TMS570LC4357: Halcogen FreeRTOS

/** @file HL_sys_main.c 
*   @brief Application main file
*   @date 11-Dec-2018
*   @version 04.07.01
*
*   This file contains an empty main function,
*   which can be used for the application.
*/

/* 
* Copyright (C) 2009-2018 Texas Instruments Incorporated - www.ti.com  
* 
* 
*  Redistribution and use in source and binary forms, with or without 
*  modification, are permitted provided that the following conditions 
*  are met:
*
*    Redistributions of source code must retain the above copyright 
*    notice, this list of conditions and the following disclaimer.
*
*    Redistributions in binary form must reproduce the above copyright
*    notice, this list of conditions and the following disclaimer in the 
*    documentation and/or other materials provided with the   
*    distribution.
*
*    Neither the name of Texas Instruments Incorporated nor the names of
*    its contributors may be used to endorse or promote products derived
*    from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
*  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
*  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
*  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
*  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
*  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
*  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
*  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/


/* USER CODE BEGIN (0) */
/* USER CODE END */

/* Include Files */

#include "HL_sys_common.h"

/* USER CODE BEGIN (1) */
/* Include FreeRTOS scheduler files */
#include "FreeRTOS.h"
#include "os_task.h"

/* Include HET header file - types, definitions and function declarations for system driver */
#include "HL_het.h"
#include "HL_gio.h"
#include "HL_esm.h"

#include <stdio.h>
#include <string.h>
#include <stdlib.h>

/* Define Task Handles */
void vPrintString( const char *pcString )
{
     static char cBuffer[60];
     /* Write the string to stdout, using a critical section as a crude method
      of mutual exclusion. */
     taskENTER_CRITICAL();
     {
       sprintf( cBuffer, "%s", pcString );
       printf( cBuffer );
     }
     taskEXIT_CRITICAL();
}

void vEv_20ms1(void *pvParameters)
{
    const char *pcTaskName = "Task #1   vEv_20ms1  \n";
    portTickType xLastWakeTime;

    /* The xLastWakeTime variable needs to be initialized with the current tick
    count. Note that this is the only time the variable is written to explicitly.
    After this xLastWakeTime is updated automatically internally within
    vTaskDelayUntil(). */
    xLastWakeTime = xTaskGetTickCount();

    /* As per most tasks, this task is implemented in an infinite loop. */
    for(;;)
    {
        /* Print out the name of this task. */
        vPrintString( pcTaskName );
        /* This task should execute exactly every 20 milliseconds. As per
        the vTaskDelay() function, time is measured in ticks, and the
        portTICK_RATE_MS constant is used to convert milliseconds into ticks.
        xLastWakeTime is automatically updated within vTaskDelayUntil() so is not
        explicitly updated by the task. */
        vTaskDelayUntil( &xLastWakeTime, ( 20 / portTICK_RATE_MS ) );
    }
}
void vEv_50ms1(void *pvParameters)
{
    const char *pcTaskName = "Task #2   vEv_50ms1  \n";
    portTickType xLastWakeTime;

    pcTaskName = ( char * ) pvParameters;
    xLastWakeTime = xTaskGetTickCount();

    /* As per most tasks, this task is implemented in an infinite loop. */
    for(;;)
    {
        vPrintString( pcTaskName );
        vTaskDelayUntil( &xLastWakeTime, ( 50 / portTICK_RATE_MS ) );
    }
}

void vEv_50ms2(void *pvParameters)
{
    const char *pcTaskName = "Task #3   vEv_50ms2  \n";
    portTickType xLastWakeTime;

    /* The xLastWakeTime variable needs to be initialized with the current tick
    count. Note that this is the only time the variable is written to explicitly.
    After this xLastWakeTime is updated automatically internally within
    vTaskDelayUntil(). */
    xLastWakeTime = xTaskGetTickCount();

