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Add PIC32 code.
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Richard Barry
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362
Demo/PIC32MX_MPLAB/main.c
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362
Demo/PIC32MX_MPLAB/main.c
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/*
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FreeRTOS.org V4.6.1 - Copyright (C) 2003-2007 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS.org is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS.org; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS.org, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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See http://www.FreeRTOS.org for documentation, latest information, license
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and contact details. Please ensure to read the configuration and relevant
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port sections of the online documentation.
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Also see http://www.SafeRTOS.com a version that has been certified for use
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in safety critical systems, plus commercial licensing, development and
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support options.
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***************************************************************************
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*/
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/*
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* Creates all the demo application tasks, then starts the scheduler. The WEB
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* documentation provides more details of the standard demo application tasks.
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* In addition to the standard demo tasks, the following tasks and tests are
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* defined and/or created within this file:
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*
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* "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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* using a free running timer to demonstrate the use of the
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* configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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* service routine measures the number of processor clocks that occur between
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* each interrupt - and in so doing measures the jitter in the interrupt timing.
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* The maximum measured jitter time is latched in the ulMaxJitter variable, and
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* displayed on the LCD display by the 'LCD' task as described below. The
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* fast interrupt is configured and handled in the timertest.c source file.
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*
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* "LCD" task - the LCD task is a 'gatekeeper' task. It is the only task that
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* is permitted to access the display directly. Other tasks wishing to write a
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* message to the LCD send the message on a queue to the LCD task instead of
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* accessing the LCD themselves. The LCD task just blocks on the queue waiting
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* for messages - waking and displaying the messages as they arrive.
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*
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* "Check" task - This only executes every three seconds but has the highest
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* priority so is guaranteed to get processor time. Its main function is to
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* check that all the standard demo tasks are still operational. Should any
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* unexpected behaviour within a demo task be discovered the check task will
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* write an error to the LCD (via the LCD task). If all the demo tasks are
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* executing with their expected behaviour then the check task writes the
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* maximum jitter time to the LCD (as described above) - again via the LCD task.
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*
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* "Register test" tasks - These tasks are used in part to test the kernel port.
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* They set each processor register to a known value, then check that the
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* register still contains that value. Each of the tasks sets the registers
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* to different values, and will get swapping in and out between setting and
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* then subsequently checking the register values. Discovery of an incorrect
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* value would be indicative of an error in the task switching mechanism.
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*/
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/* Standard includes. */
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#include <stdio.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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/* Demo application includes. */
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#include "partest.h"
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#include "integer.h"
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#include "blocktim.h"
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#include "flash.h"
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#include "semtest.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "lcd.h"
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#include "comtest2.h"
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#include "timertest.h"
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#pragma config FPLLMUL = MUL_18, FPLLIDIV = DIV_2, FPLLODIV = DIV_1, FWDTEN = OFF
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#pragma config POSCMOD = HS, FNOSC = PRIPLL, FPBDIV = DIV_2
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/*-----------------------------------------------------------*/
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/* The rate at which the LED controlled by the 'check' task will flash when no
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errors have been detected. */
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#define mainNO_ERROR_PERIOD ( 3000 / portTICK_RATE_MS )
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/* The rate at which the LED controlled by the 'check' task will flash when an
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error has been detected. */
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#define mainERROR_PERIOD ( 500 )
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/* The priorities of the various demo application tasks. */
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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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 mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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/* The LED controlled by the 'check' task. */
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#define mainCHECK_LED ( 7 )
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/* The LED used by the comtest tasks. mainCOM_TEST_LED + 1 is also used.
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See the comtest.c file for more information. */
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#define mainCOM_TEST_LED ( 4 )
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/* Baud rate used by the comtest tasks. */
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#define mainCOM_TEST_BAUD_RATE ( 115200 )
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/* Misc. */
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#define mainDONT_WAIT ( 0 )
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/* Dimension the buffer used to hold the value of the maximum jitter time when
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it is converted to a string. */
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#define mainMAX_STRING_LENGTH ( 20 )
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/* The frequency at which the "fast interrupt test" interrupt will occur. */
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#define mainTEST_INTERRUPT_FREQUENCY ( 20000 )
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/* The number of timer clocks we expect to occur between each "fast
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interrupt test" interrupt. */
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#define mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ( ( configCPU_CLOCK_HZ >> 1 ) / mainTEST_INTERRUPT_FREQUENCY )
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/* The number of nano seconds between each core clock. */
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#define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) ( configCPU_CLOCK_HZ >> 1 ) ) * 1000000000.0 ) )
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/*-----------------------------------------------------------*/
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/*
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* Setup the processor ready for the demo.
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*/
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static void prvSetupHardware( void );
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/*
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* Implements the 'check' task functionality as described at the top of this
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* file.
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*/
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static void prvCheckTask( void *pvParameters ) __attribute__((noreturn));
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/*
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* Tasks that test the context switch mechanism by filling the processor
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* registers with known values, then checking that the values contained
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* within the registers is as expected. The tasks are likely to get swapped
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* in and out between setting the register values and checking the register
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* values. */
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static void prvTestTask1( void *pvParameters );
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static void prvTestTask2( void *pvParameters );
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/*-----------------------------------------------------------*/
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/* The queue used to send messages to the LCD task. */
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static xQueueHandle xLCDQueue;
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/* Flag used by prvTestTask1() and prvTestTask2() to indicate their status
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(pass/fail). */
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unsigned portLONG ulStatus1 = pdPASS;
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/* Variables incremented by prvTestTask1() and prvTestTask2() respectively on
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each iteration of their function. This is used to detect either task stopping
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their execution.. */
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unsigned portLONG ulRegTest1Cycles = 0, ulRegTest2Cycles = 0;
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/*-----------------------------------------------------------*/
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/*
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* Create the demo tasks then start the scheduler.
