/* | |
FreeRTOS V8.2.0rc1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
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 (version 2) as published by the | |
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. | |
>>! NOTE: The modification to the GPL is included to allow you to !<< | |
>>! distribute a combined work that includes FreeRTOS without being !<< | |
>>! obliged to provide the source code for proprietary components !<< | |
>>! outside of the FreeRTOS kernel. !<< | |
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. Full license text is available on the following | |
link: http://www.freertos.org/a00114.html | |
1 tab == 4 spaces! | |
*************************************************************************** | |
* * | |
* Having a problem? Start by reading the FAQ "My application does * | |
* not run, what could be wrong?". Have you defined configASSERT()? * | |
* * | |
* http://www.FreeRTOS.org/FAQHelp.html * | |
* * | |
*************************************************************************** | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that is more than just the market leader, it * | |
* is the industry's de facto standard. * | |
* * | |
* Help yourself get started quickly while simultaneously helping * | |
* to support the FreeRTOS project by purchasing a FreeRTOS * | |
* tutorial book, reference manual, or both: * | |
* http://www.FreeRTOS.org/Documentation * | |
* * | |
*************************************************************************** | |
*************************************************************************** | |
* * | |
* Investing in training allows your team to be as productive as * | |
* possible as early as possible, lowering your overall development * | |
* cost, and enabling you to bring a more robust product to market * | |
* earlier than would otherwise be possible. Richard Barry is both * | |
* the architect and key author of FreeRTOS, and so also the world's * | |
* leading authority on what is the world's most popular real time * | |
* kernel for deeply embedded MCU designs. Obtaining your training * | |
* from Richard ensures your team will gain directly from his in-depth * | |
* product knowledge and years of usage experience. Contact Real Time * | |
* Engineers Ltd to enquire about the FreeRTOS Masterclass, presented * | |
* by Richard Barry: http://www.FreeRTOS.org/contact | |
* * | |
*************************************************************************** | |
*************************************************************************** | |
* * | |
* You are receiving this top quality software for free. Please play * | |
* fair and reciprocate by reporting any suspected issues and * | |
* participating in the community forum: * | |
* http://www.FreeRTOS.org/support * | |
* * | |
* Thank you! * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
license and Real Time Engineers Ltd. contact details. | |
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
compatible FAT file system, and our tiny thread aware UDP/IP stack. | |
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. | |
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. | |
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS | |
licenses offer ticketed support, indemnification and commercial middleware. | |
http://www.SafeRTOS.com - High Integrity Systems also provide a safety | |
engineered and independently SIL3 certified version for use in safety and | |
mission critical applications that require provable dependability. | |
1 tab == 4 spaces! | |
*/ | |
/* | |
* Creates all the demo application tasks, then starts the scheduler. The WEB | |
* documentation provides more details of the standard demo application tasks. | |
* | |
* A "Check" task is created in addition to the standard demo tasks. This | |
* only executes every three seconds but has a high priority to ensure it gets | |
* processor time. Its main function is to check that all the standard demo | |
* tasks are still operational. If everything is running as expected then the | |
* check task will toggle an LED every 3 seconds. An error being discovered in | |
* any task will cause the toggle rate to increase to 500ms. | |
* | |
*/ | |
/* FreeRTOS includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Standard demo includes. */ | |
#include "BlockQ.h" | |
#include "blocktim.h" | |
#include "countsem.h" | |
#include "death.h" | |
#include "dynamic.h" | |
#include "GenQTest.h" | |
#include "integer.h" | |
#include "PollQ.h" | |
#include "QPeek.h" | |
#include "recmutex.h" | |
#include "semtest.h" | |
#include "ParTest.h" | |
#include "comtest2.h" | |
/* Standard includes. */ | |
#include <stdio.h> | |
/* Atmel library includes. */ | |
#include <pio/pio.h> | |
/* Priorities for the demo application tasks. */ | |
