FreeRTOS-Kernel/Demo/ARM7_AT91SAM7X256_Eclipse/RTOSDemo/main.c

/*
	FreeRTOS.org V4.8.0 - Copyright (C) 2003-2008 Richard Barry.

	This file is part of the FreeRTOS.org distribution.

	FreeRTOS.org is free software; you can redistribute it and/or modify
	it under the terms of the GNU General Public License as published by
	the Free Software Foundation; either version 2 of the License, or
	(at your option) any later version.

	FreeRTOS.org 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.  See the
	GNU General Public License for more details.

	You should have received a copy of the GNU General Public License
	along with FreeRTOS.org; if not, write to the Free Software
	Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

	A special exception to the GPL can be applied should you wish to distribute
	a combined work that includes FreeRTOS.org, without being obliged to provide
	the source code for any proprietary components.  See the licensing section 
	of http://www.FreeRTOS.org for full details of how and when the exception
	can be applied.

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	Please ensure to read the configuration and relevant port sections of the
	online documentation.

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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.
*/

/*
 * This demo includes a (basic) USB mouse driver and a WEB server.  It is
 * targeted for the AT91SAM7X EK prototyping board which includes a small
 * joystick to provide the mouse inputs.  The WEB interface provides some basic
 * interactivity through the use of a check box to turn on and off an LED.
 *
 * main() creates the WEB server, USB, and a set of the standard demo tasks
 * before starting the scheduler.  See the online FreeRTOS.org documentation 
 * for more information on the standard demo tasks.  
 *
 * LEDs D1 to D3 are controlled by the standard 'flash' tasks - each will 
 * toggle at a different fixed frequency.
 *
 * A tick hook function is used to monitor the standard demo tasks - with LED
 * D4 being used to indicate the system status.  D4 toggling every 5 seconds
 * indicates that all the standard demo tasks are executing without error.  The
 * toggle rate increasing to 500ms is indicative of an error having been found
 * in at least one demo task.
 *
 * See the online documentation page that accompanies this demo for full setup
 * and usage information.
 */

/* Standard includes. */
#include <stdlib.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Demo application includes. */
#include "partest.h"
#include "USBSample.h"
#include "uip_task.h"
#include "BlockQ.h"
#include "blocktim.h"
#include "flash.h"
#include "QPeek.h"
#include "dynamic.h"

/* Priorities for the demo application tasks. */
#define mainUIP_PRIORITY					( tskIDLE_PRIORITY + 2 )
#define mainUSB_PRIORITY					( tskIDLE_PRIORITY + 2 )
#define mainBLOCK_Q_PRIORITY				( tskIDLE_PRIORITY + 1 )
#define mainFLASH_PRIORITY                  ( tskIDLE_PRIORITY + 2 )
#define mainGEN_QUEUE_TASK_PRIORITY			( tskIDLE_PRIORITY ) 

/* The task allocated to the uIP task is large to account for its use of the
sprintf() library function.  Use of a cut down printf() library would allow
the stack usage to be greatly reduced. */
#define mainUIP_TASK_STACK_SIZE		( configMINIMAL_STACK_SIZE * 6 )

/* The LED toggle by the tick hook should an error have been found in a task. */
#define mainERROR_LED						( 3 )

/*-----------------------------------------------------------*/

/*
 * Configure the processor for use with the Atmel demo board.  Setup is minimal
 * as the low level init function (called from the startup asm file) takes care
 * of most things.
 */
static void prvSetupHardware( void );

/*-----------------------------------------------------------*/

/*
 * Starts all the other tasks, then starts the scheduler.
 */
int main( void )
{
	/* Setup any hardware that has not already been configured by the low
	level init routines. */
	prvSetupHardware();

	/* Start the task that handles the TCP/IP and WEB server functionality. */
    xTaskCreate( vuIP_Task, "uIP", mainUIP_TASK_STACK_SIZE, NULL, mainUIP_PRIORITY, NULL );
	
	/* Also start the USB demo which is just for the SAM7. */
    vStartUSBTask( mainUSB_PRIORITY );
	
	/* Start the standard demo tasks. */
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
    vCreateBlockTimeTasks();
    vStartLEDFlashTasks( mainFLASH_PRIORITY );
    vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
    vStartQueuePeekTasks();   
    vStartDynamicPriorityTasks();

	/* 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();

	/* We should never get here as control is now taken by the scheduler. */
  	return 0;
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
	portDISABLE_INTERRUPTS();
	
	/* When using the JTAG debugger the hardware is not always initialised to
	the correct default state.  This line just ensures that this does not
	cause all interrupts to be masked at the start. */
	AT91C_BASE_AIC->AIC_EOICR = 0;
	
	/* Most setup is performed by the low level init function called from the
	startup asm file. */

	/* Enable the peripheral clock. */
    AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOA;
    AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOB;
	AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_EMAC;

	/* Initialise the LED outputs for use by the demo application tasks. */
	vParTestInitialise();
}
/*-----------------------------------------------------------*/

void vApplicationTickHook( void )
{
static unsigned portLONG ulCallCount = 0, ulErrorFound = pdFALSE;

/* The rate at which LED D4 will toggle if an error has been found in one or 
more of the standard demo tasks. */
const unsigned portLONG ulErrorFlashRate = 500 / portTICK_RATE_MS;

/* The rate at which LED D4 will toggle if no errors have been found in any
of the standard demo tasks. */
const unsigned portLONG ulNoErrorCheckRate = 5000 / portTICK_RATE_MS;

	ulCallCount++;

	if( ulErrorFound != pdFALSE )
	{
		/* We have already found an error, so flash the LED with the appropriate
		frequency. */
		if( ulCallCount > ulErrorFlashRate )
		{
			ulCallCount = 0;
			vParTestToggleLED( mainERROR_LED );
		}
	}
	else
	{
		if( ulCallCount > ulNoErrorCheckRate )
		{
			ulCallCount = 0;
			
			/* We have not yet found an error.  Check all the demo tasks to ensure
			this is still the case. */
			
			if( xAreBlockingQueuesStillRunning() != pdTRUE )
			{
				ulErrorFound |= 0x01;
			}
			
			if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
			{
				ulErrorFound |= 0x02;
			}
	
			if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
			{
				ulErrorFound |= 0x04;
			}
			
			if( xAreGenericQueueTasksStillRunning() != pdTRUE )
			{
				ulErrorFound |= 0x08;
			}
			
			if( xAreQueuePeekTasksStillRunning() != pdTRUE )
			{
				ulErrorFound |= 0x10;
			}
			
			vParTestToggleLED( mainERROR_LED );
		}
	}
}