/* | |
FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that has become a de facto standard. * | |
* * | |
* Help yourself get started quickly and support the FreeRTOS * | |
* project by purchasing a FreeRTOS tutorial book, reference * | |
* manual, or both from: http://www.FreeRTOS.org/Documentation * | |
* * | |
* Thank you! * | |
* * | |
*************************************************************************** | |
This file is part of the FreeRTOS distribution. | |
FreeRTOS is free software; you can redistribute it and/or modify it under | |
the terms of the GNU General Public License (version 2) as published by the | |
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. | |
>>! NOTE: The modification to the GPL is included to allow you to !<< | |
>>! distribute a combined work that includes FreeRTOS without being !<< | |
>>! obliged to provide the source code for proprietary components !<< | |
>>! outside of the FreeRTOS kernel. !<< | |
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY | |
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS | |
FOR A PARTICULAR PURPOSE. Full license text is available from the following | |
link: http://www.freertos.org/a00114.html | |
1 tab == 4 spaces! | |
*************************************************************************** | |
* * | |
* Having a problem? Start by reading the FAQ "My application does * | |
* not run, what could be wrong?" * | |
* * | |
* http://www.FreeRTOS.org/FAQHelp.html * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
license and Real Time Engineers Ltd. contact details. | |
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
compatible FAT file system, and our tiny thread aware UDP/IP stack. | |
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS | |
licenses offer ticketed support, indemnification and middleware. | |
http://www.SafeRTOS.com - High Integrity Systems also provide a safety | |
engineered and independently SIL3 certified version for use in safety and | |
mission critical applications that require provable dependability. | |
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*/ | |
/* | |
NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode. | |
The processor MUST be in supervisor mode when vTaskStartScheduler is | |
called. The demo applications included in the FreeRTOS.org download switch | |
to supervisor mode prior to main being called. If you are not using one of | |
these demo application projects then ensure Supervisor mode is used. | |
*/ | |
/* | |
* Creates all the demo application tasks, then starts the scheduler. The WEB | |
* documentation provides more details of the demo application tasks. | |
* | |
* Main.c also creates a task called "Check". This only executes every three | |
* seconds but has the highest priority so is guaranteed to get processor time. | |
* Its main function is to check that all the other tasks are still operational. | |
* Each task (other than the "flash" tasks) maintains a unique count that is | |
* incremented each time the task successfully completes its function. Should | |
* any error occur within such a task the count is permanently halted. The | |
* check task inspects the count of each task to ensure it has changed since | |
* the last time the check task executed. If all the count variables have | |
* changed all the tasks are still executing error free, and the check task | |
* toggles the onboard LED. Should any task contain an error at any time | |
* the LED toggle rate will change from 3 seconds to 500ms. | |
* | |
*/ | |
/* Standard includes. */ | |
#include <stdlib.h> | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Demo application includes. */ | |
#include "partest.h" | |
#include "flash.h" | |
#include "comtest2.h" | |
#include "serial.h" | |
#include "PollQ.h" | |
#include "BlockQ.h" | |
#include "semtest.h" | |
#include "dynamic.h" | |
/*-----------------------------------------------------------*/ | |
/* Constants to setup I/O and processor. */ | |
#define mainTX_ENABLE ( ( unsigned long ) 0x00010000 ) /* UART1. */ | |
#define mainRX_ENABLE ( ( unsigned long ) 0x00040000 ) /* UART1. */ | |
#define mainBUS_CLK_FULL ( ( unsigned char ) 0x01 ) | |
#define mainLED_TO_OUTPUT ( ( unsigned long ) 0xff0000 ) | |
/* Constants for the ComTest demo application tasks. */ | |
#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 ) | |
#define mainCOM_TEST_LED ( 3 ) | |
/* Priorities for the demo application tasks. */ | |
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
/* Constants used by the "check" task. As described at the head of this file | |
