OpenCores
URL https://opencores.org/ocsvn/openrisc/openrisc/trunk

Subversion Repositories openrisc

[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [ARM7_AT91SAM7S64_IAR/] [main.c] - Blame information for rev 590

Go to most recent revision | Details | Compare with Previous | View Log

Line No. Rev Author Line
1 577 jeremybenn
/*
2
    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
3
 
4
    ***************************************************************************
5
    *                                                                         *
6
    * If you are:                                                             *
7
    *                                                                         *
8
    *    + New to FreeRTOS,                                                   *
9
    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
10
    *    + Looking for basic training,                                        *
11
    *    + Wanting to improve your FreeRTOS skills and productivity           *
12
    *                                                                         *
13
    * then take a look at the FreeRTOS books - available as PDF or paperback  *
14
    *                                                                         *
15
    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
16
    *                  http://www.FreeRTOS.org/Documentation                  *
17
    *                                                                         *
18
    * A pdf reference manual is also available.  Both are usually delivered   *
19
    * to your inbox within 20 minutes to two hours when purchased between 8am *
20
    * and 8pm GMT (although please allow up to 24 hours in case of            *
21
    * exceptional circumstances).  Thank you for your support!                *
22
    *                                                                         *
23
    ***************************************************************************
24
 
25
    This file is part of the FreeRTOS distribution.
26
 
27
    FreeRTOS is free software; you can redistribute it and/or modify it under
28
    the terms of the GNU General Public License (version 2) as published by the
29
    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
30
    ***NOTE*** The exception to the GPL is included to allow you to distribute
31
    a combined work that includes FreeRTOS without being obliged to provide the
32
    source code for proprietary components outside of the FreeRTOS kernel.
33
    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
34
    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
35
    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
36
    more details. You should have received a copy of the GNU General Public
37
    License and the FreeRTOS license exception along with FreeRTOS; if not it
38
    can be viewed here: http://www.freertos.org/a00114.html and also obtained
39
    by writing to Richard Barry, contact details for whom are available on the
40
    FreeRTOS WEB site.
41
 
42
    1 tab == 4 spaces!
43
 
44
    http://www.FreeRTOS.org - Documentation, latest information, license and
45
    contact details.
46
 
47
    http://www.SafeRTOS.com - A version that is certified for use in safety
48
    critical systems.
49
 
50
    http://www.OpenRTOS.com - Commercial support, development, porting,
51
    licensing and training services.
52
*/
53
 
54
/*
55
        NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
56
        The processor MUST be in supervisor mode when vTaskStartScheduler is
57
        called.  The demo applications included in the FreeRTOS.org download switch
58
        to supervisor mode prior to main being called.  If you are not using one of
59
        these demo application projects then ensure Supervisor mode is used.
60
*/
61
 
62
/*
63
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
64
 * documentation provides more details of the demo application tasks.  The SAM7
65
 * includes a sample USB that emulates a Joystick input to a USB host.
66
 *
67
 * Main.c also creates a task called "Check".  This only executes every three
68
 * seconds but has the highest priority so is guaranteed to get processor time.
69
 * Its main function is to check that all the other tasks are still operational.
70
 * Each task (other than the "flash" tasks) maintains a unique count that is
71
 * incremented each time the task successfully completes its function.  Should
72
 * any error occur within such a task the count is permanently halted.  The
73
 * check task inspects the count of each task to ensure it has changed since
74
 * the last time the check task executed.  If all the count variables have
75
 * changed all the tasks are still executing error free, and the check task
76
 * toggles the onboard LED.  Should any task contain an error at any time
77
 * the LED toggle rate will change from 3 seconds to 500ms.
78
 *
79
 */
80
 
81
/* Standard includes. */
82
#include <stdlib.h>
83
 
84
/* Scheduler includes. */
85
#include "FreeRTOS.h"
86
#include "task.h"
87
 
88
/* Demo application includes. */
89
#include "flash.h"
90
#include "integer.h"
91
#include "PollQ.h"
92
#include "BlockQ.h"
93
#include "semtest.h"
94
#include "dynamic.h"
95
#include "partest.h"
96
#include "comtest2.h"
97
#include "USB/USBSample.h"
98
 
99
/* Priorities for the demo application tasks. */
100
#define mainLED_TASK_PRIORITY           ( tskIDLE_PRIORITY + 3 )
101
#define mainQUEUE_POLL_PRIORITY         ( tskIDLE_PRIORITY + 2 )
102
#define mainCHECK_TASK_PRIORITY         ( tskIDLE_PRIORITY + 4 )
103
#define mainSEM_TEST_PRIORITY           ( tskIDLE_PRIORITY + 1 )
104
#define mainBLOCK_Q_PRIORITY            ( tskIDLE_PRIORITY + 2 )
105
#define mainCOM_TEST_PRIORITY           ( tskIDLE_PRIORITY + 2 )
106
#define mainUSB_PRIORITY                        ( tskIDLE_PRIORITY + 2 )
107
 
108
/* Constants required by the 'Check' task. */
109
#define mainNO_ERROR_FLASH_PERIOD       ( ( portTickType ) 3000 / portTICK_RATE_MS  )
110
#define mainERROR_FLASH_PERIOD          ( ( portTickType ) 500 / portTICK_RATE_MS  )
111
#define mainCHECK_TASK_LED                      ( 3 )
112
 