    /* As per most tasks, this task is implemented in an infinite loop. */
    for(;;)
    {
        /* Print out the name of this task. */
        vPrintString( pcTaskName );
        /* This task should execute exactly every 50 milliseconds. As per
        the vTaskDelay() function, time is measured in ticks, and the
        portTICK_RATE_MS constant is used to convert milliseconds into ticks.
        xLastWakeTime is automatically updated within vTaskDelayUntil() so is not
        explicitly updated by the task. */
        vTaskDelayUntil( &xLastWakeTime, ( 50 / portTICK_RATE_MS ) );
    }
}

void vEv_100ms1(void *pvParameters)
{
    const char *pcTaskName = "Task #4   vEv_100ms1  \n";
    portTickType xLastWakeTime;

    /* The xLastWakeTime variable needs to be initialized with the current tick
    count. Note that this is the only time the variable is written to explicitly.
    After this xLastWakeTime is updated automatically internally within
    vTaskDelayUntil(). */
    xLastWakeTime = xTaskGetTickCount();

    /* As per most tasks, this task is implemented in an infinite loop. */
    for(;;)
    {
        /* Print out the name of this task. */
        vPrintString( pcTaskName );
        /* This task should execute exactly every 100 milliseconds. As per
        the vTaskDelay() function, time is measured in ticks, and the
        portTICK_RATE_MS constant is used to convert milliseconds into ticks.
        xLastWakeTime is automatically updated within vTaskDelayUntil() so is not
        explicitly updated by the task. */
        vTaskDelayUntil( &xLastWakeTime, ( 100 / portTICK_RATE_MS ) );
    }
}

void vEv_100ms2(void *pvParameters)
{
    const char *pcTaskName = "Task #5   vEv_100ms2  \n";
    portTickType xLastWakeTime;

    /* The xLastWakeTime variable needs to be initialized with the current tick
    count. Note that this is the only time the variable is written to explicitly.
    After this xLastWakeTime is updated automatically internally within
    vTaskDelayUntil(). */
    xLastWakeTime = xTaskGetTickCount();

    /* As per most tasks, this task is implemented in an infinite loop. */
    for(;;)
    {
        /* Print out the name of this task. */
        vPrintString( pcTaskName );
        /* This task should execute exactly every 100 milliseconds. As per
        the vTaskDelay() function, time is measured in ticks, and the
        portTICK_RATE_MS constant is used to convert milliseconds into ticks.
        xLastWakeTime is automatically updated within vTaskDelayUntil() so is not
        explicitly updated by the task. */
        vTaskDelayUntil( &xLastWakeTime, ( 100 / portTICK_RATE_MS ) );
    }
}
void vEv_100ms3(void *pvParameters)
{
    const char *pcTaskName = "Task #6   vEv_100ms3  \n";
    portTickType xLastWakeTime;

    /* The xLastWakeTime variable needs to be initialized with the current tick
    count. Note that this is the only time the variable is written to explicitly.
    After this xLastWakeTime is updated automatically internally within
    vTaskDelayUntil(). */
    xLastWakeTime = xTaskGetTickCount();

    /* As per most tasks, this task is implemented in an infinite loop. */
    for(;;)
    {
        /* Print out the name of this task. */
        vPrintString( pcTaskName );
        /* This task should execute exactly every 100 milliseconds. As per
        the vTaskDelay() function, time is measured in ticks, and the
        portTICK_RATE_MS constant is used to convert milliseconds into ticks.
        xLastWakeTime is automatically updated within vTaskDelayUntil() so is not
        explicitly updated by the task. */
        vTaskDelayUntil( &xLastWakeTime, ( 100 / portTICK_RATE_MS ) );
    }
}
void vEv_100ms4(void *pvParameters)
{
    const char *pcTaskName = "Task #7   vEv_100ms4  \n";
    portTickType xLastWakeTime;

    /* The xLastWakeTime variable needs to be initialized with the current tick
    count. Note that this is the only time the variable is written to explicitly.
    After this xLastWakeTime is updated automatically internally within
    vTaskDelayUntil(). */
    xLastWakeTime = xTaskGetTickCount();

