/*\r
- FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.\r
- \r
-\r
- ***************************************************************************\r
- * *\r
- * FreeRTOS tutorial books are available in pdf and paperback. *\r
- * Complete, revised, and edited pdf reference manuals are also *\r
- * available. *\r
- * *\r
- * Purchasing FreeRTOS documentation will not only help you, by *\r
- * ensuring you get running as quickly as possible and with an *\r
- * in-depth knowledge of how to use FreeRTOS, it will also help *\r
- * the FreeRTOS project to continue with its mission of providing *\r
- * professional grade, cross platform, de facto standard solutions *\r
- * for microcontrollers - completely free of charge! *\r
- * *\r
- * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *\r
- * *\r
- * Thank you for using FreeRTOS, and thank you for your support! *\r
- * *\r
- ***************************************************************************\r
-\r
-\r
- This file is part of the FreeRTOS distribution.\r
-\r
- FreeRTOS is free software; you can redistribute it and/or modify it under\r
- the terms of the GNU General Public License (version 2) as published by the\r
- Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
- >>>NOTE<<< The modification to the GPL is included to allow you to\r
- distribute a combined work that includes FreeRTOS without being obliged to\r
- provide the source code for proprietary components outside of the FreeRTOS\r
- kernel. FreeRTOS is distributed in the hope that it will be useful, but\r
- WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY\r
- or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
- more details. You should have received a copy of the GNU General Public\r
- License and the FreeRTOS license exception along with FreeRTOS; if not it\r
- can be viewed here: http://www.freertos.org/a00114.html and also obtained\r
- by writing to Richard Barry, contact details for whom are available on the\r
- FreeRTOS WEB site.\r
-\r
- 1 tab == 4 spaces!\r
- \r
- ***************************************************************************\r
- * *\r
- * Having a problem? Start by reading the FAQ "My application does *\r
- * not run, what could be wrong? *\r
- * *\r
- * http://www.FreeRTOS.org/FAQHelp.html *\r
- * *\r
- ***************************************************************************\r
-\r
- \r
- http://www.FreeRTOS.org - Documentation, training, latest information, \r
- license and contact details.\r
- \r
- http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
- including FreeRTOS+Trace - an indispensable productivity tool.\r
-\r
- Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell \r
- the code with commercial support, indemnification, and middleware, under \r
- the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also\r
- provide a safety engineered and independently SIL3 certified version under \r
- the SafeRTOS brand: http://www.SafeRTOS.com.\r
-*/\r
+ * FreeRTOS Kernel V10.0.0\r
+ * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.\r
+ *\r
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of\r
+ * this software and associated documentation files (the "Software"), to deal in\r
+ * the Software without restriction, including without limitation the rights to\r
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of\r
+ * the Software, and to permit persons to whom the Software is furnished to do so,\r
+ * subject to the following conditions:\r
+ *\r
+ * The above copyright notice and this permission notice shall be included in all\r
+ * copies or substantial portions of the Software. If you wish to use our Amazon\r
+ * FreeRTOS name, please do so in a fair use way that does not cause confusion.\r
+ *\r
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\r
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS\r
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR\r
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER\r
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN\r
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.\r
+ *\r
+ * http://www.FreeRTOS.org\r
+ * http://aws.amazon.com/freertos\r
+ *\r
+ * 1 tab == 4 spaces!\r
+ */\r
\r
-/* \r
+/*\r
NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.\r
- The processor MUST be in supervisor mode when vTaskStartScheduler is \r
+ The processor MUST be in supervisor mode when vTaskStartScheduler is\r
called. The demo applications included in the FreeRTOS.org download switch\r
to supervisor mode prior to main being called. If you are not using one of\r
these demo application projects then ensure Supervisor mode is used.\r
/*\r
* Creates all the demo application tasks, then starts the scheduler. The WEB\r
* documentation provides more details of the demo application tasks.\r
- * \r
- * Main.c also creates a task called "Check". This only executes every three \r
- * seconds but has the highest priority so is guaranteed to get processor time. \r
+ *\r
+ * Main.c also creates a task called "Check". This only executes every three\r
+ * seconds but has the highest priority so is guaranteed to get processor time.\r
* Its main function is to check that all the other tasks are still operational.\r
- * Each task (other than the "flash" tasks) maintains a unique count that is \r
- * incremented each time the task successfully completes its function. Should \r
- * any error occur within such a task the count is permanently halted. The \r
+ * Each task (other than the "flash" tasks) maintains a unique count that is\r
+ * incremented each time the task successfully completes its function. Should\r
+ * any error occur within such a task the count is permanently halted. The\r
* check task inspects the count of each task to ensure it has changed since\r
- * the last time the check task executed. If all the count variables have \r
+ * the last time the check task executed. If all the count variables have\r
* changed all the tasks are still executing error free, and the check task\r
- * toggles the onboard LED. Should any task contain an error at any time \r
+ * toggles the onboard LED. Should any task contain an error at any time\r
* the LED toggle rate will change from 3 seconds to 500ms.\r
*\r
- * To check the operation of the memory allocator the check task also \r
- * dynamically creates a task before delaying, and deletes it again when it \r
+ * To check the operation of the memory allocator the check task also\r
+ * dynamically creates a task before delaying, and deletes it again when it\r
