2 FreeRTOS.org V5.3.0 - Copyright (C) 2003-2009 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify it
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7 under the terms of the GNU General Public License (version 2) as published
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8 by the Free Software Foundation and modified by the FreeRTOS exception.
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9 **NOTE** The exception to the GPL is included to allow you to distribute a
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10 combined work that includes FreeRTOS.org without being obliged to provide
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11 the source code for any proprietary components. Alternative commercial
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12 license and support terms are also available upon request. See the
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13 licensing section of http://www.FreeRTOS.org for full details.
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15 FreeRTOS.org is distributed in the hope that it will be useful, but WITHOUT
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16 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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17 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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20 You should have received a copy of the GNU General Public License along
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21 with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59
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22 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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25 ***************************************************************************
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27 * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
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29 * This is a concise, step by step, 'hands on' guide that describes both *
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30 * general multitasking concepts and FreeRTOS specifics. It presents and *
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31 * explains numerous examples that are written using the FreeRTOS API. *
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32 * Full source code for all the examples is provided in an accompanying *
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35 ***************************************************************************
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39 Please ensure to read the configuration and relevant port sections of the
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40 online documentation.
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42 http://www.FreeRTOS.org - Documentation, latest information, license and
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45 http://www.SafeRTOS.com - A version that is certified for use in safety
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48 http://www.OpenRTOS.com - Commercial support, development, porting,
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49 licensing and training services.
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53 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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54 The processor MUST be in supervisor mode when vTaskStartScheduler is
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55 called. The demo applications included in the FreeRTOS.org download switch
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56 to supervisor mode prior to main being called. If you are not using one of
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57 these demo application projects then ensure Supervisor mode is used.
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61 * Creates all the demo application tasks, then starts the scheduler. The WEB
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62 * documentation provides more details of the demo application tasks. The SAM7
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63 * includes a sample USB that emulates a Joystick input to a USB host.
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65 * Main.c also creates a task called "Check". This only executes every three
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66 * seconds but has the highest priority so is guaranteed to get processor time.
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67 * Its main function is to check that all the other tasks are still operational.
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68 * Each task (other than the "flash" tasks) maintains a unique count that is
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69 * incremented each time the task successfully completes its function. Should
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70 * any error occur within such a task the count is permanently halted. The
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71 * check task inspects the count of each task to ensure it has changed since
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72 * the last time the check task executed. If all the count variables have
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73 * changed all the tasks are still executing error free, and the check task
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74 * toggles the onboard LED. Should any task contain an error at any time
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75 * the LED toggle rate will change from 3 seconds to 500ms.
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79 /* Standard includes. */
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82 /* Scheduler includes. */
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83 #include "FreeRTOS.h"
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86 /* Demo application includes. */
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88 #include "integer.h"
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91 #include "semtest.h"
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92 #include "dynamic.h"
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93 #include "partest.h"
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94 #include "comtest2.h"
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95 #include "USB/USBSample.h"
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97 /* Priorities for the demo application tasks. */
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98 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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99 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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100 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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101 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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102 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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103 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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104 #define mainUSB_PRIORITY ( tskIDLE_PRIORITY + 2 )
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106 /* Constants required by the 'Check' task. */
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107 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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108 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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109 #define mainCHECK_TASK_LED ( 3 )
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111 /* Constants for the ComTest tasks. */
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112 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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113 #define mainCOM_TEST_LED ( 4 ) /* Off the board. */
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116 * The task that executes at the highest priority and calls
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117 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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120 static void vErrorChecks( void *pvParameters );
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123 * Configure the processor for use with the Atmel demo board. Setup is minimal
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124 * as the low level init function (called from the startup asm file) takes care
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127 static void prvSetupHardware( void );
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130 * Checks that all the demo application tasks are still executing without error
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131 * - as described at the top of the file.
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133 static portLONG prvCheckOtherTasksAreStillRunning( void );
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136 /*-----------------------------------------------------------*/
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139 * Starts all the other tasks, then starts the scheduler.
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143 /* Setup any hardware that has not already been configured by the low
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144 level init routines. */
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145 prvSetupHardware();
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147 /* Initialise the LED outputs for use by the demo application tasks. */
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148 vParTestInitialise();
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150 /* Start all the standard demo application tasks. */
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151 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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152 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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153 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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154 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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155 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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156 vStartDynamicPriorityTasks();
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157 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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159 /* Also start the USB demo which is just for the SAM7. */
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160 xTaskCreate( vUSBDemoTask, "USB", configMINIMAL_STACK_SIZE, NULL, mainUSB_PRIORITY, NULL );
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162 /* Start the check task - which is defined in this file. */
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163 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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165 /* Start the scheduler.
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167 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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168 The processor MUST be in supervisor mode when vTaskStartScheduler is
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169 called. The demo applications included in the FreeRTOS.org download switch
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170 to supervisor mode prior to main being called. If you are not using one of
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171 these demo application projects then ensure Supervisor mode is used here. */
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173 vTaskStartScheduler();
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175 /* We should never get here as control is now taken by the scheduler. */
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178 /*-----------------------------------------------------------*/
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180 static void prvSetupHardware( void )
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182 /* When using the JTAG debugger the hardware is not always initialised to
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183 the correct default state. This line just ensures that this does not
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184 cause all interrupts to be masked at the start. */
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185 AT91C_BASE_AIC->AIC_EOICR = 0;
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187 /* Most setup is performed by the low level init function called from the
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188 startup asm file. */
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190 /* Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as
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191 well as the UART Tx line. */
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192 AT91F_PIO_CfgOutput( AT91C_BASE_PIOA, LED_MASK );
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194 /* Enable the peripheral clock. */
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195 AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA );
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197 /*-----------------------------------------------------------*/
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199 static void vErrorChecks( void *pvParameters )
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201 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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203 /* The parameters are not used in this task. */
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204 ( void ) pvParameters;
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206 /* Cycle for ever, delaying then checking all the other tasks are still
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207 operating without error. If an error is detected then the delay period
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208 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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209 the on board LED flash rate will increase. */
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213 /* Delay until it is time to execute again. */
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214 vTaskDelay( xDelayPeriod );
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216 /* Check all the standard demo application tasks are executing without
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218 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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220 /* An error has been detected in one of the tasks - flash faster. */
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221 xDelayPeriod = mainERROR_FLASH_PERIOD;
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224 vParTestToggleLED( mainCHECK_TASK_LED );
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227 /*-----------------------------------------------------------*/
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229 static portLONG prvCheckOtherTasksAreStillRunning( void )
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231 portLONG lReturn = ( portLONG ) pdPASS;
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233 /* Check all the demo tasks (other than the flash tasks) to ensure
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234 that they are all still running, and that none of them have detected
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237 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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239 lReturn = ( portLONG ) pdFAIL;
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242 if( xArePollingQueuesStillRunning() != pdTRUE )
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244 lReturn = ( portLONG ) pdFAIL;
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247 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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249 lReturn = ( portLONG ) pdFAIL;
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252 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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254 lReturn = ( portLONG ) pdFAIL;
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257 if( xAreComTestTasksStillRunning() != pdTRUE )
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259 lReturn = ( portLONG ) pdFAIL;
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262 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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264 lReturn = ( portLONG ) pdFAIL;
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269 /*-----------------------------------------------------------*/
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