    /* As per most tasks, this task is implemented in an infinite loop. */
    for(;;)
    {
        /* Print out the name of this task. */
        vPrintString( pcTaskName );
        /* This task should execute exactly every 100 milliseconds. As per
        the vTaskDelay() function, time is measured in ticks, and the
        portTICK_RATE_MS constant is used to convert milliseconds into ticks.
        xLastWakeTime is automatically updated within vTaskDelayUntil() so is not
        explicitly updated by the task. */
        vTaskDelayUntil( &xLastWakeTime, ( 100 / portTICK_RATE_MS ) );
    }
}
void vEv_100ms5(void *pvParameters)
{
    const char *pcTaskName = "Task #8   vEv_100ms5  \n";
    portTickType xLastWakeTime;

    /* The xLastWakeTime variable needs to be initialized with the current tick
    count. Note that this is the only time the variable is written to explicitly.
    After this xLastWakeTime is updated automatically internally within
    vTaskDelayUntil(). */
    xLastWakeTime = xTaskGetTickCount();

    /* As per most tasks, this task is implemented in an infinite loop. */
    for(;;)
    {
        /* Print out the name of this task. */
        vPrintString( pcTaskName );
        /* This task should execute exactly every 100 milliseconds. As per
        the vTaskDelay() function, time is measured in ticks, and the
        portTICK_RATE_MS constant is used to convert milliseconds into ticks.
        xLastWakeTime is automatically updated within vTaskDelayUntil() so is not
        explicitly updated by the task. */
        vTaskDelayUntil( &xLastWakeTime, ( 100 / portTICK_RATE_MS ) );
    }
}
void vEv_100ms6(void *pvParameters)
{
    const char *pcTaskName = "Task #9   vEv_100ms6  \n";
    portTickType xLastWakeTime;

    /* The xLastWakeTime variable needs to be initialized with the current tick
    count. Note that this is the only time the variable is written to explicitly.
    After this xLastWakeTime is updated automatically internally within
    vTaskDelayUntil(). */
    xLastWakeTime = xTaskGetTickCount();

    /* As per most tasks, this task is implemented in an infinite loop. */
    for(;;)
    {
        /* Print out the name of this task. */
        vPrintString( pcTaskName );
        /* This task should execute exactly every 100 milliseconds. As per
        the vTaskDelay() function, time is measured in ticks, and the
        portTICK_RATE_MS constant is used to convert milliseconds into ticks.
        xLastWakeTime is automatically updated within vTaskDelayUntil() so is not
        explicitly updated by the task. */
        vTaskDelayUntil( &xLastWakeTime, ( 100 / portTICK_RATE_MS ) );
    }
}

void vEv_500ms1(void *pvParameters)
{
    const char *pcTaskName = "Task #10   vEv_500ms1  \n";
    portTickType xLastWakeTime;

    /* The xLastWakeTime variable needs to be initialized with the current tick
    count. Note that this is the only time the variable is written to explicitly.
    After this xLastWakeTime is updated automatically internally within
    vTaskDelayUntil(). */
    xLastWakeTime = xTaskGetTickCount();

    /* As per most tasks, this task is implemented in an infinite loop. */
    for(;;)
    {
        /* Print out the name of this task. */
        vPrintString( pcTaskName );
        /* This task should execute exactly every 500 milliseconds. As per
        the vTaskDelay() function, time is measured in ticks, and the
        portTICK_RATE_MS constant is used to convert milliseconds into ticks.
        xLastWakeTime is automatically updated within vTaskDelayUntil() so is not
        explicitly updated by the task. */
        vTaskDelayUntil( &xLastWakeTime, ( 500 / portTICK_RATE_MS ) );
    }
}

void vEv_500ms2(void *pvParameters)
{
    const char *pcTaskName = "Task #11   vEv_500ms2  \n";
    portTickType xLastWakeTime;

    /* The xLastWakeTime variable needs to be initialized with the current tick
    count. Note that this is the only time the variable is written to explicitly.
    After this xLastWakeTime is updated automatically internally within
    vTaskDelayUntil(). */
    xLastWakeTime = xTaskGetTickCount();

