FreeRTOS-Kernel/FreeRTOS/Demo/NEC_78K0R_IAR/main.c

/*
 * FreeRTOS V202212.00
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

/*
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
 * documentation provides more details of the standard demo application tasks.
 * In addition to the standard demo tasks, the following tasks and tests are
 * defined and/or created within this file:
 *
 * "Check" task -  This only executes every three seconds but has a high priority
 * to ensure it gets processor time.  Its main function is to check that all the
 * standard demo tasks are still operational.  If everything is running as
 * expected then the check task will toggle an LED every 3 seconds.  An error
 * being discovered in any task will cause the toggle rate to increase to 500ms.
 *
 * "Reg test" tasks - These fill the registers with known values, then check
 * that each register still contains its expected value.  Each task uses
 * different values.  The tasks run with very low priority so get preempted very
 * frequently.  A register containing an unexpected value is indicative of an
 * error in the context switching mechanism.
 *
 *
 * Also in addition to the standard demo tasks is a button push task.  This is
 * a very basic task that is included as an example of how to write an interrupt
 * service routine that interacts with a task.  The button on the target board
 * is used to generate an interrupt that 'gives' a semaphore in order to unblock
 * a task.  In doing so the task is synchronised with the interrupt.  Each time
 * the task unblocks it simply toggles an LED before entering the Blocked state
 * again to wait for the next button push.
 */

/* Standard includes. */
#include <stdlib.h>
#include <string.h>

/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"

/* Standard demo file headers. */
#include "PollQ.h"
#include "semtest.h"
#include "GenQTest.h"
#include "dynamic.h"
#include "blocktim.h"

/*
 * Priority definitions for most of the tasks in the demo application.  Some
 * tasks just use the idle priority.
 */
#define mainCHECK_TASK_PRIORITY       ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY       ( tskIDLE_PRIORITY + 1 )
#define mainSEMTEST_PRIORITY          ( tskIDLE_PRIORITY + 1 )
#define mainBUTTON_PRIORITY           ( configMAX_PRIORITIES - 1 )
#define mainGEN_QUEUE_PRIORITY        ( tskIDLE_PRIORITY )

/* The period between executions of the check task. */
#define mainNO_ERROR_TOGGLE_PERIOD    ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
#define mainERROR_TOGGLE_PERIOD       ( ( TickType_t ) 500 / portTICK_PERIOD_MS )

/* The LED toggled by the check task. */
#define mainLED_0                     P7_bit.no6

/* A value that is passed in as the parameter to the 'check' task.  This is done
 * purely to check that the parameter passing mechanism is functioning correctly. */
#define mainCHECK_PARAMETER_VALUE     ( 0x5678 )

/*-----------------------------------------------------------*/

/*
 * The function that defines the 'check' task as described at the top of this
 * file.
 */
static void vErrorChecks( void * pvParameters );


/*
 * This function is called from the C startup routine to setup the processor -
 * in particular the clock source.
 */
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 );

/*
 * Function that defines the button push task as described at the top of this
 * file.
 */
extern void vButtonTask( void * pvParameters );

/*-----------------------------------------------------------*/

/* If an error is discovered by one of the RegTest tasks then this flag is set
 * to pdFAIL.  The 'check' task then inspects this flag to detect errors within
 * the RegTest tasks. */
static short sRegTestStatus = pdPASS;

/* 78K0R Option Byte Definition. Watchdog disabled, LVI enabled, OCD interface
 * enabled. */
__root __far const unsigned char OptionByte[] @0x00C0 =
{
    WATCHDOG_DISABLED, LVI_ENABLED, RESERVED_FF, OCD_ENABLED
};

/* Security byte definition */
__root __far const unsigned char SecuIDCode[]  @0x00C4 =
{
    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff
};


/*-----------------------------------------------------------*/

short main( void )
{
    /* Creates all the tasks, 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();

    /* 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 button push task as described at the top of this file. */
    xTaskCreate( vButtonTask, "Button", configMINIMAL_STACK_SIZE, NULL, mainBUTTON_PRIORITY, NULL );

    /* Create the 'check' task as described at the top of this file. */
    xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, ( void * ) mainCHECK_PARAMETER_VALUE, mainCHECK_TASK_PRIORITY, NULL );

    #ifdef __IAR_78K0R_Kx3__
    {
        /* The Kx3 has enough RAM to create more of the standard demo tasks. */
        vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
        vStartSemaphoreTasks( mainSEMTEST_PRIORITY );
        vStartGenericQueueTasks( mainGEN_QUEUE_PRIORITY );
        vCreateBlockTimeTasks();
    }
    #endif

    /* 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( ; ; )
    {
    }
}
/*-----------------------------------------------------------*/

static void vErrorChecks( void * pvParameters )
{
    TickType_t xToggleRate = mainNO_ERROR_TOGGLE_PERIOD, xLastWakeTime;

    /* Ensure the parameter was passed in as expected.  This is just a test of
     * the kernel port, the parameter is not actually used for anything.  The
     * pointer will only actually be either 3 or 2 bytes, depending on the memory
     * model. */
    if( pvParameters != ( void * ) mainCHECK_PARAMETER_VALUE )
    {
        xToggleRate = mainERROR_TOGGLE_PERIOD;
    }

