2 FreeRTOS.org V4.6.1 - Copyright (C) 2003-2007 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
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 See http://www.FreeRTOS.org for documentation, latest information, license
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28 and contact details. Please ensure to read the configuration and relevant
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29 port sections of the online documentation.
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31 Also see http://www.SafeRTOS.com a version that has been certified for use
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32 in safety critical systems, plus commercial licensing, development and
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34 ***************************************************************************
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38 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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39 The processor MUST be in supervisor mode when vTaskStartScheduler is
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40 called. The demo applications included in the FreeRTOS.org download switch
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41 to supervisor mode prior to main being called. If you are not using one of
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42 these demo application projects then ensure Supervisor mode is used.
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46 * Creates all the demo application tasks, then starts the scheduler. The WEB
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47 * documentation provides more details of the demo application tasks. The SAM7
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48 * includes a sample USB that emulates a Joystick input to a USB host.
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50 * Main.c also creates a task called "Check". This only executes every three
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51 * seconds but has the highest priority so is guaranteed to get processor time.
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52 * Its main function is to check that all the other tasks are still operational.
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53 * Each task (other than the "flash" tasks) maintains a unique count that is
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54 * incremented each time the task successfully completes its function. Should
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55 * any error occur within such a task the count is permanently halted. The
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56 * check task inspects the count of each task to ensure it has changed since
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57 * the last time the check task executed. If all the count variables have
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58 * changed all the tasks are still executing error free, and the check task
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59 * toggles the onboard LED. Should any task contain an error at any time
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60 * the LED toggle rate will change from 3 seconds to 500ms.
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64 /* Standard includes. */
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67 /* Scheduler includes. */
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68 #include "FreeRTOS.h"
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71 /* Demo application includes. */
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73 #include "integer.h"
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76 #include "semtest.h"
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77 #include "dynamic.h"
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78 #include "partest.h"
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79 #include "comtest2.h"
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80 #include "USB/USBSample.h"
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82 /* Priorities for the demo application tasks. */
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83 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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84 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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85 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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86 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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87 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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88 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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89 #define mainUSB_PRIORITY ( tskIDLE_PRIORITY + 2 )
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91 /* Constants required by the 'Check' task. */
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92 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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93 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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94 #define mainCHECK_TASK_LED ( 3 )
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96 /* Constants for the ComTest tasks. */
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97 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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98 #define mainCOM_TEST_LED ( 4 ) /* Off the board. */
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101 * The task that executes at the highest priority and calls
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102 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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105 static void vErrorChecks( void *pvParameters );
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108 * Configure the processor for use with the Atmel demo board. Setup is minimal
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109 * as the low level init function (called from the startup asm file) takes care
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112 static void prvSetupHardware( void );
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115 * Checks that all the demo application tasks are still executing without error
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116 * - as described at the top of the file.
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118 static portLONG prvCheckOtherTasksAreStillRunning( void );
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121 /*-----------------------------------------------------------*/
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124 * Starts all the other tasks, then starts the scheduler.
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128 /* Setup any hardware that has not already been configured by the low
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129 level init routines. */
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130 prvSetupHardware();
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132 /* Initialise the LED outputs for use by the demo application tasks. */
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133 vParTestInitialise();
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135 /* Start all the standard demo application tasks. */
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136 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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137 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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138 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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139 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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140 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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141 vStartDynamicPriorityTasks();
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142 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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144 /* Also start the USB demo which is just for the SAM7. */
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145 xTaskCreate( vUSBDemoTask, "USB", configMINIMAL_STACK_SIZE, NULL, mainUSB_PRIORITY, NULL );
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147 /* Start the check task - which is defined in this file. */
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148 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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150 /* Start the scheduler.
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152 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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153 The processor MUST be in supervisor mode when vTaskStartScheduler is
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154 called. The demo applications included in the FreeRTOS.org download switch
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155 to supervisor mode prior to main being called. If you are not using one of
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156 these demo application projects then ensure Supervisor mode is used here. */
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158 vTaskStartScheduler();
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160 /* We should never get here as control is now taken by the scheduler. */
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163 /*-----------------------------------------------------------*/
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165 static void prvSetupHardware( void )
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167 /* When using the JTAG debugger the hardware is not always initialised to
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168 the correct default state. This line just ensures that this does not
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169 cause all interrupts to be masked at the start. */
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170 AT91C_BASE_AIC->AIC_EOICR = 0;
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172 /* Most setup is performed by the low level init function called from the
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173 startup asm file. */
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175 /* Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as
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176 well as the UART Tx line. */
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177 AT91F_PIO_CfgOutput( AT91C_BASE_PIOA, LED_MASK );
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179 /* Enable the peripheral clock. */
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180 AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA );
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182 /*-----------------------------------------------------------*/
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184 static void vErrorChecks( void *pvParameters )
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186 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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188 /* The parameters are not used in this task. */
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189 ( void ) pvParameters;
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191 /* Cycle for ever, delaying then checking all the other tasks are still
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192 operating without error. If an error is detected then the delay period
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193 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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194 the on board LED flash rate will increase. */
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198 /* Delay until it is time to execute again. */
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199 vTaskDelay( xDelayPeriod );
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201 /* Check all the standard demo application tasks are executing without
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203 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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205 /* An error has been detected in one of the tasks - flash faster. */
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206 xDelayPeriod = mainERROR_FLASH_PERIOD;
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209 vParTestToggleLED( mainCHECK_TASK_LED );
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212 /*-----------------------------------------------------------*/
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214 static portLONG prvCheckOtherTasksAreStillRunning( void )
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216 portLONG lReturn = ( portLONG ) pdPASS;
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218 /* Check all the demo tasks (other than the flash tasks) to ensure
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219 that they are all still running, and that none of them have detected
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222 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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224 lReturn = ( portLONG ) pdFAIL;
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227 if( xArePollingQueuesStillRunning() != pdTRUE )
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229 lReturn = ( portLONG ) pdFAIL;
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232 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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234 lReturn = ( portLONG ) pdFAIL;
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237 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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239 lReturn = ( portLONG ) pdFAIL;
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242 if( xAreComTestTasksStillRunning() != pdTRUE )
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244 lReturn = ( portLONG ) pdFAIL;
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247 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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249 lReturn = ( portLONG ) pdFAIL;
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254 /*-----------------------------------------------------------*/
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