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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [ARM9_AT91SAM9XE_IAR/] [main.c] - Blame information for rev 577

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1 577 jeremybenn
/*
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    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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    ***************************************************************************
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    *                                                                         *
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    * If you are:                                                             *
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    *                                                                         *
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    *    + New to FreeRTOS,                                                   *
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    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
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    *    + Looking for basic training,                                        *
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    *    + Wanting to improve your FreeRTOS skills and productivity           *
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    *                                                                         *
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    * then take a look at the FreeRTOS books - available as PDF or paperback  *
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    *                                                                         *
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    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
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    *                  http://www.FreeRTOS.org/Documentation                  *
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    *                                                                         *
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    * A pdf reference manual is also available.  Both are usually delivered   *
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    * to your inbox within 20 minutes to two hours when purchased between 8am *
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    * and 8pm GMT (although please allow up to 24 hours in case of            *
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    * exceptional circumstances).  Thank you for your support!                *
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    *                                                                         *
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    ***************************************************************************
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    This file is part of the FreeRTOS distribution.
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    FreeRTOS is free software; you can redistribute it and/or modify it under
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    the terms of the GNU General Public License (version 2) as published by the
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    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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    ***NOTE*** The exception to the GPL is included to allow you to distribute
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    a combined work that includes FreeRTOS without being obliged to provide the
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    source code for proprietary components outside of the FreeRTOS kernel.
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    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
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    more details. You should have received a copy of the GNU General Public
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    License and the FreeRTOS license exception along with FreeRTOS; if not it
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    can be viewed here: http://www.freertos.org/a00114.html and also obtained
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    by writing to Richard Barry, contact details for whom are available on the
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    FreeRTOS WEB site.
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    1 tab == 4 spaces!
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    http://www.FreeRTOS.org - Documentation, latest information, license and
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    contact details.
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    http://www.SafeRTOS.com - A version that is certified for use in safety
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    critical systems.
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    http://www.OpenRTOS.com - Commercial support, development, porting,
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    licensing and training services.
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*/
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/*
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 * Creates all the demo application tasks, then starts the scheduler.  The WEB
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 * documentation provides more details of the standard demo application tasks.
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 *
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 * A "Check" task is created in addition to the standard demo tasks.    This
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 * only executes every three seconds but has a high priority to ensure it gets
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 * processor time.  Its main function is to check that all the standard demo
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 * tasks are still operational.  If everything is running as expected then the
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 * check task will toggle an LED every 3 seconds.  An error being discovered in
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 * any task will cause the toggle rate to increase to 500ms.
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 *
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 */
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/* FreeRTOS includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Standard demo includes. */
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#include "BlockQ.h"
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#include "blocktim.h"
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#include "countsem.h"
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#include "death.h"
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#include "dynamic.h"
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#include "GenQTest.h"
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#include "integer.h"
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#include "PollQ.h"
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#include "QPeek.h"
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#include "recmutex.h"
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#include "semtest.h"
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#include "ParTest.h"
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#include "comtest2.h"
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/* Standard includes. */
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#include <stdio.h>
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/* Atmel library includes. */
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#include <pio/pio.h>
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/* Priorities for the demo application tasks. */
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#define mainCOM_TEST_PRIORITY           ( tskIDLE_PRIORITY + 2 )
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#define mainQUEUE_POLL_PRIORITY         ( tskIDLE_PRIORITY + 0 )
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#define mainCHECK_TASK_PRIORITY         ( tskIDLE_PRIORITY + 4 )
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#define mainSEM_TEST_PRIORITY           ( tskIDLE_PRIORITY + 0 )
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#define mainBLOCK_Q_PRIORITY            ( tskIDLE_PRIORITY + 2 )
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#define mainCREATOR_TASK_PRIORITY       ( tskIDLE_PRIORITY + 3 )
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#define mainGENERIC_QUEUE_PRIORITY      ( tskIDLE_PRIORITY )
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/* The period of the check task both in and out of the presense of an error. */
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#define mainNO_ERROR_PERIOD                     ( 5000 / portTICK_RATE_MS )
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#define mainERROR_PERIOD                        ( 500 / portTICK_RATE_MS );
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/* Constants used by the ComTest task. */
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#define mainCOM_TEST_BAUD_RATE          ( 38400 )
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#define mainCOM_TEST_LED                        ( LED_DS1 )
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/*-----------------------------------------------------------*/
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/* Simple hardware setup required by the demo. */
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static void prvSetupHardware( void );
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/* The check task as described at the top of this file. */
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static void prvCheckTask( void *pvParameters );
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/*-----------------------------------------------------------*/
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int main()
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{
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        /* Perform any hardware setup necessary to run the demo. */
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        prvSetupHardware();
