/* | |
FreeRTOS V7.0.0 - 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. | |
*/ | |
/* | |
* Creates all the demo application tasks, then starts the scheduler. The WEB | |
* documentation provides more details of the demo application tasks. The SAM7 | |
* includes a sample USB that emulates a Joystick input to a USB host. | |
* | |
* 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 "flash.h" | |
#include "integer.h" | |
#include "PollQ.h" | |
#include "BlockQ.h" | |
#include "semtest.h" | |
#include "dynamic.h" | |
#include "partest.h" | |
#include "comtest2.h" | |
#include "USB/USBSample.h" | |
/* Priorities for the demo application tasks. */ | |
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 ) | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainUSB_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
/* Constants required by the 'Check' task. */ | |
#define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS ) | |
#define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS ) | |
#define mainCHECK_TASK_LED ( 3 ) | |
/* Constants for the ComTest tasks. */ | |
#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 ) | |
#define mainCOM_TEST_LED ( 4 ) /* Off the board. */ | |
/* | |
* 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. Setup is minimal | |
* as the low level init function (called from the startup asm file) takes care | |
* of most things. | |
*/ | |
static void prvSetupHardware( void ); | |
/* | |
* Checks that all the demo application tasks are still executing without error | |
* - as described at the top of the file. | |
*/ | |
static long prvCheckOtherTasksAreStillRunning( void ); | |
/*-----------------------------------------------------------*/ | |
/* | |
* Starts all the other tasks, then starts the scheduler. | |
*/ | |
void main( void ) | |
{ | |
/* Setup any hardware that has not already been configured by the low | |
level init routines. */ | |
prvSetupHardware(); | |
/* Initialise the LED outputs for use by the demo application tasks. */ | |
vParTestInitialise(); | |
/* Start all the standard demo application tasks. */ | |
vStartIntegerMathTasks( tskIDLE_PRIORITY ); | |
vStartLEDFlashTasks( mainLED_TASK_PRIORITY ); | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
vStartDynamicPriorityTasks(); | |
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED ); | |
/* Also start the USB demo which is just for the SAM7. */ | |
xTaskCreate( vUSBDemoTask, "USB", configMINIMAL_STACK_SIZE, NULL, mainUSB_PRIORITY, NULL ); | |
/* Start the check task - which is defined in this file. */ | |
xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* 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; | |
} | |
/*-----------------------------------------------------------*/ | |
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_PIOA, LED_MASK ); | |
/* Enable the peripheral clock. */ | |
AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void vErrorChecks( void *pvParameters ) | |
{ | |
portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD; | |
/* The parameters are not used in this task. */ | |
( 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. */ | |
for( ;; ) | |
{ | |
/* Delay until it is time to execute again. */ | |
vTaskDelay( 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_TASK_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( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xAreComTestTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
return lReturn; | |
} | |
/*-----------------------------------------------------------*/ | |