2 FreeRTOS.org V5.4.0 - 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 * Creates all the demo application tasks, then starts the scheduler. The WEB
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54 * documentation provides more details of the demo application tasks.
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56 * Main. c also creates a task called "Check". This only executes every three
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57 * seconds but has the highest priority so is guaranteed to get processor time.
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58 * Its main function is to check that all the other tasks are still operational.
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59 * Each task that does not flash an LED maintains a unique count that is
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60 * incremented each time the task successfully completes its function. Should
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61 * any error occur within such a task the count is permanently halted. The
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62 * check task inspects the count of each task to ensure it has changed since
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63 * the last time the check task executed. If all the count variables have
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64 * changed all the tasks are still executing error free, and the check task
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65 * toggles an LED. Should any task contain an error at any time the LED toggle
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68 * The LED flash and communications test tasks do not maintain a count.
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74 + Changed the baud rate for the serial test from 19200 to 57600.
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78 + The integer and comtest tasks are now used when the cooperative scheduler
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79 is being used. Previously they were only used with the preemptive
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84 + Set the baud rate to 38400. This has a smaller error percentage with an
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85 8MHz clock (according to the manual).
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89 + Delay periods are now specified using variables and constants of
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90 portTickType rather than unsigned portLONG.
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94 + File can now be built using either the IAR or WinAVR compiler.
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98 + The IAR and WinAVR AVR ports are now maintained separately.
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100 Changes from V4.0.5
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102 + Modified to demonstrate the use of co-routines.
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105 #include <stdlib.h>
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106 #include <string.h>
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108 #ifdef GCC_MEGA_AVR
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109 /* EEPROM routines used only with the WinAVR compiler. */
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110 #include <avr/eeprom.h>
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113 /* Scheduler include files. */
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114 #include "FreeRTOS.h"
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116 #include "croutine.h"
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118 /* Demo file headers. */
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120 #include "integer.h"
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121 #include "serial.h"
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122 #include "comtest.h"
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123 #include "crflash.h"
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125 #include "partest.h"
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126 #include "regtest.h"
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128 /* Priority definitions for most of the tasks in the demo application. Some
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129 tasks just use the idle priority. */
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130 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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131 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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132 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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133 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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135 /* Baud rate used by the serial port tasks. */
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136 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 38400 )
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138 /* LED used by the serial port tasks. This is toggled on each character Tx,
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139 and mainCOM_TEST_LED + 1 is toggles on each character Rx. */
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140 #define mainCOM_TEST_LED ( 4 )
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142 /* LED that is toggled by the check task. The check task periodically checks
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143 that all the other tasks are operating without error. If no errors are found
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144 the LED is toggled. If an error is found at any time the LED is never toggles
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146 #define mainCHECK_TASK_LED ( 7 )
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148 /* The period between executions of the check task. */
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149 #define mainCHECK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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151 /* An address in the EEPROM used to count resets. This is used to check that
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152 the demo application is not unexpectedly resetting. */
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153 #define mainRESET_COUNT_ADDRESS ( ( void * ) 0x50 )
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155 /* The number of coroutines to create. */
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156 #define mainNUM_FLASH_COROUTINES ( 3 )
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159 * The task function for the "Check" task.
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161 static void vErrorChecks( void *pvParameters );
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164 * Checks the unique counts of other tasks to ensure they are still operational.
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165 * Flashes an LED if everything is okay.
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167 static void prvCheckOtherTasksAreStillRunning( void );
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170 * Called on boot to increment a count stored in the EEPROM. This is used to
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171 * ensure the CPU does not reset unexpectedly.
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173 static void prvIncrementResetCount( void );
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176 * Idle hook is used to scheduler co-routines.
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178 void vApplicationIdleHook( void );
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180 portSHORT main( void )
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182 prvIncrementResetCount();
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184 /* Setup the LED's for output. */
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185 vParTestInitialise();
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187 /* Create the standard demo tasks. */
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188 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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189 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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190 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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191 vStartRegTestTasks();
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193 /* Create the tasks defined within this file. */
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194 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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196 /* Create the co-routines that flash the LED's. */
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197 vStartFlashCoRoutines( mainNUM_FLASH_COROUTINES );
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199 /* In this port, to use preemptive scheduler define configUSE_PREEMPTION
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200 as 1 in portmacro.h. To use the cooperative scheduler define
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201 configUSE_PREEMPTION as 0. */
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202 vTaskStartScheduler();
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206 /*-----------------------------------------------------------*/
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208 static void vErrorChecks( void *pvParameters )
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210 static volatile unsigned portLONG ulDummyVariable = 3UL;
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212 /* The parameters are not used. */
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213 ( void ) pvParameters;
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215 /* Cycle for ever, delaying then checking all the other tasks are still
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216 operating without error. */
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219 vTaskDelay( mainCHECK_PERIOD );
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221 /* Perform a bit of 32bit maths to ensure the registers used by the
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222 integer tasks get some exercise. The result here is not important -
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223 see the demo application documentation for more info. */
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224 ulDummyVariable *= 3;
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226 prvCheckOtherTasksAreStillRunning();
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229 /*-----------------------------------------------------------*/
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231 static void prvCheckOtherTasksAreStillRunning( void )
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233 static portBASE_TYPE xErrorHasOccurred = pdFALSE;
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235 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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237 xErrorHasOccurred = pdTRUE;
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240 if( xAreComTestTasksStillRunning() != pdTRUE )
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242 xErrorHasOccurred = pdTRUE;
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245 if( xArePollingQueuesStillRunning() != pdTRUE )
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247 xErrorHasOccurred = pdTRUE;
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250 if( xAreRegTestTasksStillRunning() != pdTRUE )
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252 xErrorHasOccurred = pdTRUE;
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255 if( xErrorHasOccurred == pdFALSE )
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257 /* Toggle the LED if everything is okay so we know if an error occurs even if not
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258 using console IO. */
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259 vParTestToggleLED( mainCHECK_TASK_LED );
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262 /*-----------------------------------------------------------*/
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264 static void prvIncrementResetCount( void )
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266 unsigned portCHAR ucCount;
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267 const unsigned portCHAR ucReadBit = ( unsigned portCHAR ) 0x01;
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268 const unsigned portCHAR ucWrite1 = ( unsigned portCHAR ) 0x04;
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269 const unsigned portCHAR ucWrite2 = ( unsigned portCHAR ) 0x02;
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271 /* Increment the EEPROM value at 0x00.
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273 Setup the EEPROM address. */
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277 /* Set the read enable bit. */
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280 /* Wait for the read. */
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281 while( EECR & ucReadBit );
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283 /* The byte is ready. */
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286 /* Increment the reset count, then write the byte back. */
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290 EECR = ( ucWrite1 | ucWrite2 );
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292 /*-----------------------------------------------------------*/
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294 void vApplicationIdleHook( void )
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296 vCoRoutineSchedule();
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