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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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100
kernel/FreeRTOS/Demo/msp430_CrossWorks/FreeRTOSConfig.h 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
*
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
#include <msp430x44x.h>
/*
Two interrupt examples are provided -
+ Method 1 does everything in C code.
+ Method 2 uses an assembly file wrapper.
Code size:
Method 1 uses assembly macros to save and restore the task context, whereas
method 2 uses functions. This means method 1 will be faster, but method 2 will
use less code space.
Simplicity:
Method 1 is very simplistic, whereas method 2 is more elaborate. This
elaboration results in the code space saving, but also requires a slightly more
complex procedure to define interrupt service routines.
Interrupt efficiency:
Method 1 uses the compiler generated function prologue and epilogue code to save
and restore the necessary registers within an interrupt service routine (other
than the RTOS tick ISR). Should a context switch be required from within the ISR
the entire processor context is saved. This can result in some registers being saved
twice - once by the compiler generated code, and then again by the FreeRTOS code.
Method 2 saves and restores all the processor registers within each interrupt service
routine, whether or not a context switch actually occurs. This means no registers
ever get saved twice, but imposes an overhead on the occasions that no context switch
occurs.
*/
#define configINTERRUPT_EXAMPLE_METHOD 1
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html
*----------------------------------------------------------*/
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 1
#define configUSE_TICK_HOOK 0
#define configCPU_CLOCK_HZ ( ( unsigned long ) 7995392 ) /* Clock setup from main.c in the demo application. */
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
#define configMAX_PRIORITIES ( 4 )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 50 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 1800 ) )
#define configMAX_TASK_NAME_LEN ( 8 )
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 1
#define configIDLE_SHOULD_YIELD 1
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 0
#define INCLUDE_uxTaskPriorityGet 0
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 0
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#endif /* FREERTOS_CONFIG_H */

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kernel/FreeRTOS/Demo/msp430_CrossWorks/ParTest/ParTest.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
*
*/
/*-----------------------------------------------------------
* Characters on the LCD are used to simulate LED's. In this case the 'ParTest'
* is really operating on the LCD display.
*-----------------------------------------------------------*/
/*
* This demo is configured to execute on the ES449 prototyping board from
* SoftBaugh. The ES449 has a built in LCD display and a single built in user
* LED. Therefore, in place of flashing an LED, the 'flash' and 'check' tasks
* toggle '*' characters on the LCD. The left most '*' represents LED 0, the
* next LED 1, etc.
*
* There is a single genuine on board LED referenced as LED 10.
*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo application includes. */
#include "partest.h"
/* Constants required to setup the LCD. */
#define LCD_DIV_64 5
/* Constants required to access the "LED's". The LED segments are turned on
and off to generate '*' characters. */
#define partstNUM_LEDS ( ( unsigned char ) 6 )
#define partstSEGMENTS_ON ( ( unsigned char ) 0x0f )
#define partstSEGMENTS_OFF ( ( unsigned char ) 0x00 )
/* The LED number of the real on board LED, rather than a simulated LED. */
#define partstON_BOARD_LED ( ( unsigned portBASE_TYPE ) 10 )
#define mainON_BOARD_LED_BIT ( ( unsigned char ) 0x01 )
/* The LCD segments used to generate the '*' characters for LED's 0 to 5. */
unsigned char * const ucRHSSegments[ partstNUM_LEDS ] = { ( unsigned char * )0xa4,
( unsigned char * )0xa2,
( unsigned char * )0xa0,
( unsigned char * )0x9e,
( unsigned char * )0x9c,
( unsigned char * )0x9a };
unsigned char * const ucLHSSegments[ partstNUM_LEDS ] = { ( unsigned char * )0xa3,
( unsigned char * )0xa1,
( unsigned char * )0x9f,
( unsigned char * )0x9d,
( unsigned char * )0x9b,
( unsigned char * )0x99 };
/*
* Toggle the single genuine built in LED.
