2 FreeRTOS V8.2.0rc1 - Copyright (C) 2014 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 This file is part of the FreeRTOS distribution.
\r
9 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
10 the terms of the GNU General Public License (version 2) as published by the
\r
11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
\r
13 >>! NOTE: The modification to the GPL is included to allow you to !<<
\r
14 >>! distribute a combined work that includes FreeRTOS without being !<<
\r
15 >>! obliged to provide the source code for proprietary components !<<
\r
16 >>! outside of the FreeRTOS kernel. !<<
\r
18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
\r
21 link: http://www.freertos.org/a00114.html
\r
25 ***************************************************************************
\r
27 * Having a problem? Start by reading the FAQ "My application does *
\r
28 * not run, what could be wrong?". Have you defined configASSERT()? *
\r
30 * http://www.FreeRTOS.org/FAQHelp.html *
\r
32 ***************************************************************************
\r
34 ***************************************************************************
\r
36 * FreeRTOS provides completely free yet professionally developed, *
\r
37 * robust, strictly quality controlled, supported, and cross *
\r
38 * platform software that is more than just the market leader, it *
\r
39 * is the industry's de facto standard. *
\r
41 * Help yourself get started quickly while simultaneously helping *
\r
42 * to support the FreeRTOS project by purchasing a FreeRTOS *
\r
43 * tutorial book, reference manual, or both: *
\r
44 * http://www.FreeRTOS.org/Documentation *
\r
46 ***************************************************************************
\r
48 ***************************************************************************
\r
50 * Investing in training allows your team to be as productive as *
\r
51 * possible as early as possible, lowering your overall development *
\r
52 * cost, and enabling you to bring a more robust product to market *
\r
53 * earlier than would otherwise be possible. Richard Barry is both *
\r
54 * the architect and key author of FreeRTOS, and so also the world's *
\r
55 * leading authority on what is the world's most popular real time *
\r
56 * kernel for deeply embedded MCU designs. Obtaining your training *
\r
57 * from Richard ensures your team will gain directly from his in-depth *
\r
58 * product knowledge and years of usage experience. Contact Real Time *
\r
59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
\r
60 * by Richard Barry: http://www.FreeRTOS.org/contact
\r
62 ***************************************************************************
\r
64 ***************************************************************************
\r
66 * You are receiving this top quality software for free. Please play *
\r
67 * fair and reciprocate by reporting any suspected issues and *
\r
68 * participating in the community forum: *
\r
69 * http://www.FreeRTOS.org/support *
\r
73 ***************************************************************************
\r
75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
\r
76 license and Real Time Engineers Ltd. contact details.
\r
78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
\r
83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
\r
85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
\r
86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
87 licenses offer ticketed support, indemnification and commercial middleware.
\r
89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
90 engineered and independently SIL3 certified version for use in safety and
\r
91 mission critical applications that require provable dependability.
\r
97 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
\r
98 The processor MUST be in supervisor mode when vTaskStartScheduler is
\r
99 called. The demo applications included in the FreeRTOS.org download switch
\r
100 to supervisor mode prior to main being called. If you are not using one of
\r
101 these demo application projects then ensure Supervisor mode is used.
\r
105 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
106 * documentation provides more details of the demo application tasks. The SAM7
\r
107 * includes a sample USB that emulates a Joystick input to a USB host.
\r
109 * Main.c also creates a task called "Check". This only executes every three
\r
110 * seconds but has the highest priority so is guaranteed to get processor time.
\r
111 * Its main function is to check that all the other tasks are still operational.
\r
112 * Each task (other than the "flash" tasks) maintains a unique count that is
\r
113 * incremented each time the task successfully completes its function. Should
\r
114 * any error occur within such a task the count is permanently halted. The
\r
115 * check task inspects the count of each task to ensure it has changed since
\r
116 * the last time the check task executed. If all the count variables have
\r
117 * changed all the tasks are still executing error free, and the check task
\r
118 * toggles the onboard LED. Should any task contain an error at any time
\r
119 * the LED toggle rate will change from 3 seconds to 500ms.
