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Richard Barry 2008-02-12 17:37:03 +00:00
parent 1eb00d2045
commit b31c9e18f9
1 changed files with 203 additions and 180 deletions
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283
Demo/MB96340_Softune/FreeRTOS_96348hs_SK16FX100PMC/Src/MAIN.C
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@ -1,7 +1,45 @@
/* THIS SAMPLE CODE IS PROVIDED AS IS AND IS SUBJECT TO ALTERATIONS. FUJITSU */ /*
/* MICROELECTRONICS ACCEPTS NO RESPONSIBILITY OR LIABILITY FOR ANY ERRORS OR */ FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
/* ELIGIBILITY FOR ANY PURPOSES. */
/* (C) Fujitsu Microelectronics Europe GmbH */ This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org 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
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
Please ensure to read the configuration and relevant port sections of the
online documentation.
+++ 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.
***************************************************************************
*/
/*--------------------------------------------------------------------------- /*---------------------------------------------------------------------------
MAIN.C MAIN.C
- description - description
@ -41,14 +79,16 @@ 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 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 rate is increased to 500 milliseconds. [in this case the '*' characters on the
LCD represent LED's]*/ LCD represent LED's]*/
#define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS ) #define mainNO_ERROR_CHECK_DELAY ( (portTickType) 3000 / portTICK_RATE_MS )
#define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS ) #define mainERROR_CHECK_DELAY ( (portTickType) 500 / portTICK_RATE_MS )
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
#define ledNUMBER_OF_LEDS 8 #define ledNUMBER_OF_LEDS 8
#define mainCOM_TEST_LED 0x05 #define mainCOM_TEST_LED 0x05
#define mainCHECK_TEST_LED 0x07 #define mainCHECK_TEST_LED 0x07
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
/* /*
* The function that implements the Check task. See the comments at the head * The function that implements the Check task. See the comments at the head
* of the page for implementation details. * of the page for implementation details.
@ -62,12 +102,13 @@ static void vErrorChecks( void *pvParameters );
static portSHORT prvCheckOtherTasksAreStillRunning( void ); static portSHORT prvCheckOtherTasksAreStillRunning( void );
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
static unsigned portCHAR sState[2] = { 0xFF, 0xFF };
static unsigned portCHAR sState[2] = {0xFF, 0xFF};
/*--------------------------------------------------------------------------- /*---------------------------------------------------------------------------
* The below callback function is called from Tick ISR if configUSE_TICK_HOOK * The below callback function is called from Tick ISR if configUSE_TICK_HOOK
* is configured as 1. * is configured as 1.
*---------------------------------------------------------------------------*/ *---------------------------------------------------------------------------*/
/*void vApplicationTickHook ( void ) /*void vApplicationTickHook ( void )
{ {
#if WATCHDOG == WTC_IN_TICK #if WATCHDOG == WTC_IN_TICK
@ -79,16 +120,16 @@ static unsigned portCHAR sState[2] = {0xFF, 0xFF};
* The below callback function is called from Delayed ISR if configUSE_IDLE_HOOK * The below callback function is called from Delayed ISR if configUSE_IDLE_HOOK
* is configured as 1. * is configured as 1.
*---------------------------------------------------------------------------*/ *---------------------------------------------------------------------------*/
void vApplicationIdleHook ( void ) void vApplicationIdleHook( void )
{ {
#if WATCHDOG == WTC_IN_IDLE #if WATCHDOG == WTC_IN_IDLE
Kick_Watchdog(); Kick_Watchdog();
#endif #endif
#if ( INCLUDE_StartFlashCoRoutines == 1 || INCLUDE_StartHookCoRoutines == 1 )
#if ( INCLUDE_StartFlashCoRoutines == 1 || INCLUDE_StartHookCoRoutines == 1 )
