main.c

MSP430 IAR project with FreeRTOS port.

/*
	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.
	***************************************************************************
*/

/* 
	NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
	The processor MUST be in supervisor mode when vTaskStartScheduler is 
	called.  The demo applications included in the FreeRTOS.org download switch
	to supervisor mode prior to main being called.  If you are not using one of
	these demo application projects then ensure Supervisor mode is used.
*/


/*
 * 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.
 *
 * To check the operation of the memory allocator the check task also 
 * dynamically creates a task before delaying, and deletes it again when it 
 * wakes.  If memory cannot be allocated for the new task the call to xTaskCreate
 * will fail and an error is signalled.  The dynamically created task itself
 * allocates and frees memory just to give the allocator a bit more exercise.
 *
 */

/* 
	Changes from V2.4.2

	+ The vErrorChecks() task now dynamically creates then deletes a task each
	  cycle.  This tests the operation of the memory allocator.

	Changes from V2.5.2
		
	+ vParTestInitialise() is called during initialisation to ensure all the 
	  LED's start off.
*/


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

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

/* Demo application includes. */
#include "partest.h"
#include "flash.h"
#include "integer.h"
#include "PollQ.h"
#include "comtest2.h"
#include "semtest.h"
#include "flop.h"
#include "dynamic.h"
#include "BlockQ.h"
#include "serial.h"

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

/* Constants to setup I/O. */
#define mainTX_ENABLE	( ( unsigned portLONG ) 0x0001 )
#define mainRX_ENABLE	( ( unsigned portLONG ) 0x0004 )
#define mainP0_14		( ( unsigned portLONG ) 0x4000 )
#define mainJTAG_PORT	( ( unsigned portLONG ) 0x3E0000UL )

/* Constants to setup the PLL. */
#define mainPLL_MUL_4		( ( unsigned portCHAR ) 0x0003 )
#define mainPLL_DIV_1		( ( unsigned portCHAR ) 0x0000 )
#define mainPLL_ENABLE		( ( unsigned portCHAR ) 0x0001 )
#define mainPLL_CONNECT		( ( unsigned portCHAR ) 0x0003 )
#define mainPLL_FEED_BYTE1	( ( unsigned portCHAR ) 0xaa )
#define mainPLL_FEED_BYTE2	( ( unsigned portCHAR ) 0x55 )
#define mainPLL_LOCK		( ( unsigned portLONG ) 0x0400 )

/* Constants to setup the MAM. */
#define mainMAM_TIM_3		( ( unsigned portCHAR ) 0x03 )
#define mainMAM_MODE_FULL	( ( unsigned portCHAR ) 0x02 )

/* Constants to setup the peripheral bus. */
#define mainBUS_CLK_FULL	( ( unsigned portCHAR ) 0x01 )

/* Constants for the ComTest tasks. */
#define mainCOM_TEST_BAUD_RATE	( ( unsigned portLONG ) 115200 )
#define mainCOM_TEST_LED		( 3 )

/* Priorities for the demo application tasks. */
#define mainLED_TASK_PRIORITY		( tskIDLE_PRIORITY + 3 )
#define mainCOM_TEST_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY		( tskIDLE_PRIORITY + 4 )
#define mainSEM_TEST_PRIORITY		( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY		( tskIDLE_PRIORITY + 2 )

/* The rate at which the on board LED will toggle when there is/is not an 
error. */
#define mainNO_ERROR_FLASH_PERIOD	( ( portTickType ) 3000 / portTICK_RATE_MS  )
#define mainERROR_FLASH_PERIOD		( ( portTickType ) 500 / portTICK_RATE_MS  )
#define mainON_BOARD_LED_BIT		( ( unsigned portLONG ) 0x80 )

/* Constants used by the vMemCheckTask() task. */
#define mainCOUNT_INITIAL_VALUE		( ( unsigned portLONG ) 0 )
#define mainNO_TASK					( 0 )

/* The size of the memory blocks allocated by the vMemCheckTask() task. */
#define mainMEM_CHECK_SIZE_1		( ( size_t ) 51 )
#define mainMEM_CHECK_SIZE_2		( ( size_t ) 52 )
#define mainMEM_CHECK_SIZE_3		( ( size_t ) 151 )

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

/*
 * The Olimex demo board has a single built in LED.  This function simply
 * toggles its state. 
 */
void prvToggleOnBoardLED( void );

/*
 * Checks that all the demo application tasks are still executing without error
 * - as described at the top of the file.
 */
static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount );

/*
 * The task that executes at the highest priority and calls 
 * prvCheckOtherTasksAreStillRunning().  See the description at the top
 * of the file.
 */
static void vErrorChecks( void *pvParameters );

/*
 * Dynamically created and deleted during each cycle of the vErrorChecks()
 * task.  This is done to check the operation of the memory allocator.
 * See the top of vErrorChecks for more details.
 */
static void vMemCheckTask( void *pvParameters );

/*
 * Configure the processor for use with the Olimex demo board.  This includes
 * setup for the I/O, system clock, and access timings.
 */
static void prvSetupHardware( void );

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

/*
 * Starts all the other tasks, then starts the scheduler. 
 */
int main( void )
{
	/* Setup the hardware for use with the Olimex demo board. */
	prvSetupHardware();

	/* Start the demo/test application tasks. */
	vStartIntegerMathTasks( tskIDLE_PRIORITY );
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
	vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartMathTasks( tskIDLE_PRIORITY );
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartDynamicPriorityTasks();
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

	/* Start the check task - which is defined in this file. */
	xTaskCreate( vErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

	/* Now all the tasks have been started - start the scheduler.

	NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
	The processor MUST be in supervisor mode when vTaskStartScheduler is 
	called.  The demo applications included in the FreeRTOS.org download switch
	to supervisor mode prior to main being called.  If you are not using one of
	these demo application projects then ensure Supervisor mode is used here. */
	vTaskStartScheduler();

	/* Should never reach here! */
	return 0;
}
/*-----------------------------------------------------------*/

static void vErrorChecks( void *pvParameters )
{
portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
unsigned portLONG ulMemCheckTaskRunningCount;
xTaskHandle xCreatedTask;

	/* The parameters are not used in this function. */
	( void ) pvParameters;

	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error.  If an error is detected then the delay period
	is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
	the on board LED flash rate will increase. 
	
	In addition to the standard tests the memory allocator is tested through
	the dynamic creation and deletion of a task each cycle.  Each time the 
	task is created memory must be allocated for its stack.  When the task is
	deleted this memory is returned to the heap.  If the task cannot be created