* wakes. If memory cannot be allocated for the new task the call to xTaskCreate\r
* will fail and an error is signalled. The dynamically created task itself\r
* allocates and frees memory just to give the allocator a bit more exercise.\r
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
\r
-/* The rate at which the on board LED will toggle when there is/is not an \r
+/* The rate at which the on board LED will toggle when there is/is not an\r
error. */\r
-#define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )\r
-#define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )\r
+#define mainNO_ERROR_FLASH_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )\r
+#define mainERROR_FLASH_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )\r
#define mainON_BOARD_LED_BIT ( ( unsigned long ) 7 )\r
\r
/* Constants used by the vMemCheckTask() task. */\r
static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount );\r
\r
/*\r
- * The task that executes at the highest priority and calls \r
+ * The task that executes at the highest priority and calls\r
* prvCheckOtherTasksAreStillRunning(). See the description at the top\r
* of the file.\r
*/\r
/*-----------------------------------------------------------*/\r
\r
/*\r
- * Starts all the other tasks, then starts the scheduler. \r
+ * Starts all the other tasks, then starts the scheduler.\r
*/\r
int main( void )\r
{\r
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );\r
vStartMathTasks( tskIDLE_PRIORITY );\r
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );\r
- vStartDynamicPriorityTasks(); \r
+ vStartDynamicPriorityTasks();\r
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );\r
\r
/* Start the check task - which is defined in this file. */\r
- xTaskCreate( vErrorChecks, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );\r
+ xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );\r
\r
/* Now all the tasks have been started - start the scheduler.\r
\r
NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.\r
- The processor MUST be in supervisor mode when vTaskStartScheduler is \r
+ The processor MUST be in supervisor mode when vTaskStartScheduler is\r
called. The demo applications included in the FreeRTOS.org download switch\r
to supervisor mode prior to main being called. If you are not using one of\r
these demo application projects then ensure Supervisor mode is used here. */\r
\r
static void vErrorChecks( void *pvParameters )\r
{\r
-portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;\r
+TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;\r
unsigned long ulMemCheckTaskRunningCount;\r
-xTaskHandle xCreatedTask;\r
+TaskHandle_t xCreatedTask;\r
\r
/* Just to stop compiler warnings. */\r
( void ) pvParameters;\r
/* Cycle for ever, delaying then checking all the other tasks are still\r
operating without error. If an error is detected then the delay period\r
is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so\r
- the on board LED flash rate will increase. \r
- \r
+ the on board LED flash rate will increase.\r
+\r
In addition to the standard tests the memory allocator is tested through\r
- the dynamic creation and deletion of a task each cycle. Each time the \r
+ the dynamic creation and deletion of a task each cycle. Each time the\r
task is created memory must be allocated for its stack. When the task is\r
- deleted this memory is returned to the heap. If the task cannot be created \r
+ deleted this memory is returned to the heap. If the task cannot be created\r
then it is likely that the memory allocation failed. */\r
\r
for( ;; )\r
{\r
- /* Reset xCreatedTask. This is modified by the task about to be \r
+ /* Reset xCreatedTask. This is modified by the task about to be\r
created so we can tell if it is executing correctly or not. */\r
xCreatedTask = mainNO_TASK;\r
\r
- /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a \r
+ /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a\r
parameter. */\r
- ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE; \r
- if( xTaskCreate( vMemCheckTask, ( signed char * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )\r
+ ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;\r
+ if( xTaskCreate( vMemCheckTask, "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )\r
{\r
/* Could not create the task - we have probably run out of heap. */\r
xDelayPeriod = mainERROR_FLASH_PERIOD;\r
vTaskDelete( xCreatedTask );\r
}\r
\r
- /* Check all the standard demo application tasks are executing without \r
+ /* Check all the standard demo application tasks are executing without\r
error. ulMemCheckTaskRunningCount is checked to ensure it was\r
modified by the task just deleted. */\r
if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )\r
ulCSRWaitValue = WaitState5;\r
\r
AT91C_BASE_EBI->EBI_CSR[ 0 ] = ulCSRWaitValue | DataBus16 | WaitStateEnable\r
- | PageSize1M | tDF_0cycle \r
+ | PageSize1M | tDF_0cycle\r
| ByteWriteAccessType | CSEnable\r
| 0x00000000 /* Base Address */;\r
}\r
/* Clear all interrupts at the AIC level initially... */\r
AT91C_BASE_AIC->AIC_ICCR = 0xFFFFFFFF;\r
\r
- /* Perform 8 "End Of Interrupt" cmds to make sure AIC will not Lock out \r
+ /* Perform 8 "End Of Interrupt" cmds to make sure AIC will not Lock out\r
nIRQ */\r
for( lCount = 0; lCount < 8; lCount++ )\r
{\r
vErrorChecks task to check the operation of the memory allocator. Each time\r
the task is created memory is allocated for the stack and TCB. Each time\r
the task is deleted this memory is returned to the heap. This task itself\r
- exercises the allocator by allocating and freeing blocks. \r
- \r
- The task executes at the idle priority so does not require a delay. \r
- \r
+ exercises the allocator by allocating and freeing blocks.\r
+\r
+ The task executes at the idle priority so does not require a delay.\r
+\r
pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the\r
vErrorChecks() task that this task is still executing without error. */\r
\r
}\r
else\r
{\r
- /* There has been an error so reset the counter so the check task \r
+ /* There has been an error so reset the counter so the check task\r
can tell that an error occurred. */\r
*pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;\r
}\r
\r
- /* Allocate some memory - just to give the allocator some extra \r
+ /* Allocate some memory - just to give the allocator some extra\r
exercise. This has to be in a critical section to ensure the\r
task does not get deleted while it has memory allocated. */\r
vTaskSuspendAll();\r
projects / freertos / blobdiff