    /* As per most tasks, this task is implemented in an infinite loop. */
    for(;;)
    {
        /* Print out the name of this task. */
        vPrintString( pcTaskName );
        /* This task should execute exactly every 500 milliseconds. As per
        the vTaskDelay() function, time is measured in ticks, and the
        portTICK_RATE_MS constant is used to convert milliseconds into ticks.
        xLastWakeTime is automatically updated within vTaskDelayUntil() so is not
        explicitly updated by the task. */
        vTaskDelayUntil( &xLastWakeTime, ( 500 / portTICK_RATE_MS ) );
    }
}
void vEv_500ms3(void *pvParameters)
{
    const char *pcTaskName = "Task #12   vEv_500ms3  \n";
    portTickType xLastWakeTime;

    /* The xLastWakeTime variable needs to be initialized with the current tick
    count. Note that this is the only time the variable is written to explicitly.
    After this xLastWakeTime is updated automatically internally within
    vTaskDelayUntil(). */
    xLastWakeTime = xTaskGetTickCount();

    /* As per most tasks, this task is implemented in an infinite loop. */
    for(;;)
    {
        /* Print out the name of this task. */
        vPrintString( pcTaskName );
        /* This task should execute exactly every 500 milliseconds. As per
        the vTaskDelay() function, time is measured in ticks, and the
        portTICK_RATE_MS constant is used to convert milliseconds into ticks.
        xLastWakeTime is automatically updated within vTaskDelayUntil() so is not
        explicitly updated by the task. */
        vTaskDelayUntil( &xLastWakeTime, ( 500 / portTICK_RATE_MS ) );
    }
}
void vEv_500ms4(void *pvParameters)
{
    const char *pcTaskName = "Task #13   vEv_500ms4  \n";
    portTickType xLastWakeTime;

    /* The xLastWakeTime variable needs to be initialized with the current tick
    count. Note that this is the only time the variable is written to explicitly.
    After this xLastWakeTime is updated automatically internally within
    vTaskDelayUntil(). */
    xLastWakeTime = xTaskGetTickCount();

    /* As per most tasks, this task is implemented in an infinite loop. */
    for(;;)
    {
        /* Print out the name of this task. */
        vPrintString( pcTaskName );
        /* This task should execute exactly every 500 milliseconds. As per
        the vTaskDelay() function, time is measured in ticks, and the
        portTICK_RATE_MS constant is used to convert milliseconds into ticks.
        xLastWakeTime is automatically updated within vTaskDelayUntil() so is not
        explicitly updated by the task. */
        vTaskDelayUntil( &xLastWakeTime, ( 500 / portTICK_RATE_MS ) );
    }
}

void vEv_1000ms1(void *pvParameters)
{
    const char *pcTaskName = "Task #14   vEv_1000ms1  \n";
    portTickType xLastWakeTime;

    /* The xLastWakeTime variable needs to be initialized with the current tick
    count. Note that this is the only time the variable is written to explicitly.
    After this xLastWakeTime is updated automatically internally within
    vTaskDelayUntil(). */
    xLastWakeTime = xTaskGetTickCount();

    /* As per most tasks, this task is implemented in an infinite loop. */
    for(;;)
    {
        /* Print out the name of this task. */
        vPrintString( pcTaskName );
        /* This task should execute exactly every 1000 milliseconds. As per
        the vTaskDelay() function, time is measured in ticks, and the
        portTICK_RATE_MS constant is used to convert milliseconds into ticks.
        xLastWakeTime is automatically updated within vTaskDelayUntil() so is not
        explicitly updated by the task. */
        vTaskDelayUntil( &xLastWakeTime, ( 1000 / portTICK_RATE_MS ) );
    }

}

void vEv_1000ms2(void *pvParameters)
{
    const char *pcTaskName = "Task #15   vEv_1000ms2  \n";
    portTickType xLastWakeTime;

    /* The xLastWakeTime variable needs to be initialized with the current tick
    count. Note that this is the only time the variable is written to explicitly.
    After this xLastWakeTime is updated automatically internally within
    vTaskDelayUntil(). */
    xLastWakeTime = xTaskGetTickCount();

