2 FreeRTOS V7.5.1 - 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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75 * Creates all the demo application tasks, then starts the scheduler. The WEB
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76 * documentation provides more details of the demo application tasks.
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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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100 #include "partest.h"
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102 #include "comtest2.h"
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103 #include "serial.h"
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105 #include "BlockQ.h"
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106 #include "semtest.h"
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107 #include "dynamic.h"
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109 /*-----------------------------------------------------------*/
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111 /* Constants to setup I/O and processor. */
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112 #define mainTX_ENABLE ( ( unsigned portLONG ) 0x00010000 ) /* UART1. */
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113 #define mainRX_ENABLE ( ( unsigned portLONG ) 0x00040000 ) /* UART1. */
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114 #define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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115 #define mainLED_TO_OUTPUT ( ( unsigned portLONG ) 0xff0000 )
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117 /* Constants for the ComTest demo application tasks. */
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118 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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119 #define mainCOM_TEST_LED ( 3 )
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121 /* Priorities for the demo application tasks. */
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122 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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123 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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124 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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125 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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126 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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127 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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129 /* Constants used by the "check" task. As described at the head of this file
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130 the check task toggles an LED. The rate at which the LED flashes is used to
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131 indicate whether an error has been detected or not. If the LED toggles every
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132 3 seconds then no errors have been detected. If the rate increases to 500ms
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133 then an error has been detected in at least one of the demo application tasks. */
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134 #define mainCHECK_LED ( 7 )
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135 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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136 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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138 /*-----------------------------------------------------------*/
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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 Keil demo board. This is very
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155 * minimal as most of the setup is managed by the settings in the project
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158 static void prvSetupHardware( void );
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160 /*-----------------------------------------------------------*/
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165 * Application entry point:
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166 * Starts all the other tasks, then starts the scheduler.
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170 /* Setup the hardware for use with the Keil demo board. */
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171 prvSetupHardware();
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173 /* Start the demo/test application tasks. */
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174 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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175 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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176 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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177 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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178 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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179 vStartDynamicPriorityTasks();
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181 /* Start the check task - which is defined in this file. This is the task
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182 that periodically checks to see that all the other tasks are executing
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184 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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186 /* Now all the tasks have been started - start the scheduler.
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188 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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189 The processor MUST be in supervisor mode when vTaskStartScheduler is
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190 called. The demo applications included in the FreeRTOS.org download switch
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191 to supervisor mode prior to main being called. If you are not using one of
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192 these demo application projects then ensure Supervisor mode is used here. */
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193 vTaskStartScheduler();
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195 /* Should never reach here! If you do then there was not enough heap
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196 available for the idle task to be created. */
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199 /*-----------------------------------------------------------*/
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201 static void vErrorChecks( void *pvParameters )
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203 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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205 /* Parameters are not used. */
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206 ( void ) pvParameters;
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208 /* Cycle for ever, delaying then checking all the other tasks are still
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209 operating without error. If an error is detected then the delay period
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210 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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211 the on board LED flash rate will increase.
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213 This task runs at the highest priority. */
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217 /* The period of the delay depends on whether an error has been
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218 detected or not. If an error has been detected then the period
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219 is reduced to increase the LED flash rate. */
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220 vTaskDelay( xDelayPeriod );
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222 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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224 /* An error has been detected in one of the tasks - flash faster. */
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225 xDelayPeriod = mainERROR_FLASH_PERIOD;
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228 /* Toggle the LED before going back to wait for the next cycle. */
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229 vParTestToggleLED( mainCHECK_LED );
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232 /*-----------------------------------------------------------*/
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234 static void prvSetupHardware( void )
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236 /* Perform the hardware setup required. This is minimal as most of the
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237 setup is managed by the settings in the project file. */
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239 /* Configure the UART1 pins. All other pins remain at their default of 0. */
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240 PINSEL0 |= mainTX_ENABLE;
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241 PINSEL0 |= mainRX_ENABLE;
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243 /* LED pins need to be output. */
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244 IODIR1 = mainLED_TO_OUTPUT;
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246 /* Setup the peripheral bus to be the same as the PLL output. */
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247 VPBDIV = mainBUS_CLK_FULL;
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249 /*-----------------------------------------------------------*/
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251 static portLONG prvCheckOtherTasksAreStillRunning( void )
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253 portLONG lReturn = pdPASS;
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255 /* Check all the demo tasks (other than the flash tasks) to ensure
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256 that they are all still running, and that none of them have detected
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258 if( xAreComTestTasksStillRunning() != pdPASS )
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263 if( xArePollingQueuesStillRunning() != pdTRUE )
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268 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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273 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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278 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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285 /*-----------------------------------------------------------*/
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