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[修改] 增加freeRTOS

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1. 版本FreeRTOSv202212.01，命名为kernel；
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gaoyang3513
2023-05-06 16:43:01 +00:00
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kernel/FreeRTOS/Demo/ARM7_LPC2138_Rowley/main.c Normal file
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/*
* FreeRTOS V202212.01
* 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
*
*/
/*
* This file contains a demo created to execute on the Rowley Associates
* LPC2138 CrossFire development board.
*
* main() creates all the demo application tasks, then starts the scheduler.
* The WEB documentation provides more details of the standard demo application
* tasks.
*
* Main.c also creates a task called "Check". This only executes every few
* seconds but has a high priority so is guaranteed to get processor time.
* Its function is to check that all the other tasks are still operational.
* Each standard demo task 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 writes "PASS" to the
* CrossStudio terminal IO window. Should any task contain an error at any time
* the error is latched and "FAIL" written to the terminal IO window.
*
* Finally, main() sets up an interrupt service routine and task to handle
* pushes of the button that is built into the CrossFire board. When the button
* is pushed the ISR wakes the button task - which generates a table of task
* status information which is also displayed on the terminal IO window.
*
* A print task is defined to ensure exclusive and consistent access to the
* terminal IO. This is the only task that is allowed to access the terminal.
* The check and button task therefore do not access the terminal directly but
* instead pass a pointer to the message they wish to display to the print task.
*/
/* Standard includes. */
#include <__cross_studio_io.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
/* Demo app includes. */
#include "BlockQ.h"
#include "death.h"
#include "dynamic.h"
#include "integer.h"
#include "PollQ.h"
#include "blocktim.h"
#include "recmutex.h"
#include "semtest.h"
/* Hardware configuration definitions. */
#define mainBUS_CLK_FULL ( ( unsigned char ) 0x01 )
#define mainLED_BIT 0x80000000
#define mainP0_14__EINT_1 ( 2 << 28 )
#define mainEINT_1_EDGE_SENSITIVE 2
#define mainEINT_1_FALLING_EDGE_SENSITIVE 0
#define mainEINT_1_CHANNEL 15
#define mainEINT_1_VIC_CHANNEL_BIT ( 1 << mainEINT_1_CHANNEL )
#define mainEINT_1_ENABLE_BIT ( 1 << 5 )
/* Demo application definitions. */
#define mainQUEUE_SIZE ( 3 )
#define mainLED_DELAY ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
#define mainERROR_LED_DELAY ( ( TickType_t ) 50 / portTICK_PERIOD_MS )
#define mainCHECK_DELAY ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
#define mainLIST_BUFFER_SIZE 2048
#define mainNO_DELAY ( 0 )
#define mainSHORT_DELAY ( 150 / portTICK_PERIOD_MS )
/* Task priorities. */
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainPRINT_TASK_PRIORITY ( tskIDLE_PRIORITY + 0 )
/*-----------------------------------------------------------*/
/* The semaphore used to wake the button task from within the external interrupt
handler. */
SemaphoreHandle_t xButtonSemaphore;
/* The queue that is used to send message to vPrintTask for display in the
terminal output window. */
QueueHandle_t xPrintQueue;
/* The rate at which the LED will toggle. The toggle rate increases if an
error is detected in any task. */
static TickType_t xLED_Delay = mainLED_DELAY;
/*-----------------------------------------------------------*/
/*
* Simply flashes the on board LED every mainLED_DELAY milliseconds.
*/
static void vLEDTask( void *pvParameters );
/*
* Checks the status of all the demo tasks then prints a message to the
* CrossStudio terminal IO windows. The message will be either PASS or FAIL
* depending on the status of the demo applications tasks. A FAIL status will
* be latched.
*
* Messages are not written directly to the terminal, but passed to vPrintTask
* via a queue.
*/
static void vCheckTask( void *pvParameters );
/*
* Controls all terminal output. If a task wants to send a message to the
* terminal IO it posts a pointer to the text to vPrintTask via a queue. This
* ensures serial access to the terminal IO.
*/
static void vPrintTask( void *pvParameter );
/*
* Simply waits for an interrupt to be generated from the built in button, then
* generates a table of tasks states that is then written by vPrintTask to the
* terminal output window within CrossStudio.