    /* As per most tasks, this task is implemented in an infinite loop. */
    for(;;)
    {
        /* Print out the name of this task. */
        vPrintString( pcTaskName );
        /* This task should execute exactly every 1000 milliseconds. As per
        the vTaskDelay() function, time is measured in ticks, and the
        portTICK_RATE_MS constant is used to convert milliseconds into ticks.
        xLastWakeTime is automatically updated within vTaskDelayUntil() so is not
        explicitly updated by the task. */
        vTaskDelayUntil( &xLastWakeTime, ( 1000 / portTICK_RATE_MS ) );
    }

}
/* USER CODE END */

/** @fn void main(void)
*   @brief Application main function
*   @note This function is empty by default.
*
*   This function is called after startup.
*   The user can use this function to implement the application.
*/

/* USER CODE BEGIN (2) */
/* USER CODE END */

int main(void)
{
/* USER CODE BEGIN (3) */
    esmREG->SR1[0] = 0xFFFFFFFF;
    esmREG->SR1[1] = 0xFFFFFFFF;
    esmREG->SR1[2] = 0xFFFFFFFF;
    esmREG->SSR2 = 0xFFFFFFFF;
    esmREG->EKR = 0x0A;
    esmREG->EKR = 0x0;

    uint8 abc;

    abc = 1;

