FreeRTOS-Kernel/FreeRTOS/Demo/AVR_ATMega4809_IAR/main_minimal.c

/*
 * FreeRTOS V202212.00
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

#include "FreeRTOS.h"
#include "task.h"
#include "croutine.h"

#include "PollQ.h"
#include "integer.h"
#include "serial.h"
#include "comtest.h"
#include "crflash.h"
#include "partest.h"
#include "regtest.h"

/* Priority definitions for most of the tasks in the demo application.  Some
 * tasks just use the idle priority. */
#define mainCOM_TEST_PRIORITY       ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY     ( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY     ( tskIDLE_PRIORITY + 3 )

/* Baud rate used by the serial port tasks. */
#define mainCOM_TEST_BAUD_RATE      ( ( unsigned long ) 9600 )

/* LED used by the serial port tasks.  This is toggled on each character Tx,
 * and mainCOM_TEST_LED + 1 is toggles on each character Rx. */
#define mainCOM_TEST_LED            ( 6 )

/* LED that is toggled by the check task.  The check task periodically checks
 * that all the other tasks are operating without error.  If no errors are found
 * the LED is toggled.  If an error is found at any time the LED is never toggles
 * again. */
#define mainCHECK_TASK_LED          ( 5 )

/* The period between executions of the check task. */
#define mainCHECK_PERIOD            ( ( TickType_t ) 1000 / portTICK_PERIOD_MS )

/* An address in the EEPROM used to count resets.  This is used to check that
 * the demo application is not unexpectedly resetting. */
#define mainRESET_COUNT_ADDRESS     ( 0x1400 )

/* The number of coroutines to create. */
#define mainNUM_FLASH_COROUTINES    ( 3 )

/*
 * The task function for the "Check" task.
 */
static void vErrorChecks( void * pvParameters );

/*
 * Checks the unique counts of other tasks to ensure they are still operational.
 * Flashes an LED if everything is okay.
 */
static void prvCheckOtherTasksAreStillRunning( void );

/*
 * Called on boot to increment a count stored in the EEPROM.  This is used to
 * ensure the CPU does not reset unexpectedly.
 */
static void prvIncrementResetCount( void );

void main_minimal( void )
{
    prvIncrementResetCount();

    /* Create the standard demo tasks. */
    vStartIntegerMathTasks( tskIDLE_PRIORITY );
    vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
    vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
    vStartRegTestTasks();

    /* Create the tasks defined within this file. */
    xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

    /* Create the co-routines that flash the LED's. */
    vStartFlashCoRoutines( mainNUM_FLASH_COROUTINES );

    /* In this port, to use preemptive scheduler define configUSE_PREEMPTION
     * as 1 in portmacro.h.  To use the cooperative scheduler define
     * configUSE_PREEMPTION as 0. */
    vTaskStartScheduler();
}

void init_minimal( void )
{
    /* Configure UART pins: PB0 Rx, PB1 Tx */
    PORTB.DIR &= ~PIN1_bm;
    PORTB.DIR |= PIN0_bm;

    vParTestInitialise();
}

static void vErrorChecks( void * pvParameters )
{
    static volatile unsigned long ulDummyVariable = 3UL;

    /* The parameters are not used. */
    ( void ) pvParameters;

    /* Cycle for ever, delaying then checking all the other tasks are still
     * operating without error. */
    for( ; ; )
    {
        vTaskDelay( mainCHECK_PERIOD );

        /* Perform a bit of 32bit maths to ensure the registers used by the
         * integer tasks get some exercise.  The result here is not important -
         * see the demo application documentation for more info. */
        ulDummyVariable *= 3;

        prvCheckOtherTasksAreStillRunning();
    }
}
/*-----------------------------------------------------------*/

static void prvCheckOtherTasksAreStillRunning( void )
{
    static portBASE_TYPE xErrorHasOccurred = pdFALSE;

    if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
    {
        xErrorHasOccurred = pdTRUE;
    }

    if( xAreComTestTasksStillRunning() != pdTRUE )
    {
        xErrorHasOccurred = pdTRUE;
    }

    if( xArePollingQueuesStillRunning() != pdTRUE )
    {
        xErrorHasOccurred = pdTRUE;
    }

    if( xAreRegTestTasksStillRunning() != pdTRUE )
    {
        xErrorHasOccurred = pdTRUE;
    }

    if( xErrorHasOccurred == pdFALSE )
    {
        /* Toggle the LED if everything is okay so we know if an error occurs even if not
         * using console IO. */
        vParTestToggleLED( mainCHECK_TASK_LED );
    }
}
/*-----------------------------------------------------------*/

static void prvIncrementResetCount( void )
{
    static unsigned char __eeprom ucResetCount @ mainRESET_COUNT_ADDRESS;

    ucResetCount++;
}
/*-----------------------------------------------------------*/

void vApplicationIdleHook( void )
{
    vCoRoutineSchedule();
}