2 FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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4 This file is part of the FreeRTOS distribution.
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6 FreeRTOS is free software; you can redistribute it and/or modify it under
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7 the terms of the GNU General Public License (version 2) as published by the
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8 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 without being obliged to provide the
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11 source code for proprietary components outside of the FreeRTOS kernel.
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12 Alternative commercial license and support terms are also available upon
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13 request. See the licensing section of http://www.FreeRTOS.org for full
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16 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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18 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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21 You should have received a copy of the GNU General Public License along
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22 with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
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23 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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26 ***************************************************************************
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28 * Looking for a quick start? Then check out the FreeRTOS eBook! *
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29 * See http://www.FreeRTOS.org/Documentation for details *
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31 ***************************************************************************
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35 Please ensure to read the configuration and relevant port sections of the
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36 online documentation.
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38 http://www.FreeRTOS.org - Documentation, latest information, license and
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41 http://www.SafeRTOS.com - A version that is certified for use in safety
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44 http://www.OpenRTOS.com - Commercial support, development, porting,
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45 licensing and training services.
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49 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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50 The processor MUST be in supervisor mode when vTaskStartScheduler is
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51 called. The demo applications included in the FreeRTOS.org download switch
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52 to supervisor mode prior to main being called. If you are not using one of
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53 these demo application projects then ensure Supervisor mode is used.
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58 * Creates all the application tasks, then starts the scheduler.
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60 * A task is created called "uIP". This executes the uIP stack and small
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61 * WEB server sample. All the other tasks are from the set of standard
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62 * demo tasks. The WEB documentation provides more details of the standard
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63 * demo application tasks.
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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 standard demo task maintains a unique count that is incremented each
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69 * time the task successfully completes its function. Should any error occur
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70 * within such a task the count is permanently halted. The check task inspects
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71 * the count of each task to ensure it has changed since the last time the
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72 * check task executed. If all the count variables have changed all the tasks
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73 * are still executing error free, and the check task toggles the yellow LED.
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74 * Should any task contain an error at any time the LED toggle rate will change
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75 * from 3 seconds to 500ms.
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80 /* Standard includes. */
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84 /* Scheduler includes. */
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85 #include "FreeRTOS.h"
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88 /* Demo application includes. */
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90 #include "dynamic.h"
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91 #include "semtest.h"
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93 /*-----------------------------------------------------------*/
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95 /* Constants to setup the PLL. */
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96 #define mainPLL_MUL_4 ( ( unsigned portCHAR ) 0x0003 )
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97 #define mainPLL_DIV_1 ( ( unsigned portCHAR ) 0x0000 )
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98 #define mainPLL_ENABLE ( ( unsigned portCHAR ) 0x0001 )
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99 #define mainPLL_CONNECT ( ( unsigned portCHAR ) 0x0003 )
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100 #define mainPLL_FEED_BYTE1 ( ( unsigned portCHAR ) 0xaa )
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101 #define mainPLL_FEED_BYTE2 ( ( unsigned portCHAR ) 0x55 )
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102 #define mainPLL_LOCK ( ( unsigned portLONG ) 0x0400 )
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104 /* Constants to setup the MAM. */
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105 #define mainMAM_TIM_3 ( ( unsigned portCHAR ) 0x03 )
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106 #define mainMAM_MODE_FULL ( ( unsigned portCHAR ) 0x02 )
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108 /* Constants to setup the peripheral bus. */
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109 #define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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111 /* Priorities/stacks for the demo application tasks. */
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112 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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113 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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114 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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115 #define mainUIP_PRIORITY ( tskIDLE_PRIORITY + 3 )
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116 #define mainUIP_TASK_STACK_SIZE ( 150 )
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118 /* The rate at which the on board LED will toggle when there is/is not an
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120 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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121 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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122 #define mainON_BOARD_LED_BIT ( ( unsigned portLONG ) 0x80 )
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123 #define mainYELLOW_LED ( 1 << 11 )
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125 /*-----------------------------------------------------------*/
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128 * This is the uIP task which is defined within the uip.c file. This has not
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129 * been placed into a header file in order to minimise the changes to the uip
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132 extern void ( vuIP_TASK ) ( void *pvParameters );
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135 * The Yellow LED is under the control of the Check task. All the other LED's
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136 * are under the control of the uIP task.
