Subversion Repositories openrisc_2011-10-31

/*

    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.

    ***************************************************************************

    *                                                                         *

    * If you are:                                                             *

    *                                                                         *

    *    + New to FreeRTOS,                                                   *

    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *

    *    + Looking for basic training,                                        *

    *    + Wanting to improve your FreeRTOS skills and productivity           *

    *                                                                         *

    * then take a look at the FreeRTOS books - available as PDF or paperback  *

    *                                                                         *

    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *

    *                  http://www.FreeRTOS.org/Documentation                  *

    *                                                                         *

    * A pdf reference manual is also available.  Both are usually delivered   *

    * to your inbox within 20 minutes to two hours when purchased between 8am *

    * and 8pm GMT (although please allow up to 24 hours in case of            *

    * exceptional circumstances).  Thank you for your support!                *

    *                                                                         *

    ***************************************************************************

    This file is part of the FreeRTOS distribution.

    FreeRTOS is free software; you can redistribute it and/or modify it under

    the terms of the GNU General Public License (version 2) as published by the

    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.

    ***NOTE*** The exception to the GPL is included to allow you to distribute

    a combined work that includes FreeRTOS without being obliged to provide the

    source code for proprietary components outside of the FreeRTOS kernel.

    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT

    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or

    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for

    more details. You should have received a copy of the GNU General Public

    License and the FreeRTOS license exception along with FreeRTOS; if not it

    can be viewed here: http://www.freertos.org/a00114.html and also obtained

    by writing to Richard Barry, contact details for whom are available on the

    FreeRTOS WEB site.

    1 tab == 4 spaces!

    http://www.FreeRTOS.org - Documentation, latest information, license and

    contact details.

    http://www.SafeRTOS.com - A version that is certified for use in safety

    critical systems.

    http://www.OpenRTOS.com - Commercial support, development, porting,

    licensing and training services.

*/

/*

        NOTE : Tasks run in System mode and the scheduler runs in Supervisor mode.

        The processor MUST be in supervisor mode when vTaskStartScheduler is

        called.  The demo applications included in the FreeRTOS.org download switch

        to supervisor mode prior to main being called.  If you are not using one of

        these demo application projects then ensure Supervisor mode is used.

*/

/*

 * This demo includes a (basic) USB mouse driver and a WEB server.  It is

 * targeted for the AT91SAM7X EK prototyping board which includes a small

 * joystick to provide the mouse inputs.  The WEB interface provides some basic

 * interactivity through the use of a check box to turn on and off an LED.

 *

 * main() creates the WEB server, USB, and a set of the standard demo tasks

 * before starting the scheduler.  See the online FreeRTOS.org documentation

 * for more information on the standard demo tasks.

 *

 * LEDs D1 to D3 are controlled by the standard 'flash' tasks - each will

 * toggle at a different fixed frequency.

 *

 * A tick hook function is used to monitor the standard demo tasks - with LED

 * D4 being used to indicate the system status.  D4 toggling every 5 seconds

 * indicates that all the standard demo tasks are executing without error.  The

 * toggle rate increasing to 500ms is indicative of an error having been found

 * in at least one demo task.

 *

 * See the online documentation page that accompanies this demo for full setup

 * and usage information.

 */

/* Standard includes. */

#include <stdlib.h>

/* Scheduler includes. */

#include "FreeRTOS.h"

#include "task.h"

/* Demo application includes. */

#include "partest.h"

#include "USBSample.h"

#include "uip_task.h"

#include "BlockQ.h"

#include "blocktim.h"

#include "flash.h"

#include "QPeek.h"

#include "dynamic.h"

/* Priorities for the demo application tasks. */

#define mainUIP_PRIORITY                                        ( tskIDLE_PRIORITY + 2 )

#define mainUSB_PRIORITY                                        ( tskIDLE_PRIORITY + 2 )

#define mainBLOCK_Q_PRIORITY                            ( tskIDLE_PRIORITY + 1 )

#define mainFLASH_PRIORITY                  ( tskIDLE_PRIORITY + 2 )

#define mainGEN_QUEUE_TASK_PRIORITY                     ( tskIDLE_PRIORITY ) 

/* The task allocated to the uIP task is large to account for its use of the

sprintf() library function.  Use of a cut down printf() library would allow

the stack usage to be greatly reduced. */

#define mainUIP_TASK_STACK_SIZE         ( configMINIMAL_STACK_SIZE * 6 )

/* The LED toggle by the tick hook should an error have been found in a task. */

#define mainERROR_LED                                           ( 3 )

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

/*

 * Configure the processor for use with the Atmel demo board.  Setup is minimal

 * as the low level init function (called from the startup asm file) takes care

 * of most things.

