First version under SVN is V4.0.1

git-svn-id: https://freertos.svn.sourceforge.net/svnroot/freertos/trunk@4 1d2547de-c912-0410-9cb9-b8ca96c0e9e2

1 files changed, 364 insertions, 0 deletions

diff --git a/Demo/HCS12_CodeWarrior_small/main.c b/Demo/HCS12_CodeWarrior_small/main.c
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+/*

+	FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.

+

+	This file is part of the FreeRTOS distribution.

+

+	FreeRTOS is free software; you can redistribute it and/or modify

+	it under the terms of the GNU General Public License as published by

+	the Free Software Foundation; either version 2 of the License, or

+	(at your option) any later version.

+

+	FreeRTOS is distributed in the hope that it will be useful,

+	but WITHOUT ANY WARRANTY; without even the implied warranty of

+	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+	GNU General Public License for more details.

+

+	You should have received a copy of the GNU General Public License

+	along with FreeRTOS; if not, write to the Free Software

+	Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

+

+	A special exception to the GPL can be applied should you wish to distribute

+	a combined work that includes FreeRTOS, without being obliged to provide

+	the source code for any proprietary components.  See the licensing section 

+	of http://www.FreeRTOS.org for full details of how and when the exception

+	can be applied.

+

+	***************************************************************************

+	See http://www.FreeRTOS.org for documentation, latest information, license 

+	and contact details.  Please ensure to read the configuration and relevant 

+	port sections of the online documentation.

+	***************************************************************************

+*/

+

+

+/*

+ *

+ * vMain() is effectively the demo application entry point.  It is called by

+ * the main() function generated by the Processor Expert application.  

+ *

+ * vMain() creates all the demo application tasks, then starts the scheduler.

+ * The WEB	documentation provides more details of the demo application tasks.

+ *

+ * Main.c also creates a task called "Check".  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 other tasks are still operational.

+ * Each task (other than the "flash" tasks) maintains a unique count that is 

+ * incremented each time the task successfully completes its function.  Should 

+ * any error occur within such a task the count is permanently halted.  The 

+ * check task inspects the count of each task to ensure it has changed since

+ * the last time the check task executed.  If all the count variables have 

+ * changed all the tasks are still executing error free, and the check task

+ * toggles the onboard LED.  Should any task contain an error at any time 

+ * the LED toggle rate will change from 3 seconds to 500ms.

+ *

+ * This file also includes the functionality normally implemented within the 

+ * standard demo application file integer.c.  Due to the limited memory 

+ * available on the microcontroller the functionality has been included within

+ * the idle task hook [vApplicationIdleHook()] - instead of within the usual

+ * separate task.  See the documentation within integer.c for the rationale 

+ * of the integer task functionality.

+ *

+ *

+ * 

+ * The demo applications included with other FreeRTOS ports make use of the

+ * standard ComTest tasks.  These use a loopback connector to transmit and

+ * receive RS232 characters between two tasks.  The test is important for two

+ * reasons:

+ *

+ *	1) It tests the mechanism of context switching from within an application

+ *	   ISR.

+ *

+ *	2) It generates some randomised timing.

+ *

+ * The demo board used to develop this port does not include an RS232 interface

+ * so the ComTest tasks could not easily be included.  Instead these two tests

+ * are created using a 'Button Push' task.  

+ * 

+ * The 'Button Push' task blocks on a queue, waiting for data to arrive.  A

+ * simple interrupt routine connected to the PP0 input on the demo board places

+ * data in the queue each time the PP0 button is pushed (this button is built 

+ * onto the demo board).  As the 'Button Push' task is created with a 

+ * relatively high priority it will unblock and want to execute as soon as data

+ * arrives in the queue - resulting in a context switch within the PP0 input

+ * ISR.  If the data retrieved from the queue is that expected the 'Button Push'

+ * task toggles LED 5.  Therefore correct operation is indicated by the LED

+ * toggling each time the PP0 button is pressed.

+ *

+ * This test is not as satisfactory as the ComTest method - but the simple 

+ * nature of the port makes is just about adequate.

+ * 

+ */

+

+/* Kernel includes. */

+#include "FreeRTOS.h"

+#include "task.h"

+#include "queue.h"

+

+/* Demo application includes. */

+#include "flash.h"

+#include "PollQ.h"

+#include "dynamic.h"

+#include "partest.h"

+

+/* Processor expert includes. */

+#include "ButtonInterrupt.h"

+

+/*-----------------------------------------------------------

+	Definitions.

