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Before changing headers to V6 and changing portLONG, portSHORt and portCHAR to their standard C types.
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Richard Barry
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/*
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FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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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 a
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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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Alternative commercial license and support terms are also available upon
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request. See the licensing section of http://www.FreeRTOS.org for full
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license details.
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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.
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You should have received a copy of the GNU General Public License along
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with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
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Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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***************************************************************************
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* *
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* Looking for a quick start? Then check out the FreeRTOS eBook! *
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* See http://www.FreeRTOS.org/Documentation for details *
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* *
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***************************************************************************
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1 tab == 4 spaces!
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Please ensure to read the configuration and relevant port sections of the
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online documentation.
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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 demo application tasks.
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*
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* In addition to the standard demo tasks, the follow demo specific tasks are
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* create:
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*
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* The "Check" task. This only executes every three seconds but has the highest
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* priority so is guaranteed to get processor time. Its main function is to
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* check that all the other tasks are still operational. Most tasks maintain
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* a unique count that is incremented each time the task successfully completes
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* its function. Should any error occur within such a task the count is
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* permanently halted. The check task inspects the count of each task to ensure
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* it has changed since the last time the check task executed. If all the count
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* variables have changed all the tasks are still executing error free, and the
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* check task toggles the onboard LED. Should any task contain an error at any time
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* the LED toggle rate will change from 3 seconds to 500ms.
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*
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* The "Trace Utility" task. This can be used to obtain trace and debug
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* information via UART1.
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*/
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "semphr.h"
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/* Demo application includes. */
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#include "flash.h"
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#include "integer.h"
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#include "comtest2.h"
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#include "PollQ.h"
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#include "semtest.h"
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#include "BlockQ.h"
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#include "dynamic.h"
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#include "flop.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "blocktim.h"
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#include "death.h"
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#include "taskutility.h"
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#include "partest.h"
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#include "crflash.h"
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#include "watchdog.h"
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/* Library includes. */
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#include <watchdog.h>
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/*-----------------------------------------------------------*/
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/* Demo task priorities. */
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#define WTC_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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#define TASK_UTILITY_PRIORITY ( tskIDLE_PRIORITY )
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#define mainSEM_TEST_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 + 2 )
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#define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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/* Baud rate used by the COM test tasks. */
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#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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/* The frequency at which the 'Check' tasks executes. See the comments at the
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top of the page. When the system is operating error free the 'Check' task
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toggles an LED every three seconds. If an error is discovered in any task the
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rate is increased to 500 milliseconds. [in this case the '*' characters on the
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LCD represent LED's] */
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#define mainNO_ERROR_CHECK_DELAY ( (portTickType) 3000 / portTICK_RATE_MS )
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#define mainERROR_CHECK_DELAY ( (portTickType) 500 / portTICK_RATE_MS )
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/* LED assignments for the demo tasks. */
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#define mainNUM_FLASH_CO_ROUTINES 8
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#define mainCOM_TEST_LED 0x05
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#define mainCHECK_TEST_LED 0x07
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/*-----------------------------------------------------------*/
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/*
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* The function that implements the Check task. See the comments at the head
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* of the page for implementation details.
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*/
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static void vErrorChecks( void *pvParameters );
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/*
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* Called by the Check task. Returns pdPASS if all the other tasks are found
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* to be operating without error - otherwise returns pdFAIL.
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*/
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static portSHORT prvCheckOtherTasksAreStillRunning( void );
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/*
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* Perform any hardware setup necessary for the demo.