113
/* Constants for the ComTest tasks. */
114
#define mainCOM_TEST_BAUD_RATE          ( ( unsigned long ) 115200 )
115
#define mainCOM_TEST_LED                        ( 4 ) /* Off the board. */
116
 
117
/*
118
 * The task that executes at the highest priority and calls
119
 * prvCheckOtherTasksAreStillRunning().  See the description at the top
120
 * of the file.
121
 */
122
static void vErrorChecks( void *pvParameters );
123
 
124
/*
125
 * Configure the processor for use with the Atmel demo board.  Setup is minimal
126
 * as the low level init function (called from the startup asm file) takes care
127
 * of most things.
128
 */
129
static void prvSetupHardware( void );
130
 
131
/*
132
 * Checks that all the demo application tasks are still executing without error
133
 * - as described at the top of the file.
134
 */
135
static long prvCheckOtherTasksAreStillRunning( void );
136
 
137
 
138
/*-----------------------------------------------------------*/
139
 
140
/*
141
 * Starts all the other tasks, then starts the scheduler.
142
 */
143
void main( void )
144
{
145
        /* Setup any hardware that has not already been configured by the low
146
        level init routines. */
147
        prvSetupHardware();
148
 
149
        /* Initialise the LED outputs for use by the demo application tasks. */
150
        vParTestInitialise();
151
 
152
        /* Start all the standard demo application tasks. */
153
        vStartIntegerMathTasks( tskIDLE_PRIORITY );
154
        vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
155
        vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
156
        vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
157
        vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
158
        vStartDynamicPriorityTasks();
159
        vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
160
 
161
        /* Also start the USB demo which is just for the SAM7. */
162
        xTaskCreate( vUSBDemoTask, "USB", configMINIMAL_STACK_SIZE, NULL, mainUSB_PRIORITY, NULL );
163
 
164
        /* Start the check task - which is defined in this file. */
165
        xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
166
 
167
        /* Start the scheduler.
168
 
169
        NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
170
        The processor MUST be in supervisor mode when vTaskStartScheduler is
171
        called.  The demo applications included in the FreeRTOS.org download switch
172
        to supervisor mode prior to main being called.  If you are not using one of
173
        these demo application projects then ensure Supervisor mode is used here. */
174
 
175
        vTaskStartScheduler();
176
 
177
        /* We should never get here as control is now taken by the scheduler. */
178
        return;
179
}
180
/*-----------------------------------------------------------*/
181
 
182
static void prvSetupHardware( void )
183
{
184
        /* When using the JTAG debugger the hardware is not always initialised to
185
        the correct default state.  This line just ensures that this does not
186
        cause all interrupts to be masked at the start. */
187
        AT91C_BASE_AIC->AIC_EOICR = 0;
188
 
189
        /* Most setup is performed by the low level init function called from the
190
        startup asm file. */
191
 
192
        /* Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as
193
        well as the UART Tx line. */
194
        AT91F_PIO_CfgOutput( AT91C_BASE_PIOA, LED_MASK );
195
 
196
        /* Enable the peripheral clock. */
197
        AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA );
198
}
199
/*-----------------------------------------------------------*/
200
 
201
static void vErrorChecks( void *pvParameters )
202
{
203
portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
204
 
205
        /* The parameters are not used in this task. */
206
        ( void ) pvParameters;
207
 
208
        /* Cycle for ever, delaying then checking all the other tasks are still
209
        operating without error.  If an error is detected then the delay period
210
        is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
211
        the on board LED flash rate will increase. */
212
 
213
        for( ;; )
214
        {
215
                /* Delay until it is time to execute again. */
216
                vTaskDelay( xDelayPeriod );
217
 
218
                /* Check all the standard demo application tasks are executing without
219
                error. */
220
                if( prvCheckOtherTasksAreStillRunning() != pdPASS )
221
                {
222
                        /* An error has been detected in one of the tasks - flash faster. */
223
                        xDelayPeriod = mainERROR_FLASH_PERIOD;
224
                }
225
 
226
                vParTestToggleLED( mainCHECK_TASK_LED );
227
        }
228
}
229
/*-----------------------------------------------------------*/
230
 
231
static long prvCheckOtherTasksAreStillRunning( void )
232
{
233
long lReturn = ( long ) pdPASS;
234
 
235
        /* Check all the demo tasks (other than the flash tasks) to ensure
236
        that they are all still running, and that none of them have detected
237
        an error. */
238
 
239
        if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
240
        {
241
                lReturn = ( long ) pdFAIL;
242
        }
243
 
244
        if( xArePollingQueuesStillRunning() != pdTRUE )
245
        {
246
                lReturn = ( long ) pdFAIL;
247
        }
248
 
249
        if( xAreSemaphoreTasksStillRunning() != pdTRUE )
250
        {
251
                lReturn = ( long ) pdFAIL;
252
        }
253
 
254
        if( xAreBlockingQueuesStillRunning() != pdTRUE )
255
        {
256
                lReturn = ( long ) pdFAIL;
257
        }
258
 
259
        if( xAreComTestTasksStillRunning() != pdTRUE )
260
        {
261
                lReturn = ( long ) pdFAIL;
262
        }
263
 
264
        if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
265
        {
266
                lReturn = ( long ) pdFAIL;
267
        }
268
 
269
        return lReturn;
270
}
271
/*-----------------------------------------------------------*/
272
 
273
 

powered by: WebSVN 2.1.0

© copyright 1999-2024 OpenCores.org, equivalent to Oliscience, all rights reserved. OpenCores®, registered trademark.