vCoRoutineSchedule(); vCoRoutineSchedule();
#endif #endif
} }
/*--------------------------------------------------------------------------- /*---------------------------------------------------------------------------
* Initialize Port 00 * Initialize Port 00
*---------------------------------------------------------------------------*/ *---------------------------------------------------------------------------*/
@ -99,6 +140,7 @@ static void prvInitPort00( void )
DDR09 = 0xFF; DDR09 = 0xFF;
PDR09 = 0xFF; PDR09 = 0xFF;
} }
/*--------------------------------------------------------------------------- /*---------------------------------------------------------------------------
* Setup the hardware * Setup the hardware
*---------------------------------------------------------------------------*/ *---------------------------------------------------------------------------*/
@ -106,117 +148,103 @@ static void prvSetupHardware( void )
{ {
prvInitPort00(); prvInitPort00();
#if WATCHDOG != WTC_NONE #if WATCHDOG != WTC_NONE
InitWatchdog(); InitWatchdog();
#endif #endif
} }
/*--------------------------------------------------------------------------- /*---------------------------------------------------------------------------
* main() * main()
*---------------------------------------------------------------------------*/ *---------------------------------------------------------------------------*/
void main(void) void main( void )
{ {
InitIrqLevels(); /* Initialize interrupts */ InitIrqLevels(); /* Initialize interrupts */
__set_il(7); /* Allow all levels */ __set_il( 7 ); /* Allow all levels */
prvSetupHardware(); prvSetupHardware();
#if WATCHDOG == WTC_IN_TASK #if WATCHDOG == WTC_IN_TASK
vStartWatchdogTask( WTC_TASK_PRIORITY ); vStartWatchdogTask( WTC_TASK_PRIORITY );
#endif #endif
/* Start the standard demo application tasks. */ /* Start the standard demo application tasks. */
#if ( INCLUDE_StartLEDFlashTasks == 1 )
#if ( INCLUDE_StartLEDFlashTasks == 1 )
vStartLEDFlashTasks( mainLED_TASK_PRIORITY ); vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
#endif #endif
#if ( INCLUDE_StartIntegerMathTasks == 1 )
#if ( INCLUDE_StartIntegerMathTasks == 1 )
vStartIntegerMathTasks( tskIDLE_PRIORITY ); vStartIntegerMathTasks( tskIDLE_PRIORITY );
#endif #endif
#if ( INCLUDE_AltStartComTestTasks == 1 )
#if ( INCLUDE_AltStartComTestTasks == 1 )
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 ); vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
#endif #endif
#if ( INCLUDE_StartPolledQueueTasks == 1 )
#if ( INCLUDE_StartPolledQueueTasks == 1 )
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
#endif #endif
#if ( INCLUDE_StartSemaphoreTasks == 1 )
#if ( INCLUDE_StartSemaphoreTasks == 1 )
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
#endif #endif
#if ( INCLUDE_StartBlockingQueueTasks == 1 )
#if ( INCLUDE_StartBlockingQueueTasks == 1 ) vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
vStartBlockingQueueTasks ( mainQUEUE_BLOCK_PRIORITY ); #endif
#endif #if ( INCLUDE_StartDynamicPriorityTasks == 1 )
#if ( INCLUDE_StartDynamicPriorityTasks == 1 )
vStartDynamicPriorityTasks(); vStartDynamicPriorityTasks();
#endif #endif
#if ( INCLUDE_StartMathTasks == 1 )
#if ( INCLUDE_StartMathTasks == 1 )
vStartMathTasks( tskIDLE_PRIORITY ); vStartMathTasks( tskIDLE_PRIORITY );
#endif #endif
#if ( INCLUDE_StartFlashCoRoutines == 1 )
#if ( INCLUDE_StartFlashCoRoutines == 1 )
vStartFlashCoRoutines( ledNUMBER_OF_LEDS ); vStartFlashCoRoutines( ledNUMBER_OF_LEDS );
#endif #endif
#if ( INCLUDE_StartHookCoRoutines == 1 )
#if ( INCLUDE_StartHookCoRoutines == 1 )
vStartHookCoRoutines(); vStartHookCoRoutines();
#endif #endif
#if ( INCLUDE_StartGenericQueueTasks == 1 )
#if ( INCLUDE_StartGenericQueueTasks == 1 )
vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY ); vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
#endif #endif
#if ( INCLUDE_StartQueuePeekTasks == 1 )
#if ( INCLUDE_StartQueuePeekTasks == 1 )
vStartQueuePeekTasks(); vStartQueuePeekTasks();
#endif #endif
#if ( INCLUDE_CreateBlockTimeTasks == 1 )