*/
static void prvToggleOnBoardLED( void );
/*-----------------------------------------------------------*/
void vParTestInitialise( void )
{
/* Initialise the LCD hardware. */
/* Used for the onboard LED. */
P1DIR = 0x01;
// Setup Basic Timer for LCD operation
BTCTL = (LCD_DIV_64+0x23);
// Setup port functions
P1SEL = 0x32;
P2SEL = 0x00;
P3SEL = 0x00;
P4SEL = 0xFC;
P5SEL = 0xFF;
/* Initialise all segments to off. */
LCDM1 = partstSEGMENTS_OFF;
LCDM2 = partstSEGMENTS_OFF;
LCDM3 = partstSEGMENTS_OFF;
LCDM4 = partstSEGMENTS_OFF;
LCDM5 = partstSEGMENTS_OFF;
LCDM6 = partstSEGMENTS_OFF;
LCDM7 = partstSEGMENTS_OFF;
LCDM8 = partstSEGMENTS_OFF;
LCDM9 = partstSEGMENTS_OFF;
LCDM10 = partstSEGMENTS_OFF;
LCDM11 = partstSEGMENTS_OFF;
LCDM12 = partstSEGMENTS_OFF;
LCDM13 = partstSEGMENTS_OFF;
LCDM14 = partstSEGMENTS_OFF;
LCDM15 = partstSEGMENTS_OFF;
LCDM16 = partstSEGMENTS_OFF;
LCDM17 = partstSEGMENTS_OFF;
LCDM18 = partstSEGMENTS_OFF;
LCDM19 = partstSEGMENTS_OFF;
LCDM20 = partstSEGMENTS_OFF;
/* Setup LCD control. */
LCDCTL = (LCDSG0_7|LCD4MUX|LCDON);
}
/*-----------------------------------------------------------*/
void vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
{
/* Set or clear the output [in this case show or hide the '*' character. */
if( uxLED < ( portBASE_TYPE ) partstNUM_LEDS )
{
vTaskSuspendAll();
{
if( xValue )
{
/* Turn on the segments required to show the '*'. */
*( ucRHSSegments[ uxLED ] ) = partstSEGMENTS_ON;
*( ucLHSSegments[ uxLED ] ) = partstSEGMENTS_ON;
}
else
{
/* Turn off all the segments. */
*( ucRHSSegments[ uxLED ] ) = partstSEGMENTS_OFF;
*( ucLHSSegments[ uxLED ] ) = partstSEGMENTS_OFF;
}
}
xTaskResumeAll();
}
}
/*-----------------------------------------------------------*/
void vParTestToggleLED( unsigned portBASE_TYPE uxLED )
{
if( uxLED < ( portBASE_TYPE ) partstNUM_LEDS )
{
vTaskSuspendAll();
{
/* If the '*' is already showing - hide it. If it is not already
showing then show it. */
if( *( ucRHSSegments[ uxLED ] ) )
{
*( ucRHSSegments[ uxLED ] ) = partstSEGMENTS_OFF;
*( ucLHSSegments[ uxLED ] ) = partstSEGMENTS_OFF;
}
else
{
*( ucRHSSegments[ uxLED ] ) = partstSEGMENTS_ON;
*( ucLHSSegments[ uxLED ] ) = partstSEGMENTS_ON;
}
}
xTaskResumeAll();
}
else
{
if( uxLED == partstON_BOARD_LED )
{
/* The request related to the genuine on board LED. */
prvToggleOnBoardLED();
}
}
}
/*-----------------------------------------------------------*/
static void prvToggleOnBoardLED( void )
{
static unsigned short sState = pdFALSE;
/* Toggle the state of the single genuine on board LED. */
if( sState )
{
P1OUT |= mainON_BOARD_LED_BIT;
}
else
{
P1OUT &= ~mainON_BOARD_LED_BIT;
}
sState = !sState;
}
/*-----------------------------------------------------------*/

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kernel/FreeRTOS/Demo/msp430_CrossWorks/RTOSDemo.hzp Normal file
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<!DOCTYPE CrossStudio_Project_File>
<solution Name="RTOSDemo" version="2">
<project Name="RTOSDemo">
<configuration Name="Common" Target="MSP430F449" build_use_hardware_multiplier="16-Bit Multiplier" link_include_startup_code="No" linker_memory_map_file="$(PackagesDir)/targets/msp430/MSP430F449.xml" linker_section_placement_file="$(StudioDir)/targets/section_placement_info_ab_iv16.xml" msp430_debug_interface="JTAG" msp430_identify_string="MSP430F44x" msp430_insn_set="MSP430" project_directory="" project_type="Executable"/>
<folder Name="Scheduler Source">
<configuration Name="Common" filter="c;h;s;asm;inc;s43"/>
<file Name="tasks.c" file_name="../../Source/tasks.c">
<configuration Name="Common" c_preprocessor_definitions="" c_system_include_directories="" c_user_include_directories=""/>
</file>
<file Name="queue.c" file_name="../../Source/queue.c"/>
<file Name="list.c" file_name="../../Source/list.c"/>
