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Update the IAR RL78 demo to include main_blinky.c and main_full.c.

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Richard Barry 2013-03-17 16:52:39 +00:00
parent 7fb22e27da
commit b78fa80fbe
16 changed files with 952 additions and 305 deletions
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308
FreeRTOS/Demo/RL78_RL78G13_Promo_Board_IAR/main.c
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@ -72,104 +72,52 @@
mission critical applications that require provable dependability.
*/
/*
/******************************************************************************
* This project provides two demo applications. A simple blinky style project,
* and a more comprehensive test and demo application. The
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting (defined in this file) is used to
* select between the two. The simply blinky demo is implemented and described
* in main_blinky.c. The more comprehensive test and demo application is
* implemented and described in main_full.c.
*
* This file implements the code that is not demo specific, including the
* hardware setup and FreeRTOS hook functions.
*
* This project does not provide an example of how to write an RTOS compatible
* interrupt service routine (other than the tick interrupt itself), so this
* file contains the function vAnExampleISR_C_Handler() as a dummy example (that
* is not actually installed) that can be used as a reference. Also see the
* file ExampleISR.s87, and the documentation page for this demo on the
* FreeRTOS.org website for full instructions.
*
* ENSURE TO READ THE DOCUMENTATION PAGE FOR THIS PORT AND DEMO APPLICATION ON
* THE http://www.FreeRTOS.org WEB SITE FOR FULL INFORMATION ON USING THIS DEMO
* APPLICATION, AND ITS ASSOCIATE FreeRTOS ARCHITECTURE PORT!
*
*
* main() creates the demo application tasks and timers, then starts the
* scheduler.
*
* This demo is configured to run on the RL78/G13 Promotion Board, which is
* fitted with a R5F100LEA microcontroller. The R5F100LEA contains a little
* under 4K bytes of usable internal RAM. The RAM size restricts the number of
* demo tasks that can be created, and the demo creates 13 tasks, 4 queues and
* two timers. The RL78 range does however include parts with up to 32K bytes
* of RAM (at the time of writing). Using FreeRTOS on such a part will allow an
* application to make a more comprehensive use of FreeRTOS tasks, and other
* FreeRTOS features.
*
* In addition to the standard demo tasks, the following tasks, tests and timers
* are created within this file:
*
* "Reg test" tasks - These fill the registers with known values, then check
* that each register still contains its expected value. Each task uses a
* different set of values. The reg test tasks execute with a very low priority,
* so get preempted very frequently. A register containing an unexpected value
* is indicative of an error in the context switching mechanism.
*
* The "Demo" Timer and Callback Function:
* The demo timer callback function does nothing more than increment a variable.
* The period of the demo timer is set relative to the period of the check timer
* (described below). This allows the check timer to know how many times the
* demo timer callback function should execute between each execution of the
* check timer callback function. The variable incremented in the demo timer
* callback function is used to determine how many times the callback function
* has executed.
*
* The "Check" Timer and Callback Function:
* The check timer period is initially set to three seconds. The check timer
* callback function checks that all the standard demo tasks, the reg test tasks,
* and the demo timer are not only still executing, but are executing without
* reporting any errors. If the check timer discovers that a task or timer has
* stalled, or reported an error, then it changes its own period from the
* initial three seconds, to just 200ms. The check timer callback function also
* toggles the user LED each time it is called. This provides a visual
* indication of the system status: If the LED toggles every three seconds,
* then no issues have been discovered. If the LED toggles every 200ms, then an
* issue has been discovered with at least one task.
*
*/
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
/* Standard demo includes. */
#include "dynamic.h"
#include "PollQ.h"
#include "blocktim.h"
#include "semphr.h"
/* Hardware includes. */
#include "port_iodefine.h"
#include "port_iodefine_ext.h"
#include "LED.h"
/* The period at which the check timer will expire, in ms, provided no errors
have been reported by any of the standard demo tasks. ms are converted to the
equivalent in ticks using the portTICK_RATE_MS constant. */
#define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
/* The period at which the check timer will expire, in ms, if an error has been
reported in one of the standard demo tasks, the check tasks, or the demo timer.
ms are converted to the equivalent in ticks using the portTICK_RATE_MS
constant. */
#define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
/* These two definitions are used to set the period of the demo timer. The demo
timer period is always relative to the check timer period, so the check timer
can determine if the demo timer has expired the expected number of times between
its own executions. */
#define mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT ( 100UL )
#define mainDEMO_TIMER_PERIOD_MS ( mainCHECK_TIMER_PERIOD_MS / mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT )
/* A block time of zero simple means "don't block". */
#define mainDONT_BLOCK ( 0U )
/* Set mainCREATE_SIMPLE_BLINKY_DEMO_ONLY to one to run the simple blinky demo,
or 0 to run the more comprehensive test and demo application. */
#define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 1
/*-----------------------------------------------------------*/
/*
* The 'check' timer callback function, as described at the top of this file.
