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306 lines
11 KiB
C
306 lines
11 KiB
C
/*
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FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS eBook *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). 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 exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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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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NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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The processor MUST be in supervisor mode when vTaskStartScheduler is
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called. The demo applications included in the FreeRTOS.org download switch
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to supervisor mode prior to main being called. If you are not using one of
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these demo application projects then ensure Supervisor mode is used.
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*/
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/*
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* Creates all the application tasks, then starts the scheduler.
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*
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* A task is created called "uIP". This executes the uIP stack and small
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* WEB server sample. All the other tasks are from the set of standard
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* demo tasks. The WEB documentation provides more details of the standard
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* demo application tasks.
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*
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* Main.c also creates a task called "Check". This only executes every three
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* seconds but has the highest priority so is guaranteed to get processor time.
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* Its main function is to check that all the other tasks are still operational.
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* Each standard demo task maintains a unique count that is incremented each
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* time the task successfully completes its function. Should any error occur
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* within such a task the count is permanently halted. The check task inspects
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* the count of each task to ensure it has changed since the last time the
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* check task executed. If all the count variables have changed all the tasks
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* are still executing error free, and the check task toggles the yellow LED.
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* Should any task contain an error at any time the LED toggle rate will change
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* from 3 seconds to 500ms.
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*
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*/
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/* Standard includes. */
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#include <stdlib.h>
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#include <string.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo application includes. */
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#include "PollQ.h"
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#include "dynamic.h"
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#include "semtest.h"
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/*-----------------------------------------------------------*/
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/* Constants to setup the PLL. */
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#define mainPLL_MUL_4 ( ( unsigned char ) 0x0003 )
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#define mainPLL_DIV_1 ( ( unsigned char ) 0x0000 )
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#define mainPLL_ENABLE ( ( unsigned char ) 0x0001 )
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#define mainPLL_CONNECT ( ( unsigned char ) 0x0003 )
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#define mainPLL_FEED_BYTE1 ( ( unsigned char ) 0xaa )
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#define mainPLL_FEED_BYTE2 ( ( unsigned char ) 0x55 )
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#define mainPLL_LOCK ( ( unsigned long ) 0x0400 )
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/* Constants to setup the MAM. */
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#define mainMAM_TIM_3 ( ( unsigned char ) 0x03 )
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#define mainMAM_MODE_FULL ( ( unsigned char ) 0x02 )
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/* Constants to setup the peripheral bus. */
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#define mainBUS_CLK_FULL ( ( unsigned char ) 0x01 )
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/* Priorities/stacks for the demo application tasks. */
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainUIP_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainUIP_TASK_STACK_SIZE ( 150 )
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/* The rate at which the on board LED will toggle when there is/is not an
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error. */
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#define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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#define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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#define mainON_BOARD_LED_BIT ( ( unsigned long ) 0x80 )
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#define mainYELLOW_LED ( 1 << 11 )
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/*-----------------------------------------------------------*/
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/*
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* This is the uIP task which is defined within the uip.c file. This has not
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* been placed into a header file in order to minimise the changes to the uip
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* code.
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*/
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extern void ( vuIP_TASK ) ( void *pvParameters );
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/*
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* The Yellow LED is under the control of the Check task. All the other LED's
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* are under the control of the uIP task.
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*/
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void prvToggleOnBoardLED( void );
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/*
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* Checks that all the demo application tasks are still executing without error
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* - as described at the top of the file.
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*/
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static long prvCheckOtherTasksAreStillRunning( void );
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/*
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* The task that executes at the highest priority and calls
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* prvCheckOtherTasksAreStillRunning(). See the description at the top
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* of the file.
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*/
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static void vErrorChecks( void *pvParameters );
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/*
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* Configure the processor for use with the Olimex demo board. This includes
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* setup for the I/O, system clock, and access timings.
