2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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68 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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69 The processor MUST be in supervisor mode when vTaskStartScheduler is
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70 called. The demo applications included in the FreeRTOS.org download switch
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71 to supervisor mode prior to main being called. If you are not using one of
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72 these demo application projects then ensure Supervisor mode is used.
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76 * Creates all the demo application tasks, then starts the scheduler. The WEB
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77 * documentation provides more details of the demo application tasks. The SAM7
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78 * includes a sample USB that emulates a Joystick input to a USB host.
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80 * Main.c also creates a task called "Check". This only executes every three
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81 * seconds but has the highest priority so is guaranteed to get processor time.
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82 * Its main function is to check that all the other tasks are still operational.
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83 * Each task (other than the "flash" tasks) maintains a unique count that is
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84 * incremented each time the task successfully completes its function. Should
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85 * any error occur within such a task the count is permanently halted. The
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86 * check task inspects the count of each task to ensure it has changed since
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87 * the last time the check task executed. If all the count variables have
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88 * changed all the tasks are still executing error free, and the check task
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89 * toggles the onboard LED. Should any task contain an error at any time
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90 * the LED toggle rate will change from 3 seconds to 500ms.
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94 /* Standard includes. */
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97 /* Scheduler includes. */
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98 #include "FreeRTOS.h"
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101 /* Demo application includes. */
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103 #include "integer.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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108 #include "partest.h"
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109 #include "comtest2.h"
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110 #include "USB/USBSample.h"
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112 /* Priorities for the demo application tasks. */
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113 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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114 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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115 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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116 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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117 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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118 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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119 #define mainUSB_PRIORITY ( tskIDLE_PRIORITY + 2 )
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121 /* Constants required by the 'Check' task. */
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122 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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123 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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124 #define mainCHECK_TASK_LED ( 3 )
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126 /* Constants for the ComTest tasks. */
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127 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
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128 #define mainCOM_TEST_LED ( 4 ) /* Off the board. */
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131 * The task that executes at the highest priority and calls
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132 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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135 static void vErrorChecks( void *pvParameters );
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138 * Configure the processor for use with the Atmel demo board. Setup is minimal
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139 * as the low level init function (called from the startup asm file) takes care
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142 static void prvSetupHardware( void );
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145 * Checks that all the demo application tasks are still executing without error
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146 * - as described at the top of the file.
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148 static long prvCheckOtherTasksAreStillRunning( void );
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151 /*-----------------------------------------------------------*/
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154 * Starts all the other tasks, then starts the scheduler.
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158 /* Setup any hardware that has not already been configured by the low
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159 level init routines. */
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160 prvSetupHardware();
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162 /* Initialise the LED outputs for use by the demo application tasks. */
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163 vParTestInitialise();
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165 /* Start all the standard demo application tasks. */
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166 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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167 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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168 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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169 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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170 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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171 vStartDynamicPriorityTasks();
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172 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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174 /* Also start the USB demo which is just for the SAM7. */
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175 xTaskCreate( vUSBDemoTask, "USB", configMINIMAL_STACK_SIZE, NULL, mainUSB_PRIORITY, NULL );
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177 /* Start the check task - which is defined in this file. */
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178 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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180 /* Start the scheduler.
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182 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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183 The processor MUST be in supervisor mode when vTaskStartScheduler is
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184 called. The demo applications included in the FreeRTOS.org download switch
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185 to supervisor mode prior to main being called. If you are not using one of
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186 these demo application projects then ensure Supervisor mode is used here. */
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188 vTaskStartScheduler();
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190 /* We should never get here as control is now taken by the scheduler. */
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193 /*-----------------------------------------------------------*/
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195 static void prvSetupHardware( void )
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197 /* When using the JTAG debugger the hardware is not always initialised to
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198 the correct default state. This line just ensures that this does not
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199 cause all interrupts to be masked at the start. */
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200 AT91C_BASE_AIC->AIC_EOICR = 0;
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202 /* Most setup is performed by the low level init function called from the
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203 startup asm file. */
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205 /* Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as
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206 well as the UART Tx line. */
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207 AT91F_PIO_CfgOutput( AT91C_BASE_PIOA, LED_MASK );
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209 /* Enable the peripheral clock. */
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210 AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA );
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212 /*-----------------------------------------------------------*/
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214 static void vErrorChecks( void *pvParameters )
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216 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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218 /* The parameters are not used in this task. */
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219 ( void ) pvParameters;
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221 /* Cycle for ever, delaying then checking all the other tasks are still
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222 operating without error. If an error is detected then the delay period
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223 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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224 the on board LED flash rate will increase. */
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228 /* Delay until it is time to execute again. */
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229 vTaskDelay( xDelayPeriod );
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231 /* Check all the standard demo application tasks are executing without
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233 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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235 /* An error has been detected in one of the tasks - flash faster. */
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236 xDelayPeriod = mainERROR_FLASH_PERIOD;
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239 vParTestToggleLED( mainCHECK_TASK_LED );
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242 /*-----------------------------------------------------------*/
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244 static long prvCheckOtherTasksAreStillRunning( void )
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246 long lReturn = ( long ) pdPASS;
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248 /* Check all the demo tasks (other than the flash tasks) to ensure
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249 that they are all still running, and that none of them have detected
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252 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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254 lReturn = ( long ) pdFAIL;
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257 if( xArePollingQueuesStillRunning() != pdTRUE )
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259 lReturn = ( long ) pdFAIL;
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262 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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264 lReturn = ( long ) pdFAIL;
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267 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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269 lReturn = ( long ) pdFAIL;
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272 if( xAreComTestTasksStillRunning() != pdTRUE )
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274 lReturn = ( long ) pdFAIL;
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277 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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279 lReturn = ( long ) pdFAIL;
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284 /*-----------------------------------------------------------*/
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