mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-09-01 20:03:50 -04:00
Continue to tidy up Fujitsu ports.
This commit is contained in:
Richard Barry
parent
c6965bc253
commit
f315c91f38
13 changed files with 439 additions and 652 deletions
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@ -40,24 +40,62 @@
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***************************************************************************
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*/
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/*---------------------------------------------------------------------------
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MAIN.C
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- description
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- See README.TXT for project description and disclaimer.
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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 demo application tasks.
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*
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* In addition to the standard demo tasks, the follow demo specific tasks are
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* create:
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*
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* The "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 other tasks are still operational. Most tasks maintain
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* a unique count that is incremented each time the task successfully completes
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* its function. Should any error occur within such a task the count is
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* permanently halted. The check task inspects the count of each task to ensure
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* it has changed since the last time the check task executed. If all the count
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* variables have changed all the tasks are still executing error free, and the
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* check task toggles the onboard LED. Should any task contain an error at any time
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* the LED toggle rate will change from 3 seconds to 500ms.
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*
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* The "Register Check" tasks. These tasks fill the CPU registers with known
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* values, then check that each register still contains the expected value 0 the
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* discovery of an unexpected value being indicative of an error in the RTOS
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* context switch mechanism. The register check tasks operate at low priority
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* so are switched in and out frequently.
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*
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* The "Trace Utility" task. This can be used to obtain trace and debug
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* information via UART5.
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*/
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/*---------------------------------------------------------------------------*/
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/* 16FX includes */
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#include "mb96348hs.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 "semphr.h"
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#include <watchdog.h>
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#include <config.h>
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/*---------------------------------------------------------------------------*/
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/* Demo application includes. */
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#include "flash.h"
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#include "integer.h"
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#include "comtest2.h"
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#include "PollQ.h"
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#include "semtest.h"
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#include "BlockQ.h"
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#include "dynamic.h"
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#include "flop.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "BlockTim.h"
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#include "death.h"
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#include "taskutility.h"
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#include "partest.h"
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#include "crflash.h"
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#include "watchdog.h"
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/* Library includes. */
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#include <watchdog.h>
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/*-----------------------------------------------------------*/
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/* Demo task priorities. */
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#define WTC_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )
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@ -78,84 +116,36 @@
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top of the page. When the system is operating error free the 'Check' task
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toggles an LED every three seconds. If an error is discovered in any task the
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rate is increased to 500 milliseconds. [in this case the '*' characters on the
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LCD represent LED's]*/
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LCD represent LED's] */
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#define mainNO_ERROR_CHECK_DELAY ( (portTickType) 3000 / portTICK_RATE_MS )
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#define mainERROR_CHECK_DELAY ( (portTickType) 500 / portTICK_RATE_MS )
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/*---------------------------------------------------------------------------*/
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#define ledNUMBER_OF_LEDS 8
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#define mainCOM_TEST_LED 0x05
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#define mainCHECK_TEST_LED 0x07
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/* LED assignments for the demo tasks. */
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#define mainNUM_FLASH_CO_ROUTINES 8
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#define mainCOM_TEST_LED 0x05
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#define mainCHECK_TEST_LED 0x07
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/*---------------------------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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/*
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* The function that implements the Check task. See the comments at the head
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* of the page for implementation details.
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*/
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static void vErrorChecks( void *pvParameters );
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static void vErrorChecks( void *pvParameters );
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/*
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* Called by the Check task. Returns pdPASS if all the other tasks are found
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* to be operating without error - otherwise returns pdFAIL.
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*/
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static portSHORT prvCheckOtherTasksAreStillRunning( void );
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static portSHORT prvCheckOtherTasksAreStillRunning( void );
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/*---------------------------------------------------------------------------*/
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static unsigned portCHAR sState[2] = { 0xFF, 0xFF };
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/*
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* Perform any hardware setup necessary for the demo.