if (abc == 0)
{
 /* all task executes with configured period*/
         xTaskCreate(vEv_20ms1,"Test_20ms1", 1000, NULL, 23, NULL);
         xTaskCreate(vEv_50ms1,"Test_50ms1", 100, NULL, 28, NULL);
         xTaskCreate(vEv_50ms2,"Test_50ms2", 100, NULL, 25, NULL);
         xTaskCreate(vEv_100ms1,"Test_100ms1", 100, NULL, 1, NULL);
         xTaskCreate(vEv_100ms2,"Test_100ms2", 100, NULL, 1, NULL);
         xTaskCreate(vEv_100ms3,"Test_100ms3", 100, NULL, 1, NULL);
         xTaskCreate(vEv_100ms4,"Test_100ms4", 100, NULL, 1, NULL);
         xTaskCreate(vEv_100ms5,"Test_100ms5", 100, NULL, 1, NULL);
         xTaskCreate(vEv_100ms6,"Test_100ms6", 100, NULL, 1, NULL);
         xTaskCreate(vEv_500ms1,"Test_500ms1", 100, NULL, 1, NULL);
         xTaskCreate(vEv_500ms2,"Test_500ms2", 100, NULL, 1, NULL);
         xTaskCreate(vEv_500ms3,"Test_500ms3", 100, NULL, 1, NULL);
         xTaskCreate(vEv_500ms4,"Test_500ms4", 100, NULL, 1, NULL);
         xTaskCreate(vEv_1000ms1,"Test_1000ms1", 100, NULL, 1, NULL);
         xTaskCreate(vEv_1000ms2,"Test_1000ms2", 100, NULL, 1, NULL);
}else if (abc == 1)
{
 /* Task lost its periodicity*/
         if (xTaskCreate(vEv_20ms1,"Test_20ms1", 4000, NULL, 23, NULL) != pdTRUE)   {
            while(1);
         };
         if (xTaskCreate(vEv_50ms1,"Test_50ms1", 200, NULL, 27, NULL) != pdTRUE)    {
            while(1);
         };
         if (xTaskCreate(vEv_50ms2,"Test_50ms2", 500, NULL, 25, NULL) != pdTRUE)    {
            while(1);
         };
         if (xTaskCreate(vEv_100ms1,"Test_100ms1", 1000, NULL, 21, NULL) != pdTRUE)  {
            while(1);
         };
         if (xTaskCreate(vEv_100ms2,"Test_100ms2", 1000, NULL, 18, NULL) != pdTRUE)  {
            while(1);
         };
         if (xTaskCreate(vEv_100ms3,"Test_100ms3", 200, NULL, 17, NULL) != pdTRUE)   {
            while(1);
         };
         if (xTaskCreate(vEv_100ms4,"Test_100ms4", 4000, NULL, 16, NULL) != pdTRUE)  {
            while(1);
         };
         if (xTaskCreate(vEv_100ms5,"Test_100ms5", 500, NULL, 15, NULL) != pdTRUE)  {
            while(1);
         };
         if (xTaskCreate(vEv_100ms6,"Test_100ms6", 1000, NULL, 14, NULL) != pdTRUE) {
            while(1);
         };
         if (xTaskCreate(vEv_500ms1,"Test_500ms1", 500, NULL, 12, NULL) != pdTRUE)  {
            while(1);
         };
         if (xTaskCreate(vEv_500ms2,"Test_500ms2", 400, NULL, 10, NULL) != pdTRUE)  {
            while(1);
         };
         if (xTaskCreate(vEv_500ms3,"Test_500ms3", 400, NULL, 8, NULL) != pdTRUE)   {
            while(1);
         };
         if (xTaskCreate(vEv_500ms4,"Test_500ms4", 1000, NULL, 6, NULL) != pdTRUE)  {
            while(1);
         };
         if (xTaskCreate(vEv_1000ms1,"Test_1000ms1", 1000, NULL, 4, NULL) != pdTRUE) {
            while(1);
         };
         if (xTaskCreate(vEv_1000ms2,"Test_1000ms2", 500,  NULL, 2, NULL) != pdTRUE) {
            while(1);
         };
}else
{
         /* Task lost its periodicity*/
         if (xTaskCreate(vEv_20ms1,"Test_20ms1", 4000, NULL, 23, NULL) != pdTRUE)   {
            while(1);
         };
         if (xTaskCreate(vEv_50ms1,"Test_50ms1", 200, NULL, 28, NULL) != pdTRUE)   {
            while(1);
         };
         if (xTaskCreate(vEv_50ms2,"Test_50ms2", 500, NULL, 25, NULL) != pdTRUE)  {
            while(1);
         };
         if (xTaskCreate(vEv_100ms1,"Test_100ms1", 1000, NULL, 1, NULL) != pdTRUE)  {
            while(1);
         };
         if (xTaskCreate(vEv_100ms2,"Test_100ms2", 1000, NULL, 1, NULL) != pdTRUE)  {
            while(1);
         };
         if (xTaskCreate(vEv_100ms3,"Test_100ms3", 200, NULL, 1, NULL) != pdTRUE)  {
            while(1);
         };
         if (xTaskCreate(vEv_100ms4,"Test_100ms4", 4000, NULL, 1, NULL) != pdTRUE)  {
            while(1);
         };
         if (xTaskCreate(vEv_100ms5,"Test_100ms5", 500, NULL, 1, NULL) != pdTRUE)  {
            while(1);
         };
         if (xTaskCreate(vEv_100ms6,"Test_100ms6", 1000, NULL, 1, NULL) != pdTRUE)  {
            while(1);
         };
         if (xTaskCreate(vEv_500ms1,"Test_500ms1", 500, NULL, 1, NULL) != pdTRUE)  {
            while(1);
         };
         if (xTaskCreate(vEv_500ms2,"Test_500ms2", 400, NULL, 1, NULL) != pdTRUE)  {
            while(1);
         };
         if (xTaskCreate(vEv_500ms3,"Test_500ms3", 400, NULL, 1, NULL) != pdTRUE)  {
            while(1);
         };
         if (xTaskCreate(vEv_500ms4,"Test_500ms4", 1000, NULL, 1, NULL) != pdTRUE) {
            while(1);
         };
         if (xTaskCreate(vEv_1000ms1,"Test_1000ms1", 1000, NULL, 1, NULL) != pdTRUE) {
            while(1);
         };
         if (xTaskCreate(vEv_1000ms2,"Test_1000ms2", 500,  NULL, 1, NULL) != pdTRUE) {
            while(1);
         };
}


    /* Start Scheduler */
    vTaskStartScheduler();

    /* Run forever */
    while(1);
/* USER CODE END */

    return 0;
}


/* USER CODE BEGIN (4) */


/* USER CODE END */