*/
static void vButtonHandlerTask( void *pvParameters );
/*-----------------------------------------------------------*/
int main( void )
{
/* Setup the peripheral bus to be the same as the PLL output. */
VPBDIV = mainBUS_CLK_FULL;
/* Create the queue used to pass message to vPrintTask. */
xPrintQueue = xQueueCreate( mainQUEUE_SIZE, sizeof( char * ) );
/* Create the semaphore used to wake vButtonHandlerTask(). */
vSemaphoreCreateBinary( xButtonSemaphore );
xSemaphoreTake( xButtonSemaphore, 0 );
/* Start the standard demo tasks. */
vStartIntegerMathTasks( tskIDLE_PRIORITY );
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
vStartDynamicPriorityTasks();
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
#if configUSE_PREEMPTION == 1
{
/* The timing of console output when not using the preemptive
scheduler causes the block time tests to detect a timing problem. */
vCreateBlockTimeTasks();
}
#endif
vStartRecursiveMutexTasks();
/* Start the tasks defined within this file. */
xTaskCreate( vLEDTask, "LED", configMINIMAL_STACK_SIZE, NULL, mainLED_TASK_PRIORITY, NULL );
xTaskCreate( vCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
xTaskCreate( vPrintTask, "Print", configMINIMAL_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );
xTaskCreate( vButtonHandlerTask, "Button", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Start the scheduler. */
vTaskStartScheduler();
/* The scheduler should now be running, so we will only ever reach here if we
ran out of heap space. */
return 0;
}
/*-----------------------------------------------------------*/
static void vLEDTask( void *pvParameters )
{
/* Just to remove compiler warnings. */
( void ) pvParameters;
/* Configure IO. */
IO0DIR |= mainLED_BIT;
IO0SET = mainLED_BIT;
for( ;; )
{
/* Not very exiting - just delay... */
vTaskDelay( xLED_Delay );
/* ...set the IO ... */
IO0CLR = mainLED_BIT;
/* ...delay again... */
vTaskDelay( xLED_Delay );
/* ...then clear the IO. */
IO0SET = mainLED_BIT;
}
}
/*-----------------------------------------------------------*/
static void vCheckTask( void *pvParameters )
{
portBASE_TYPE xErrorOccurred = pdFALSE;
TickType_t xLastExecutionTime;
const char * const pcPassMessage = "PASS\n";
const char * const pcFailMessage = "FAIL\n";
/* Just to remove compiler warnings. */
( void ) pvParameters;
/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
works correctly. */
xLastExecutionTime = xTaskGetTickCount();
for( ;; )
{
/* Perform this check every mainCHECK_DELAY milliseconds. */
vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );
/* Has an error been found in any task? */
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
xErrorOccurred = pdTRUE;
}
if( xArePollingQueuesStillRunning() != pdTRUE )
{
xErrorOccurred = pdTRUE;
}
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
xErrorOccurred = pdTRUE;
}
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
{
xErrorOccurred = pdTRUE;
}
if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
xErrorOccurred = pdTRUE;
}
#if configUSE_PREEMPTION == 1
{
/* The timing of console output when not using the preemptive
scheduler causes the block time tests to detect a timing problem. */
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
xErrorOccurred = pdTRUE;
}
}
#endif
if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
{
xErrorOccurred = pdTRUE;
}
/* Send either a pass or fail message. If an error is found it is
never cleared again. */
if( xErrorOccurred == pdTRUE )
{
xLED_Delay = mainERROR_LED_DELAY;
xQueueSend( xPrintQueue, &pcFailMessage, portMAX_DELAY );
}
else
{
xQueueSend( xPrintQueue, &pcPassMessage, portMAX_DELAY );
}
}
}
/*-----------------------------------------------------------*/
static void vPrintTask( void *pvParameters )
{
char *pcMessage;
/* Just to stop compiler warnings. */
( void ) pvParameters;
for( ;; )
{
/* Wait for a message to arrive. */
while( xQueueReceive( xPrintQueue, &pcMessage, portMAX_DELAY ) != pdPASS );
/* Write the message to the terminal IO. */
#ifndef NDEBUG
debug_printf( "%s", pcMessage );
#endif
}
}
/*-----------------------------------------------------------*/
static void vButtonHandlerTask( void *pvParameters )
{
static char cListBuffer[ mainLIST_BUFFER_SIZE ];
const char *pcList = &( cListBuffer[ 0 ] );
const char * const pcHeader = "\nTask State Priority Stack #\n************************************************";
extern void (vButtonISRWrapper) ( void );
/* Just to stop compiler warnings. */
( void ) pvParameters;
/* Configure the interrupt. */
portENTER_CRITICAL();
{
/* Configure P0.14 to generate interrupts. */
PINSEL0 |= mainP0_14__EINT_1;
EXTMODE = mainEINT_1_EDGE_SENSITIVE;
EXTPOLAR = mainEINT_1_FALLING_EDGE_SENSITIVE;
/* Setup the VIC for EINT 1. */
VICIntSelect &= ~mainEINT_1_VIC_CHANNEL_BIT;
VICIntEnable |= mainEINT_1_VIC_CHANNEL_BIT;
VICVectAddr1 = ( long ) vButtonISRWrapper;
VICVectCntl1 = mainEINT_1_ENABLE_BIT | mainEINT_1_CHANNEL;
}
portEXIT_CRITICAL();
for( ;; )
{
/* For debouncing, wait a while then clear the semaphore. */
vTaskDelay( mainSHORT_DELAY );
xSemaphoreTake( xButtonSemaphore, mainNO_DELAY );
/* Wait for an interrupt. */
xSemaphoreTake( xButtonSemaphore, portMAX_DELAY );
/* Send the column headers to the print task for display. */
xQueueSend( xPrintQueue, &pcHeader, portMAX_DELAY );
/* Create the list of task states. */
vTaskList( cListBuffer );
/* Send the task status information to the print task for display. */
xQueueSend( xPrintQueue, &pcList, portMAX_DELAY );
}
}
/*-----------------------------------------------------------*/
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
{
/* Check pcTaskName for the name of the offending task, or pxCurrentTCB
if pcTaskName has itself been corrupted. */
( void ) pxTask;
( void ) pcTaskName;
for( ;; );
}