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*/
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static void prvSetupHardware( void );
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/*---------------------------------------------------------------------------
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* The below callback function is called from Tick ISR if configUSE_TICK_HOOK
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* is configured as 1.
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*---------------------------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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/*void vApplicationTickHook ( void )
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{
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#if WATCHDOG == WTC_IN_TICK
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Kick_Watchdog();
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#endif
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}*/
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/*---------------------------------------------------------------------------
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* The below callback function is called from Delayed ISR if configUSE_IDLE_HOOK
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* is configured as 1.
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*---------------------------------------------------------------------------*/
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void vApplicationIdleHook( void )
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{
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#if WATCHDOG == WTC_IN_IDLE
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Kick_Watchdog();
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#endif
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#if ( INCLUDE_StartFlashCoRoutines == 1 || INCLUDE_StartHookCoRoutines == 1 )
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vCoRoutineSchedule();
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#endif
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}
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/*---------------------------------------------------------------------------
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* Initialize Port 00
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*---------------------------------------------------------------------------*/
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static void prvInitPort00( void )
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{
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DDR00 = 0xFF;
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PDR00 = 0xFF;
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DDR09 = 0xFF;
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PDR09 = 0xFF;
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}
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/*---------------------------------------------------------------------------
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* Setup the hardware
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*---------------------------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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prvInitPort00();
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#if WATCHDOG != WTC_NONE
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InitWatchdog();
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#endif
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}
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/*---------------------------------------------------------------------------
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* main()
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*---------------------------------------------------------------------------*/
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void main( void )
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{
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InitIrqLevels(); /* Initialize interrupts */
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@ -168,167 +158,58 @@ void main( void )
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#endif
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/* Start the standard demo application tasks. */
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#if ( INCLUDE_StartLEDFlashTasks == 1 )
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vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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#endif
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vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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vStartDynamicPriorityTasks();
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vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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vCreateBlockTimeTasks();
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#if ( INCLUDE_StartIntegerMathTasks == 1 )
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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#endif
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#if ( INCLUDE_AltStartComTestTasks == 1 )
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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#endif
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#if ( INCLUDE_StartPolledQueueTasks == 1 )
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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#endif
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#if ( INCLUDE_StartSemaphoreTasks == 1 )
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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#endif
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#if ( INCLUDE_StartBlockingQueueTasks == 1 )
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vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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#endif
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#if ( INCLUDE_StartDynamicPriorityTasks == 1 )
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vStartDynamicPriorityTasks();
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#endif
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#if ( INCLUDE_StartMathTasks == 1 )
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vStartMathTasks( tskIDLE_PRIORITY );
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#endif
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#if ( INCLUDE_StartFlashCoRoutines == 1 )
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vStartFlashCoRoutines( ledNUMBER_OF_LEDS );
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#endif
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#if ( INCLUDE_StartHookCoRoutines == 1 )
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vStartHookCoRoutines();
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#endif
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#if ( INCLUDE_StartGenericQueueTasks == 1 )
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vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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#endif
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#if ( INCLUDE_StartQueuePeekTasks == 1 )
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vStartQueuePeekTasks();
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#endif
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#if ( INCLUDE_CreateBlockTimeTasks == 1 )
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vCreateBlockTimeTasks();
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#endif
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#if ( INCLUDE_CreateSuicidalTasks == 1 )
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vCreateSuicidalTasks( mainDEATH_PRIORITY );
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#endif
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#if ( INCLUDE_TraceListTasks == 1 )
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/* The definition INCLUDE_TraceListTasks is set within FreeRTOSConfig.h.
