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First version under SVN is V4.0.1
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Richard Barry
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282
Demo/ARM7_LPC2129_Keil/main.c
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282
Demo/ARM7_LPC2129_Keil/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.
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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 "partest.h"
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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 "serial.h"
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#ifdef KEIL_THUMB_INTERWORK
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/*
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THUMB mode allows more tasks to be created without the executable
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binary exceeding the limits allowed by the evaluation version of
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uVision3.
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*/
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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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#endif
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/*-----------------------------------------------------------*/
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/* Constants to setup I/O and processor. */
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#define mainTX_ENABLE ( ( unsigned portLONG ) 0x0001 )
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#define mainRX_ENABLE ( ( unsigned portLONG ) 0x0004 )
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#define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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#define mainLED_TO_OUTPUT ( ( unsigned portLONG ) 0xff0000 )
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/* Constants for the ComTest demo application tasks. */
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#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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#define mainCOM_TEST_LED ( 3 )
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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 + 2 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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/* Constants used by the "check" task. As described at the head of this file
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the check task toggles an LED. The rate at which the LED flashes is used to
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indicate whether an error has been detected or not. If the LED toggles every
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3 seconds then no errors have been detected. If the rate increases to 500ms
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then an error has been detected in at least one of the demo application tasks. */
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#define mainCHECK_LED ( 7 )
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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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/*-----------------------------------------------------------*/
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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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* 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 Keil demo board. This is very
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* minimal as most of the setup is managed by the settings in the project
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* file.
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*/
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static void prvSetupHardware( void );
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/*-----------------------------------------------------------*/
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/*
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* Application entry point:
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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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/* Setup the hardware for use with the Keil demo board. */
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prvSetupHardware();
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/* Start the demo/test application tasks. */
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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#ifdef KEIL_THUMB_INTERWORK
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/* When using THUMB mode we can start more tasks without the executable
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exceeding the size limit imposed by the evaluation version of uVision3. */
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartDynamicPriorityTasks();
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#endif
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/* Start the check task - which is defined in this file. This is the task
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that periodically checks to see that all the other tasks are executing
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without error. */
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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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/* Parameters are not used. */
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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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This task runs at the highest priority. */
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for( ;; )
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{
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/* The period of the delay depends on whether an error has been
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detected or not. If an error has been detected then the period
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is reduced to increase the LED flash rate. */
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vTaskDelay( xDelayPeriod );
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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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/* Toggle the LED before going back to wait for the next cycle. */
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vParTestToggleLED( mainCHECK_LED );
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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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/* Perform the hardware setup required. This is minimal as most of the
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setup is managed by the settings in the project file. */
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/* Configure the RS2332 pins. All other pins remain at their default of 0. */
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PINSEL0 |= mainTX_ENABLE;
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PINSEL0 |= mainRX_ENABLE;
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/* LED pins need to be output. */
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IODIR1 = mainLED_TO_OUTPUT;
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/* Setup the peripheral bus to be the same as the PLL output. */
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VPBDIV = mainBUS_CLK_FULL;
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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 = 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() != pdPASS )
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{
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lReturn = pdFAIL;
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}
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if( xAreComTestTasksStillRunning() != pdPASS )
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{
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lReturn = pdFAIL;
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}
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#ifdef KEIL_THUMB_INTERWORK
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/* When using THUMB mode we can start more tasks without the executable
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exceeding the size limit imposed by the evaluation version of uVision3. */
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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lReturn = pdFAIL;
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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lReturn = pdFAIL;
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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lReturn = pdFAIL;
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}
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if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
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lReturn = pdFAIL;
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}
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#endif
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return lReturn;
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}
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/*-----------------------------------------------------------*/
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