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Add the SAM7X Eclipse files.
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Richard Barry
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Demo/ARM7_AT91SAM7X256_Eclipse/RTOSDemo/main.c
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Demo/ARM7_AT91SAM7X256_Eclipse/RTOSDemo/main.c
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/*
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FreeRTOS.org V4.6.1 - Copyright (C) 2003-2007 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org 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.org 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.org; 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.org, 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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Also see http://www.SafeRTOS.com a version that has been certified for use
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in safety critical systems, plus commercial licensing, development and
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support options.
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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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* This demo includes a (basic) USB mouse driver and a WEB server. It is
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* targeted for the AT91SAM7X EK prototyping board which includes a small
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* joystick to provide the mouse inputs. The WEB interface provides some basic
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* interactivity through the use of a check box to turn on and off an LED.
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*
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* main() creates the WEB server, USB, and a set of the standard demo tasks
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* before starting the scheduler. See the online FreeRTOS.org documentation
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* for more information on the standard demo tasks.
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*
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* LEDs D1 to D3 are controlled by the standard 'flash' tasks - each will
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* toggle at a different fixed frequency.
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*
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* A tick hook function is used to monitor the standard demo tasks - with LED
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* D4 being used to indicate the system status. D4 toggling every 5 seconds
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* indicates that all the standard demo tasks are executing without error. The
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* toggle rate increasing to 500ms is indicative of an error having been found
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* in at least one demo task.
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*
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* See the online documentation page that accompanies this demo for full setup
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* and usage information.
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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 "USBSample.h"
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#include "uip_task.h"
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#include "BlockQ.h"
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#include "blocktim.h"
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#include "flash.h"
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#include "QPeek.h"
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#include "dynamic.h"
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/* Priorities for the demo application tasks. */
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#define mainUIP_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainUSB_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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/* The task allocated to the uIP task is large to account for its use of the
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sprintf() library function. Use of a cut down printf() library would allow
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the stack usage to be greatly reduced. */
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#define mainUIP_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 6 )
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/* The LED toggle by the tick hook should an error have been found in a task. */
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#define mainERROR_LED ( 3 )
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/*-----------------------------------------------------------*/
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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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/*
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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 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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/* Start the task that handles the TCP/IP and WEB server functionality. */
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xTaskCreate( vuIP_Task, "uIP", mainUIP_TASK_STACK_SIZE, NULL, mainUIP_PRIORITY, NULL );
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/* Also start the USB demo which is just for the SAM7. */
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vStartUSBTask( mainUSB_PRIORITY );
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/* Start the standard demo tasks. */
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vCreateBlockTimeTasks();
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vStartLEDFlashTasks( mainFLASH_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartQueuePeekTasks();
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vStartDynamicPriorityTasks();
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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 0;
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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portDISABLE_INTERRUPTS();
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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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/* Enable the peripheral clock. */
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AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOA;
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AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOB;
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AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_EMAC;
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/* Initialise the LED outputs for use by the demo application tasks. */
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vParTestInitialise();
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}
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/*-----------------------------------------------------------*/
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void vApplicationTickHook( void )
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{
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static unsigned portLONG ulCallCount = 0, ulErrorFound = pdFALSE;
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/* The rate at which LED D4 will toggle if an error has been found in one or
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more of the standard demo tasks. */
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const unsigned portLONG ulErrorFlashRate = 500 / portTICK_RATE_MS;
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/* The rate at which LED D4 will toggle if no errors have been found in any
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of the standard demo tasks. */
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const unsigned portLONG ulNoErrorCheckRate = 5000 / portTICK_RATE_MS;
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ulCallCount++;
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if( ulErrorFound != pdFALSE )
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{
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/* We have already found an error, so flash the LED with the appropriate
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frequency. */
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if( ulCallCount > ulErrorFlashRate )
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{
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ulCallCount = 0;
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vParTestToggleLED( mainERROR_LED );
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}
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}
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else
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{
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if( ulCallCount > ulNoErrorCheckRate )
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{
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ulCallCount = 0;
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/* We have not yet found an error. Check all the demo tasks to ensure
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this is still the case. */
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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ulErrorFound |= 0x01;
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}
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if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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ulErrorFound |= 0x02;
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}
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if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
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ulErrorFound |= 0x04;
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}
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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ulErrorFound |= 0x08;
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}
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if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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ulErrorFound |= 0x10;
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}
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vParTestToggleLED( mainERROR_LED );
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}
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}
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}
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