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First version under SVN is V4.0.1
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Richard Barry
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249
Demo/AVR_ATMega323_IAR/main.c
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Demo/AVR_ATMega323_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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* 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 that does not flash an LED 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 an LED. Should any task contain an error at any time the LED toggle
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* will stop.
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*
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* The LED flash and communications test tasks do not maintain a count.
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*/
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/*
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Changes from V1.2.0
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+ Changed the baud rate for the serial test from 19200 to 57600.
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Changes from V1.2.3
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+ The integer and comtest tasks are now used when the cooperative scheduler
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is being used. Previously they were only used with the preemptive
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scheduler.
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Changes from V1.2.5
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+ Set the baud rate to 38400. This has a smaller error percentage with an
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8MHz clock (according to the manual).
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Changes from V2.0.0
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+ Delay periods are now specified using variables and constants of
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portTickType rather than unsigned portLONG.
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Changes from V2.2.0
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+ File can now be built using either the IAR or WinAVR compiler.
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Changes from V2.6.1
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+ The IAR and WinAVR AVR ports are now maintained separately.
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*/
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#include <stdlib.h>
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#include <string.h>
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#ifdef GCC_MEGA_AVR
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/* EEPROM routines used only with the WinAVR compiler. */
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#include <avr/eeprom.h>
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#endif
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo file headers. */
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#include "PollQ.h"
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#include "integer.h"
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#include "serial.h"
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#include "comtest.h"
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#include "flash.h"
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#include "print.h"
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#include "partest.h"
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/* Priority definitions for most of the tasks in the demo application. Some
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tasks just use the idle priority. */
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#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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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 mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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/* Baud rate used by the serial port tasks. */
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#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 38400 )
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/* LED used by the serial port tasks. This is toggled on each character Tx,
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and mainCOM_TEST_LED + 1 is toggles on each character Rx. */
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#define mainCOM_TEST_LED ( 4 )
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/* LED that is toggled by the check task. The check task periodically checks
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that all the other tasks are operating without error. If no errors are found
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the LED is toggled. If an error is found at any time the LED is never toggles
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again. */
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#define mainCHECK_TASK_LED ( 7 )
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/* The period between executions of the check task. */
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#define mainCHECK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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/* An address in the EEPROM used to count resets. This is used to check that
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the demo application is not unexpectedly resetting. */
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#define mainRESET_COUNT_ADDRESS ( ( void * ) 0x50 )
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/*
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* The task function for the "Check" task.
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*/
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static void vErrorChecks( void *pvParameters );
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/*
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* Checks the unique counts of other tasks to ensure they are still operational.
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* Flashes an LED if everything is okay.
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*/
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static void prvCheckOtherTasksAreStillRunning( void );
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/*
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* Called on boot to increment a count stored in the EEPROM. This is used to
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* ensure the CPU does not reset unexpectedly.
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*/
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static void prvIncrementResetCount( void );
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portSHORT main( void )
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{
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prvIncrementResetCount();
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/* Setup the LED's for output. */
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vParTestInitialise();
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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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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* In this port, to use preemptive scheduler define configUSE_PREEMPTION
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as 1 in portmacro.h. To use the cooperative scheduler define
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configUSE_PREEMPTION as 0. */
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vTaskStartScheduler();
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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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static volatile unsigned portLONG ulDummyVariable = 3UL;
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/* The 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. */
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for( ;; )
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{
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vTaskDelay( mainCHECK_PERIOD );
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/* Perform a bit of 32bit maths to ensure the registers used by the
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integer tasks get some exercise. The result here is not important -
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see the demo application documentation for more info. */
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ulDummyVariable *= 3;
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prvCheckOtherTasksAreStillRunning();
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}
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}
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/*-----------------------------------------------------------*/
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static void prvCheckOtherTasksAreStillRunning( void )
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{
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static portBASE_TYPE xErrorHasOccurred = pdFALSE;
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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xErrorHasOccurred = pdTRUE;
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}
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if( xAreComTestTasksStillRunning() != pdTRUE )
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{
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xErrorHasOccurred = pdTRUE;
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}
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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xErrorHasOccurred = pdTRUE;
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}
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if( xErrorHasOccurred == pdFALSE )
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{
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/* Toggle the LED if everything is okay so we know if an error occurs even if not
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using console IO. */
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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 void prvIncrementResetCount( void )
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{
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unsigned portCHAR ucCount;
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const unsigned portCHAR ucReadBit = ( unsigned portCHAR ) 0x01;
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const unsigned portCHAR ucWrite1 = ( unsigned portCHAR ) 0x04;
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const unsigned portCHAR ucWrite2 = ( unsigned portCHAR ) 0x02;
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/* Increment the EEPROM value at 0x00.
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Setup the EEPROM address. */
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EEARH = 0x00;
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EEARL = 0x00;
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/* Set the read enable bit. */
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EECR |= ucReadBit;
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/* Wait for the read. */
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while( EECR & ucReadBit );
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/* The byte is ready. */
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ucCount = EEDR;
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/* Increment the reset count, then write the byte back. */
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ucCount++;
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EEDR = ucCount;
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EECR = ucWrite1;
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EECR = ( ucWrite1 | ucWrite2 );
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}
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