* main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
* main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
*/
static void prvCheckTimerCallback( xTimerHandle xTimer );
/*
* The 'demo' timer callback function, as described at the top of this file.
*/
static void prvDemoTimerCallback( xTimerHandle xTimer );
extern void main_blinky( void );
extern void main_full( void );
/*
* This function is called from the C startup routine to setup the processor -
@ -177,34 +125,24 @@ static void prvDemoTimerCallback( xTimerHandle xTimer );
*/
int __low_level_init(void);
/*
* Functions that define the RegTest tasks, as described at the top of this file.
*/
extern void vRegTest1( void *pvParameters );
extern void vRegTest2( void *pvParameters );
/* Prototypes for the standard FreeRTOS callback/hook functions implemented
within this file. */
void vApplicationMallocFailedHook( void );
void vApplicationIdleHook( void );
void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );
void vApplicationTickHook( void );
/*-----------------------------------------------------------*/
/* Variables that are incremented on each cycle of the two reg tests to allow
the check timer to know that they are still executing. */
unsigned short usRegTest1LoopCounter = 0, usRegTest2LoopCounter;
/* This variable is not actually used, but provided to allow an example of how
to write an ISR to be included in this file. */
static xSemaphoreHandle xSemaphore = NULL;
/* The check timer. This uses prvCheckTimerCallback() as its callback
function. */
static xTimerHandle xCheckTimer = NULL;
/* The demo timer. This uses prvDemoTimerCallback() as its callback function. */
static xTimerHandle xDemoTimer = NULL;
/* This variable is incremented each time the demo timer expires. */
static volatile unsigned long ulDemoSoftwareTimerCounter = 0UL;
/* RL78/G13 Option Byte Definition. Watchdog disabled, LVI enabled, OCD interface
/* RL78 Option Byte Definition. Watchdog disabled, LVI enabled, OCD interface
enabled. */
__root __far const unsigned char OptionByte[] @ 0x00C0 =
{
0x00U, 0xFFU, 0xF8U, 0x81U
0x6eU, 0xffU, 0xe8U, 0x85U
};
/* Security byte definition */
@ -215,138 +153,51 @@ __root __far const unsigned char ucSecurityCode[] @ 0x00C4 =
/*-----------------------------------------------------------*/
short main( void )
void main( void )
{
/* Creates all the tasks and timers, then starts the scheduler. */
/* First create the 'standard demo' tasks. These are used to demonstrate
API functions being used and also to test the kernel port. More information
is provided on the FreeRTOS.org WEB site. */
vStartDynamicPriorityTasks();
vStartPolledQueueTasks( tskIDLE_PRIORITY );
vCreateBlockTimeTasks();
/* Create the RegTest tasks as described at the top of this file. */
xTaskCreate( vRegTest1, "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
xTaskCreate( vRegTest2, "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
/* Create the software timer that performs the 'check' functionality,
as described at the top of this file. */
xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
( void * ) 0, /* The ID is not used, so can be set to anything. */
prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
);
/* Create the software timer that just increments a variable for demo
purposes. */
xDemoTimer = xTimerCreate( ( const signed char * ) "DemoTimer",/* A text name, purely to help debugging. */
( mainDEMO_TIMER_PERIOD_MS ), /* The timer period, in this case it is always calculated relative to the check timer period (see the definition of mainDEMO_TIMER_PERIOD_MS). */
pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
( void * ) 0, /* The ID is not used, so can be set to anything. */
prvDemoTimerCallback /* The callback function that inspects the status of all the other tasks. */
);
/* Start both the check timer and the demo timer. The timers won't actually
start until the scheduler is started. */
xTimerStart( xCheckTimer, mainDONT_BLOCK );
xTimerStart( xDemoTimer, mainDONT_BLOCK );
/* Finally start the scheduler running. */
vTaskStartScheduler();
/* If this line is reached then vTaskStartScheduler() returned because there
was insufficient heap memory remaining for the idle task to be created. */
for( ;; );
/* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
of this file. */
#if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1
{
main_blinky();
}
#else
{
main_full();
}
#endif
}
/*-----------------------------------------------------------*/
static void prvDemoTimerCallback( xTimerHandle xTimer )
void vAnExampleISR_C_Handler( void )
{
/* The demo timer has expired. All it does is increment a variable. The
period of the demo timer is relative to that of the check timer, so the
check timer knows how many times this variable should have been incremented
between each execution of the check timer's own callback. */
ulDemoSoftwareTimerCounter++;
}
/*-----------------------------------------------------------*/
/*
* This demo does not include a functional interrupt service routine - so
* this dummy handler (which is not actually installed) is provided as an
* example of how an ISR that needs to cause a context switch needs to be
* implemented. ISRs that do not cause a context switch have no special
* requirements and can be written as per the compiler documentation.
