2 FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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32 >>>NOTE<<< The modification to the GPL is included to allow you to
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33 distribute a combined work that includes FreeRTOS without being obliged to
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34 provide the source code for proprietary components outside of the FreeRTOS
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35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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38 more details. You should have received a copy of the GNU General Public
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39 License and the FreeRTOS license exception along with FreeRTOS; if not it
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40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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41 by writing to Richard Barry, contact details for whom are available on the
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46 ***************************************************************************
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48 * Having a problem? Start by reading the FAQ "My application does *
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49 * not run, what could be wrong?" *
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51 * http://www.FreeRTOS.org/FAQHelp.html *
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53 ***************************************************************************
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56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
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57 and contact details.
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59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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60 including FreeRTOS+Trace - an indispensable productivity tool.
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62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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63 the code with commercial support, indemnification, and middleware, under
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64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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65 provide a safety engineered and independently SIL3 certified version under
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66 the SafeRTOS brand: http://www.SafeRTOS.com.
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70 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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71 The processor MUST be in supervisor mode when vTaskStartScheduler is
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72 called. The demo applications included in the FreeRTOS.org download switch
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73 to supervisor mode prior to main being called. If you are not using one of
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74 these demo application projects then ensure Supervisor mode is used.
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79 * Creates all the demo application tasks, then starts the scheduler. The WEB
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80 * documentation provides more details of the demo application tasks.
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82 * Main.c also creates a task called "Check". This only executes every three
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83 * seconds but has the highest priority so is guaranteed to get processor time.
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84 * Its main function is to check that all the other tasks are still operational.
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85 * Each task (other than the "flash" tasks) maintains a unique count that is
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86 * incremented each time the task successfully completes its function. Should
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87 * any error occur within such a task the count is permanently halted. The
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88 * check task inspects the count of each task to ensure it has changed since
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89 * the last time the check task executed. If all the count variables have
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90 * changed all the tasks are still executing error free, and the check task
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91 * toggles the onboard LED. Should any task contain an error at any time
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92 * the LED toggle rate will change from 3 seconds to 500ms.
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96 /* Standard includes. */
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99 /* Scheduler includes. */
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100 #include "FreeRTOS.h"
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103 /* Demo application includes. */
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104 #include "partest.h"
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106 #include "comtest2.h"
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107 #include "serial.h"
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109 #include "BlockQ.h"
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110 #include "semtest.h"
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111 #include "dynamic.h"
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113 /*-----------------------------------------------------------*/
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115 /* Constants to setup I/O and processor. */
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116 #define mainTX_ENABLE ( ( unsigned portLONG ) 0x00010000 ) /* UART1. */
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117 #define mainRX_ENABLE ( ( unsigned portLONG ) 0x00040000 ) /* UART1. */
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118 #define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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119 #define mainLED_TO_OUTPUT ( ( unsigned portLONG ) 0xff0000 )
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121 /* Constants for the ComTest demo application tasks. */
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122 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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123 #define mainCOM_TEST_LED ( 3 )
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125 /* Priorities for the demo application tasks. */
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126 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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127 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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128 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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129 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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130 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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131 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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133 /* Constants used by the "check" task. As described at the head of this file
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134 the check task toggles an LED. The rate at which the LED flashes is used to
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135 indicate whether an error has been detected or not. If the LED toggles every
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136 3 seconds then no errors have been detected. If the rate increases to 500ms
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137 then an error has been detected in at least one of the demo application tasks. */
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138 #define mainCHECK_LED ( 7 )
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139 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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140 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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142 /*-----------------------------------------------------------*/
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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 portLONG prvCheckOtherTasksAreStillRunning( void );
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151 * The task that executes at the highest priority and calls
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152 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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155 static void vErrorChecks( void *pvParameters );
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158 * Configure the processor for use with the Keil demo board. This is very
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159 * minimal as most of the setup is managed by the settings in the project
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162 static void prvSetupHardware( void );
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164 /*-----------------------------------------------------------*/
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169 * Application entry point:
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170 * Starts all the other tasks, then starts the scheduler.
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174 /* Setup the hardware for use with the Keil demo board. */
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175 prvSetupHardware();
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177 /* Start the demo/test application tasks. */
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178 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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179 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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180 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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181 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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182 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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183 vStartDynamicPriorityTasks();
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185 /* Start the check task - which is defined in this file. This is the task
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186 that periodically checks to see that all the other tasks are executing
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188 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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190 /* Now all the tasks have been started - start the scheduler.
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192 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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193 The processor MUST be in supervisor mode when vTaskStartScheduler is
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194 called. The demo applications included in the FreeRTOS.org download switch
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195 to supervisor mode prior to main being called. If you are not using one of
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196 these demo application projects then ensure Supervisor mode is used here. */
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197 vTaskStartScheduler();
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199 /* Should never reach here! If you do then there was not enough heap
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200 available for the idle task to be created. */
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203 /*-----------------------------------------------------------*/
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205 static void vErrorChecks( void *pvParameters )
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207 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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209 /* Parameters are not used. */
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210 ( void ) pvParameters;
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212 /* Cycle for ever, delaying then checking all the other tasks are still
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213 operating without error. If an error is detected then the delay period
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214 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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215 the on board LED flash rate will increase.
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217 This task runs at the highest priority. */
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221 /* The period of the delay depends on whether an error has been
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222 detected or not. If an error has been detected then the period
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223 is reduced to increase the LED flash rate. */
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224 vTaskDelay( xDelayPeriod );
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226 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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228 /* An error has been detected in one of the tasks - flash faster. */
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229 xDelayPeriod = mainERROR_FLASH_PERIOD;
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232 /* Toggle the LED before going back to wait for the next cycle. */
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233 vParTestToggleLED( mainCHECK_LED );
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236 /*-----------------------------------------------------------*/
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238 static void prvSetupHardware( void )
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240 /* Perform the hardware setup required. This is minimal as most of the
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241 setup is managed by the settings in the project file. */
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243 /* Configure the UART1 pins. All other pins remain at their default of 0. */
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244 PINSEL0 |= mainTX_ENABLE;
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245 PINSEL0 |= mainRX_ENABLE;
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247 /* LED pins need to be output. */
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248 IODIR1 = mainLED_TO_OUTPUT;
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250 /* Setup the peripheral bus to be the same as the PLL output. */
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251 VPBDIV = mainBUS_CLK_FULL;
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253 /*-----------------------------------------------------------*/
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255 static portLONG prvCheckOtherTasksAreStillRunning( void )
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257 portLONG lReturn = pdPASS;
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259 /* Check all the demo tasks (other than the flash tasks) to ensure
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260 that they are all still running, and that none of them have detected
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262 if( xAreComTestTasksStillRunning() != pdPASS )
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267 if( xArePollingQueuesStillRunning() != pdTRUE )
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272 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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277 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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282 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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289 /*-----------------------------------------------------------*/
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