/* | |
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. | |
*/ | |
/* | |
* 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 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 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 long prvCheckOtherTasksAreStillRunning( void ) | |
{ | |
long lReturn = ( long ) 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 = ( long ) pdFAIL; | |
} | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xAreMathsTaskStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xIsCreateTaskStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
return lReturn; | |
} | |