 */

static void prvSetupHardware( void );

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

/*

 * Starts all the other tasks, then starts the scheduler.

 */

int main( void )

{

        /* Setup any hardware that has not already been configured by the low

        level init routines. */

        prvSetupHardware();

        /* Start the task that handles the TCP/IP and WEB server functionality. */

    xTaskCreate( vuIP_Task, "uIP", mainUIP_TASK_STACK_SIZE, NULL, mainUIP_PRIORITY, NULL );

        /* Also start the USB demo which is just for the SAM7. */

    vStartUSBTask( mainUSB_PRIORITY );

        /* Start the standard demo tasks. */

        vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

    vCreateBlockTimeTasks();

    vStartLEDFlashTasks( mainFLASH_PRIORITY );

    vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );

    vStartQueuePeekTasks();

    vStartDynamicPriorityTasks();

        /* Start the scheduler.

        NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.

        The processor MUST be in supervisor mode when vTaskStartScheduler is

        called.  The demo applications included in the FreeRTOS.org download switch

        to supervisor mode prior to main being called.  If you are not using one of

        these demo application projects then ensure Supervisor mode is used here. */

        vTaskStartScheduler();

        /* We should never get here as control is now taken by the scheduler. */

        return 0;

}

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

static void prvSetupHardware( void )

{

        portDISABLE_INTERRUPTS();

        /* When using the JTAG debugger the hardware is not always initialised to

        the correct default state.  This line just ensures that this does not

        cause all interrupts to be masked at the start. */

        AT91C_BASE_AIC->AIC_EOICR = 0;

        /* Most setup is performed by the low level init function called from the

        startup asm file. */

        /* Enable the peripheral clock. */

    AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOA;

    AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOB;

        AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_EMAC;

        /* Initialise the LED outputs for use by the demo application tasks. */

        vParTestInitialise();

}

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

void vApplicationTickHook( void )

{

static unsigned long ulCallCount = 0, ulErrorFound = pdFALSE;

/* The rate at which LED D4 will toggle if an error has been found in one or

more of the standard demo tasks. */

const unsigned long ulErrorFlashRate = 500 / portTICK_RATE_MS;

/* The rate at which LED D4 will toggle if no errors have been found in any

of the standard demo tasks. */

const unsigned long ulNoErrorCheckRate = 5000 / portTICK_RATE_MS;

        ulCallCount++;

        if( ulErrorFound != pdFALSE )

        {

                /* We have already found an error, so flash the LED with the appropriate

                frequency. */

                if( ulCallCount > ulErrorFlashRate )

                {

                        ulCallCount = 0;

                        vParTestToggleLED( mainERROR_LED );

                }

        }

        else

        {

                if( ulCallCount > ulNoErrorCheckRate )

                {

                        ulCallCount = 0;

                        /* We have not yet found an error.  Check all the demo tasks to ensure

                        this is still the case. */

                        if( xAreBlockingQueuesStillRunning() != pdTRUE )

                        {

                                ulErrorFound |= 0x01;

                        }

                        if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )

                        {

                                ulErrorFound |= 0x02;

                        }

                        if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )

                        {

                                ulErrorFound |= 0x04;

                        }

                        if( xAreGenericQueueTasksStillRunning() != pdTRUE )

                        {

                                ulErrorFound |= 0x08;

                        }

                        if( xAreQueuePeekTasksStillRunning() != pdTRUE )

                        {

                                ulErrorFound |= 0x10;

                        }

                        vParTestToggleLED( mainERROR_LED );

                }

        }

}