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First version under SVN is V4.0.1
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Richard Barry
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385
Demo/Flshlite/main.c
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385
Demo/Flshlite/main.c
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/*
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FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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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
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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 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; 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, 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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***************************************************************************
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*/
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/*
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* Creates all the demo application tasks, then starts the scheduler.
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*
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* Main. c also creates a task called "Print". This only executes every five
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* seconds but has the highest priority so is guaranteed to get processor time.
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* Its main function is to check that all the other tasks are still operational.
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* Nearly all the tasks in the demo application maintain a unique count that is
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* incremented each time the task successfully completes its function. Should any
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* error occur within the task the count is permanently halted. The print task
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* checks the count of each task to ensure it has changed since the last time the
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* print task executed. If any count is found not to have changed the print task
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* displays an appropriate message, halts, and flashes the on board LED rapidly.
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* If all the tasks are still incrementing their unique counts the print task
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* displays an "OK" message.
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*
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* The LED flash tasks do not maintain a count as they already provide visual
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* feedback of their status.
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*
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* The print task blocks on the queue into which messages that require displaying
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* are posted. It will therefore only block for the full 5 seconds if no messages
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* are posted onto the queue.
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*
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* Main. c also provides a demonstration of how the trace visualisation utility can
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* be used, and how the scheduler can be stopped.
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*
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* On the Flashlite it is preferable not to try to write to the console during
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* real time operation. The built in LED is toggled every cycle of the print task
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* that does not encounter any errors, so the console IO may be removed if required.
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* The build in LED will start flashing rapidly if any task reports an error.
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*/
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/*
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Changes from V1.01:
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+ Previously, if an error occurred in a task the on board LED was stopped from
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toggling. Now if an error occurs the check task enters an infinite loop,
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toggling the LED rapidly.
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Changes from V1.2.3
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+ The integer and comtest tasks are now used when the cooperative scheduler
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is being used. Previously they were only used with the preemptive
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scheduler.
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Changes from V1.2.5
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+ Made the communications RX task a higher priority.
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Changes from V2.0.0
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+ Delay periods are now specified using variables and constants of
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portTickType rather than unsigned portLONG.
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*/
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#include <stdlib.h>
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#include <conio.h>
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#include "FreeRTOS.h"
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#include "task.h"
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#include "partest.h"
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#include "serial.h"
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/* Demo file headers. */
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#include "BlockQ.h"
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#include "PollQ.h"
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#include "death.h"
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#include "flash.h"
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#include "integer.h"
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#include "print.h"
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#include "comtest.h"
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#include "fileio.h"
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#include "semtest.h"
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/* Priority definitions for all the tasks in the demo application. */
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#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainPRINT_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainSEMAPHORE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainPRINT_STACK_SIZE ( ( unsigned portSHORT ) 256 )
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#define mainDEBUG_LOG_BUFFER_SIZE ( ( unsigned portSHORT ) 20480 )
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/* Constant definitions for accessing the build in LED on the Flashlite 186. */
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#define mainLED_REG_DIR ( ( unsigned portSHORT ) 0xff78 )
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#define mainLED_REG ( ( unsigned portSHORT ) 0xff7a )
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/* If an error is detected in a task then the vErrorChecks() task will enter
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an infinite loop flashing the LED at this rate. */
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#define mainERROR_FLASH_RATE ( ( portTickType ) 100 / portTICK_RATE_MS )
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/* Task function for the "Print" task as described at the top of the file. */
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static void vErrorChecks( void *pvParameters );
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/* Function that checks the unique count of all the other tasks as described at
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the top of the file. */
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static void prvCheckOtherTasksAreStillRunning( void );
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/* Functions to setup and use the built in LED on the Flashlite 186 board. */
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static void prvToggleLED( void );
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static void prvInitLED( void );
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/* Key presses can be used to start/stop the trace visualisation utility or stop
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the scheduler. */
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static void prvCheckForKeyPresses( void );
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/* Buffer used by the trace visualisation utility. */
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static portCHAR pcWriteBuffer[ mainDEBUG_LOG_BUFFER_SIZE ];
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/*-----------------------------------------------------------*/
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portSHORT main( void )
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{
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/* Initialise hardware and utilities. */
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vParTestInitialise();
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vPrintInitialise();
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prvInitLED();
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/* CREATE ALL THE DEMO APPLICATION TASKS. */
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vStartComTestTasks( mainCOM_TEST_PRIORITY, serCOM2, ser38400 );
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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vStartSemaphoreTasks( mainSEMAPHORE_TASK_PRIORITY );
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/* Create the "Print" task as described at the top of the file. */
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xTaskCreate( vErrorChecks, "Print", mainPRINT_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );
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/* This task has to be created last as it keeps account of the number of tasks
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it expects to see running. */
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vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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/* Set the scheduler running. This function will not return unless a task
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calls vTaskEndScheduler(). */
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vTaskStartScheduler();
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return 1;
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}
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/*-----------------------------------------------------------*/
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static void vErrorChecks( void *pvParameters )
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{
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portTickType xExpectedWakeTime;
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const portTickType xPrintRate = ( portTickType ) 5000 / portTICK_RATE_MS;
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const portLONG lMaxAllowableTimeDifference = ( portLONG ) 0;
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portTickType xWakeTime;
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portLONG lTimeDifference;
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const portCHAR *pcReceivedMessage;
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const portCHAR * const pcTaskBlockedTooLongMsg = "Print task blocked too long!\r\n";
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/* Stop warnings. */
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( void ) pvParameters;
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/* Loop continuously, blocking, then checking all the other tasks are still
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running, before blocking once again. This task blocks on the queue of messages