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It should be set to 0 if using the EUROScope debugger. */
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#if INCLUDE_TraceListTasks == 1
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vTraceListTasks( TASK_UTILITY_PRIORITY );
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#endif
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/* Start the 'Check' task which is defined in this file. */
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xTaskCreate( vErrorChecks, (signed portCHAR *) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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vTaskStartScheduler();
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/* The suicide tasks must be started last as they record the number of other
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tasks that exist within the system. The value is then used to ensure at run
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time the number of tasks that exists is within expected bounds. */
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vCreateSuicidalTasks( mainDEATH_PRIORITY );
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/* Should not reach here */
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while( 1 )
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{
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__asm( " NOP " ); /* // */
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}
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/* Now start the scheduler. Following this call the created tasks should
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be executing. */
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vTaskStartScheduler( );
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/* vTaskStartScheduler() will only return if an error occurs while the
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idle task is being created. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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void vParTestToggleLED( unsigned portBASE_TYPE uxLED )
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static void prvSetupHardware( void )
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{
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if( uxLED < ledNUMBER_OF_LEDS )
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{
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vTaskSuspendAll();
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/* Initialise the port used by the LEDs. */
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vParTestInitialise();
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/* Toggle the state of the single genuine on board LED. */
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if( (sState[0] & ((portCHAR) (1 << uxLED))) == 0 )
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{
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PDR09 |= ( 1 << uxLED );
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sState[0] |= ( 1 << uxLED );
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}
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else
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{
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PDR09 &= ~( 1 << uxLED );
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sState[0] &= ~( 1 << uxLED );
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}
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xTaskResumeAll();
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}
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else
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{
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vTaskSuspendAll();
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uxLED -= ledNUMBER_OF_LEDS;
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if( (sState[1] & ((portCHAR) (1 << uxLED))) == 0 )
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{
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PDR00 |= ( 1 << uxLED );
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sState[1] |= ( 1 << uxLED );
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}
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else
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{
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PDR00 &= ~( 1 << uxLED );
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sState[1] &= ~( 1 << uxLED );
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}
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xTaskResumeAll();
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}
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/* See watchdog.h for definitions relating to the watchdog use. */
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#if WATCHDOG != WTC_NONE
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InitWatchdog();
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#endif
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}
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/*-----------------------------------------------------------*/
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void vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
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{
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/* Set or clear the output [in this case show or hide the '*' character. */
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if( uxLED < ledNUMBER_OF_LEDS )
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{
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vTaskSuspendAll();
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{
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if( xValue )
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{
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PDR09 &= ~( 1 << uxLED );
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sState[0] &= ~( 1 << uxLED );
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}
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else
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{
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PDR09 |= ( 1 << uxLED );
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sState[0] |= ( 1 << uxLED );
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}
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}
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xTaskResumeAll();
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}
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else
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{
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vTaskSuspendAll();
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{
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if( xValue )
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{
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PDR00 &= ~( 1 << uxLED );
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sState[1] &= ~( 1 << uxLED );
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}
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else
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{
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PDR00 |= ( 1 << uxLED );
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sState[1] |= ( 1 << uxLED );
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}
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}
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xTaskResumeAll();
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}
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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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static volatile unsigned portLONG ulDummyVariable = 3UL;
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portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