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        /* First create the 'standard demo' tasks.  These exist just to to
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        demonstrate API functions being used and test the kernel port.  More
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        information is provided on the FreeRTOS.org WEB site. */
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        vStartIntegerMathTasks( tskIDLE_PRIORITY );
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        vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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        vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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        vStartDynamicPriorityTasks();
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        vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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        vCreateBlockTimeTasks();
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        vStartCountingSemaphoreTasks();
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        vStartGenericQueueTasks( tskIDLE_PRIORITY );
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        vStartQueuePeekTasks();
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        vStartRecursiveMutexTasks();
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        vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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        /* Create the check task - this is the task that checks all the other tasks
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        are executing as expected and without reporting any errors. */
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        xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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        /* The death demo tasks must be started last as the sanity checks performed
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        require knowledge of the number of other tasks in the system. */
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        vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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        /* Start the scheduler.  From this point on the execution will be under
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        the control of the kernel. */
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        vTaskStartScheduler();
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        /* Will only get here if there was insufficient heap availale for the
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        idle task to be created. */
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        for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTask( void * pvParameters )
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{
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portTickType xNextWakeTime, xPeriod = mainNO_ERROR_PERIOD;
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static volatile unsigned long ulErrorCode = 0UL;
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        /* Just to remove the compiler warning. */
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        ( void ) pvParameters;
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        /* Initialise xNextWakeTime prior to its first use.  From this point on
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        the value of the variable is handled automatically by the kernel. */
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        xNextWakeTime = xTaskGetTickCount();
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        for( ;; )
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        {
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                /* Delay until it is time for this task to execute again. */
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                vTaskDelayUntil( &xNextWakeTime, xPeriod );
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                /* Check all the other tasks in the system - latch any reported errors
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                into the ulErrorCode variable. */
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                if( xAreBlockingQueuesStillRunning() != pdTRUE )
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                {
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                        ulErrorCode |= 0x01UL;
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                }
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                if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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                {
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                        ulErrorCode |= 0x02UL;
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                }
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                if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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                {
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                        ulErrorCode |= 0x04UL;
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                }
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                if( xIsCreateTaskStillRunning() != pdTRUE )
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                {
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                        ulErrorCode |= 0x08UL;
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                }
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                if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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                {
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                        ulErrorCode |= 0x10UL;
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                }
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                if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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                {
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                        ulErrorCode |= 0x20UL;
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                }
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                if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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                {
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                        ulErrorCode |= 0x40UL;
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                }
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                if( xArePollingQueuesStillRunning() != pdTRUE )
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                {
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                        ulErrorCode |= 0x80UL;
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                }
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                if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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                {
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                        ulErrorCode |= 0x100UL;
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                }
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                if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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                {
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                        ulErrorCode |= 0x200UL;
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                }
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                if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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                {
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                        ulErrorCode |= 0x400UL;
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                }
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                if( xAreComTestTasksStillRunning() != pdTRUE )
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                {
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                        ulErrorCode |= 0x800UL;
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                }
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                /* Reduce the block period and in so doing increase the frequency at
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                which this task executes if any errors have been latched.  The increased
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                frequency causes the LED toggle rate to increase and so gives some
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                visual feedback that an error has occurred. */
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                if( ulErrorCode != 0x00 )
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                {
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                        xPeriod = mainERROR_PERIOD;
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                }
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                /* Finally toggle the LED. */
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                vParTestToggleLED( LED_POWER );
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        }
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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const Pin xPins[] = { PIN_USART0_RXD, PIN_USART0_TXD };
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        /* Setup the LED outputs. */
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        vParTestInitialise();
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        /* Setup the pins for the UART. */
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        PIO_Configure( xPins, PIO_LISTSIZE( xPins ) );
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}

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