/* | |
FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd. | |
*************************************************************************** | |
* * | |
* FreeRTOS tutorial books are available in pdf and paperback. * | |
* Complete, revised, and edited pdf reference manuals are also * | |
* available. * | |
* * | |
* Purchasing FreeRTOS documentation will not only help you, by * | |
* ensuring you get running as quickly as possible and with an * | |
* in-depth knowledge of how to use FreeRTOS, it will also help * | |
* the FreeRTOS project to continue with its mission of providing * | |
* professional grade, cross platform, de facto standard solutions * | |
* for microcontrollers - completely free of charge! * | |
* * | |
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< * | |
* * | |
* Thank you for using FreeRTOS, and thank you for your support! * | |
* * | |
*************************************************************************** | |
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. See the GNU General Public License for | |
more details. You should have received a copy of the GNU General Public | |
License and the FreeRTOS license exception along with FreeRTOS; if not it | |
can be viewed here: http://www.freertos.org/a00114.html and also obtained | |
by writing to Richard Barry, contact details for whom are available on the | |
FreeRTOS WEB site. | |
1 tab == 4 spaces! | |
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. | |
http://www.OpenRTOS.com - Commercial support, development, porting, | |
licensing and training services. | |
*/ | |
/* | |
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. | |
*/ | |
/* | |
* This demo includes a (basic) USB mouse driver and a WEB server. It is | |
* targeted for the AT91SAM7X EK prototyping board which includes a small | |
* joystick to provide the mouse inputs. The WEB interface provides some basic | |
* interactivity through the use of a check box to turn on and off an LED. | |
* | |
* main() creates the WEB server, USB, and a set of the standard demo tasks | |
* before starting the scheduler. See the online FreeRTOS.org documentation | |
* for more information on the standard demo tasks. | |
* | |
* LEDs D1 to D3 are controlled by the standard 'flash' tasks - each will | |
* toggle at a different fixed frequency. | |
* | |
* A tick hook function is used to monitor the standard demo tasks - with LED | |
* D4 being used to indicate the system status. D4 toggling every 5 seconds | |
* indicates that all the standard demo tasks are executing without error. The | |
* toggle rate increasing to 500ms is indicative of an error having been found | |
* in at least one demo task. | |
* | |
* See the online documentation page that accompanies this demo for full setup | |
* and usage information. | |
*/ | |
/* Standard includes. */ | |
#include <stdlib.h> | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Demo application includes. */ | |
#include "partest.h" | |
#include "USBSample.h" | |
#include "uIP_Task.h" | |
#include "BlockQ.h" | |
#include "blocktim.h" | |
#include "flash.h" | |
#include "QPeek.h" | |
#include "dynamic.h" | |
/* Priorities for the demo application tasks. */ | |
#define mainUIP_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainUSB_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
/* The task allocated to the uIP task is large to account for its use of the | |
sprintf() library function. Use of a cut down printf() library would allow | |
the stack usage to be greatly reduced. */ | |
#define mainUIP_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 6 ) | |
/* The LED toggle by the tick hook should an error have been found in a task. */ | |
#define mainERROR_LED ( 3 ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* Configure the processor for use with the Atmel demo board. Setup is minimal | |
* as the low level init function (called from the startup asm file) takes care | |
* of most things. | |
*/ | |
static void prvSetupHardware( void ); | |
/*-----------------------------------------------------------*/ | |
/* | |
* Starts all the other tasks, then starts the scheduler. | |
*/ | |
int main( void ) | |
{ | |
/* Setup any hardware that has not already been configured by the low | |
level init routines. */ | |
prvSetupHardware(); | |
/* Start the task that handles the TCP/IP and WEB server functionality. */ | |
xTaskCreate( vuIP_Task, "uIP", mainUIP_TASK_STACK_SIZE, NULL, mainUIP_PRIORITY, NULL ); | |
/* Also start the USB demo which is just for the SAM7. */ | |
vStartUSBTask( mainUSB_PRIORITY ); | |
/* Start the standard demo tasks. */ | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
vCreateBlockTimeTasks(); | |
vStartLEDFlashTasks( mainFLASH_PRIORITY ); | |
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY ); | |
vStartQueuePeekTasks(); | |
vStartDynamicPriorityTasks(); | |
/* 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(); | |
/* We should never get here as control is now taken by the scheduler. */ | |
return 0; | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHardware( void ) | |
{ | |
portDISABLE_INTERRUPTS(); | |
/* 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. */ | |
/* Enable the peripheral clock. */ | |
AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOA; | |
AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOB; | |
AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_EMAC; | |
/* Initialise the LED outputs for use by the demo application tasks. */ | |
vParTestInitialise(); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationTickHook( void ) | |
{ | |
static unsigned long ulCallCount = 0, ulErrorFound = pdFALSE; | |
/* The rate at which LED D4 will toggle if an error has been found in one or | |
more of the standard demo tasks. */ | |
const unsigned long ulErrorFlashRate = 500 / portTICK_RATE_MS; | |
/* The rate at which LED D4 will toggle if no errors have been found in any | |
of the standard demo tasks. */ | |
const unsigned long ulNoErrorCheckRate = 5000 / portTICK_RATE_MS; | |
ulCallCount++; | |
if( ulErrorFound != pdFALSE ) | |
{ | |
/* We have already found an error, so flash the LED with the appropriate | |
frequency. */ | |
if( ulCallCount > ulErrorFlashRate ) | |
{ | |
ulCallCount = 0; | |
vParTestToggleLED( mainERROR_LED ); | |
} | |
} | |
else | |
{ | |
if( ulCallCount > ulNoErrorCheckRate ) | |
{ | |
ulCallCount = 0; | |
/* We have not yet found an error. Check all the demo tasks to ensure | |
this is still the case. */ | |
if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 0x01; | |
} | |
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 0x02; | |
} | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 0x04; | |
} | |
if( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 0x08; | |
} | |
if( xAreQueuePeekTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 0x10; | |
} | |
vParTestToggleLED( mainERROR_LED ); | |
} | |
} | |
} | |