+-----------------------------------------------------------*/

+

+/* Priorities assigned to demo application tasks. */

+#define mainFLASH_PRIORITY			( tskIDLE_PRIORITY + 2 )

+#define mainCHECK_TASK_PRIORITY		( tskIDLE_PRIORITY + 3 )

+#define mainBUTTON_TASK_PRIORITY	( tskIDLE_PRIORITY + 3 )

+#define mainQUEUE_POLL_PRIORITY		( tskIDLE_PRIORITY + 2 )

+

+/* LED that is toggled by the check task.  The check task periodically checks

+that all the other tasks are operating without error.  If no errors are found

+the LED is toggled with mainCHECK_PERIOD frequency.  If an error is found 

+then the toggle rate increases to mainERROR_CHECK_PERIOD. */

+#define mainCHECK_TASK_LED			( 7 )

+#define mainCHECK_PERIOD			( ( portTickType ) 3000 / portTICK_RATE_MS  )

+#define mainERROR_CHECK_PERIOD		( ( portTickType ) 500 / portTICK_RATE_MS )

+

+/* LED that is toggled by the button push interrupt. */

+#define mainBUTTON_PUSH_LED			( 5 )

+

+/* The constants used in the idle task calculation. */

+#define intgCONST1				( ( portLONG ) 123 )

+#define intgCONST2				( ( portLONG ) 234567 )

+#define intgCONST3				( ( portLONG ) -3 )

+#define intgCONST4				( ( portLONG ) 7 )

+#define intgEXPECTED_ANSWER		( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )

+

+/* The length of the queue between is button push ISR and the Button Push task

+is greater than 1 to account for switch bounces generating multiple inputs. */

+#define mainBUTTON_QUEUE_SIZE 6

+

+/*-----------------------------------------------------------

+	Local functions prototypes.

+-----------------------------------------------------------*/

+

+/*

+ * The 'Check' task function.  See the explanation at the top of the file.

+ */

+static void vErrorChecks( void* pvParameters );

+

+/*

+ * The 'Button Push' task.  See the explanation at the top of the file.

+ */

+static void vButtonTask( void *pvParameters );

+

+/*

+ * The idle task hook - in which the integer task is implemented.  See the

+ * explanation at the top of the file.

+ */

+void vApplicationIdleHook( void );

+

+/*

+ * Checks the unique counts of other tasks to ensure they are still operational.

+ */

+static portLONG prvCheckOtherTasksAreStillRunning( void );

+

+

+

+/*-----------------------------------------------------------

+	Local variables.

+-----------------------------------------------------------*/

+

+/* A few tasks are defined within this file.  This flag is used to indicate

+their status.  If an error is detected in one of the locally defined tasks then

+this flag is set to pdTRUE. */

+portBASE_TYPE xLocalError = pdFALSE;

+

+/* The queue used to send data from the button push ISR to the Button Push 

+task. */

+static xQueueHandle xButtonQueue;

+

+

+/*-----------------------------------------------------------*/

+

+/* 

+ * This is called from the main() function generated by the Processor Expert.

+ */

+void vMain( void )

+{

+	/* Start some of the standard demo tasks. */

+	vStartLEDFlashTasks( mainFLASH_PRIORITY );

+	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );

+	vStartDynamicPriorityTasks();

+	

+	/* Start the locally defined tasks.  There is also a task implemented as

+	the idle hook. */

+	xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

+	xTaskCreate( vButtonTask, "Button", configMINIMAL_STACK_SIZE, NULL, mainBUTTON_TASK_PRIORITY, NULL );

+	

+	/* All the tasks have been created - start the scheduler. */

+	vTaskStartScheduler();

+	

+	/* Should not reach here! */

+	for( ;; );

+}

+/*-----------------------------------------------------------*/

+

+static void vErrorChecks( void *pvParameters )

+{

+portTickType xDelayPeriod = mainCHECK_PERIOD;

+portTickType xLastWakeTime;

+

+	/* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()

+	functions correctly. */

+	xLastWakeTime = xTaskGetTickCount();

+

+	for( ;; )

+	{

+		/* Delay until it is time to execute again.  The delay period is 

+		shorter following an error. */

+		vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );

+

+		/* Check all the demo application tasks are executing without 

+		error. If an error is found the delay period is shortened - this

+		has the effect of increasing the flash rate of the 'check' task

+		LED. */

+		if( prvCheckOtherTasksAreStillRunning() == pdFAIL )

