/* | |
FreeRTOS.org V5.0.4 - Copyright (C) 2003-2008 Richard Barry. | |
This file is part of the FreeRTOS.org distribution. | |
FreeRTOS.org 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.org 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.org; 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.org, 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. | |
*************************************************************************** | |
*************************************************************************** | |
* * | |
* SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, * | |
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*************************************************************************** | |
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Please ensure to read the configuration and relevant port sections of the | |
online documentation. | |
http://www.FreeRTOS.org - Documentation, latest information, license and | |
contact details. | |
http://www.SafeRTOS.com - A version that is certified for use in safety | |
critical systems. | |
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*/ | |
/* | |
* Creates all the application tasks, then starts the scheduler. | |
* | |
* A task is also created called "uIP". This executes the uIP stack and small | |
* WEB server sample. All the other tasks are from the set of standard | |
* demo tasks. The WEB documentation provides more details of the standard | |
* 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 the status of all the other demo application | |
* tasks. LED mainCHECK_LED is toggled every three seconds by the check task | |
* should no error conditions be detected in any of the standard demo tasks. | |
* The toggle rate increasing to 500ms indicates that at least one error has | |
* been detected. | |
*/ | |
/* Standard includes. */ | |
#include <stdlib.h> | |
#include <string.h> | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Demo application includes. */ | |
#include "partest.h" | |
#include "PollQ.h" | |
#include "dynamic.h" | |
#include "semtest.h" | |
#include "flash.h" | |
#include "integer.h" | |
#include "flop.h" | |
#include "BlockQ.h" | |
#include "death.h" | |
#include "uip_task.h" | |
/*-----------------------------------------------------------*/ | |
/* Priorities/stacks for the demo application tasks. */ | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainUIP_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
#define mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainUIP_TASK_STACK_SIZE ( 250 ) | |
/* 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 ) | |
/* The LED used by the check task to indicate the system status. */ | |
#define mainCHECK_LED ( 3 ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* Checks that all the demo application tasks are still executing without error | |
* - as described at the top of the file. | |
*/ | |
static portLONG prvCheckOtherTasksAreStillRunning( void ); | |
/* | |
* 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 ); | |
/* | |
* Configure the processor for use with the Atmel demo board. This is very | |
* minimal as most of the setup is performed in the startup code. | |
*/ | |
static void prvSetupHardware( void ); | |
/*-----------------------------------------------------------*/ | |
/* | |
* Starts all the other tasks, then starts the scheduler. | |
*/ | |
int main( void ) | |
{ | |
/* Configure the processor. */ | |
prvSetupHardware(); | |
/* Setup the port used to flash the LED's. */ | |
vParTestInitialise(); | |
/* Start the task that handles the TCP/IP and WEB server functionality. */ | |
xTaskCreate( vuIP_TASK, "uIP", mainUIP_TASK_STACK_SIZE, NULL, mainUIP_PRIORITY, NULL ); | |
/* Start the demo/test application tasks. These are created in addition | |
to the TCP/IP task for demonstration and test purposes. */ | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
vStartDynamicPriorityTasks(); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartLEDFlashTasks( mainFLASH_PRIORITY ); | |
vStartIntegerMathTasks( tskIDLE_PRIORITY ); | |
vStartMathTasks( tskIDLE_PRIORITY ); | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
/* Start the check task - which is defined in this file. */ | |
xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* Must be last to get created. */ | |
vCreateSuicidalTasks( mainDEATH_PRIORITY ); | |
/* Now all the tasks have been started - start the scheduler. */ | |
vTaskStartScheduler(); | |
/* Should never reach here because the tasks should now be executing! */ | |
return 0; | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHardware( void ) | |
{ | |
/* When using the JTAG debugger the hardware is not always initialised to | |
the correct default state. This line just ensures that this does not | |
cause all interrupts to be masked at the start. */ | |
AT91C_BASE_AIC->AIC_EOICR = 0; | |
/* Most setup is performed by the low level init function called from the | |
startup asm file. | |
Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as | |
well as the UART Tx line. */ | |
AT91F_PIO_CfgOutput( AT91C_BASE_PIOB, LED_MASK ); | |
/* Enable the peripheral clock. */ | |
AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA ); | |
AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOB ) ; | |
AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_EMAC ) ; | |
} | |
/*-----------------------------------------------------------*/ | |
static void vErrorChecks( void *pvParameters ) | |
{ | |
portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD; | |
portTickType xLastWakeTime; | |
/* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil() | |
functions correctly. */ | |
xLastWakeTime = xTaskGetTickCount(); | |
/* 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 Check LED flash rate will increase. */ | |
for( ;; ) | |
{ | |
/* Delay until it is time to execute again. The delay period is | |
shorter following an error. */ | |
vTaskDelayUntil( &xLastWakeTime, xDelayPeriod ); | |
/* Check all the standard demo application tasks are executing without | |
error. */ | |
if( prvCheckOtherTasksAreStillRunning() != pdPASS ) | |
{ | |
/* An error has been detected in one of the tasks - flash faster. */ | |
xDelayPeriod = mainERROR_FLASH_PERIOD; | |
} | |
vParTestToggleLED( mainCHECK_LED ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static portLONG prvCheckOtherTasksAreStillRunning( void ) | |
{ | |
portLONG lReturn = ( portLONG ) pdPASS; | |
/* Check all the demo tasks (other than the flash tasks) to ensure | |
that they are all still running, and that none of them have detected | |
an error. */ | |
if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( portLONG ) pdFAIL; | |
} | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( portLONG ) pdFAIL; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( portLONG ) pdFAIL; | |
} | |
if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( portLONG ) pdFAIL; | |
} | |
if( xAreMathsTaskStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( portLONG ) pdFAIL; | |
} | |
if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( portLONG ) pdFAIL; | |
} | |
if( xIsCreateTaskStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( portLONG ) pdFAIL; | |
} | |
return lReturn; | |
} | |