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138 void prvToggleOnBoardLED( void );
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141 * Checks that all the demo application tasks are still executing without error
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142 * - as described at the top of the file.
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144 static portLONG prvCheckOtherTasksAreStillRunning( void );
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147 * The task that executes at the highest priority and calls
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148 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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151 static void vErrorChecks( void *pvParameters );
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154 * Configure the processor for use with the Olimex demo board. This includes
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155 * setup for the I/O, system clock, and access timings.
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157 static void prvSetupHardware( void );
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159 /*-----------------------------------------------------------*/
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162 * Starts all the other tasks, then starts the scheduler.
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166 /* Configure the processor. */
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167 prvSetupHardware();
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169 /* Start the task that handles the TCP/IP functionality. */
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170 xTaskCreate( vuIP_TASK, "uIP", mainUIP_TASK_STACK_SIZE, NULL, mainUIP_PRIORITY, NULL );
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172 /* Start the demo/test application tasks. These are created in addition
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173 to the TCP/IP task for demonstration and test purposes. */
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174 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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175 vStartDynamicPriorityTasks();
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176 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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178 /* Start the check task - which is defined in this file. */
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179 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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181 /* Now all the tasks have been started - start the scheduler.
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183 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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184 The processor MUST be in supervisor mode when vTaskStartScheduler is
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185 called. The demo applications included in the FreeRTOS.org download switch
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186 to supervisor mode prior to main being called. If you are not using one of
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187 these demo application projects then ensure Supervisor mode is used here. */
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188 vTaskStartScheduler();
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190 /* Should never reach here! */
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193 /*-----------------------------------------------------------*/
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195 static void vErrorChecks( void *pvParameters )
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197 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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199 /* Cycle for ever, delaying then checking all the other tasks are still
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200 operating without error. If an error is detected then the delay period
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201 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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202 the on board LED flash rate will increase. */
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205 /* Delay until it is time to execute again. */
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206 vTaskDelay( xDelayPeriod );
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208 /* Check all the standard demo application tasks are executing without
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210 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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212 /* An error has been detected in one of the tasks - flash faster. */
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213 xDelayPeriod = mainERROR_FLASH_PERIOD;
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216 prvToggleOnBoardLED();
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219 /*-----------------------------------------------------------*/
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221 static void prvSetupHardware( void )
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223 #ifdef RUN_FROM_RAM
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224 /* Remap the interrupt vectors to RAM if we are are running from RAM. */
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228 /* Setup the PLL to multiply the XTAL input by 4. */
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229 SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );
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231 /* Activate the PLL by turning it on then feeding the correct sequence of
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233 SCB_PLLCON = mainPLL_ENABLE;
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234 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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235 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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237 /* Wait for the PLL to lock... */
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238 while( !( SCB_PLLSTAT & mainPLL_LOCK ) );
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240 /* ...before connecting it using the feed sequence again. */
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241 SCB_PLLCON = mainPLL_CONNECT;
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242 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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243 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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245 /* Setup and turn on the MAM. Three cycle access is used due to the fast
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246 PLL used. It is possible faster overall performance could be obtained by
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247 tuning the MAM and PLL settings. */
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248 MAM_TIM = mainMAM_TIM_3;
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249 MAM_CR = mainMAM_MODE_FULL;
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251 /* Setup the peripheral bus to be the same as the PLL output. */
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252 SCB_VPBDIV = mainBUS_CLK_FULL;
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254 /*-----------------------------------------------------------*/
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256 void prvToggleOnBoardLED( void )
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258 unsigned portLONG ulState;
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260 ulState = GPIO0_IOPIN;
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261 if( ulState & mainYELLOW_LED )
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263 GPIO_IOCLR = mainYELLOW_LED;
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267 GPIO_IOSET = mainYELLOW_LED;
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270 /*-----------------------------------------------------------*/
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272 static portLONG prvCheckOtherTasksAreStillRunning( void )
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274 portLONG lReturn = ( portLONG ) pdPASS;
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276 /* Check all the demo tasks (other than the flash tasks) to ensure
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277 that they are all still running, and that none of them have detected
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280 if( xArePollingQueuesStillRunning() != 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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290 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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292 lReturn = ( portLONG ) pdFAIL;
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