2 FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 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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28 Please ensure to read the configuration and relevant port sections of the
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29 online documentation.
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31 +++ http://www.FreeRTOS.org +++
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32 Documentation, latest information, license and contact details.
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34 +++ http://www.SafeRTOS.com +++
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35 A version that is certified for use in safety critical systems.
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37 +++ http://www.OpenRTOS.com +++
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38 Commercial support, development, porting, licensing and training services.
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40 ***************************************************************************
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45 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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46 The processor MUST be in supervisor mode when vTaskStartScheduler is
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47 called. The demo applications included in the FreeRTOS.org download switch
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48 to supervisor mode prior to main being called. If you are not using one of
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49 these demo application projects then ensure Supervisor mode is used.
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54 * Creates all the demo application tasks, then starts the scheduler. The WEB
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55 * documentation provides more details of the demo application tasks.
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57 * Main.c also creates a task called "Check". This only executes every three
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58 * seconds but has the highest priority so is guaranteed to get processor time.
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59 * Its main function is to check that all the other tasks are still operational.
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60 * Each task (other than the "flash" tasks) maintains a unique count that is
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61 * incremented each time the task successfully completes its function. Should
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62 * any error occur within such a task the count is permanently halted. The
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63 * check task inspects the count of each task to ensure it has changed since
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64 * the last time the check task executed. If all the count variables have
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65 * changed all the tasks are still executing error free, and the check task
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66 * toggles the onboard LED. Should any task contain an error at any time
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67 * the LED toggle rate will change from 3 seconds to 500ms.
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71 /* Standard includes. */
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74 /* Scheduler includes. */
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75 #include "FreeRTOS.h"
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78 /* Demo application includes. */
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80 #include "integer.h"
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83 #include "semtest.h"
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84 #include "dynamic.h"
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85 #include "partest.h"
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86 #include "comtest2.h"
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88 /* Priorities for the demo application tasks. */
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89 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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90 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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91 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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92 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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93 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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94 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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96 /* Constants required by the 'Check' task. */
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97 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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98 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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99 #define mainCHECK_TASK_LED ( 7 )
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101 /* Constants for the ComTest tasks. */
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102 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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103 #define mainCOM_TEST_LED ( 4 )
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104 #define mainTX_ENABLE ( ( unsigned portLONG ) 0x0001 )
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105 #define mainRX_ENABLE ( ( unsigned portLONG ) 0x0004 )
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107 /* Constants to setup the PLL. */
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108 #define mainPLL_MUL_4 ( ( unsigned portCHAR ) 0x0003 )
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109 #define mainPLL_DIV_1 ( ( unsigned portCHAR ) 0x0000 )
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110 #define mainPLL_ENABLE ( ( unsigned portCHAR ) 0x0001 )
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111 #define mainPLL_CONNECT ( ( unsigned portCHAR ) 0x0003 )
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112 #define mainPLL_FEED_BYTE1 ( ( unsigned portCHAR ) 0xaa )
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113 #define mainPLL_FEED_BYTE2 ( ( unsigned portCHAR ) 0x55 )
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114 #define mainPLL_LOCK ( ( unsigned portLONG ) 0x0400 )
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116 /* Constants to setup the MAM. */
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117 #define mainMAM_TIM_3 ( ( unsigned portCHAR ) 0x03 )
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118 #define mainMAM_MODE_FULL ( ( unsigned portCHAR ) 0x02 )
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120 /* Constants to setup the peripheral bus. */
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121 #define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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123 /* And finally, constant to setup the port for the LED's. */
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124 #define mainLED_TO_OUTPUT ( ( unsigned portLONG ) 0xff0000 )
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127 * The task that executes at the highest priority and calls
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128 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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131 static void vErrorChecks( void *pvParameters );
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134 * Configures the processor for use with this demo.
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136 static void prvSetupHardware( void );
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139 * Checks that all the demo application tasks are still executing without error
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140 * - as described at the top of the file.
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142 static portLONG prvCheckOtherTasksAreStillRunning( void );
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145 /*-----------------------------------------------------------*/
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148 * Starts all the other tasks, then starts the scheduler.