+		{

+			/* An error has been detected in one of the tasks - flash faster. */

+			xDelayPeriod = mainERROR_CHECK_PERIOD;

+		}

+

+		/* Toggle the LED each cycle round. */

+		vParTestToggleLED( mainCHECK_TASK_LED );

+	}

+}

+/*-----------------------------------------------------------*/

+

+static portLONG prvCheckOtherTasksAreStillRunning( void )

+{

+portBASE_TYPE xAllTasksPassed = pdPASS;

+

+	if( xArePollingQueuesStillRunning() != pdTRUE )

+	{

+		xAllTasksPassed = pdFAIL;

+	}

+

+	if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )

+	{

+		xAllTasksPassed = pdFAIL;

+	}

+

+	/* Also check the status flag for the tasks defined within this function. */

+	if( xLocalError != pdFALSE )

+	{

+		xAllTasksPassed = pdFAIL;

+	}

+

+	return xAllTasksPassed;

+}

+/*-----------------------------------------------------------*/

+

+void vApplicationIdleHook( void )

+{

+/* This variable is effectively set to a constant so it is made volatile to

+ensure the compiler does not just get rid of it. */

+volatile portLONG lValue;

+

+	/* Keep performing a calculation and checking the result against a constant. */

+	for( ;; )

+	{

+		/* Perform the calculation.  This will store partial value in

+		registers, resulting in a good test of the context switch mechanism. */

+		lValue = intgCONST1;

+		lValue += intgCONST2;

+		lValue *= intgCONST3;

+		lValue /= intgCONST4;

+

+		/* Did we perform the calculation correctly with no corruption? */

+		if( lValue != intgEXPECTED_ANSWER )

+		{

+			/* Error! */

+			portENTER_CRITICAL();

+				xLocalError = pdTRUE;

+			portEXIT_CRITICAL();

+		}

+

+		/* Yield in case cooperative scheduling is being used. */

+		#if configUSE_PREEMPTION == 0

+		{

+			taskYIELD();

+		}

+		#endif		

+	}

+}

+/*-----------------------------------------------------------*/

+

+static void vButtonTask( void *pvParameters )

+{

+unsigned portBASE_TYPE uxExpected = 1, uxReceived;

+

+	/* Create the queue used by the producer and consumer. */

+	xButtonQueue = xQueueCreate( mainBUTTON_QUEUE_SIZE, ( unsigned portBASE_TYPE ) sizeof( unsigned portBASE_TYPE ) );

+

+	if( xButtonQueue )

+	{

+		/* Now the queue is created it is safe to enable the button interrupt. */

+		ButtonInterrupt_Enable();

+	

+		for( ;; )

+		{

+			/* Simply wait for data to arrive from the button push interrupt. */

+			if( xQueueReceive( xButtonQueue, &uxReceived, portMAX_DELAY ) == pdPASS )	

+			{

+				/* Was the data we received that expected? */

+				if( uxReceived != uxExpected )

+				{

+					/* Error! */

+					portENTER_CRITICAL();

+						xLocalError = pdTRUE;

+					portEXIT_CRITICAL();				

+				}

+				else

+				{

+					/* Toggle the LED for every successful push. */

+					vParTestToggleLED( mainBUTTON_PUSH_LED );	

+				}

+				

+				uxExpected++;

+			}

+		}

+	}

+	

+	/* Will only get here if the queue could not be created. */

+	for( ;; );		

+}

+/*-----------------------------------------------------------*/

+

+#pragma CODE_SEG __NEAR_SEG NON_BANKED

+

+	/* Button push ISR. */

+	void interrupt vButtonPush( void )

+	{

+		static unsigned portBASE_TYPE uxValToSend = 0;

+		

+		/* Send an incrementing value to the button push task each run. */

+		uxValToSend++;		

+

+		/* Clear the interrupt flag. */

+		PIFP = 1;

+

+		/* Send the incremented value down the queue.  The button push task is

+		blocked waiting for the data.  As the button push task is high priority

+		it will wake and a context switch should be performed before leaving

+		the ISR. */

+		if( xQueueSendFromISR( xButtonQueue, &uxValToSend, pdFALSE ) )

+		{

+			/* NOTE: This macro can only be used if there are no local

+			variables defined.  This function uses a static variable so it's

+			use is permitted.  If the variable were not static portYIELD() 

+			would have to be used in it's place. */

+			portTASK_SWITCH_FROM_ISR();

+		}		

+	}

+

+#pragma CODE_SEG DEFAULT

+

+