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260 lines
9.1 KiB
C
260 lines
9.1 KiB
C
/*
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FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* FreeRTOS tutorial books are available in pdf and paperback. *
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* Complete, revised, and edited pdf reference manuals are also *
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* available. *
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* *
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* Purchasing FreeRTOS documentation will not only help you, by *
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* ensuring you get running as quickly as possible and with an *
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* in-depth knowledge of how to use FreeRTOS, it will also help *
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* the FreeRTOS project to continue with its mission of providing *
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* professional grade, cross platform, de facto standard solutions *
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* for microcontrollers - completely free of charge! *
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* *
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* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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* *
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* Thank you for using FreeRTOS, and thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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>>>NOTE<<< The modification to the GPL is included to allow you to
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distribute a combined work that includes FreeRTOS without being obliged to
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provide the source code for proprietary components outside of the FreeRTOS
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kernel. FreeRTOS is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/*
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* Creates all the demo application tasks, then starts the scheduler. The WEB
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* documentation provides more details of the standard demo application tasks.
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*
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* A "Check" task is created in addition to the standard demo tasks. This
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* only executes every three seconds but has a high priority to ensure it gets
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* processor time. Its main function is to check that all the standard demo
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* tasks are still operational. If everything is running as expected then the
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* check task will toggle an LED every 3 seconds. An error being discovered in
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* any task will cause the toggle rate to increase to 500ms.
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*
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*/
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/* FreeRTOS includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Standard demo includes. */
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#include "BlockQ.h"
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#include "blocktim.h"
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#include "countsem.h"
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#include "death.h"
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#include "dynamic.h"
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#include "GenQTest.h"
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#include "integer.h"
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#include "PollQ.h"
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#include "QPeek.h"
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#include "recmutex.h"
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#include "semtest.h"
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#include "ParTest.h"
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#include "comtest2.h"
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/* Standard includes. */
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#include <stdio.h>
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/* Atmel library includes. */
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#include <pio/pio.h>
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/* Priorities for the demo application tasks. */
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#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 0 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 0 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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/* The period of the check task both in and out of the presense of an error. */
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#define mainNO_ERROR_PERIOD ( 5000 / portTICK_RATE_MS )
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#define mainERROR_PERIOD ( 500 / portTICK_RATE_MS );
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/* Constants used by the ComTest task. */
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#define mainCOM_TEST_BAUD_RATE ( 38400 )
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#define mainCOM_TEST_LED ( LED_DS1 )
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/*-----------------------------------------------------------*/
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/* Simple hardware setup required by the demo. */
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static void prvSetupHardware( void );
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/* The check task as described at the top of this file. */
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static void prvCheckTask( void *pvParameters );
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/*-----------------------------------------------------------*/
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int main()
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{
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/* Perform any hardware setup necessary to run the demo. */
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prvSetupHardware();
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/* First create the 'standard demo' tasks. These exist just to to
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demonstrate API functions being used and test the kernel port. More
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information is provided on the FreeRTOS.org WEB site. */
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartDynamicPriorityTasks();
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vCreateBlockTimeTasks();
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vStartCountingSemaphoreTasks();
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vStartGenericQueueTasks( tskIDLE_PRIORITY );
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vStartQueuePeekTasks();
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vStartRecursiveMutexTasks();
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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/* Create the check task - this is the task that checks all the other tasks
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are executing as expected and without reporting any errors. */
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xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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/* The death demo tasks must be started last as the sanity checks performed
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require knowledge of the number of other tasks in the system. */
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vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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/* Start the scheduler. From this point on the execution will be under
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the control of the kernel. */
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vTaskStartScheduler();
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/* Will only get here if there was insufficient heap availale for the
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idle task to be created. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTask( void * pvParameters )
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{
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portTickType xNextWakeTime, xPeriod = mainNO_ERROR_PERIOD;
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static volatile unsigned long ulErrorCode = 0UL;
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/* Just to remove the compiler warning. */
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( void ) pvParameters;
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/* Initialise xNextWakeTime prior to its first use. From this point on
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the value of the variable is handled automatically by the kernel. */
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xNextWakeTime = xTaskGetTickCount();
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for( ;; )
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{
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/* Delay until it is time for this task to execute again. */
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vTaskDelayUntil( &xNextWakeTime, xPeriod );
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/* Check all the other tasks in the system - latch any reported errors
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into the ulErrorCode variable. */
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x01UL;
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}
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if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x02UL;
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}
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if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x04UL;
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}
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if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x08UL;
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}
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if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x10UL;
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}
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x20UL;
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}
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x40UL;
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}
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x80UL;
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}
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if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x100UL;
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}
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if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x200UL;
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x400UL;
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}
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if( xAreComTestTasksStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x800UL;
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}
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/* Reduce the block period and in so doing increase the frequency at
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which this task executes if any errors have been latched. The increased
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frequency causes the LED toggle rate to increase and so gives some
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visual feedback that an error has occurred. */
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if( ulErrorCode != 0x00 )
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{
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xPeriod = mainERROR_PERIOD;
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}
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/* Finally toggle the LED. */
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vParTestToggleLED( LED_POWER );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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const Pin xPins[] = { PIN_USART0_RXD, PIN_USART0_TXD };
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/* Setup the LED outputs. */
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vParTestInitialise();
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/* Setup the pins for the UART. */
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PIO_Configure( xPins, PIO_LISTSIZE( xPins ) );
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}
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