\r
123 /* Standard includes. */
\r
124 #include <stdlib.h>
\r
126 /* Scheduler includes. */
\r
127 #include "FreeRTOS.h"
\r
130 /* Demo application includes. */
\r
132 #include "integer.h"
\r
134 #include "BlockQ.h"
\r
135 #include "semtest.h"
\r
136 #include "dynamic.h"
\r
137 #include "partest.h"
\r
138 #include "comtest2.h"
\r
139 #include "USB/USBSample.h"
\r
141 /* Priorities for the demo application tasks. */
\r
142 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
143 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
144 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
\r
145 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
146 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
147 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
148 #define mainUSB_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
150 /* Constants required by the 'Check' task. */
\r
151 #define mainNO_ERROR_FLASH_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
\r
152 #define mainERROR_FLASH_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
\r
153 #define mainCHECK_TASK_LED ( 3 )
\r
155 /* Constants for the ComTest tasks. */
\r
156 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
\r
157 #define mainCOM_TEST_LED ( 4 ) /* Off the board. */
\r
160 * The task that executes at the highest priority and calls
\r
161 * prvCheckOtherTasksAreStillRunning(). See the description at the top
\r
164 static void vErrorChecks( void *pvParameters );
\r
167 * Configure the processor for use with the Atmel demo board. Setup is minimal
\r
168 * as the low level init function (called from the startup asm file) takes care
\r
171 static void prvSetupHardware( void );
\r
174 * Checks that all the demo application tasks are still executing without error
\r
175 * - as described at the top of the file.
\r
177 static long prvCheckOtherTasksAreStillRunning( void );
\r
180 /*-----------------------------------------------------------*/
\r
183 * Starts all the other tasks, then starts the scheduler.
\r
187 /* Setup any hardware that has not already been configured by the low
\r
188 level init routines. */
\r
189 prvSetupHardware();
\r
191 /* Initialise the LED outputs for use by the demo application tasks. */
\r
192 vParTestInitialise();
\r
194 /* Start all the standard demo application tasks. */
\r
195 vStartIntegerMathTasks( tskIDLE_PRIORITY );
\r
196 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
\r
197 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
198 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
199 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
200 vStartDynamicPriorityTasks();
\r
201 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
\r
203 /* Also start the USB demo which is just for the SAM7. */
\r
204 xTaskCreate( vUSBDemoTask, "USB", configMINIMAL_STACK_SIZE, NULL, mainUSB_PRIORITY, NULL );
\r
206 /* Start the check task - which is defined in this file. */
\r
207 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
\r
209 /* Start the scheduler.
\r
211 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
\r
212 The processor MUST be in supervisor mode when vTaskStartScheduler is
\r
213 called. The demo applications included in the FreeRTOS.org download switch
\r
214 to supervisor mode prior to main being called. If you are not using one of
\r
215 these demo application projects then ensure Supervisor mode is used here. */
\r
217 vTaskStartScheduler();
\r
219 /* We should never get here as control is now taken by the scheduler. */
\r
222 /*-----------------------------------------------------------*/
\r
224 static void prvSetupHardware( void )
\r
226 /* When using the JTAG debugger the hardware is not always initialised to
\r
227 the correct default state. This line just ensures that this does not
\r
228 cause all interrupts to be masked at the start. */
\r
229 AT91C_BASE_AIC->AIC_EOICR = 0;
\r
231 /* Most setup is performed by the low level init function called from the
\r
232 startup asm file. */
\r
234 /* Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as
\r
235 well as the UART Tx line. */
\r
236 AT91F_PIO_CfgOutput( AT91C_BASE_PIOA, LED_MASK );
\r
238 /* Enable the peripheral clock. */
\r
239 AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA );
\r
241 /*-----------------------------------------------------------*/
\r
243 static void vErrorChecks( void *pvParameters )
\r
245 TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
\r
247 /* The parameters are not used in this task. */
\r
248 ( void ) pvParameters;
\r
250 /* Cycle for ever, delaying then checking all the other tasks are still
\r
251 operating without error. If an error is detected then the delay period
\r
252 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
\r
253 the on board LED flash rate will increase. */
\r
257 /* Delay until it is time to execute again. */
\r
258 vTaskDelay( xDelayPeriod );
\r
260 /* Check all the standard demo application tasks are executing without
\r
262 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
\r
264 /* An error has been detected in one of the tasks - flash faster. */
\r
265 xDelayPeriod = mainERROR_FLASH_PERIOD;
\r
268 vParTestToggleLED( mainCHECK_TASK_LED );
\r
271 /*-----------------------------------------------------------*/
\r
273 static long prvCheckOtherTasksAreStillRunning( void )
\r
275 long lReturn = ( long ) pdPASS;
\r
277 /* Check all the demo tasks (other than the flash tasks) to ensure
\r
278 that they are all still running, and that none of them have detected
\r
281 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
283 lReturn = ( long ) pdFAIL;
\r
286 if( xArePollingQueuesStillRunning() != pdTRUE )
\r
288 lReturn = ( long ) pdFAIL;
\r
291 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
293 lReturn = ( long ) pdFAIL;
\r
296 if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
298 lReturn = ( long ) pdFAIL;
\r
301 if( xAreComTestTasksStillRunning() != pdTRUE )
\r
303 lReturn = ( long ) pdFAIL;
\r
306 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
\r
308 lReturn = ( long ) pdFAIL;
\r
313 /*-----------------------------------------------------------*/
\r