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@ -1,5 +1,5 @@
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/*
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FreeRTOS.org V5.1.1 - Copyright (C) 2003-2008 Richard Barry.
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FreeRTOS.org V5.1.2 - Copyright (C) 2003-2009 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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@ -26,10 +26,13 @@
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***************************************************************************
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***************************************************************************
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* *
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* SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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* and even write all or part of your application on your behalf. *
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* See http://www.OpenRTOS.com for details of the services we provide to *
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* expedite your project. *
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* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
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* *
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* This is a concise, step by step, 'hands on' guide that describes both *
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* general multitasking concepts and FreeRTOS specifics. It presents and *
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* explains numerous examples that are written using the FreeRTOS API. *
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* Full source code for all the examples is provided in an accompanying *
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* .zip file. *
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* *
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***************************************************************************
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***************************************************************************
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@ -47,6 +50,19 @@
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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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@ -57,7 +73,6 @@
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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 "flash.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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@ -65,12 +80,15 @@
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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 mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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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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@ -82,6 +100,11 @@
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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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@ -93,9 +116,12 @@ 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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/* Start the standard demo tasks. */
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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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@ -106,6 +132,7 @@ int main()
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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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@ -139,8 +166,11 @@ static volatile unsigned portLONG ulErrorCode = 0UL;
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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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@ -196,17 +226,33 @@ static volatile unsigned portLONG ulErrorCode = 0UL;
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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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vParTestToggleLED( LED_DS1 );
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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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Richard Barry
16 years ago