2 FreeRTOS V7.5.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 mission critical applications that require provable dependability.
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66 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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67 The processor MUST be in supervisor mode when vTaskStartScheduler is
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68 called. The demo applications included in the FreeRTOS.org download switch
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69 to supervisor mode prior to main being called. If you are not using one of
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70 these demo application projects then ensure Supervisor mode is used.
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74 * Creates all the demo application tasks, then starts the scheduler. The WEB
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75 * documentation provides more details of the demo application tasks. The SAM7
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76 * includes a sample USB that emulates a Joystick input to a USB host.
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78 * Main.c also creates a task called "Check". This only executes every three
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79 * seconds but has the highest priority so is guaranteed to get processor time.
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80 * Its main function is to check that all the other tasks are still operational.
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81 * Each task (other than the "flash" tasks) maintains a unique count that is
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82 * incremented each time the task successfully completes its function. Should
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83 * any error occur within such a task the count is permanently halted. The
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84 * check task inspects the count of each task to ensure it has changed since
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85 * the last time the check task executed. If all the count variables have
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86 * changed all the tasks are still executing error free, and the check task
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87 * toggles the onboard LED. Should any task contain an error at any time
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88 * the LED toggle rate will change from 3 seconds to 500ms.
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92 /* Standard includes. */
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95 /* Scheduler includes. */
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96 #include "FreeRTOS.h"
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99 /* Demo application includes. */
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101 #include "integer.h"
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103 #include "BlockQ.h"
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104 #include "semtest.h"
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105 #include "dynamic.h"
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106 #include "partest.h"
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107 #include "comtest2.h"
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108 #include "USB/USBSample.h"
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110 /* Priorities for the demo application tasks. */
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111 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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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 mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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116 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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117 #define mainUSB_PRIORITY ( tskIDLE_PRIORITY + 2 )
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119 /* Constants required by the 'Check' task. */
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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 mainCHECK_TASK_LED ( 3 )
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124 /* Constants for the ComTest tasks. */
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125 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
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126 #define mainCOM_TEST_LED ( 4 ) /* Off the board. */
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129 * The task that executes at the highest priority and calls
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130 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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133 static void vErrorChecks( void *pvParameters );
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136 * Configure the processor for use with the Atmel demo board. Setup is minimal
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137 * as the low level init function (called from the startup asm file) takes care
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140 static void prvSetupHardware( void );
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143 * Checks that all the demo application tasks are still executing without error
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144 * - as described at the top of the file.
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146 static long prvCheckOtherTasksAreStillRunning( void );
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149 /*-----------------------------------------------------------*/
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152 * Starts all the other tasks, then starts the scheduler.
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156 /* Setup any hardware that has not already been configured by the low
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157 level init routines. */
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158 prvSetupHardware();
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160 /* Initialise the LED outputs for use by the demo application tasks. */
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161 vParTestInitialise();
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163 /* Start all the standard demo application tasks. */
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164 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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165 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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166 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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167 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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168 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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169 vStartDynamicPriorityTasks();
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170 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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172 /* Also start the USB demo which is just for the SAM7. */
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173 xTaskCreate( vUSBDemoTask, "USB", configMINIMAL_STACK_SIZE, NULL, mainUSB_PRIORITY, NULL );
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175 /* Start the check task - which is defined in this file. */
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176 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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178 /* Start the scheduler.
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180 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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181 The processor MUST be in supervisor mode when vTaskStartScheduler is
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182 called. The demo applications included in the FreeRTOS.org download switch
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183 to supervisor mode prior to main being called. If you are not using one of
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184 these demo application projects then ensure Supervisor mode is used here. */
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186 vTaskStartScheduler();
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188 /* We should never get here as control is now taken by the scheduler. */
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191 /*-----------------------------------------------------------*/
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193 static void prvSetupHardware( void )
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195 /* When using the JTAG debugger the hardware is not always initialised to
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196 the correct default state. This line just ensures that this does not
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197 cause all interrupts to be masked at the start. */
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198 AT91C_BASE_AIC->AIC_EOICR = 0;
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200 /* Most setup is performed by the low level init function called from the
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201 startup asm file. */
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203 /* Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as
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204 well as the UART Tx line. */
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205 AT91F_PIO_CfgOutput( AT91C_BASE_PIOA, LED_MASK );
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207 /* Enable the peripheral clock. */
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208 AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA );
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210 /*-----------------------------------------------------------*/
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212 static void vErrorChecks( void *pvParameters )
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214 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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216 /* The parameters are not used in this task. */
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217 ( void ) pvParameters;
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219 /* Cycle for ever, delaying then checking all the other tasks are still
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220 operating without error. If an error is detected then the delay period
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221 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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222 the on board LED flash rate will increase. */
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226 /* Delay until it is time to execute again. */
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227 vTaskDelay( xDelayPeriod );
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229 /* Check all the standard demo application tasks are executing without
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231 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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233 /* An error has been detected in one of the tasks - flash faster. */
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234 xDelayPeriod = mainERROR_FLASH_PERIOD;
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237 vParTestToggleLED( mainCHECK_TASK_LED );
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240 /*-----------------------------------------------------------*/
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242 static long prvCheckOtherTasksAreStillRunning( void )
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244 long lReturn = ( long ) pdPASS;
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246 /* Check all the demo tasks (other than the flash tasks) to ensure
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247 that they are all still running, and that none of them have detected
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250 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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252 lReturn = ( long ) pdFAIL;
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255 if( xArePollingQueuesStillRunning() != pdTRUE )
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257 lReturn = ( long ) pdFAIL;
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260 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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262 lReturn = ( long ) pdFAIL;
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265 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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267 lReturn = ( long ) pdFAIL;
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270 if( xAreComTestTasksStillRunning() != pdTRUE )
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272 lReturn = ( long ) pdFAIL;
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275 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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277 lReturn = ( long ) pdFAIL;
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282 /*-----------------------------------------------------------*/
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