FreeRTOS-Kernel/FreeRTOS/Demo/ARM9_AT91SAM9XE_IAR/main.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
 *
 */

/*
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
 * documentation provides more details of the standard demo application tasks.
 *
 * A "Check" task is created in addition to the standard demo tasks.    This
 * only executes every three seconds but has a high priority to ensure it gets
 * processor time.  Its main function is to check that all the standard demo
 * tasks are still operational.  If everything is running as expected then the
 * check task will toggle an LED every 3 seconds.  An error being discovered in
 * any task will cause the toggle rate to increase to 500ms.
 *
 */

/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Standard demo includes. */
#include "BlockQ.h"
#include "blocktim.h"
#include "countsem.h"
#include "death.h"
#include "dynamic.h"
#include "GenQTest.h"
#include "integer.h"
#include "PollQ.h"
#include "QPeek.h"
#include "recmutex.h"
#include "semtest.h"
#include "ParTest.h"
#include "comtest2.h"

/* Standard includes. */
#include <stdio.h>

/* Atmel library includes. */
#include <pio/pio.h>

/* Priorities for the demo application tasks. */
#define mainCOM_TEST_PRIORITY         ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY       ( tskIDLE_PRIORITY + 0 )
#define mainCHECK_TASK_PRIORITY       ( tskIDLE_PRIORITY + 4 )
#define mainSEM_TEST_PRIORITY         ( tskIDLE_PRIORITY + 0 )
#define mainBLOCK_Q_PRIORITY          ( tskIDLE_PRIORITY + 2 )
#define mainCREATOR_TASK_PRIORITY     ( tskIDLE_PRIORITY + 3 )
#define mainGENERIC_QUEUE_PRIORITY    ( tskIDLE_PRIORITY )

/* The period of the check task both in and out of the presense of an error. */
#define mainNO_ERROR_PERIOD           ( 5000 / portTICK_PERIOD_MS )
#define mainERROR_PERIOD              ( 500 / portTICK_PERIOD_MS );

/* Constants used by the ComTest task. */
#define mainCOM_TEST_BAUD_RATE        ( 38400 )
#define mainCOM_TEST_LED              ( LED_DS1 )

/*-----------------------------------------------------------*/

/* Simple hardware setup required by the demo. */
static void prvSetupHardware( void );

/* The check task as described at the top of this file. */
static void prvCheckTask( void * pvParameters );

/*-----------------------------------------------------------*/
int main()
{
    /* Perform any hardware setup necessary to run the demo. */
    prvSetupHardware();

    /* First create the 'standard demo' tasks.  These exist just to to
     * demonstrate API functions being used and test the kernel port.  More
     * information is provided on the FreeRTOS.org WEB site. */
    vStartIntegerMathTasks( tskIDLE_PRIORITY );
    vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
    vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
    vStartDynamicPriorityTasks();
    vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
    vCreateBlockTimeTasks();
    vStartCountingSemaphoreTasks();
    vStartGenericQueueTasks( tskIDLE_PRIORITY );
    vStartQueuePeekTasks();
    vStartRecursiveMutexTasks();
    vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );

    /* Create the check task - this is the task that checks all the other tasks
     * are executing as expected and without reporting any errors. */
    xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );

    /* The death demo tasks must be started last as the sanity checks performed
     * require knowledge of the number of other tasks in the system. */
    vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );

    /* Start the scheduler.  From this point on the execution will be under
     * the control of the kernel. */
    vTaskStartScheduler();

    /* Will only get here if there was insufficient heap available for the
     * idle task to be created. */
    for( ; ; )
    {
    }
}
/*-----------------------------------------------------------*/

static void prvCheckTask( void * pvParameters )
{
    TickType_t xNextWakeTime, xPeriod = mainNO_ERROR_PERIOD;
    static volatile unsigned long ulErrorCode = 0UL;

    /* Just to remove the compiler warning. */
    ( void ) pvParameters;

    /* Initialise xNextWakeTime prior to its first use.  From this point on
     * the value of the variable is handled automatically by the kernel. */
    xNextWakeTime = xTaskGetTickCount();

    for( ; ; )
    {
        /* Delay until it is time for this task to execute again. */
        vTaskDelayUntil( &xNextWakeTime, xPeriod );

        /* Check all the other tasks in the system - latch any reported errors
         * into the ulErrorCode variable. */
        if( xAreBlockingQueuesStillRunning() != pdTRUE )
        {
            ulErrorCode |= 0x01UL;
        }

        if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
        {
            ulErrorCode |= 0x02UL;
        }

        if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
        {
            ulErrorCode |= 0x04UL;
        }

        if( xIsCreateTaskStillRunning() != pdTRUE )
        {
            ulErrorCode |= 0x08UL;
        }

        if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
        {
            ulErrorCode |= 0x10UL;
        }

        if( xAreGenericQueueTasksStillRunning() != pdTRUE )
        {
            ulErrorCode |= 0x20UL;
        }

        if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
        {
            ulErrorCode |= 0x40UL;
        }

        if( xArePollingQueuesStillRunning() != pdTRUE )
        {
            ulErrorCode |= 0x80UL;
        }

        if( xAreQueuePeekTasksStillRunning() != pdTRUE )
        {
            ulErrorCode |= 0x100UL;
        }

        if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
        {
            ulErrorCode |= 0x200UL;
        }

        if( xAreSemaphoreTasksStillRunning() != pdTRUE )
        {
            ulErrorCode |= 0x400UL;
        }

        if( xAreComTestTasksStillRunning() != pdTRUE )
        {
            ulErrorCode |= 0x800UL;
        }

        /* Reduce the block period and in so doing increase the frequency at
         * which this task executes if any errors have been latched.  The increased
         * frequency causes the LED toggle rate to increase and so gives some
         * visual feedback that an error has occurred. */
        if( ulErrorCode != 0x00 )
        {
            xPeriod = mainERROR_PERIOD;
        }

        /* Finally toggle the LED. */
        vParTestToggleLED( LED_POWER );
    }
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
    const Pin xPins[] = { PIN_USART0_RXD, PIN_USART0_TXD };

    /* Setup the LED outputs. */
    vParTestInitialise();

    /* Setup the pins for the UART. */
    PIO_Configure( xPins, PIO_LISTSIZE( xPins ) );
}