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portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
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/* Just to remove compiler warnings. */
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( void ) pvParameters;
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/* Cycle for ever, delaying then checking all the other tasks are still
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@ -340,14 +221,6 @@ static void vErrorChecks( void *pvParameters )
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detected the time is shortened resulting in a faster LED flash rate. */
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vTaskDelay( xDelayPeriod );
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/* Perform a bit of 32bit maths to ensure the registers used by the
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integer tasks get some exercise outside of the integer tasks
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themselves. The result here is not important we are just deliberately
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changing registers used by other tasks to ensure that their context
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switch is operating as required. - see the demo application
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documentation for more info. */
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ulDummyVariable *= 3UL;
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/* See if the other tasks are all ok. */
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if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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{
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@ -361,8 +234,8 @@ static void vErrorChecks( void *pvParameters )
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vParTestToggleLED( mainCHECK_TEST_LED );
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}
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}
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/*-----------------------------------------------------------*/
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static portSHORT prvCheckOtherTasksAreStillRunning( void )
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{
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static portSHORT sNoErrorFound = pdTRUE;
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@ -373,98 +246,97 @@ static portSHORT prvCheckOtherTasksAreStillRunning( void )
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incremented. A count remaining at the same value between calls therefore
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indicates that an error has been detected. Only tasks that do not flash
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an LED are checked. */
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#if ( INCLUDE_StartIntegerMathTasks == 1 )
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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#endif
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#if ( INCLUDE_AltStartComTestTasks == 1 )
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if( xAreComTestTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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#endif
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#if ( INCLUDE_StartPolledQueueTasks == 1 )
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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#endif
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#if ( INCLUDE_StartSemaphoreTasks == 1 )
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
|
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sNoErrorFound = pdFALSE;
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}
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||||
|
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#endif
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||||
#if ( INCLUDE_StartBlockingQueueTasks == 1 )
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
|
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|
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#endif
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#if ( INCLUDE_StartDynamicPriorityTasks == 1 )
|
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if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
|
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sNoErrorFound = pdFALSE;
|
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}
|
||||
|
||||
#endif
|
||||
#if ( INCLUDE_StartMathTasks == 1 )
|
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if( xAreMathsTaskStillRunning() != pdTRUE )
|
||||
{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
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#if ( INCLUDE_StartFlashCoRoutines == 1 )
|
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if( xAreFlashCoRoutinesStillRunning() != pdTRUE )
|
||||
{
|
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sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
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#if ( INCLUDE_StartHookCoRoutines == 1 )
|
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if( xAreHookCoRoutinesStillRunning() != pdTRUE )
|
||||
{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
|
||||
#if ( INCLUDE_StartGenericQueueTasks == 1 )
|
||||
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
|
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{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
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||||
#if ( INCLUDE_StartQueuePeekTasks == 1 )
|
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if( xAreQueuePeekTasksStillRunning() != pdTRUE )
|
||||
{
|
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sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
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||||
#if ( INCLUDE_CreateBlockTimeTasks == 1 )
|
||||
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
|
||||
{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
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||||
#if ( INCLUDE_CreateSuicidalTasks == 1 )
|
||||
if( xIsCreateTaskStillRunning() != pdTRUE )
|
||||
{
|
||||
sNoErrorFound = pdFALSE;
|
||||
}
|
||||
|
||||
#endif
|
||||
return sNoErrorFound;
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||||
}
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||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*---------------------------------------------------------------------------*/
|
||||
/* Idle hook function. */
|
||||
#if configUSE_IDLE_HOOK == 1
|
||||
void vApplicationIdleHook( void )
|
||||
{
|
||||
/* Are we using the idle task to kick the watchdog? See watchdog.h
|
||||
for watchdog kicking options. Note this is for demonstration only
|
||||
and is not a suggested method of servicing the watchdog in a real
|
||||
application. */
|
||||
#if WATCHDOG == WTC_IN_IDLE
|
||||
Kick_Watchdog();
|
||||
#endif
|
||||
}
|
||||
#else
|
||||
#if WATCHDOG == WTC_IN_IDLE
|
||||
#error configUSE_IDLE_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the idle task hook.
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Tick hook function. */
|
||||
#if configUSE_TICK_HOOK == 1
|
||||
void vApplicationTickHook( void )
|
||||
{
|
||||
/* Are we using the tick to kick the watchdog? See watchdog.h
|
||||
for watchdog kicking options. Note this is for demonstration
|
||||
only and is not a suggested method of servicing the watchdog in
|
||||
a real application. */
|
||||
#if WATCHDOG == WTC_IN_TICK
|
||||
Kick_Watchdog();
|
||||
#endif
|
||||
|
||||
vCoRoutineSchedule();
|
||||
}
|
||||
#else
|
||||
#if WATCHDOG == WTC_IN_TICK
|
||||
#error configUSE_TICK_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the tick hook.
|
||||
#endif
|
||||
#endif
|
||||
/*-----------------------------------------------------------*/
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue