2 FreeRTOS.org V4.7.0 - 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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39 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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40 The processor MUST be in supervisor mode when vTaskStartScheduler is
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41 called. The demo applications included in the FreeRTOS.org download switch
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42 to supervisor mode prior to main being called. If you are not using one of
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43 these demo application projects then ensure Supervisor mode is used.
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48 * Creates all the demo application tasks, then starts the scheduler. The WEB
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49 * documentation provides more details of the demo application tasks.
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51 * Main.c also creates a task called "Check". This only executes every three
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52 * seconds but has the highest priority so is guaranteed to get processor time.
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53 * Its main function is to check that all the other tasks are still operational.
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54 * Each task (other than the "flash" tasks) maintains a unique count that is
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55 * incremented each time the task successfully completes its function. Should
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56 * any error occur within such a task the count is permanently halted. The
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57 * check task inspects the count of each task to ensure it has changed since
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58 * the last time the check task executed. If all the count variables have
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59 * changed all the tasks are still executing error free, and the check task
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60 * toggles the onboard LED. Should any task contain an error at any time
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61 * the LED toggle rate will change from 3 seconds to 500ms.
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65 /* Standard includes. */
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68 /* Scheduler includes. */
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69 #include "FreeRTOS.h"
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72 /* Demo application includes. */
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74 #include "integer.h"
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77 #include "semtest.h"
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78 #include "dynamic.h"
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79 #include "partest.h"
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80 #include "comtest2.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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90 /* Constants required by the 'Check' task. */
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91 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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92 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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93 #define mainCHECK_TASK_LED ( 7 )
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95 /* Constants for the ComTest tasks. */
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96 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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97 #define mainCOM_TEST_LED ( 4 )
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98 #define mainTX_ENABLE ( ( unsigned portLONG ) 0x0001 )
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99 #define mainRX_ENABLE ( ( unsigned portLONG ) 0x0004 )
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101 /* Constants to setup the PLL. */
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102 #define mainPLL_MUL_4 ( ( unsigned portCHAR ) 0x0003 )
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103 #define mainPLL_DIV_1 ( ( unsigned portCHAR ) 0x0000 )
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104 #define mainPLL_ENABLE ( ( unsigned portCHAR ) 0x0001 )
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105 #define mainPLL_CONNECT ( ( unsigned portCHAR ) 0x0003 )
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106 #define mainPLL_FEED_BYTE1 ( ( unsigned portCHAR ) 0xaa )
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107 #define mainPLL_FEED_BYTE2 ( ( unsigned portCHAR ) 0x55 )
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108 #define mainPLL_LOCK ( ( unsigned portLONG ) 0x0400 )
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110 /* Constants to setup the MAM. */
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111 #define mainMAM_TIM_3 ( ( unsigned portCHAR ) 0x03 )
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112 #define mainMAM_MODE_FULL ( ( unsigned portCHAR ) 0x02 )
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114 /* Constants to setup the peripheral bus. */
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115 #define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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117 /* And finally, constant to setup the port for the LED's. */
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118 #define mainLED_TO_OUTPUT ( ( unsigned portLONG ) 0xff0000 )
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121 * The task that executes at the highest priority and calls
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122 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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125 static void vErrorChecks( void *pvParameters );
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128 * Configures the processor for use with this demo.
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130 static void prvSetupHardware( void );
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133 * Checks that all the demo application tasks are still executing without error
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134 * - as described at the top of the file.
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136 static portLONG prvCheckOtherTasksAreStillRunning( void );
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139 /*-----------------------------------------------------------*/
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142 * Starts all the other tasks, then starts the scheduler.
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146 /* Setup the processor. */
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147 prvSetupHardware();
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149 /* Start all the standard demo application tasks. */
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150 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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151 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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152 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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153 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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154 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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155 vStartDynamicPriorityTasks();
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156 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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158 /* Start the check task - which is defined in this file. */
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159 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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161 /* Start the scheduler.
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163 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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164 The processor MUST be in supervisor mode when vTaskStartScheduler is
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165 called. The demo applications included in the FreeRTOS.org download switch
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166 to supervisor mode prior to main being called. If you are not using one of
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167 these demo application projects then ensure Supervisor mode is used here.
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169 vTaskStartScheduler();
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171 /* We should never get here as control is now taken by the scheduler. */
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174 /*-----------------------------------------------------------*/
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176 static void prvSetupHardware( void )
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178 /* Setup the PLL to multiply the XTAL input by 4. */
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179 PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );
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181 /* Activate the PLL by turning it on then feeding the correct sequence of
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183 PLLCON = mainPLL_ENABLE;
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184 PLLFEED = mainPLL_FEED_BYTE1;
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185 PLLFEED = mainPLL_FEED_BYTE2;
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187 /* Wait for the PLL to lock... */
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188 while( !( PLLSTAT & mainPLL_LOCK ) );
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190 /* ...before connecting it using the feed sequence again. */
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191 PLLCON = mainPLL_CONNECT;
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192 PLLFEED = mainPLL_FEED_BYTE1;
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193 PLLFEED = mainPLL_FEED_BYTE2;
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195 /* Setup and turn on the MAM. Three cycle access is used due to the fast
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196 PLL used. It is possible faster overall performance could be obtained by
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197 tuning the MAM and PLL settings. */
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198 MAMTIM = mainMAM_TIM_3;
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199 MAMCR = mainMAM_MODE_FULL;
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201 /* Setup the peripheral bus to be the same as the PLL output. */
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202 VPBDIV = mainBUS_CLK_FULL;
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204 /* Configure the RS2332 pins. All other pins remain at their default of 0. */
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205 PINSEL0 |= mainTX_ENABLE;
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206 PINSEL0 |= mainRX_ENABLE;
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208 /* LED pins need to be output. */
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209 IO1DIR = mainLED_TO_OUTPUT;
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211 /* Setup the peripheral bus to be the same as the PLL output. */
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212 VPBDIV = mainBUS_CLK_FULL;
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214 /*-----------------------------------------------------------*/
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216 static void vErrorChecks( void *pvParameters )
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218 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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220 /* The parameters are not used in this task. */
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221 ( void ) pvParameters;
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223 /* Cycle for ever, delaying then checking all the other tasks are still
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224 operating without error. If an error is detected then the delay period
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225 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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226 the on board LED flash rate will increase. */
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230 /* Delay until it is time to execute again. */
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231 vTaskDelay( xDelayPeriod );
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233 /* Check all the standard demo application tasks are executing without
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235 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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237 /* An error has been detected in one of the tasks - flash faster. */
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238 xDelayPeriod = mainERROR_FLASH_PERIOD;
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241 vParTestToggleLED( mainCHECK_TASK_LED );
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244 /*-----------------------------------------------------------*/
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246 static portLONG prvCheckOtherTasksAreStillRunning( void )
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248 portLONG lReturn = ( portLONG ) pdPASS;
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250 /* Check all the demo tasks (other than the flash tasks) to ensure
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251 that they are all still running, and that none of them have detected
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254 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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256 lReturn = ( portLONG ) pdFAIL;
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259 if( xArePollingQueuesStillRunning() != pdTRUE )
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261 lReturn = ( portLONG ) pdFAIL;
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264 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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266 lReturn = ( portLONG ) pdFAIL;
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269 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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271 lReturn = ( portLONG ) pdFAIL;
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274 if( xAreComTestTasksStillRunning() != pdTRUE )
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276 lReturn = ( portLONG ) pdFAIL;
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279 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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281 lReturn = ( portLONG ) pdFAIL;
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286 /*-----------------------------------------------------------*/
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