2 FreeRTOS V8.2.0rc1 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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97 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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98 The processor MUST be in supervisor mode when vTaskStartScheduler is
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99 called. The demo applications included in the FreeRTOS.org download switch
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100 to supervisor mode prior to main being called. If you are not using one of
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101 these demo application projects then ensure Supervisor mode is used.
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105 * Creates all the demo application tasks, then starts the scheduler. The WEB
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106 * documentation provides more details of the demo application tasks.
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108 * Main.c also creates a task called "Check". This only executes every three
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109 * seconds but has the highest priority so is guaranteed to get processor time.
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110 * Its main function is to check that all the other tasks are still operational.
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111 * Each task (other than the "flash" tasks) maintains a unique count that is
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112 * incremented each time the task successfully completes its function. Should
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113 * any error occur within such a task the count is permanently halted. The
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114 * check task inspects the count of each task to ensure it has changed since
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115 * the last time the check task executed. If all the count variables have
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116 * changed all the tasks are still executing error free, and the check task
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117 * toggles the onboard LED. Should any task contain an error at any time
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118 * the LED toggle rate will change from 3 seconds to 500ms.
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122 /* Library includes. */
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126 /* Scheduler includes. */
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127 #include "FreeRTOS.h"
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130 /* Demo application includes. */
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132 #include "integer.h"
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134 #include "BlockQ.h"
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135 #include "semtest.h"
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136 #include "dynamic.h"
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137 #include "partest.h"
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138 #include "comtest2.h"
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140 /* Priorities for the demo application tasks. */
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141 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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142 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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143 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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144 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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145 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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146 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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148 /* Constants required by the 'Check' task. */
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149 #define mainNO_ERROR_FLASH_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
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150 #define mainERROR_FLASH_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
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151 #define mainCHECK_TASK_LED ( 4 )
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153 /* Constants for the ComTest tasks. */
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154 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
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155 #define mainCOM_TEST_LED ( 6 ) /* The LED built onto the kickstart board. */
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158 * The task that executes at the highest priority and calls
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159 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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162 static void vErrorChecks( void *pvParameters );
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165 * Configure the processor for use with the IAR STR71x demo board. This
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166 * just sets the PLL for the required frequency.
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168 static void prvSetupHardware( void );
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171 * Checks that all the demo application tasks are still executing without error
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172 * - as described at the top of the file. Called by vErrorChecks().
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174 static long prvCheckOtherTasksAreStillRunning( void );
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177 /*-----------------------------------------------------------*/
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180 * Starts all the other tasks, then starts the scheduler.
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184 /* Setup any hardware that has not already been configured by the low
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185 level init routines. */
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186 prvSetupHardware();
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188 /* Initialise the LED outputs for use by the demo application tasks. */
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189 vParTestInitialise();
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191 /* Start all the standard demo application tasks. */
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192 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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193 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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194 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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195 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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196 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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197 vStartDynamicPriorityTasks();
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198 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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200 /* Start the check task - which is defined in this file. */
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201 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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203 /* Start the scheduler.
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205 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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206 The processor MUST be in supervisor mode when vTaskStartScheduler is
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207 called. The demo applications included in the FreeRTOS.org download switch
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208 to supervisor mode prior to main being called. If you are not using one of
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209 these demo application projects then ensure Supervisor mode is used here. */
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211 vTaskStartScheduler();
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213 /* We should never get here as control is now taken by the scheduler. */
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216 /*-----------------------------------------------------------*/
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218 static void prvSetupHardware( void )
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220 /* Setup the PLL to generate a 48MHz clock from the 4MHz CLK. */
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222 /* Turn of the div by two. */
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223 RCCU_Div2Config( DISABLE );
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225 /* 48MHz = ( 4MHz * 12 ) / 1 */
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226 RCCU_PLL1Config( RCCU_PLL1_Mul_12, RCCU_Div_1 );
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227 RCCU_RCLKSourceConfig( RCCU_PLL1_Output );
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229 /*-----------------------------------------------------------*/
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231 static void vErrorChecks( void *pvParameters )
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233 TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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234 TickType_t xLastWakeTime;
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236 /* The parameters are not used in this task. */
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237 ( void ) pvParameters;
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239 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
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240 functions correctly. */
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241 xLastWakeTime = xTaskGetTickCount();
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243 /* Cycle for ever, delaying then checking all the other tasks are still
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244 operating without error. If an error is detected then the delay period
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245 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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246 the on board LED flash rate will increase. */
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250 /* Delay until it is time to execute again. The delay period is
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251 shorter following an error so the LED flashes faster. */
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252 vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
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254 /* Check all the standard demo application tasks are executing without
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256 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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258 /* An error has been detected in one of the tasks - flash faster. */
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259 xDelayPeriod = mainERROR_FLASH_PERIOD;
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262 vParTestToggleLED( mainCHECK_TASK_LED );
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265 /*-----------------------------------------------------------*/
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267 static long prvCheckOtherTasksAreStillRunning( void )
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269 long lReturn = ( long ) pdPASS;
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271 /* Check all the demo tasks (other than the flash tasks) to ensure
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272 that they are all still running, and that none of them have detected
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275 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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277 lReturn = ( long ) pdFAIL;
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280 if( xArePollingQueuesStillRunning() != pdTRUE )
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282 lReturn = ( long ) pdFAIL;
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285 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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287 lReturn = ( long ) pdFAIL;
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290 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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292 lReturn = ( long ) pdFAIL;
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295 if( xAreComTestTasksStillRunning() != pdTRUE )
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297 lReturn = ( long ) pdFAIL;
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300 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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302 lReturn = ( long ) pdFAIL;
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307 /*-----------------------------------------------------------*/
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