/* | |
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. | |
*/ | |
/* | |
* 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_RATE_MS ) | |
#define mainERROR_PERIOD ( 500 / portTICK_RATE_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 ) | |
{ | |
portTickType 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 ) ); | |
} |