<file Name="portext.asm" file_name="../../Source/portable/Rowley/MSP430F449/portext.asm"/>
<file Name="port.c" file_name="../../Source/portable/Rowley/MSP430F449/port.c"/>
<file Name="heap_1.c" file_name="../../Source/portable/MemMang/heap_1.c"/>
</folder>
<folder Name="Startup Code">
<configuration Name="Common" filter=""/>
<file Name="crt0.asm" file_name="$(StudioDir)/src/crt0.asm"/>
</folder>
<folder Name="Demo Source">
<file Name="main.c" file_name="main.c"/>
<file Name="flash.c" file_name="../Common/Minimal/flash.c"/>
<file Name="comtest.c" file_name="../Common/Minimal/comtest.c"/>
<file Name="PollQ.c" file_name="../Common/Minimal/PollQ.c"/>
<file Name="ParTest.c" file_name="ParTest/ParTest.c"/>
<file Name="serial.c" file_name="serial/serial.c"/>
<file Name="integer.c" file_name="../Common/Minimal/integer.c"/>
<file Name="serialASM.asm" file_name="serial/serialASM.asm"/>
</folder>
</project>
<configuration Name="Debug" c_user_include_directories=".;$(PackagesDir)/include" compiler_optimization_strategy="Minimize size" optimize_block_locality="No" optimize_code_motion="No" optimize_register_allocation="Locals Only"/>
<configuration Name="Release" build_debug_information="No" build_optimize_output="Yes" c_preprocessor_definitions="NDEBUG"/>
<configuration Name="Common" c_preprocessor_definitions="ROWLEY_MSP430" c_system_include_directories="$(StudioDir)/include;$(ProjectDir)/../../source/include;$(ProjectDir)/../../source/portable/Rowley/msp430F449" c_user_include_directories="$(ProjectDir);$(ProjectDir)/../common/include" compiler_optimization_strategy="Maximize speed" linker_printf_width_precision_supported="No"/>
</solution>

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kernel/FreeRTOS/Demo/msp430_CrossWorks/RTOSDemo.hzs Normal file
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<!DOCTYPE CrossStudio_for_MSP430_Session_File>
<session>
<Bookmarks/>
<Breakpoints>
<BreakpointListItem line="153" action="" hardwareBreakpoint="" trigger="" useHWbreakpoint="false" group="Breakpoints" type="Breakpoint" state="2" counter="0" isFunctionBreakpoint="false" filename="c:\e\dev\freertos\workingcopy2\demo\msp430_crossworks\main.c" expression="" />
</Breakpoints>
<EEMRegistersWindow>
<EEMRegisters moduleClockControl="60d7" generalClockControl="2e" />
</EEMRegistersWindow>
<EEMStateStorageWindow>
<EEMStateStorage control="2" />
</EEMStateStorageWindow>
<EEMTriggerSequencerWindow>
<EEMTriggers seqnxtstate0="0" seqnxtstate1="0" seq_ctl="0" seqaction="" />
</EEMTriggerSequencerWindow>
<EEMTriggersWindow/>
<ExecutionCountWindow/>
<Memory1>
<MemoryWindow autoEvaluate="0" addressText="0x200" numColumns="8" sizeText="2048" dataSize="1" radix="16" addressSpace="" />
</Memory1>
<Memory2>
<MemoryWindow autoEvaluate="0" addressText="" numColumns="8" sizeText="" dataSize="1" radix="16" addressSpace="" />
</Memory2>
<Memory3>
<MemoryWindow autoEvaluate="0" addressText="" numColumns="8" sizeText="" dataSize="1" radix="16" addressSpace="" />
</Memory3>
<Memory4>
<MemoryWindow autoEvaluate="0" addressText="" numColumns="8" sizeText="" dataSize="1" radix="16" addressSpace="" />
</Memory4>
<Project>
<ProjectSessionItem path="RTOSDemo" name="unnamed" />
<ProjectSessionItem path="RTOSDemo;RTOSDemo" name="unnamed" />
<ProjectSessionItem path="RTOSDemo;RTOSDemo;Scheduler Source" name="unnamed" />
</Project>
<Register1>
<RegisterWindow openNodes="" binaryNodes="" unsignedNodes="" visibleGroups="CPU Registers" decimalNodes="" octalNodes="" asciiNodes="" />
</Register1>
<Register2>
<RegisterWindow openNodes="" binaryNodes="" unsignedNodes="" visibleGroups="" decimalNodes="" octalNodes="" asciiNodes="" />
</Register2>
<Register3>
<RegisterWindow openNodes="" binaryNodes="" unsignedNodes="" visibleGroups="" decimalNodes="" octalNodes="" asciiNodes="" />
</Register3>
<Register4>