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*/
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int main( void )
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{
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/* Configure any hardware required for this demo. */
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prvSetupHardware();
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/* Create the LCD task - this returns the queue to use when writing
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messages to the LCD. */
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xLCDQueue = xStartLCDTask();
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/* Create all the other standard demo tasks. */
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vStartLEDFlashTasks( tskIDLE_PRIORITY );
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vCreateBlockTimeTasks();
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartQueuePeekTasks();
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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/* Create the tasks defined within this file. */
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xTaskCreate( prvTestTask1, "Tst1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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xTaskCreate( prvTestTask2, "Tst2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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/* prvCheckTask uses sprintf so requires more stack. */
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xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE * 2, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Setup the high frequency, high priority, timer test. */
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vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );
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/* Finally start the scheduler. */
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vTaskStartScheduler();
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/* Will only reach here if there is insufficient heap available to start
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the scheduler. */
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return 0;
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}
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/*-----------------------------------------------------------*/
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static void prvTestTask1( void *pvParameters )
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{
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extern void vRegTest1( unsigned long * );
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for( ;; )
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{
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/* Perform the register test function. */
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vRegTest1( &ulStatus1 );
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/* Increment the counter so the check task knows we are still
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running. */
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ulRegTest1Cycles++;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvTestTask2( void *pvParameters )
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{
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extern void vRegTest2( unsigned long * );
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for( ;; )
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{
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/* Perform the register test function. */
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vRegTest2( &ulStatus1 );
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/* Increment the counter so the check task knows we are still
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running. */
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ulRegTest2Cycles++;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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/* Set the system and peripheral bus speeds and enable the program cache*/
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SYSTEMConfigPerformance( configCPU_CLOCK_HZ );
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/* Setup to use the external interrupt controller. */
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INTEnableSystemMultiVectoredInt();
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portDISABLE_INTERRUPTS();
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/* Setup the digital IO for the LED's. */
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vParTestInitialise();
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTask( void *pvParameters )
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{
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unsigned portLONG ulLastRegTest1Value = 0, ulLastRegTest2Value = 0, ulTicksToWait = mainNO_ERROR_PERIOD;
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portTickType xLastExecutionTime;
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/* Buffer into which the maximum jitter time is written as a string. */
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static portCHAR cStringBuffer[ mainMAX_STRING_LENGTH ];
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/* The maximum jitter time measured by the fast interrupt test. */
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extern unsigned portLONG ulMaxJitter ;
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xLCDMessage xMessage = { ( 200 / portTICK_RATE_MS ), cStringBuffer };
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/* Initialise the variable used to control our iteration rate prior to
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its first use. */
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xLastExecutionTime = xTaskGetTickCount();
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for( ;; )
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{
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/* Wait until it is time to run the tests again. */
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vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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/* Has either register check 1 or 2 task discovered an error? */
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if( ulStatus1 != pdPASS )
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{
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ulTicksToWait = mainERROR_PERIOD;
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xMessage.pcMessage = "Error: Reg test1";
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}
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/* Check that the register test 1 task is still running. */
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if( ulLastRegTest1Value == ulRegTest1Cycles )
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{
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ulTicksToWait = mainERROR_PERIOD;
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xMessage.pcMessage = "Error: Reg test2";
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}
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ulLastRegTest1Value = ulRegTest1Cycles;
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/* Check that the register test 2 task is still running. */
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if( ulLastRegTest2Value == ulRegTest2Cycles )
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{
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ulTicksToWait = mainERROR_PERIOD;
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xMessage.pcMessage = "Error: Reg test3";
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}
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ulLastRegTest2Value = ulRegTest2Cycles;
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/* Have any of the standard demo tasks detected an error in their
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operation? */
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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xMessage.pcMessage = "Error: Gen Q";
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}
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else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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xMessage.pcMessage = "Error: Q Peek";
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}
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else if( xAreComTestTasksStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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xMessage.pcMessage = "Error: COM test";
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}
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else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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xMessage.pcMessage = "Error: Blck time";
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}
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else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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xMessage.pcMessage = "Error: Sem test";
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}
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else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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xMessage.pcMessage = "Error: Int math";
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}
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/* Write the max jitter time to the string buffer. It will only be
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displayed if no errors have been detected. */
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sprintf( cStringBuffer, "%dns max jitter", ( int ) ( ( ulMaxJitter - mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ) * mainNS_PER_CLOCK ) );
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xQueueSend( xLCDQueue, &xMessage, mainDONT_WAIT );
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vParTestToggleLED( mainCHECK_LED );
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}
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}
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/*-----------------------------------------------------------*/
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void vApplicationGeneralExceptionHandler( unsigned portLONG ulCause, unsigned portLONG ulStatus )
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{
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/* This overrides the definition provided by the kernel. Other exceptions
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should be handled here. */
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for( ;; );
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}
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