the check task toggles an LED. The rate at which the LED flashes is used to | |
indicate whether an error has been detected or not. If the LED toggles every | |
3 seconds then no errors have been detected. If the rate increases to 500ms | |
then an error has been detected in at least one of the demo application tasks. */ | |
#define mainCHECK_LED ( 7 ) | |
#define mainNO_ERROR_FLASH_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS ) | |
#define mainERROR_FLASH_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* Checks that all the demo application tasks are still executing without error | |
* - as described at the top of the file. | |
*/ | |
static long prvCheckOtherTasksAreStillRunning( void ); | |
/* | |
* The task that executes at the highest priority and calls | |
* prvCheckOtherTasksAreStillRunning(). See the description at the top | |
* of the file. | |
*/ | |
static void vErrorChecks( void *pvParameters ); | |
/* | |
* Configure the processor for use with the Keil demo board. This is very | |
* minimal as most of the setup is managed by the settings in the project | |
* file. | |
*/ | |
static void prvSetupHardware( void ); | |
/*-----------------------------------------------------------*/ | |
/* | |
* Application entry point: | |
* Starts all the other tasks, then starts the scheduler. | |
*/ | |
int main( void ) | |
{ | |
/* Setup the hardware for use with the Keil demo board. */ | |
prvSetupHardware(); | |
/* Start the demo/test application tasks. */ | |
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED ); | |
vStartLEDFlashTasks( mainLED_TASK_PRIORITY ); | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartDynamicPriorityTasks(); | |
/* Start the check task - which is defined in this file. This is the task | |
that periodically checks to see that all the other tasks are executing | |
without error. */ | |
xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* Now all the tasks have been started - start the scheduler. | |
NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode. | |
The processor MUST be in supervisor mode when vTaskStartScheduler is | |
called. The demo applications included in the FreeRTOS.org download switch | |
to supervisor mode prior to main being called. If you are not using one of | |
these demo application projects then ensure Supervisor mode is used here. */ | |
vTaskStartScheduler(); | |
/* Should never reach here! If you do then there was not enough heap | |
available for the idle task to be created. */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void vErrorChecks( void *pvParameters ) | |
{ | |
TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD; | |
/* Parameters are not used. */ | |
( void ) pvParameters; | |
/* Cycle for ever, delaying then checking all the other tasks are still | |
operating without error. If an error is detected then the delay period | |
is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so | |
the on board LED flash rate will increase. | |
This task runs at the highest priority. */ | |
for( ;; ) | |
{ | |
/* The period of the delay depends on whether an error has been | |
detected or not. If an error has been detected then the period | |
is reduced to increase the LED flash rate. */ | |
vTaskDelay( xDelayPeriod ); | |
if( prvCheckOtherTasksAreStillRunning() != pdPASS ) | |
{ | |
/* An error has been detected in one of the tasks - flash faster. */ | |
xDelayPeriod = mainERROR_FLASH_PERIOD; | |
} | |
/* Toggle the LED before going back to wait for the next cycle. */ | |
vParTestToggleLED( mainCHECK_LED ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHardware( void ) | |
{ | |
/* Perform the hardware setup required. This is minimal as most of the | |
setup is managed by the settings in the project file. */ | |
/* Configure the UART1 pins. All other pins remain at their default of 0. */ | |
PINSEL0 |= mainTX_ENABLE; | |
PINSEL0 |= mainRX_ENABLE; | |
/* LED pins need to be output. */ | |
IODIR1 = mainLED_TO_OUTPUT; | |
/* Setup the peripheral bus to be the same as the PLL output. */ | |
VPBDIV = mainBUS_CLK_FULL; | |
} | |
/*-----------------------------------------------------------*/ | |
static long prvCheckOtherTasksAreStillRunning( void ) | |
{ | |
long lReturn = pdPASS; | |
/* Check all the demo tasks (other than the flash tasks) to ensure | |
that they are all still running, and that none of them have detected | |
an error. */ | |
if( xAreComTestTasksStillRunning() != pdPASS ) | |
{ | |
lReturn = pdFAIL; | |
} | |
if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
return lReturn; | |
} | |
/*-----------------------------------------------------------*/ | |