Subversion Repositories openrisc

/*

    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.

*/

/*

 * 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_RATE_MS )

#define mainERROR_PERIOD                        ( 500 / portTICK_RATE_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 availale for the

        idle task to be created. */

        for( ;; );

}

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

static void prvCheckTask( void * pvParameters )

{

portTickType 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 ) );

}