#if ( INCLUDE_CreateBlockTimeTasks == 1 )
vCreateBlockTimeTasks(); vCreateBlockTimeTasks();
#endif #endif
#if ( INCLUDE_CreateSuicidalTasks == 1 )
#if ( INCLUDE_CreateSuicidalTasks == 1 )
vCreateSuicidalTasks( mainDEATH_PRIORITY ); vCreateSuicidalTasks( mainDEATH_PRIORITY );
#endif #endif
#if ( INCLUDE_TraceListTasks == 1 )
#if ( INCLUDE_TraceListTasks == 1 )
vTraceListTasks( TASK_UTILITY_PRIORITY ); vTraceListTasks( TASK_UTILITY_PRIORITY );
#endif #endif
/* Start the 'Check' task which is defined in this file. */ /* Start the 'Check' task which is defined in this file. */
xTaskCreate( vErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); xTaskCreate( vErrorChecks, (signed portCHAR *) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
vTaskStartScheduler(); vTaskStartScheduler();
/* Should not reach here */ /* Should not reach here */
while (1) while( 1 )
{ {
__asm(" NOP "); // __asm( " NOP " ); /* // */
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vParTestToggleLED( unsigned portBASE_TYPE uxLED ) void vParTestToggleLED( unsigned portBASE_TYPE uxLED )
{ {
if (uxLED < ledNUMBER_OF_LEDS) if( uxLED < ledNUMBER_OF_LEDS )
{ {
vTaskSuspendAll(); vTaskSuspendAll();
/* Toggle the state of the single genuine on board LED. */ /* Toggle the state of the single genuine on board LED. */
if( (sState[0] & ((portCHAR)(1 << uxLED))) == 0) if( (sState[0] & ((portCHAR) (1 << uxLED))) == 0 )
{ {
PDR09 |= (1 << uxLED); PDR09 |= ( 1 << uxLED );
sState[0] |= (1 << uxLED); sState[0] |= ( 1 << uxLED );
} }
else else
{ {
PDR09 &= ~(1 << uxLED); PDR09 &= ~( 1 << uxLED );
sState[0] &= ~(1 << uxLED); sState[0] &= ~( 1 << uxLED );
} }
xTaskResumeAll(); xTaskResumeAll();
} }
else else
@ -225,20 +253,21 @@ void vParTestToggleLED( unsigned portBASE_TYPE uxLED )
uxLED -= ledNUMBER_OF_LEDS; uxLED -= ledNUMBER_OF_LEDS;
if( (sState[1] & ((portCHAR)(1 << uxLED))) == 0) if( (sState[1] & ((portCHAR) (1 << uxLED))) == 0 )
{ {
PDR00 |= (1 << uxLED); PDR00 |= ( 1 << uxLED );
sState[1] |= (1 << uxLED); sState[1] |= ( 1 << uxLED );
} }
else else
{ {
PDR00 &= ~(1 << uxLED); PDR00 &= ~( 1 << uxLED );
sState[1] &= ~(1 << uxLED); sState[1] &= ~( 1 << uxLED );
} }
xTaskResumeAll(); xTaskResumeAll();
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue ) void vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
{ {
@ -249,14 +278,16 @@ void vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
{ {
if( xValue ) if( xValue )
{ {
PDR09 &= ~(1 << uxLED); PDR09 &= ~( 1 << uxLED );
sState[0] &= ~(1 << uxLED); sState[0] &= ~( 1 << uxLED );
} }
else else
{ {
PDR09 |= (1 << uxLED); PDR09 |= ( 1 << uxLED );
sState[0] |= (1 << uxLED); } sState[0] |= ( 1 << uxLED );
} }
}
xTaskResumeAll(); xTaskResumeAll();
} }
else else
@ -265,26 +296,27 @@ void vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
{ {
if( xValue ) if( xValue )
{ {
PDR00 &= ~(1 << uxLED); PDR00 &= ~( 1 << uxLED );
sState[1] &= ~(1 << uxLED); sState[1] &= ~( 1 << uxLED );
} }
else else
{ {
PDR00 |= (1 << uxLED); PDR00 |= ( 1 << uxLED );
sState[1] |= (1 << uxLED); sState[1] |= ( 1 << uxLED );
} }
} }
xTaskResumeAll(); xTaskResumeAll();
} }
} }
/*-----------------------------------------------------------*/
/*-----------------------------------------------------------*/
static void vErrorChecks( void *pvParameters ) static void vErrorChecks( void *pvParameters )
{ {
static volatile unsigned portLONG ulDummyVariable = 3UL; static volatile unsigned portLONG ulDummyVariable = 3UL;
portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY; portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
( void ) pvParameters; ( void ) pvParameters;
/* Cycle for ever, delaying then checking all the other tasks are still /* Cycle for ever, delaying then checking all the other tasks are still
operating without error. */ operating without error. */
for( ;; ) for( ;; )
@ -312,15 +344,14 @@ portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
} }
/* Flash! */ /* Flash! */
vParTestToggleLED(mainCHECK_TEST_LED); vParTestToggleLED( mainCHECK_TEST_LED );
