FreeRTOS-Kernel/FreeRTOS/Demo/dsPIC_MPLAB/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:
 *
 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
 * using a free running timer to demonstrate the use of the
 * configKERNEL_INTERRUPT_PRIORITY configuration constant.  The interrupt
 * service routine measures the number of processor clocks that occur between
 * each interrupt - and in so doing measures the jitter in the interrupt
 * timing.  The maximum measured jitter time is latched in the usMaxJitter
 * variable, and displayed on the LCD by the 'Check' as described below.
 * The fast interrupt is configured and handled in the timer_test.c source
 * file.
 *
 * "LCD" task - the LCD task is a 'gatekeeper' task.  It is the only task that
 * is permitted to access the LCD directly.  Other tasks wishing to write a
 * message to the LCD send the message on a queue to the LCD task instead of
 * accessing the LCD themselves.  The LCD task just blocks on the queue waiting
 * for messages - waking and displaying the messages as they arrive.  The LCD
 * task is defined in lcd.c.
 *
 * "Check" task -  This only executes every three seconds but has the highest
 * priority so is guaranteed to get processor time.  Its main function is to
 * check that all the standard demo tasks are still operational.  Should any
 * unexpected behaviour within a demo task be discovered the 'check' task will
 * write "FAIL #n" to the LCD (via the LCD task).  If all the demo tasks are
 * executing with their expected behaviour then the check task writes the max
 * jitter time to the LCD (again via the LCD task), as described above.
 */

/* Standard includes. */
#include <stdio.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "croutine.h"

/* Demo application includes. */
#include "BlockQ.h"
#include "crflash.h"
#include "blocktim.h"
#include "integer.h"
#include "comtest2.h"
#include "partest.h"
#include "lcd.h"
#include "timertest.h"

/* Demo task priorities. */
#define mainBLOCK_Q_PRIORITY                      ( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY                   ( tskIDLE_PRIORITY + 3 )
#define mainCOM_TEST_PRIORITY                     ( 2 )

/* The check task may require a bit more stack as it calls sprintf(). */
#define mainCHECK_TAKS_STACK_SIZE                 ( configMINIMAL_STACK_SIZE * 2 )

/* The execution period of the check task. */
#define mainCHECK_TASK_PERIOD                     ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )

/* The number of flash co-routines to create. */
#define mainNUM_FLASH_COROUTINES                  ( 5 )

/* Baud rate used by the comtest tasks. */
#define mainCOM_TEST_BAUD_RATE                    ( 19200 )

/* The LED used by the comtest tasks.  mainCOM_TEST_LED + 1 is also used.
 * See the comtest.c file for more information. */
#define mainCOM_TEST_LED                          ( 6 )

/* The frequency at which the "fast interrupt test" interrupt will occur. */
#define mainTEST_INTERRUPT_FREQUENCY              ( 20000 )

/* The number of processor clocks we expect to occur between each "fast
 * interrupt test" interrupt. */
#define mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS    ( configCPU_CLOCK_HZ / mainTEST_INTERRUPT_FREQUENCY )

/* The number of nano seconds between each processor clock. */
#define mainNS_PER_CLOCK                          ( ( unsigned short ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )

/* Dimension the buffer used to hold the value of the maximum jitter time when
 * it is converted to a string. */
#define mainMAX_STRING_LENGTH                     ( 20 )

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

/*
 * The check task as described at the top of this file.
 */
static void vCheckTask( void * pvParameters );

/*
 * Setup the processor ready for the demo.
 */
static void prvSetupHardware( void );

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

/* The queue used to send messages to the LCD task. */
static QueueHandle_t xLCDQueue;

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

/*
 * Create the demo tasks then start the scheduler.
 */
int main( void )
{
    /* Configure any hardware required for this demo. */
    prvSetupHardware();

    /* Create the standard demo tasks. */
    vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
    vStartIntegerMathTasks( tskIDLE_PRIORITY );
    vStartFlashCoRoutines( mainNUM_FLASH_COROUTINES );
    vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
    vCreateBlockTimeTasks();

    /* Create the test tasks defined within this file. */
    xTaskCreate( vCheckTask, "Check", mainCHECK_TAKS_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

    /* Start the task that will control the LCD.  This returns the handle
     * to the queue used to write text out to the task. */
    xLCDQueue = xStartLCDTask();

    /* Start the high frequency interrupt test. */
    vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );

    /* Finally start the scheduler. */
    vTaskStartScheduler();

    /* Will only reach here if there is insufficient heap available to start
     * the scheduler. */
    return 0;
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
    vParTestInitialise();
}
/*-----------------------------------------------------------*/

static void vCheckTask( void * pvParameters )
{
/* Used to wake the task at the correct frequency. */
    TickType_t xLastExecutionTime;

/* The maximum jitter time measured by the fast interrupt test. */
    extern unsigned short usMaxJitter;

/* Buffer into which the maximum jitter time is written as a string. */
    static char cStringBuffer[ mainMAX_STRING_LENGTH ];

/* The message that is sent on the queue to the LCD task.  The first
 * parameter is the minimum time (in ticks) that the message should be
 * left on the LCD without being overwritten.  The second parameter is a pointer
 * to the message to display itself. */
    xLCDMessage xMessage = { 0, cStringBuffer };

/* Set to pdTRUE should an error be detected in any of the standard demo tasks. */
    unsigned short usErrorDetected = pdFALSE;

    /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
     * works correctly. */
    xLastExecutionTime = xTaskGetTickCount();

    for( ; ; )
    {
        /* Wait until it is time for the next cycle. */
        vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_PERIOD );

        /* Has an error been found in any of the standard demo tasks? */

        if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
        {
            usErrorDetected = pdTRUE;
            sprintf( cStringBuffer, "FAIL #1" );
        }

        if( xAreComTestTasksStillRunning() != pdTRUE )
        {
            usErrorDetected = pdTRUE;
            sprintf( cStringBuffer, "FAIL #2" );
        }

        if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
        {
            usErrorDetected = pdTRUE;
            sprintf( cStringBuffer, "FAIL #3" );
        }

        if( xAreBlockingQueuesStillRunning() != pdTRUE )
        {
            usErrorDetected = pdTRUE;
            sprintf( cStringBuffer, "FAIL #4" );
        }

        if( usErrorDetected == pdFALSE )
        {
            /* No errors have been discovered, so display the maximum jitter
             * timer discovered by the "fast interrupt test". */
            sprintf( cStringBuffer, "%dns max jitter", ( short ) ( usMaxJitter - mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ) * mainNS_PER_CLOCK );
        }

        /* Send the message to the LCD gatekeeper for display. */
        xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
    }
}
/*-----------------------------------------------------------*/

void vApplicationIdleHook( void )
{
    /* Schedule the co-routines from within the idle task hook. */
    vCoRoutineSchedule();
}
/*-----------------------------------------------------------*/