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FreeRTOS V7.4.1 - Copyright (C) 2013 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 for details. <<< *
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* 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
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: and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
1 tab == 4 spaces!
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong?" *
* *
* *
* *
*************************************************************************** - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details. - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, and our new
fully thread aware and reentrant UDP/IP stack. - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand. - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
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 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 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 )
/* 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. */
/* 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 );
vStartLEDFlashTasks( mainFLASH_PRIORITY );
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
/* 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 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. */
/* We should never get here as control is now taken by the scheduler. */
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. */
/* Most setup is performed by the low level init function called from the
startup asm file. */
/* Enable the peripheral clock. */
/* Initialise the LED outputs for use by the demo application tasks. */
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;
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 );
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 );