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static portSHORT prvCheckOtherTasksAreStillRunning( void ) static portSHORT prvCheckOtherTasksAreStillRunning( void )
{ {
static portSHORT sNoErrorFound = pdTRUE; static portSHORT sNoErrorFound = pdTRUE;
/* The demo tasks maintain a count that increments every cycle of the task /* The demo tasks maintain a count that increments every cycle of the task
provided that the task has never encountered an error. This function provided that the task has never encountered an error. This function
@ -328,105 +359,97 @@ static portSHORT sNoErrorFound = pdTRUE;
incremented. A count remaining at the same value between calls therefore incremented. A count remaining at the same value between calls therefore
indicates that an error has been detected. Only tasks that do not flash indicates that an error has been detected. Only tasks that do not flash
an LED are checked. */ an LED are checked. */
#if ( INCLUDE_StartIntegerMathTasks == 1 )
#if ( INCLUDE_StartIntegerMathTasks == 1 )
if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{ {
sNoErrorFound = pdFALSE; sNoErrorFound = pdFALSE;
} }
#endif
#endif
#if ( INCLUDE_AltStartComTestTasks == 1 ) #if ( INCLUDE_AltStartComTestTasks == 1 )
if( xAreComTestTasksStillRunning() != pdTRUE ) if( xAreComTestTasksStillRunning() != pdTRUE )
{ {
sNoErrorFound = pdFALSE; sNoErrorFound = pdFALSE;
} }
#endif
#endif
#if ( INCLUDE_StartPolledQueueTasks == 1 ) #if ( INCLUDE_StartPolledQueueTasks == 1 )
if( xArePollingQueuesStillRunning() != pdTRUE ) if( xArePollingQueuesStillRunning() != pdTRUE )
{ {
sNoErrorFound = pdFALSE; sNoErrorFound = pdFALSE;
} }
#endif
#endif
#if ( INCLUDE_StartSemaphoreTasks == 1 ) #if ( INCLUDE_StartSemaphoreTasks == 1 )
if( xAreSemaphoreTasksStillRunning() != pdTRUE ) if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{ {
sNoErrorFound = pdFALSE; sNoErrorFound = pdFALSE;
} }
#endif
#endif
#if ( INCLUDE_StartBlockingQueueTasks == 1 ) #if ( INCLUDE_StartBlockingQueueTasks == 1 )
if( xAreBlockingQueuesStillRunning() != pdTRUE ) if( xAreBlockingQueuesStillRunning() != pdTRUE )
{ {
sNoErrorFound = pdFALSE; sNoErrorFound = pdFALSE;
} }
#endif
#endif
#if ( INCLUDE_StartDynamicPriorityTasks == 1 ) #if ( INCLUDE_StartDynamicPriorityTasks == 1 )
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
{ {
sNoErrorFound = pdFALSE; sNoErrorFound = pdFALSE;
} }
#endif
#endif
#if ( INCLUDE_StartMathTasks == 1 ) #if ( INCLUDE_StartMathTasks == 1 )
if( xAreMathsTaskStillRunning() != pdTRUE ) if( xAreMathsTaskStillRunning() != pdTRUE )
{ {
sNoErrorFound = pdFALSE; sNoErrorFound = pdFALSE;
} }
#endif
#endif
#if ( INCLUDE_StartFlashCoRoutines == 1 ) #if ( INCLUDE_StartFlashCoRoutines == 1 )
if( xAreFlashCoRoutinesStillRunning() != pdTRUE ) if( xAreFlashCoRoutinesStillRunning() != pdTRUE )
{ {
sNoErrorFound = pdFALSE; sNoErrorFound = pdFALSE;
} }
#endif
#if ( INCLUDE_StartHookCoRoutines == 1 ) #endif
#if ( INCLUDE_StartHookCoRoutines == 1 )
if( xAreHookCoRoutinesStillRunning() != pdTRUE ) if( xAreHookCoRoutinesStillRunning() != pdTRUE )
{ {
sNoErrorFound = pdFALSE; sNoErrorFound = pdFALSE;
} }
#endif
#if ( INCLUDE_StartGenericQueueTasks == 1 ) #endif
if ( xAreGenericQueueTasksStillRunning() != pdTRUE ) #if ( INCLUDE_StartGenericQueueTasks == 1 )
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{ {
sNoErrorFound = pdFALSE; sNoErrorFound = pdFALSE;
} }
#endif
#if ( INCLUDE_StartQueuePeekTasks == 1 ) #endif
if ( xAreQueuePeekTasksStillRunning() != pdTRUE ) #if ( INCLUDE_StartQueuePeekTasks == 1 )
if( xAreQueuePeekTasksStillRunning() != pdTRUE )
{ {
sNoErrorFound = pdFALSE; sNoErrorFound = pdFALSE;
} }
#endif
#if ( INCLUDE_CreateBlockTimeTasks == 1 ) #endif
#if ( INCLUDE_CreateBlockTimeTasks == 1 )
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{ {
sNoErrorFound = pdFALSE; sNoErrorFound = pdFALSE;
} }
#endif
#if ( INCLUDE_CreateSuicidalTasks == 1 ) #endif
#if ( INCLUDE_CreateSuicidalTasks == 1 )
if( xIsCreateTaskStillRunning() != pdTRUE ) if( xIsCreateTaskStillRunning() != pdTRUE )
{ {
sNoErrorFound = pdFALSE; sNoErrorFound = pdFALSE;
} }
#endif
#endif
return sNoErrorFound; return sNoErrorFound;
} }