/* | |
* FreeRTOS Kernel V10.3.0 | |
* 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. | |
* | |
* http://www.FreeRTOS.org | |
* http://aws.amazon.com/freertos | |
* | |
* 1 tab == 4 spaces! | |
*/ | |
/* | |
NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode. | |
The processor MUST be in supervisor mode when vTaskStartScheduler is | |
called. The demo applications included in the FreeRTOS.org download switch | |
to supervisor mode prior to main being called. If you are not using one of | |
these demo application projects then ensure Supervisor mode is used. | |
*/ | |
/* | |
* Creates all the demo application tasks, then starts the scheduler. The WEB | |
* documentation provides more details of the 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 that all the other tasks are still operational. | |
* Each task (other than the "flash" tasks) 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 the onboard LED. Should any task contain an error at any time | |
* the LED toggle rate will change from 3 seconds to 500ms. | |
* | |
*/ | |
/* Standard includes. */ | |
#include <stdlib.h> | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Demo application includes. */ | |
#include "partest.h" | |
#include "flash.h" | |
#include "comtest2.h" | |
#include "serial.h" | |
#include "PollQ.h" | |
#include "BlockQ.h" | |
#include "semtest.h" | |
#include "dynamic.h" | |
/*-----------------------------------------------------------*/ | |
/* Constants to setup I/O and processor. */ | |
#define mainTX_ENABLE ( ( unsigned long ) 0x00010000 ) /* UART1. */ | |
#define mainRX_ENABLE ( ( unsigned long ) 0x00040000 ) /* UART1. */ | |
#define mainBUS_CLK_FULL ( ( unsigned char ) 0x01 ) | |
#define mainLED_TO_OUTPUT ( ( unsigned long ) 0xff0000 ) | |
/* Constants for the ComTest demo application tasks. */ | |
#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 ) | |
#define mainCOM_TEST_LED ( 3 ) | |
/* Priorities for the demo application tasks. */ | |
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
/* Constants used by the "check" task. As described at the head of this file | |
the check task toggles an LED. The rate at which the LED flashes is used to | |
indicate whether an error has been detected or not. If the LED toggles every | |
3 seconds then no errors have been detected. If the rate increases to 500ms | |
then an error has been detected in at least one of the demo application tasks. */ | |
#define mainCHECK_LED ( 7 ) | |
#define mainNO_ERROR_FLASH_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS ) | |
#define mainERROR_FLASH_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* Checks that all the demo application tasks are still executing without error | |
* - as described at the top of the file. | |
*/ | |
static long 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 Keil demo board. This is very | |
* minimal as most of the setup is managed by the settings in the project | |
* file. | |
*/ | |
static void prvSetupHardware( void ); | |
/*-----------------------------------------------------------*/ | |
/* | |
* Application entry point: | |
* Starts all the other tasks, then starts the scheduler. | |
*/ | |
int main( void ) | |
{ | |
/* Setup the hardware for use with the Keil demo board. */ | |
prvSetupHardware(); | |
/* Start the demo/test application tasks. */ | |
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED ); | |
vStartLEDFlashTasks( mainLED_TASK_PRIORITY ); | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartDynamicPriorityTasks(); | |
/* Start the check task - which is defined in this file. This is the task | |
that periodically checks to see that all the other tasks are executing | |
without error. */ | |
xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* Now all the tasks have been started - start the scheduler. | |
NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode. | |
The processor MUST be in supervisor mode when vTaskStartScheduler is | |
called. The demo applications included in the FreeRTOS.org download switch | |
to supervisor mode prior to main being called. If you are not using one of | |
these demo application projects then ensure Supervisor mode is used here. */ | |
vTaskStartScheduler(); | |
/* Should never reach here! If you do then there was not enough heap | |
available for the idle task to be created. */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void vErrorChecks( void *pvParameters ) | |
{ | |
TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD; | |
/* Parameters are not used. */ | |
( void ) pvParameters; | |
/* 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 on board LED flash rate will increase. | |
This task runs at the highest priority. */ | |
for( ;; ) | |
{ | |
/* The period of the delay depends on whether an error has been | |
detected or not. If an error has been detected then the period | |
is reduced to increase the LED flash rate. */ | |
vTaskDelay( xDelayPeriod ); | |
if( prvCheckOtherTasksAreStillRunning() != pdPASS ) | |
{ | |
/* An error has been detected in one of the tasks - flash faster. */ | |
xDelayPeriod = mainERROR_FLASH_PERIOD; | |
} | |
/* Toggle the LED before going back to wait for the next cycle. */ | |
vParTestToggleLED( mainCHECK_LED ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHardware( void ) | |
{ | |
/* Perform the hardware setup required. This is minimal as most of the | |
setup is managed by the settings in the project file. */ | |
/* Configure the UART1 pins. All other pins remain at their default of 0. */ | |
PINSEL0 |= mainTX_ENABLE; | |
PINSEL0 |= mainRX_ENABLE; | |
/* LED pins need to be output. */ | |
IODIR1 = mainLED_TO_OUTPUT; | |
/* Setup the peripheral bus to be the same as the PLL output. */ | |
VPBDIV = mainBUS_CLK_FULL; | |
} | |
/*-----------------------------------------------------------*/ | |
static long prvCheckOtherTasksAreStillRunning( void ) | |
{ | |
long lReturn = 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( xAreComTestTasksStillRunning() != pdPASS ) | |
{ | |
lReturn = pdFAIL; | |
} | |
if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
return lReturn; | |
} | |
/*-----------------------------------------------------------*/ | |