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First version under SVN is V4.0.1
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Richard Barry
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Demo/ARM7_AT91SAM7S64_IAR/main.c
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Demo/ARM7_AT91SAM7S64_IAR/main.c
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/*
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FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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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
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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See http://www.FreeRTOS.org for documentation, latest information, license
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and contact details. Please ensure to read the configuration and relevant
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port sections of the online documentation.
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***************************************************************************
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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 demo application tasks, then starts the scheduler. The WEB
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* documentation provides more details of the demo application tasks. The SAM7
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* includes a sample USB that emulates a Joystick input to a USB host.
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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 task (other than the "flash" tasks) maintains a unique count that is
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* incremented each time the task successfully completes its function. Should
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* any error occur within such a task the count is permanently halted. The
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* check task inspects the count of each task to ensure it has changed since
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* the last time the check task executed. If all the count variables have
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* changed all the tasks are still executing error free, and the check task
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* 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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*/
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/* Standard includes. */
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#include <stdlib.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 "flash.h"
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#include "integer.h"
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#include "PollQ.h"
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#include "BlockQ.h"
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#include "semtest.h"
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#include "dynamic.h"
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#include "partest.h"
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#include "comtest2.h"
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#include "USB/USBSample.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 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 mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainUSB_PRIORITY ( tskIDLE_PRIORITY + 2 )
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/* Constants required by the 'Check' task. */
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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 mainCHECK_TASK_LED ( 3 )
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/* Constants for the ComTest tasks. */
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#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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#define mainCOM_TEST_LED ( 4 ) /* Off the board. */
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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 Atmel demo board. Setup is minimal
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* as the low level init function (called from the startup asm file) takes care
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* of most things.
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*/
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static void prvSetupHardware( 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 portLONG prvCheckOtherTasksAreStillRunning( 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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void main( void )
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{
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/* Setup any hardware that has not already been configured by the low
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level init routines. */
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prvSetupHardware();
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/* Initialise the LED outputs for use by the demo application tasks. */
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vParTestInitialise();
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/* Start all the standard demo application tasks. */
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vStartDynamicPriorityTasks();
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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/* Also start the USB demo which is just for the SAM7. */
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xTaskCreate( vUSBDemoTask, "USB", configMINIMAL_STACK_SIZE, NULL, mainUSB_PRIORITY, NULL );
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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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/* 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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/* We should never get here as control is now taken by the scheduler. */
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return;
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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/* When using the JTAG debugger the hardware is not always initialised to
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the correct default state. This line just ensures that this does not
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cause all interrupts to be masked at the start. */
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AT91C_BASE_AIC->AIC_EOICR = 0;
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/* Most setup is performed by the low level init function called from the
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startup asm file. */
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/* Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as
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well as the UART Tx line. */
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AT91F_PIO_CfgOutput( AT91C_BASE_PIOA, LED_MASK );
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/* Enable the peripheral clock. */
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AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA );
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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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/* The parameters are not used in this task. */
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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. 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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vParTestToggleLED( mainCHECK_TASK_LED );
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}
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}
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/*-----------------------------------------------------------*/
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static portLONG prvCheckOtherTasksAreStillRunning( void )
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{
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portLONG lReturn = ( portLONG ) 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( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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if( xAreComTestTasksStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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return lReturn;
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}
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/*-----------------------------------------------------------*/
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