<RegisterWindow openNodes="" binaryNodes="" unsignedNodes="" visibleGroups="" decimalNodes="" octalNodes="" asciiNodes="" />
</Register4>
<TargetWindow programAction="" uploadFileType="" programLoadAddress="" programSize="" uploadFileName="" uploadMemoryInterface="" programFileName="" uploadStartAddress="" programFileType="" uploadSize="" programMemoryInterface="" />
<TraceWindow>
<Trace enabled="Yes" />
</TraceWindow>
<Watch1>
<Watches active="1" update="Never" />
</Watch1>
<Watch2>
<Watches active="0" update="Never" />
</Watch2>
<Watch3>
<Watches active="0" update="Never" />
</Watch3>
<Watch4>
<Watches active="0" update="Never" />
</Watch4>
<Files/>
<MSP430CrossStudioWindow activeProject="RTOSDemo" autoConnectTarget="/TI MSP430 Flash Emulation Tool (MSP-FET430PIF)" debugSearchFileMap="" fileDialogInitialDirectory="C:\E\Dev\FreeRTOS\WorkingCopy2\Demo\msp430_CrossWorks\serial" fileDialogDefaultFilter="*" autoConnectCapabilities="1407" debugSearchPath="" buildConfiguration="Debug" />
</session>

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kernel/FreeRTOS/Demo/msp430_CrossWorks/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
*
*/
/*
* Creates all the demo application tasks, then starts the scheduler. The WEB
* documentation provides more details of the demo application tasks.
*
* This demo is configured to execute on the ES449 prototyping board from
* SoftBaugh. The ES449 has a built in LCD display and a single built in user
* LED. Therefore, in place of flashing an LED, the 'flash' and 'check' tasks
* toggle '*' characters on the LCD. The left most '*' represents LED 0, the
* next LED 1, etc.
*
* 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 that does not flash an LED 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 an LED with a three second period. Should any task contain an error
* at any time the LED toggle rate will increase to 500ms.
*
* Please read the documentation for the MSP430 port available on
* https://www.FreeRTOS.org.
*/
/* Standard includes. */
#include <stdlib.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo application includes. */
#include "partest.h"
#include "flash.h"
#include "integer.h"
#include "comtest2.h"
#include "PollQ.h"
/* Constants required for hardware setup. */
#define mainALL_BITS_OUTPUT ( ( unsigned char ) 0xff )
#define mainMAX_FREQUENCY ( ( unsigned char ) 121 )
/* Constants that define the LED's used by the various tasks. [in this case
the '*' characters on the LCD represent LED's] */
#define mainCHECK_LED ( 4 )
#define mainCOM_TEST_LED ( 10 )
/* Demo task priorities. */
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
/* Baud rate used by the COM test tasks. */
#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
/* The frequency at which the 'Check' tasks executes. See the comments at the
top of the page. When the system is operating error free the 'Check' task
toggles an LED every three seconds. If an error is discovered in any task the
rate is increased to 500 milliseconds. [in this case the '*' characters on the
LCD represent LED's]*/
#define mainNO_ERROR_CHECK_DELAY ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
#define mainERROR_CHECK_DELAY ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
/* The constants used in the calculation. */
#define intgCONST1 ( ( long ) 123 )
#define intgCONST2 ( ( long ) 234567 )
#define intgCONST3 ( ( long ) -3 )
#define intgCONST4 ( ( long ) 7 )
#define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
/*
* The function that implements the Check task. See the comments at the head
* of the page for implementation details.
*/
static void vErrorChecks( void *pvParameters );
/*
* Called by the Check task. Returns pdPASS if all the other tasks are found
* to be operating without error - otherwise returns pdFAIL.