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*/
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static void prvSetupHardware( void );
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/*-----------------------------------------------------------*/
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void main( void )
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{
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InitIrqLevels(); /* Initialize interrupts */
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__set_il( 7 ); /* Allow all levels */
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prvSetupHardware();
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#if WATCHDOG == WTC_IN_TASK
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vStartWatchdogTask( WTC_TASK_PRIORITY );
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#endif
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/* Start the standard demo application tasks. */
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vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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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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vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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vStartDynamicPriorityTasks();
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vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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vCreateBlockTimeTasks();
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/* The definition INCLUDE_TraceListTasks is set within FreeRTOSConfig.h. */
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#if INCLUDE_TraceListTasks == 1
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vUtilityStartTraceTask( TASK_UTILITY_PRIORITY );
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#else
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
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#endif
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/* Start the 'Check' task which is defined in this file. */
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xTaskCreate( vErrorChecks, (signed portCHAR *) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* The suicide tasks must be started last as they record the number of other
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tasks that exist within the system. The value is then used to ensure at run
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time the number of tasks that exists is within expected bounds. */
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vCreateSuicidalTasks( mainDEATH_PRIORITY );
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/* Now start the scheduler. Following this call the created tasks should
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be executing. */
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vTaskStartScheduler( );
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/* vTaskStartScheduler() will only return if an error occurs while the
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idle task is being created. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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/* Initialise the port used by the LEDs. */
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vParTestInitialise();
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/* See watchdog.h for definitions relating to the watchdog use. */
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#if WATCHDOG != WTC_NONE
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InitWatchdog();
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#endif
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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_CHECK_DELAY;
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/* Just to remove compiler warnings. */
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( void ) pvParameters;
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/* Cycle for ever, delaying then checking all the other tasks are still
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operating without error. */
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for( ;; )
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{
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/* Wait until it is time to check again. The time we wait here depends
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on whether an error has been detected or not. When an error is
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detected the time is shortened resulting in a faster LED flash rate. */
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vTaskDelay( xDelayPeriod );
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/* See if the other tasks are all ok. */
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if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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{
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/* An error occurred in one of the tasks so shorten the delay
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period - which has the effect of increasing the frequency of the
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LED toggle. */
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xDelayPeriod = mainERROR_CHECK_DELAY;
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}
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/* Flash! */
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vParTestToggleLED( mainCHECK_TEST_LED );
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}
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}
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/*-----------------------------------------------------------*/
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static portSHORT prvCheckOtherTasksAreStillRunning( void )
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{
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static portSHORT sNoErrorFound = pdTRUE;
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/* The demo tasks maintain a count that increments every cycle of the task
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provided that the task has never encountered an error. This function
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checks the counts maintained by the tasks to ensure they are still being
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incremented. A count remaining at the same value between calls therefore
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indicates that an error has been detected. Only tasks that do not flash
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an LED are checked. */
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xAreFlashCoRoutinesStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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#if INCLUDE_TraceListTasks == 0
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{
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if( xAreComTestTasksStillRunning() != pdTRUE )
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{
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sNoErrorFound = pdFALSE;
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}
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}
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#endif
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return sNoErrorFound;
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}
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/*-----------------------------------------------------------*/
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/* Idle hook function. */
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#if configUSE_IDLE_HOOK == 1
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void vApplicationIdleHook( void )
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{
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/* Are we using the idle task to kick the watchdog? See watchdog.h
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for watchdog kicking options. Note this is for demonstration only
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and is not a suggested method of servicing the watchdog in a real
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application. */
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#if WATCHDOG == WTC_IN_IDLE
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Kick_Watchdog();
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#endif
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vCoRoutineSchedule();
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}
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#else
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#if WATCHDOG == WTC_IN_IDLE
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#error configUSE_IDLE_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the idle task hook.
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#endif
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#endif
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/*-----------------------------------------------------------*/
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/* Tick hook function. */
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#if configUSE_TICK_HOOK == 1
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void vApplicationTickHook( void )
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{
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/* Are we using the tick to kick the watchdog? See watchdog.h
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for watchdog kicking options. Note this is for demonstration
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only and is not a suggested method of servicing the watchdog in
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a real application. */
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#if WATCHDOG == WTC_IN_TICK
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Kick_Watchdog();
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#endif
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}
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#else
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#if WATCHDOG == WTC_IN_TICK
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#error configUSE_TICK_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the tick hook.
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#endif
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#endif
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/*-----------------------------------------------------------*/
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