*
* This C function is called from a wrapper function that is implemented
* in assembly code. See vANExampleISR_ASM_Wrapper() in ExampleISR.s87.
* Also see the documentation page for this demo on the FreeRTOS.org website
* for full instructions.
*/
short sHigherPriorityTaskWoken = pdFALSE;
static void prvCheckTimerCallback( xTimerHandle xTimer )
{
static portBASE_TYPE xChangedTimerPeriodAlready = pdFALSE, xErrorStatus = pdPASS;
static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
/* Handler code goes here...*/
/* Inspect the status of the standard demo tasks. */
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
{
xErrorStatus = pdFAIL;
}
/* For purposes of demonstration, assume at some point the hander calls
xSemaphoreGiveFromISR().*/
xSemaphoreGiveFromISR( xSemaphore, &sHigherPriorityTaskWoken );
if( xArePollingQueuesStillRunning() != pdTRUE )
{
xErrorStatus = pdFAIL;
}
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
xErrorStatus = pdFAIL;
}
/* Indicate an error if either of the reg test loop counters have not
incremented since the last time this function was called. */
if( usLastRegTest1Counter == usRegTest1LoopCounter )
{
xErrorStatus = pdFAIL;
}
else
{
usLastRegTest1Counter = usRegTest1LoopCounter;
}
if( usLastRegTest2Counter == usRegTest2LoopCounter )
{
xErrorStatus = pdFAIL;
}
else
{
usLastRegTest2Counter = usRegTest2LoopCounter;
}
/* Ensure that the demo software timer has expired
mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT times in between
each call of this function. A critical section is not required to access
ulDemoSoftwareTimerCounter as the variable is only accessed from another
software timer callback, and only one software timer callback can be
executing at any time. */
if( ( ulDemoSoftwareTimerCounter < ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT - 1 ) ) ||
( ulDemoSoftwareTimerCounter > ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT + 1 ) )
)
{
xErrorStatus = pdFAIL;
}
else
{
ulDemoSoftwareTimerCounter = 0UL;
}
if( ( xErrorStatus == pdFAIL ) && ( xChangedTimerPeriodAlready == pdFALSE ) )
{
/* An error has occurred, but the timer's period has not yet been changed,
change it now, and remember that it has been changed. Shortening the
timer's period means the LED will toggle at a faster rate, giving a
visible indication that something has gone wrong. */
xChangedTimerPeriodAlready = pdTRUE;
/* This call to xTimerChangePeriod() uses a zero block time. Functions
called from inside of a timer callback function must *never* attempt to
block. */
xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
}
/* Toggle the LED. The toggle rate will depend on whether or not an error
has been found in any tasks. */
LED_BIT = !LED_BIT;
/* If giving the semaphore unblocked a task, and the unblocked task has a
priority higher than or equal to the currently running task, then
sHigherPriorityTaskWoken will have been set to pdTRUE internally within the
xSemaphoreGiveFromISR() function. Passing a pdTRUE value to
portYIELD_FROM_ISR() will cause this interrupt to return directly to the
higher priority unblocked task. */
portYIELD_FROM_ISR( sHigherPriorityTaskWoken );
}
/*-----------------------------------------------------------*/
@ -380,15 +231,6 @@ unsigned char ucResetFlag = RESF;
}
/*-----------------------------------------------------------*/
void vRegTestError( void )
{
/* Called by both reg test tasks if an error is found. There is no way out
of this function so the loop counter of the calling task will stop
incrementing, which will result in the check timer signialling an error. */
for( ;; );
}
/*-----------------------------------------------------------*/
void vApplicationMallocFailedHook( void )
{
/* Called if a call to pvPortMalloc() fails because there is insufficient
@ -426,5 +268,9 @@ volatile size_t xFreeHeapSpace;
configTOTAL_HEAP_SIZE value in FreeRTOSConfig.h can be reduced to free up
RAM. */
xFreeHeapSpace = xPortGetFreeHeapSize();
/* Remove compiler warning about xFreeHeapSpace being set but never used. */
( void ) xFreeHeapSpace;
}