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that require displaying so will wake either by its time out expiring, or a
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message becoming available. */
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for( ;; )
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{
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/* Calculate the time we will unblock if no messages are received
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on the queue. This is used to check that we have not blocked for too long. */
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xExpectedWakeTime = xTaskGetTickCount();
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xExpectedWakeTime += xPrintRate;
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/* Block waiting for either a time out or a message to be posted that
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required displaying. */
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pcReceivedMessage = pcPrintGetNextMessage( xPrintRate );
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/* Was a message received? */
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if( pcReceivedMessage == NULL )
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{
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/* A message was not received so we timed out, did we unblock at the
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expected time? */
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xWakeTime = xTaskGetTickCount();
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/* Calculate the difference between the time we unblocked and the
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time we should have unblocked. */
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if( xWakeTime > xExpectedWakeTime )
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{
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lTimeDifference = ( portLONG ) ( xWakeTime - xExpectedWakeTime );
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}
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else
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{
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lTimeDifference = ( portLONG ) ( xExpectedWakeTime - xWakeTime );
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}
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if( lTimeDifference > lMaxAllowableTimeDifference )
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{
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/* We blocked too long - create a message that will get
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printed out the next time around. */
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vPrintDisplayMessage( &pcTaskBlockedTooLongMsg );
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}
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/* Check the other tasks are still running, just in case. */
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prvCheckOtherTasksAreStillRunning();
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}
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else
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{
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/* We unblocked due to a message becoming available. Send the message
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for printing. */
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vDisplayMessage( pcReceivedMessage );
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}
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/* Key presses are used to invoke the trace visualisation utility, or
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end the program. */
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prvCheckForKeyPresses();
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}
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} /*lint !e715 !e818 pvParameters is not used but all task functions must take this form. */
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/*-----------------------------------------------------------*/
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static void prvCheckForKeyPresses( void )
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{
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#ifdef USE_STDIO
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portSHORT sIn;
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taskENTER_CRITICAL();
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sIn = kbhit();
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taskEXIT_CRITICAL();
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if( sIn )
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{
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unsigned portLONG ulBufferLength;
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/* Key presses can be used to start/stop the trace utility, or end the
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program. */
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sIn = getch();
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switch( sIn )
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{
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/* Only define keys for turning on and off the trace if the trace
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is being used. */
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#if configUSE_TRACE_FACILITY == 1
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case 't' : vTaskList( pcWriteBuffer );
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vWriteMessageToDisk( pcWriteBuffer );
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break;
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case 's' : vTaskStartTrace( pcWriteBuffer, mainDEBUG_LOG_BUFFER_SIZE );
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break;
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case 'e' : ulBufferLength = ulTaskEndTrace();
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vWriteBufferToDisk( pcWriteBuffer, ulBufferLength );
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break;
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#endif
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default : vTaskEndScheduler();
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break;
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}
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}
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#else
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( void ) pcWriteBuffer;
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#endif
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}
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/*-----------------------------------------------------------*/
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static void prvCheckOtherTasksAreStillRunning( void )
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{
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portSHORT sErrorHasOccurred = pdFALSE;
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if( xAreComTestTasksStillRunning() != pdTRUE )
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{
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vDisplayMessage( "Com test count unchanged!\r\n" );
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sErrorHasOccurred = pdTRUE;
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}
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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vDisplayMessage( "Integer maths task count unchanged!\r\n" );
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sErrorHasOccurred = pdTRUE;
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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vDisplayMessage( "Blocking queues count unchanged!\r\n" );
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sErrorHasOccurred = pdTRUE;
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}
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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vDisplayMessage( "Polling queue count unchanged!\r\n" );
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sErrorHasOccurred = pdTRUE;
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}
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if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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vDisplayMessage( "Incorrect number of tasks running!\r\n" );
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sErrorHasOccurred = pdTRUE;
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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vDisplayMessage( "Semaphore take count unchanged!\r\n" );
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sErrorHasOccurred = pdTRUE;
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}
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if( sErrorHasOccurred == pdFALSE )
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{
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vDisplayMessage( "OK " );
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/* Toggle the LED if everything is okay so we know if an error occurs even if not
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using console IO. */
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prvToggleLED();
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}
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else
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{
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for( ;; )
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{
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/* An error has occurred in one of the tasks. Don't go any further and
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flash the LED rapidly in case console IO is not being used. */
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prvToggleLED();
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vTaskDelay( mainERROR_FLASH_RATE );
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}
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}
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}
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/*-----------------------------------------------------------*/
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static void prvInitLED( void )
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{
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unsigned portSHORT usPortDirection;
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const unsigned portSHORT usLEDOut = 0x400;
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/* Set the LED bit to an output. */
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usPortDirection = inpw( mainLED_REG_DIR );
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usPortDirection &= ~usLEDOut;
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outpw( mainLED_REG_DIR, usPortDirection );
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}
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/*-----------------------------------------------------------*/
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static void prvToggleLED( void )
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{
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static portSHORT sLED = pdTRUE;
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unsigned portSHORT usLEDState;
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const unsigned portSHORT usLEDBit = 0x400;
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/* Flip the state of the LED. */
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usLEDState = inpw( mainLED_REG );
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if( sLED )
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{
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usLEDState &= ~usLEDBit;
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}
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else
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{
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usLEDState |= usLEDBit;
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}
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outpw( mainLED_REG, usLEDState );
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sLED = !sLED;
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}
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