*/
static short prvCheckOtherTasksAreStillRunning( void );
/*
* Perform the hardware setup required by the ES449 in order to run the demo
* application.
*/
static void prvSetupHardware( void );
portBASE_TYPE xLocalError = pdFALSE;
volatile unsigned long ulIdleLoops = 0UL;
/*-----------------------------------------------------------*/
/*
* Start the demo application tasks - then start the real time scheduler.
*/
int main( void )
{
/* Setup the hardware ready for the demo. */
prvSetupHardware();
vParTestInitialise();
/* Start the standard demo application tasks. */
vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
vStartIntegerMathTasks( tskIDLE_PRIORITY );
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
/* Start the 'Check' task which is defined in this file. */
xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Start the scheduler. */
vTaskStartScheduler();
/* As the scheduler has been started the demo applications tasks will be
executing and we should never get here! */
return 0;
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vErrorChecks, pvParameters )
{
TickType_t xDelayPeriod = mainNO_ERROR_CHECK_DELAY;
/* Cycle for ever, delaying then checking all the other tasks are still
operating without error. */
for( ;; )
{
/* Wait until it is time to check again. The time we wait here depends
on whether an error has been detected or not. When an error is
detected the time is shortened resulting in a faster LED flash rate. */
vTaskDelay( xDelayPeriod );
/* See if the other tasks are all ok. */
if( prvCheckOtherTasksAreStillRunning() != pdPASS )
{
/* An error occurred in one of the tasks so shorten the delay
period - which has the effect of increasing the frequency of the
LED toggle. */
xDelayPeriod = mainERROR_CHECK_DELAY;
}
/* Flash! */
vParTestToggleLED( mainCHECK_LED );
}
}
/*-----------------------------------------------------------*/
static short prvCheckOtherTasksAreStillRunning( void )
{
static short sNoErrorFound = pdTRUE;
static unsigned long ulLastIdleLoopCount = 0UL;
/* The demo tasks maintain a count that increments every cycle of the task
provided that the task has never encountered an error. This function
checks the counts maintained by the tasks to ensure they are still being
incremented. A count remaining at the same value between calls therefore
indicates that an error has been detected. Only tasks that do not flash
an LED are checked. */
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
if( xAreComTestTasksStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
if( xArePollingQueuesStillRunning() != pdTRUE )
{
sNoErrorFound = pdFALSE;
}
if( xLocalError == pdTRUE )
{
sNoErrorFound = pdFALSE;
}
if( ulIdleLoops == ulLastIdleLoopCount )
{
sNoErrorFound = pdFALSE;
}
else
{
ulLastIdleLoopCount = ulIdleLoops;
}
return sNoErrorFound;
}
/*-----------------------------------------------------------*/
static void prvSetupHardware( void )
{
/* Stop the watchdog. */
WDTCTL = WDTPW + WDTHOLD;
/* Setup DCO+ for ( xtal * D * (N + 1) ) operation. */
FLL_CTL0 |= DCOPLUS + XCAP18PF;
/* X2 DCO frequency, 8MHz nominal DCO */
SCFI0 |= FN_4;
/* (121+1) x 32768 x 2 = 7.99 Mhz */
SCFQCTL = mainMAX_FREQUENCY;
/* Setup the IO. This is just copied from the demo supplied by SoftBaugh
for the ES449 demo board. */
P1SEL = 0x32;
P2SEL = 0x00;
P3SEL = 0x00;
P4SEL = 0xFC;
P5SEL = 0xFF;
}
/*-----------------------------------------------------------*/
/* The idle hook is just a copy of the standard integer maths tasks. See
Demo/Common/integer.c for rationale. */
void vApplicationIdleHook( void ) __toplevel
{
/* These variables are all effectively set to constants so they are volatile to
ensure the compiler does not just get rid of them. */
volatile long lValue;
volatile signed portBASE_TYPE *pxTaskHasExecuted;
/* 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;
/* Yield in case cooperative scheduling is being used. */
#if configUSE_PREEMPTION == 0
{
taskYIELD();
}
#endif
/* Finish off the calculation. */
lValue *= intgCONST3;
lValue /= intgCONST4;
/* If the calculation is found to be incorrect we stop setting the
TaskHasExecuted variable so the check task can see an error has
occurred. */
if( lValue != intgEXPECTED_ANSWER ) /*lint !e774 volatile used to prevent this being optimised out. */
{
/* Don't bother with mutual exclusion - it is only read from the
check task and never written. */
xLocalError = pdTRUE;
}
/* Yield in case cooperative scheduling is being used. */
#if configUSE_PREEMPTION == 0
{
taskYIELD();
}
#endif
ulIdleLoops++;
/* Place the processor into low power mode. */
LPM3;
}
}

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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
*
*/
/* BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER.