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*/
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static void prvSetupHardware( void );
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/*-----------------------------------------------------------*/
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/*
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* Starts all the other tasks, then starts the scheduler.
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*/
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int main( void )
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{
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/* Configure the processor. */
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prvSetupHardware();
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/* Start the task that handles the TCP/IP functionality. */
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xTaskCreate( vuIP_TASK, "uIP", mainUIP_TASK_STACK_SIZE, NULL, mainUIP_PRIORITY, NULL );
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/* Start the demo/test application tasks. These are created in addition
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to the TCP/IP task for demonstration and test purposes. */
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartDynamicPriorityTasks();
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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/* Start the check task - which is defined in this file. */
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xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Now all the tasks have been started - start the scheduler.
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NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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The processor MUST be in supervisor mode when vTaskStartScheduler is
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called. The demo applications included in the FreeRTOS.org download switch
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to supervisor mode prior to main being called. If you are not using one of
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these demo application projects then ensure Supervisor mode is used here. */
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vTaskStartScheduler();
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/* Should never reach here! */
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return 0;
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}
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/*-----------------------------------------------------------*/
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static void vErrorChecks( void *pvParameters )
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{
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portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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/* Cycle for ever, delaying then checking all the other tasks are still
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operating without error. If an error is detected then the delay period
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is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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the on board LED flash rate will increase. */
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for( ;; )
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{
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/* Delay until it is time to execute again. */
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vTaskDelay( xDelayPeriod );
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/* Check all the standard demo application tasks are executing without
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error. */
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if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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{
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/* An error has been detected in one of the tasks - flash faster. */
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xDelayPeriod = mainERROR_FLASH_PERIOD;
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}
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prvToggleOnBoardLED();
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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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#ifdef RUN_FROM_RAM
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/* Remap the interrupt vectors to RAM if we are are running from RAM. */
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SCB_MEMMAP = 2;
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#endif
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/* Setup the PLL to multiply the XTAL input by 4. */
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SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );
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/* Activate the PLL by turning it on then feeding the correct sequence of
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bytes. */
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SCB_PLLCON = mainPLL_ENABLE;
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SCB_PLLFEED = mainPLL_FEED_BYTE1;
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SCB_PLLFEED = mainPLL_FEED_BYTE2;
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/* Wait for the PLL to lock... */
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while( !( SCB_PLLSTAT & mainPLL_LOCK ) );
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/* ...before connecting it using the feed sequence again. */
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SCB_PLLCON = mainPLL_CONNECT;
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SCB_PLLFEED = mainPLL_FEED_BYTE1;
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SCB_PLLFEED = mainPLL_FEED_BYTE2;
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/* Setup and turn on the MAM. Three cycle access is used due to the fast
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PLL used. It is possible faster overall performance could be obtained by
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tuning the MAM and PLL settings. */
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MAM_TIM = mainMAM_TIM_3;
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MAM_CR = mainMAM_MODE_FULL;
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/* Setup the peripheral bus to be the same as the PLL output. */
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SCB_VPBDIV = mainBUS_CLK_FULL;
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}
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/*-----------------------------------------------------------*/
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void prvToggleOnBoardLED( void )
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{
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unsigned long ulState;
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ulState = GPIO0_IOPIN;
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if( ulState & mainYELLOW_LED )
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{
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GPIO_IOCLR = mainYELLOW_LED;
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}
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else
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{
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GPIO_IOSET = mainYELLOW_LED;
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}
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}
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/*-----------------------------------------------------------*/
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static long prvCheckOtherTasksAreStillRunning( void )
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{
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long lReturn = ( long ) pdPASS;
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/* Check all the demo tasks (other than the flash tasks) to ensure
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that they are all still running, and that none of them have detected
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an error. */
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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lReturn = ( long ) pdFAIL;
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}
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if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
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lReturn = ( long ) pdFAIL;
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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lReturn = ( long ) pdFAIL;
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}
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return lReturn;
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}
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