check that all the other tasks are still operational.
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* Each standard demo task maintains a unique count that is incremented each
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* time the task successfully completes its function. Should any error occur
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* within such a task the count is permanently halted. The check task inspects
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* the count of each task to ensure it has changed since the last time the
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* check task executed. If all the count variables have changed all the tasks
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* are still executing error free, and the check task writes "PASS" to the
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* CrossStudio terminal IO window. Should any task contain an error at any time
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* the error is latched and "FAIL" written to the terminal IO window.
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*
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* Finally, main() sets up an interrupt service routine and task to handle
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* pushes of the button that is built into the CrossFire board. When the button
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* is pushed the ISR wakes the button task - which generates a table of task
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* status information which is also displayed on the terminal IO window.
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*
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* A print task is defined to ensure exclusive and consistent access to the
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* terminal IO. This is the only task that is allowed to access the terminal.
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* The check and button task therefore do not access the terminal directly but
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* instead pass a pointer to the message they wish to display to the print task.
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*/
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/* Standard includes. */
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#include <__cross_studio_io.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "semphr.h"
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/* Demo app includes. */
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#include "BlockQ.h"
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#include "death.h"
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#include "dynamic.h"
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#include "integer.h"
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#include "PollQ.h"
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#include "blocktim.h"
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#include "recmutex.h"
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#include "semtest.h"
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/* Hardware configuration definitions. */
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#define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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#define mainLED_BIT 0x80000000
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#define mainP0_14__EINT_1 ( 2 << 28 )
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#define mainEINT_1_EDGE_SENSITIVE 2
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#define mainEINT_1_FALLING_EDGE_SENSITIVE 0
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#define mainEINT_1_CHANNEL 15
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#define mainEINT_1_VIC_CHANNEL_BIT ( 1 << mainEINT_1_CHANNEL )
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#define mainEINT_1_ENABLE_BIT ( 1 << 5 )
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/* Demo application definitions. */
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#define mainQUEUE_SIZE ( 3 )
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#define mainLED_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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#define mainERROR_LED_DELAY ( ( portTickType ) 50 / portTICK_RATE_MS )
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#define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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#define mainLIST_BUFFER_SIZE 2048
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#define mainNO_DELAY ( 0 )
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#define mainSHORT_DELAY ( 150 / portTICK_RATE_MS )
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/* Task priorities. */
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#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainPRINT_TASK_PRIORITY ( tskIDLE_PRIORITY + 0 )
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/*-----------------------------------------------------------*/
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/* The semaphore used to wake the button task from within the external interrupt
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handler. */
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xSemaphoreHandle xButtonSemaphore;
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/* The queue that is used to send message to vPrintTask for display in the
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terminal output window. */
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xQueueHandle xPrintQueue;
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/* The rate at which the LED will toggle. The toggle rate increases if an
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error is detected in any task. */
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static portTickType xLED_Delay = mainLED_DELAY;
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/*-----------------------------------------------------------*/
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/*
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* Simply flashes the on board LED every mainLED_DELAY milliseconds.
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*/
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static void vLEDTask( void *pvParameters );
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/*
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* Checks the status of all the demo tasks then prints a message to the
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* CrossStudio terminal IO windows. The message will be either PASS or FAIL
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* depending on the status of the demo applications tasks. A FAIL status will
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* be latched.
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*
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* Messages are not written directly to the terminal, but passed to vPrintTask
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* via a queue.
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*/
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static void vCheckTask( void *pvParameters );
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/*
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* Controls all terminal output. If a task wants to send a message to the
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* terminal IO it posts a pointer to the text to vPrintTask via a queue. This
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* ensures serial access to the terminal IO.
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*/
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static void vPrintTask( void *pvParameter );
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/*
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* Simply waits for an interrupt to be generated from the built in button, then
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* generates a table of tasks states that is then written by vPrintTask to the
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* terminal output window within CrossStudio.