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152 /* Setup the processor. */
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153 prvSetupHardware();
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155 /* Start all the standard demo application tasks. */
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156 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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157 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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158 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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159 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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160 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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161 vStartDynamicPriorityTasks();
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162 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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164 /* Start the check task - which is defined in this file. */
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165 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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167 /* Start the scheduler.
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169 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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170 The processor MUST be in supervisor mode when vTaskStartScheduler is
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171 called. The demo applications included in the FreeRTOS.org download switch
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172 to supervisor mode prior to main being called. If you are not using one of
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173 these demo application projects then ensure Supervisor mode is used here.
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175 vTaskStartScheduler();
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177 /* We should never get here as control is now taken by the scheduler. */
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180 /*-----------------------------------------------------------*/
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182 static void prvSetupHardware( void )
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184 /* Setup the PLL to multiply the XTAL input by 4. */
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185 PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );
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187 /* Activate the PLL by turning it on then feeding the correct sequence of
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189 PLLCON = mainPLL_ENABLE;
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190 PLLFEED = mainPLL_FEED_BYTE1;
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191 PLLFEED = mainPLL_FEED_BYTE2;
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193 /* Wait for the PLL to lock... */
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194 while( !( PLLSTAT & mainPLL_LOCK ) );
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196 /* ...before connecting it using the feed sequence again. */
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197 PLLCON = mainPLL_CONNECT;
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198 PLLFEED = mainPLL_FEED_BYTE1;
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199 PLLFEED = mainPLL_FEED_BYTE2;
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201 /* Setup and turn on the MAM. Three cycle access is used due to the fast
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202 PLL used. It is possible faster overall performance could be obtained by
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203 tuning the MAM and PLL settings. */
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204 MAMTIM = mainMAM_TIM_3;
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205 MAMCR = mainMAM_MODE_FULL;
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207 /* Setup the peripheral bus to be the same as the PLL output. */
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208 VPBDIV = mainBUS_CLK_FULL;
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210 /* Configure the RS2332 pins. All other pins remain at their default of 0. */
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211 PINSEL0 |= mainTX_ENABLE;
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212 PINSEL0 |= mainRX_ENABLE;
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214 /* LED pins need to be output. */
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215 IO1DIR = mainLED_TO_OUTPUT;
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217 /* Setup the peripheral bus to be the same as the PLL output. */
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218 VPBDIV = mainBUS_CLK_FULL;
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220 /*-----------------------------------------------------------*/
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222 static void vErrorChecks( void *pvParameters )
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224 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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226 /* The parameters are not used in this task. */
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227 ( void ) pvParameters;
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229 /* Cycle for ever, delaying then checking all the other tasks are still
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230 operating without error. If an error is detected then the delay period
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231 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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232 the on board LED flash rate will increase. */
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236 /* Delay until it is time to execute again. */
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237 vTaskDelay( xDelayPeriod );
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239 /* Check all the standard demo application tasks are executing without
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241 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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243 /* An error has been detected in one of the tasks - flash faster. */
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244 xDelayPeriod = mainERROR_FLASH_PERIOD;
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247 vParTestToggleLED( mainCHECK_TASK_LED );
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250 /*-----------------------------------------------------------*/
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252 static portLONG prvCheckOtherTasksAreStillRunning( void )
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254 portLONG lReturn = ( portLONG ) pdPASS;
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256 /* Check all the demo tasks (other than the flash tasks) to ensure
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257 that they are all still running, and that none of them have detected
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260 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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262 lReturn = ( portLONG ) pdFAIL;
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265 if( xArePollingQueuesStillRunning() != pdTRUE )
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267 lReturn = ( portLONG ) pdFAIL;
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270 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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272 lReturn = ( portLONG ) pdFAIL;
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275 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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277 lReturn = ( portLONG ) pdFAIL;
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280 if( xAreComTestTasksStillRunning() != pdTRUE )
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282 lReturn = ( portLONG ) pdFAIL;
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285 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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287 lReturn = ( portLONG ) pdFAIL;
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292 /*-----------------------------------------------------------*/
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