    /* Initialise xLastWakeTime before it is used.  After this point it is not
     * written to directly. */
    xLastWakeTime = xTaskGetTickCount();

    /* Cycle for ever, delaying then checking all the other tasks are still
     * operating without error. */
    for( ; ; )
    {
        /* Wait until it is time to check all the other tasks again. */
        vTaskDelayUntil( &xLastWakeTime, xToggleRate );

        if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
        {
            xToggleRate = mainERROR_TOGGLE_PERIOD;
        }

        if( sRegTestStatus != pdPASS )
        {
            xToggleRate = mainERROR_TOGGLE_PERIOD;
        }

        #ifdef __IAR_78K0R_Kx3__
        {
            /* Only the Kx3 runs all the tasks. */
            if( xArePollingQueuesStillRunning() != pdTRUE )
            {
                xToggleRate = mainERROR_TOGGLE_PERIOD;
            }

            if( xAreSemaphoreTasksStillRunning() != pdTRUE )
            {
                xToggleRate = mainERROR_TOGGLE_PERIOD;
            }

            if( xAreGenericQueueTasksStillRunning() != pdTRUE )
            {
                xToggleRate = mainERROR_TOGGLE_PERIOD;
            }

            if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
            {
                xToggleRate = mainERROR_TOGGLE_PERIOD;
            }
        }
        #endif /* ifdef __IAR_78K0R_Kx3__ */

        /* Toggle the LED.  The toggle rate will depend on whether or not an
         * error has been found in any tasks. */
        mainLED_0 = !mainLED_0;
    }
}
/*-----------------------------------------------------------*/

int __low_level_init( void )
{
    unsigned char ucResetFlag = RESF;

    portDISABLE_INTERRUPTS();

    /* Clock Configuration:
     * In this port, to use the internal high speed clock source of the microcontroller
     * define the configCLOCK_SOURCE as 1 in FreeRTOSConfig.h.  To use an external
     * clock define configCLOCK_SOURCE as 0. */
    #if configCLOCK_SOURCE == 1
    {
        /* Set XT1 and XT2 in Input Port Mode
         * Set X1  and X2  in Input Port Mode
         * High speed oscillator frequency 2MHz <= fMX <= 10MHz */
        CMC = 0x00;

        /* X1 external oszillation stopped. */
        MSTOP = 1;

        /* Enable internal high speed oszillation. */
        HIOSTOP = 0;
        MCM0 = 0;

        /* Stop internal subsystem clock. */
        XTSTOP = 1;

        /* Set clock speed. */
        CSS = 0;
        CKC &= ( unsigned char ) ~0x07;
        CKC |= 0x00;
    }
    #else /* if configCLOCK_SOURCE == 1 */
    {
        /* XT1 and XT2 pin in input port mode
         * X1  and X2  pin in crystal resonator mode
         * High speed oszillation frequency 10MHz < fMX <= 20MHz */
        CMC = 0x41;

        /* Set oscillation stabilization time. */
        OSTS = 0x07;

        /* Set speed mode: fMX > 10MHz for Flash memory high speed operation. */
        OSMC = 0x01;

        /* Start up X1 oscillator operation
         * Internal high-speed oscillator operating. */
        MSTOP = 0;

        /* Check oscillation stabilization time status. */
        while( OSTC < 0x07 )
        {
            /* Wait until X1 clock stabilization time. */
            portNOP();
        }

        /* Switch CPU clock to X1 oscillator. */
        MCM0 = 1;

        while( MCS != 1 )
        {
            /* Wait until CPU and peripherals operate with fX1 clock. */
            portNOP();
        }

        /* Stop the internal high-speed oscillator operation. */
        HIOSTOP = 1;

        /* Stop the XT1 oscillator operation. */
        XTSTOP = 1;

        /* Operating frequency f = fx
         * Change clock generator setting, if necessary. */
        CKC &= 0xF8;

        /* From here onwards the X1 oscillator is supplied to the CPU. */
    }
    #endif /* if configCLOCK_SOURCE == 1 */

    /* LED port initialization - set port register. */
    P7 = 0x80;

    /* Set port mode register. */
    PM7 = 0x3F;

    /* Switch pin initialization - enable pull-up resistor. */
    PU12_bit.no0 = 1;

    /* INTP0 is used by the button on the target board. */

    /* INTP0 disable. */
    PMK0 = 1;

    /* INTP0 IF clear. */
    PIF0 = 0;
    EGN0_bit.no0 = 1;

    /* INTP0 priority low. */
    PPR10 = 0;
    PPR00 = 1;

    /* Enable ext. INTP0 interrupt */
    PMK0 = 0;

    return pdTRUE;
}
/*-----------------------------------------------------------*/

void vRegTestError( void )
{
    /* Called by the RegTest tasks if an error is found.  lRegTestStatus is
     * inspected by the check task. */
    sRegTestStatus = pdFAIL;

    /* Do not return from here as the reg test tasks clobber all registers so
     * function calls may not function correctly. */
    for( ; ; )
    {
    }
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( TaskHandle_t xTask,
                                    char * pcTaskName )
{
    ( void ) xTask;
    ( void ) pcTaskName;

    /* This will get called if an overflow is detected in the stack of a task.
     * Inspect pxCurrentTCB to see which was the offending task. */
    for( ; ; )
    {
    }
}