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*/
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static void vButtonHandlerTask( void *pvParameters );
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/*-----------------------------------------------------------*/
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int main( void )
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{
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/* Setup the peripheral bus to be the same as the PLL output. */
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VPBDIV = mainBUS_CLK_FULL;
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/* Create the queue used to pass message to vPrintTask. */
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xPrintQueue = xQueueCreate( mainQUEUE_SIZE, sizeof( portCHAR * ) );
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/* Create the semaphore used to wake vButtonHandlerTask(). */
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vSemaphoreCreateBinary( xButtonSemaphore );
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xSemaphoreTake( xButtonSemaphore, 0 );
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/* Start the standard demo tasks. */
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartDynamicPriorityTasks();
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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#if configUSE_PREEMPTION == 1
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{
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/* The timing of console output when not using the preemptive
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scheduler causes the block time tests to detect a timing problem. */
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vCreateBlockTimeTasks();
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}
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#endif
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vStartRecursiveMutexTasks();
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/* Start the tasks defined within this file. */
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xTaskCreate( vLEDTask, ( signed char * ) "LED", configMINIMAL_STACK_SIZE, NULL, mainLED_TASK_PRIORITY, NULL );
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xTaskCreate( vCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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xTaskCreate( vPrintTask, ( signed char * ) "Print", configMINIMAL_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );
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xTaskCreate( vButtonHandlerTask, ( signed char * ) "Button", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Start the scheduler. */
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vTaskStartScheduler();
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/* The scheduler should now be running, so we will only ever reach here if we
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ran out of heap space. */
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return 0;
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}
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/*-----------------------------------------------------------*/
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static void vLEDTask( void *pvParameters )
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{
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/* Just to remove compiler warnings. */
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( void ) pvParameters;
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/* Configure IO. */
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IO0DIR |= mainLED_BIT;
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IO0SET = mainLED_BIT;
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for( ;; )
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{
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/* Not very exiting - just delay... */
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vTaskDelay( xLED_Delay );
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/* ...set the IO ... */
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IO0CLR = mainLED_BIT;
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/* ...delay again... */
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vTaskDelay( xLED_Delay );
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/* ...then clear the IO. */
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IO0SET = mainLED_BIT;
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}
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}
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/*-----------------------------------------------------------*/
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static void vCheckTask( void *pvParameters )
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{
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portBASE_TYPE xErrorOccurred = pdFALSE;
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portTickType xLastExecutionTime;
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const portCHAR * const pcPassMessage = "PASS\n";
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const portCHAR * const pcFailMessage = "FAIL\n";
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/* Just to remove compiler warnings. */
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( void ) pvParameters;
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/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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works correctly. */
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xLastExecutionTime = xTaskGetTickCount();
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for( ;; )
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{
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/* Perform this check every mainCHECK_DELAY milliseconds. */
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vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );
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/* Has an error been found in any task? */
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE;
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}
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE;
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE;
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}
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if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE;
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE;
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}
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#if configUSE_PREEMPTION == 1
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{
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/* The timing of console output when not using the preemptive
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scheduler causes the block time tests to detect a timing problem. */
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if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE;
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}
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}
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#endif
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if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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xErrorOccurred = pdTRUE;
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}
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/* Send either a pass or fail message. If an error is found it is
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never cleared again. */
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if( xErrorOccurred == pdTRUE )
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{
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xLED_Delay = mainERROR_LED_DELAY;
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xQueueSend( xPrintQueue, &pcFailMessage, portMAX_DELAY );
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}
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else
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{
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xQueueSend( xPrintQueue, &pcPassMessage, portMAX_DELAY );
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}
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}
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}
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/*-----------------------------------------------------------*/
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static void vPrintTask( void *pvParameters )
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{
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portCHAR *pcMessage;
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/* Just to stop compiler warnings. */
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( void ) pvParameters;
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for( ;; )
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{
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/* Wait for a message to arrive. */
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while( xQueueReceive( xPrintQueue, &pcMessage, portMAX_DELAY ) != pdPASS );
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/* Write the message to the terminal IO. */
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#ifndef NDEBUG
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debug_printf( "%s", pcMessage );
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#endif
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}
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}
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/*-----------------------------------------------------------*/
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static void vButtonHandlerTask( void *pvParameters )
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{
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static signed portCHAR cListBuffer[ mainLIST_BUFFER_SIZE ];
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const signed portCHAR *pcList = &( cListBuffer[ 0 ] );
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const portCHAR * const pcHeader = "\nTask State Priority Stack #\n************************************************";
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extern void (vButtonISRWrapper) ( void );
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/* Just to stop compiler warnings. */
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( void ) pvParameters;
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/* Configure the interrupt. */
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portENTER_CRITICAL();
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{
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/* Configure P0.14 to generate interrupts. */
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PINSEL0 |= mainP0_14__EINT_1;
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EXTMODE = mainEINT_1_EDGE_SENSITIVE;
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EXTPOLAR = mainEINT_1_FALLING_EDGE_SENSITIVE;
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/* Setup the VIC for EINT 1. */
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VICIntSelect &= ~mainEINT_1_VIC_CHANNEL_BIT;
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VICIntEnable |= mainEINT_1_VIC_CHANNEL_BIT;
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VICVectAddr1 = ( portLONG ) vButtonISRWrapper;
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VICVectCntl1 = mainEINT_1_ENABLE_BIT | mainEINT_1_CHANNEL;
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}
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portEXIT_CRITICAL();
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for( ;; )
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{
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/* For debouncing, wait a while then clear the semaphore. */
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vTaskDelay( mainSHORT_DELAY );
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xSemaphoreTake( xButtonSemaphore, mainNO_DELAY );
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/* Wait for an interrupt. */
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xSemaphoreTake( xButtonSemaphore, portMAX_DELAY );
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/* Send the column headers to the print task for display. */
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xQueueSend( xPrintQueue, &pcHeader, portMAX_DELAY );
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/* Create the list of task states. */
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vTaskList( cListBuffer );
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/* Send the task status information to the print task for display. */
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xQueueSend( xPrintQueue, &pcList, portMAX_DELAY );
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}
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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{
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/* Check pcTaskName for the name of the offending task, or pxCurrentTCB
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if pcTaskName has itself been corrupted. */
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( void ) pxTask;
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( void ) pcTaskName;
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for( ;; );
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}
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