*
* This file only supports UART 1
*/
/* Standard includes. */
#include <stdlib.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "queue.h"
#include "task.h"
/* Demo application includes. */
#include "serial.h"
/* Constants required to setup the hardware. */
#define serTX_AND_RX ( ( unsigned char ) 0x03 )
/* Misc. constants. */
#define serNO_BLOCK ( ( TickType_t ) 0 )
/* Enable the UART Tx interrupt. */
#define vInterruptOn() IFG2 |= UTXIFG1
/* The queue used to hold received characters. */
static QueueHandle_t xRxedChars;
/* The queue used to hold characters waiting transmission. */
static QueueHandle_t xCharsForTx;
static volatile short sTHREEmpty;
/*-----------------------------------------------------------*/
xComPortHandle xSerialPortInitMinimal( unsigned long ulWantedBaud, unsigned portBASE_TYPE uxQueueLength )
{
unsigned long ulBaudRateCount;
/* Initialise the hardware. */
/* Generate the baud rate constants for the wanted baud rate. */
ulBaudRateCount = configCPU_CLOCK_HZ / ulWantedBaud;
portENTER_CRITICAL();
{
/* Create the queues used by the com test task. */
xRxedChars = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
xCharsForTx = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
/* Reset UART. */
UCTL1 |= SWRST;
/* Set pin function. */
P4SEL |= serTX_AND_RX;
/* All other bits remain at zero for n, 8, 1 interrupt driven operation.
LOOPBACK MODE!*/
U1CTL |= CHAR + LISTEN;
U1TCTL |= SSEL1;
/* Setup baud rate low byte. */
U1BR0 = ( unsigned char ) ( ulBaudRateCount & ( unsigned long ) 0xff );
/* Setup baud rate high byte. */
ulBaudRateCount >>= 8UL;
U1BR1 = ( unsigned char ) ( ulBaudRateCount & ( unsigned long ) 0xff );
/* Enable ports. */
ME2 |= UTXE1 + URXE1;
/* Set. */
UCTL1 &= ~SWRST;
/* Nothing in the buffer yet. */
sTHREEmpty = pdTRUE;
/* Enable interrupts. */
IE2 |= URXIE1 + UTXIE1;
}
portEXIT_CRITICAL();
/* Unlike other ports, this serial code does not allow for more than one
com port. We therefore don't return a pointer to a port structure and can
instead just return NULL. */
return NULL;
}
/*-----------------------------------------------------------*/
signed portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, signed char *pcRxedChar, TickType_t xBlockTime )
{
/* Get the next character from the buffer. Return false if no characters
are available, or arrive before xBlockTime expires. */
if( xQueueReceive( xRxedChars, pcRxedChar, xBlockTime ) )
{
return pdTRUE;
}
else
{
return pdFALSE;
}
}
/*-----------------------------------------------------------*/
signed portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, signed char cOutChar, TickType_t xBlockTime )
{
signed portBASE_TYPE xReturn;
/* Transmit a character. */
portENTER_CRITICAL();
{
if( sTHREEmpty == pdTRUE )
{
/* If sTHREEmpty is true then the UART Tx ISR has indicated that
there are no characters queued to be transmitted - so we can
write the character directly to the shift Tx register. */
sTHREEmpty = pdFALSE;
U1TXBUF = cOutChar;
xReturn = pdPASS;
}
else
{
/* sTHREEmpty is false, so there are still characters waiting to be
transmitted. We have to queue this character so it gets
transmitted in turn. */
/* Return false if after the block time there is no room on the Tx
queue. It is ok to block inside a critical section as each task
maintains it's own critical section status. */
xReturn = xQueueSend( xCharsForTx, &cOutChar, xBlockTime );
/* Depending on queue sizing and task prioritisation: While we
were blocked waiting to post on the queue interrupts were not
disabled. It is possible that the serial ISR has emptied the
Tx queue, in which case we need to start the Tx off again
writing directly to the Tx register. */
if( ( sTHREEmpty == pdTRUE ) && ( xReturn == pdPASS ) )
{
/* Get back the character we just posted. */
xQueueReceive( xCharsForTx, &cOutChar, serNO_BLOCK );
sTHREEmpty = pdFALSE;
U1TXBUF = cOutChar;
}
}
}
portEXIT_CRITICAL();
return pdPASS;
}
/*-----------------------------------------------------------*/
#if configINTERRUPT_EXAMPLE_METHOD == 1
/*
* UART RX interrupt service routine.
