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 * Creates all the application tasks, then starts the scheduler.
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68 * A task is also created called "uIP". This executes the uIP stack and small
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69 * WEB server sample. All the other tasks are from the set of standard
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70 * demo tasks. The WEB documentation provides more details of the standard
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71 * demo application tasks.
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73 * Main.c also creates a task called "Check". This only executes every three
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74 * seconds but has the highest priority so is guaranteed to get processor time.
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75 * Its main function is to check the status of all the other demo application
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76 * tasks. LED mainCHECK_LED is toggled every three seconds by the check task
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77 * should no error conditions be detected in any of the standard demo tasks.
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78 * The toggle rate increasing to 500ms indicates that at least one error has
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83 /* Standard includes. */
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87 /* Scheduler includes. */
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88 #include "FreeRTOS.h"
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91 /* Demo application includes. */
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92 #include "partest.h"
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94 #include "dynamic.h"
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95 #include "semtest.h"
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97 #include "integer.h"
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101 #include "uip_task.h"
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103 /*-----------------------------------------------------------*/
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105 /* Priorities/stacks for the demo application tasks. */
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106 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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107 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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108 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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109 #define mainUIP_PRIORITY ( tskIDLE_PRIORITY + 3 )
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110 #define mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 2 )
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111 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 1 )
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112 #define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 2 )
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113 #define mainUIP_TASK_STACK_SIZE ( 250 )
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115 /* The rate at which the on board LED will toggle when there is/is not an
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117 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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118 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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120 /* The LED used by the check task to indicate the system status. */
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121 #define mainCHECK_LED ( 3 )
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122 /*-----------------------------------------------------------*/
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125 * Checks that all the demo application tasks are still executing without error
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126 * - as described at the top of the file.
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128 static long prvCheckOtherTasksAreStillRunning( void );
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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. This is very
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139 * minimal as most of the setup is performed in the startup code.
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141 static void prvSetupHardware( void );
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143 /*-----------------------------------------------------------*/
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146 * Starts all the other tasks, then starts the scheduler.
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150 /* Configure the processor. */
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151 prvSetupHardware();
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153 /* Setup the port used to flash the LED's. */
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154 vParTestInitialise();
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156 /* Start the task that handles the TCP/IP and WEB server functionality. */
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157 xTaskCreate( vuIP_TASK, "uIP", mainUIP_TASK_STACK_SIZE, NULL, mainUIP_PRIORITY, NULL );
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159 /* Start the demo/test application tasks. These are created in addition
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160 to the TCP/IP task for demonstration and test purposes. */
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161 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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162 vStartDynamicPriorityTasks();
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163 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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164 vStartLEDFlashTasks( mainFLASH_PRIORITY );
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165 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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166 vStartMathTasks( tskIDLE_PRIORITY );
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167 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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169 /* Start the check task - which is defined in this file. */
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170 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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172 /* Must be last to get created. */
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173 vCreateSuicidalTasks( mainDEATH_PRIORITY );
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175 /* Now all the tasks have been started - start the scheduler. */
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176 vTaskStartScheduler();
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178 /* Should never reach here because the tasks should now be executing! */
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181 /*-----------------------------------------------------------*/
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183 static void prvSetupHardware( void )
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185 /* When using the JTAG debugger the hardware is not always initialised to
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186 the correct default state. This line just ensures that this does not
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187 cause all interrupts to be masked at the start. */
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188 AT91C_BASE_AIC->AIC_EOICR = 0;
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190 /* Most setup is performed by the low level init function called from the
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193 Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as
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194 well as the UART Tx line. */
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195 AT91F_PIO_CfgOutput( AT91C_BASE_PIOB, LED_MASK );
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197 /* Enable the peripheral clock. */
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198 AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA );
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199 AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOB ) ;
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200 AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_EMAC ) ;
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202 /*-----------------------------------------------------------*/
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204 static void vErrorChecks( void *pvParameters )
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206 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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207 portTickType xLastWakeTime;
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209 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
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210 functions correctly. */
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211 xLastWakeTime = xTaskGetTickCount();
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213 /* Cycle for ever, delaying then checking all the other tasks are still
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214 operating without error. If an error is detected then the delay period
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215 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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216 the Check LED flash rate will increase. */
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219 /* Delay until it is time to execute again. The delay period is
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220 shorter following an error. */
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221 vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
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223 /* Check all the standard demo application tasks are executing without
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225 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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227 /* An error has been detected in one of the tasks - flash faster. */
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228 xDelayPeriod = mainERROR_FLASH_PERIOD;
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231 vParTestToggleLED( mainCHECK_LED );
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234 /*-----------------------------------------------------------*/
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236 static long prvCheckOtherTasksAreStillRunning( void )
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238 long lReturn = ( long ) pdPASS;
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241 /* Check all the demo tasks (other than the flash tasks) to ensure
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242 that they are all still running, and that none of them have detected
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245 if( xArePollingQueuesStillRunning() != pdTRUE )
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247 lReturn = ( long ) pdFAIL;
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250 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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252 lReturn = ( long ) pdFAIL;
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255 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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257 lReturn = ( long ) pdFAIL;
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260 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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262 lReturn = ( long ) pdFAIL;
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265 if( xAreMathsTaskStillRunning() != pdTRUE )
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267 lReturn = ( long ) pdFAIL;
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270 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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272 lReturn = ( long ) pdFAIL;
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275 if( xIsCreateTaskStillRunning() != pdTRUE )
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277 lReturn = ( long ) pdFAIL;
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