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 0 ) | |
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 ) | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 0 ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
#define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY ) | |
/* The period of the check task both in and out of the presense of an error. */ | |
#define mainNO_ERROR_PERIOD ( 5000 / portTICK_PERIOD_MS ) | |
#define mainERROR_PERIOD ( 500 / portTICK_PERIOD_MS ); | |
/* Constants used by the ComTest task. */ | |
#define mainCOM_TEST_BAUD_RATE ( 38400 ) | |
#define mainCOM_TEST_LED ( LED_DS1 ) | |
/*-----------------------------------------------------------*/ | |
/* Simple hardware setup required by the demo. */ | |
static void prvSetupHardware( void ); | |
/* The check task as described at the top of this file. */ | |
static void prvCheckTask( void *pvParameters ); | |
/*-----------------------------------------------------------*/ | |
int main() | |
{ | |
/* Perform any hardware setup necessary to run the demo. */ | |
prvSetupHardware(); | |
/* First create the 'standard demo' tasks. These exist just to to | |
demonstrate API functions being used and test the kernel port. More | |
information is provided on the FreeRTOS.org WEB site. */ | |
vStartIntegerMathTasks( tskIDLE_PRIORITY ); | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartDynamicPriorityTasks(); | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
vCreateBlockTimeTasks(); | |
vStartCountingSemaphoreTasks(); | |
vStartGenericQueueTasks( tskIDLE_PRIORITY ); | |
vStartQueuePeekTasks(); | |
vStartRecursiveMutexTasks(); | |
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED ); | |
/* Create the check task - this is the task that checks all the other tasks | |
are executing as expected and without reporting any errors. */ | |
xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL ); | |
/* The death demo tasks must be started last as the sanity checks performed | |
require knowledge of the number of other tasks in the system. */ | |
vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY ); | |
/* Start the scheduler. From this point on the execution will be under | |
the control of the kernel. */ | |
vTaskStartScheduler(); | |
/* Will only get here if there was insufficient heap availale for the | |
idle task to be created. */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvCheckTask( void * pvParameters ) | |
{ | |
TickType_t xNextWakeTime, xPeriod = mainNO_ERROR_PERIOD; | |
static volatile unsigned long ulErrorCode = 0UL; | |
/* Just to remove the compiler warning. */ | |
( void ) pvParameters; | |
/* Initialise xNextWakeTime prior to its first use. From this point on | |
the value of the variable is handled automatically by the kernel. */ | |
xNextWakeTime = xTaskGetTickCount(); | |
for( ;; ) | |
{ | |
/* Delay until it is time for this task to execute again. */ | |
vTaskDelayUntil( &xNextWakeTime, xPeriod ); | |
/* Check all the other tasks in the system - latch any reported errors | |
into the ulErrorCode variable. */ | |
if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
ulErrorCode |= 0x01UL; | |
} | |
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorCode |= 0x02UL; | |
} | |
if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorCode |= 0x04UL; | |
} | |
if( xIsCreateTaskStillRunning() != pdTRUE ) | |
{ | |
ulErrorCode |= 0x08UL; | |
} | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorCode |= 0x10UL; | |
} | |
if( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorCode |= 0x20UL; | |
} | |
if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
ulErrorCode |= 0x40UL; | |
} | |
if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
ulErrorCode |= 0x80UL; | |
} | |
if( xAreQueuePeekTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorCode |= 0x100UL; | |
} | |
if( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorCode |= 0x200UL; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorCode |= 0x400UL; | |
} | |
if( xAreComTestTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorCode |= 0x800UL; | |
} | |
/* Reduce the block period and in so doing increase the frequency at | |
which this task executes if any errors have been latched. The increased | |
frequency causes the LED toggle rate to increase and so gives some | |
visual feedback that an error has occurred. */ | |
if( ulErrorCode != 0x00 ) | |
{ | |
xPeriod = mainERROR_PERIOD; | |
} | |
/* Finally toggle the LED. */ | |
vParTestToggleLED( LED_POWER ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHardware( void ) | |
{ | |
const Pin xPins[] = { PIN_USART0_RXD, PIN_USART0_TXD }; | |
/* Setup the LED outputs. */ | |
vParTestInitialise(); | |
/* Setup the pins for the UART. */ | |
PIO_Configure( xPins, PIO_LISTSIZE( xPins ) ); | |
} |