*/
void vRxISR( void ) __interrupt[ UART1RX_VECTOR ]
{
signed char cChar;
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
/* Get the character from the UART and post it on the queue of Rxed
characters. */
cChar = U1RXBUF;
xQueueSendFromISR( xRxedChars, &cChar, &xHigherPriorityTaskWoken );
if( xHigherPriorityTaskWoken )
{
/*If the post causes a task to wake force a context switch
as the woken task may have a higher priority than the task we have
interrupted. */
taskYIELD();
}
/* Make sure any low power mode bits are clear before leaving the ISR. */
__bic_SR_register_on_exit( SCG1 + SCG0 + OSCOFF + CPUOFF );
}
/*-----------------------------------------------------------*/
/*
* UART Tx interrupt service routine.
*/
void vTxISR( void ) __interrupt[ UART1TX_VECTOR ]
{
signed char cChar;
portBASE_TYPE xTaskWoken = pdFALSE;
/* The previous character has been transmitted. See if there are any
further characters waiting transmission. */
if( xQueueReceiveFromISR( xCharsForTx, &cChar, &xTaskWoken ) == pdTRUE )
{
/* There was another character queued - transmit it now. */
U1TXBUF = cChar;
}
else
{
/* There were no other characters to transmit. */
sTHREEmpty = pdTRUE;
}
/* Make sure any low power mode bits are clear before leaving the ISR. */
__bic_SR_register_on_exit( SCG1 + SCG0 + OSCOFF + CPUOFF );
}
/*-----------------------------------------------------------*/
#elif configINTERRUPT_EXAMPLE_METHOD == 2
/* This is a standard C function as an assembly file wrapper is used as an
interrupt entry point. */
void vRxISR( void )
{
signed char cChar;
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
/* Get the character from the UART and post it on the queue of Rxed
characters. */
cChar = U1RXBUF;
xQueueSendFromISR( xRxedChars, &cChar, &xHigherPriorityTaskWoken );
/*If the post causes a task to wake force a context switch
as the woken task may have a higher priority than the task we have
interrupted. */
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
}
/*-----------------------------------------------------------*/
/* This is a standard C function as an assembly file wrapper is used as an
interrupt entry point. */
void vTxISR( void )
{
signed char cChar;
portBASE_TYPE xTaskWoken = pdFALSE;
/* The previous character has been transmitted. See if there are any
further characters waiting transmission. */
if( xQueueReceiveFromISR( xCharsForTx, &cChar, &xTaskWoken ) == pdTRUE )
{
/* There was another character queued - transmit it now. */
U1TXBUF = cChar;
}
else
{
/* There were no other characters to transmit. */
sTHREEmpty = pdTRUE;
}
}
#endif /* configINTERRUPT_EXAMPLE_METHOD */
/*-----------------------------------------------------------*/

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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
*
*/
#include "FreeRTOSConfig.h"
#include "portasm.h"
/* These wrappers are only used when interrupt method 2 is being used. See
FreeRTOSConfig.h for an explanation. */
#if configINTERRUPT_EXAMPLE_METHOD == 2
.CODE
/* Wrapper for the Rx UART interrupt. */
_vUARTRx_Wrapper
portSAVE_CONTEXT
call #_vRxISR
portRESTORE_CONTEXT
/*-----------------------------------------------------------*/
/* Wrapper for the Tx UART interrupt. */
_vUARTTx_Wrapper
portSAVE_CONTEXT
call #_vTxISR
portRESTORE_CONTEXT
/*-----------------------------------------------------------*/
/* Place the UART ISRs in the correct vectors. */
.VECTORS
.KEEP
ORG UART1RX_VECTOR
DW _vUARTRx_Wrapper
ORG UART1TX_VECTOR
DW _vUARTTx_Wrapper
#endif /* configINTERRUPT_EXAMPLE_METHOD */
END