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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [AVR_ATMega323_IAR/] [main.c] - Blame information for rev 595

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1 589 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 demo application tasks.
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 *
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 * Main. c also creates a task called "Check".  This only executes every three
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 * seconds but has the highest priority so is guaranteed to get processor time.
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 * Its main function is to check that all the other tasks are still operational.
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 * Each task that does not flash an LED maintains a unique count that is
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 * incremented each time the task successfully completes its function.  Should
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 * any error occur within such a task the count is permanently halted.  The
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 * check task inspects the count of each task to ensure it has changed since
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 * the last time the check task executed.  If all the count variables have
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 * changed all the tasks are still executing error free, and the check task
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 * toggles an LED.  Should any task contain an error at any time the LED toggle
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 * will stop.
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 *
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 * The LED flash and communications test tasks do not maintain a count.
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 */
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/*
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Changes from V1.2.0
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        + Changed the baud rate for the serial test from 19200 to 57600.
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Changes from V1.2.3
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        + The integer and comtest tasks are now used when the cooperative scheduler
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          is being used.  Previously they were only used with the preemptive
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          scheduler.
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Changes from V1.2.5
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        + Set the baud rate to 38400.  This has a smaller error percentage with an
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          8MHz clock (according to the manual).
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Changes from V2.0.0
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        + Delay periods are now specified using variables and constants of
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          portTickType rather than unsigned long.
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Changes from V2.2.0
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        + File can now be built using either the IAR or WinAVR compiler.
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Changes from V2.6.1
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        + The IAR and WinAVR AVR ports are now maintained separately.
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Changes from V4.0.5
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        + Modified to demonstrate the use of co-routines.
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*/
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#include <stdlib.h>
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#include <string.h>
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#ifdef GCC_MEGA_AVR
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        /* EEPROM routines used only with the WinAVR compiler. */
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        #include <avr/eeprom.h>
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#endif
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "croutine.h"
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/* Demo file headers. */
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#include "PollQ.h"
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#include "integer.h"
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#include "serial.h"
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#include "comtest.h"
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#include "crflash.h"
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#include "print.h"
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#include "partest.h"
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#include "regtest.h"
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/* Priority definitions for most of the tasks in the demo application.  Some
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tasks just use the idle priority. */
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#define mainLED_TASK_PRIORITY                   ( tskIDLE_PRIORITY + 1 )
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#define mainCOM_TEST_PRIORITY                   ( tskIDLE_PRIORITY + 2 )
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#define mainQUEUE_POLL_PRIORITY                 ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY                 ( tskIDLE_PRIORITY + 3 )
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/* Baud rate used by the serial port tasks. */
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#define mainCOM_TEST_BAUD_RATE                  ( ( unsigned long ) 38400 )
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/* LED used by the serial port tasks.  This is toggled on each character Tx,
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and mainCOM_TEST_LED + 1 is toggles on each character Rx. */
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#define mainCOM_TEST_LED                                ( 4 )
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/* LED that is toggled by the check task.  The check task periodically checks
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that all the other tasks are operating without error.  If no errors are found
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the LED is toggled.  If an error is found at any time the LED is never toggles
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again. */
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#define mainCHECK_TASK_LED                              ( 7 )
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/* The period between executions of the check task. */
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#define mainCHECK_PERIOD                                ( ( portTickType ) 3000 / portTICK_RATE_MS  )
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/* An address in the EEPROM used to count resets.  This is used to check that
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the demo application is not unexpectedly resetting. */
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#define mainRESET_COUNT_ADDRESS                 ( ( void * ) 0x50 )
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/* The number of coroutines to create. */
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#define mainNUM_FLASH_COROUTINES                ( 3 )
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/*
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 * The task function for the "Check" task.
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 */
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static void vErrorChecks( void *pvParameters );
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/*
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 * Checks the unique counts of other tasks to ensure they are still operational.
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 * Flashes an LED if everything is okay.
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 */
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static void prvCheckOtherTasksAreStillRunning( void );
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/*
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 * Called on boot to increment a count stored in the EEPROM.  This is used to
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 * ensure the CPU does not reset unexpectedly.
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 */
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static void prvIncrementResetCount( void );
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/*
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 * Idle hook is used to scheduler co-routines.
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 */
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void vApplicationIdleHook( void );
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short main( void )
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{
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        prvIncrementResetCount();
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        /* Setup the LED's for output. */
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        vParTestInitialise();
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        /* Create the standard demo tasks. */
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        vStartIntegerMathTasks( tskIDLE_PRIORITY );
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        vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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        vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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        vStartRegTestTasks();
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        /* Create the tasks defined within this file. */
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        xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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        /* Create the co-routines that flash the LED's. */
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        vStartFlashCoRoutines( mainNUM_FLASH_COROUTINES );
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        /* In this port, to use preemptive scheduler define configUSE_PREEMPTION
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        as 1 in portmacro.h.  To use the cooperative scheduler define
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        configUSE_PREEMPTION as 0. */
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        vTaskStartScheduler();
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        return 0;
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}
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/*-----------------------------------------------------------*/
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static void vErrorChecks( void *pvParameters )
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{
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static volatile unsigned long ulDummyVariable = 3UL;
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        /* The parameters are not used. */
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        ( void ) pvParameters;
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        /* Cycle for ever, delaying then checking all the other tasks are still
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        operating without error. */
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        for( ;; )
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        {
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                vTaskDelay( mainCHECK_PERIOD );
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                /* Perform a bit of 32bit maths to ensure the registers used by the
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                integer tasks get some exercise. The result here is not important -
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                see the demo application documentation for more info. */
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                ulDummyVariable *= 3;
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                prvCheckOtherTasksAreStillRunning();
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        }
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}
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/*-----------------------------------------------------------*/
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static void prvCheckOtherTasksAreStillRunning( void )
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{
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static portBASE_TYPE xErrorHasOccurred = pdFALSE;
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        if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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        {
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                xErrorHasOccurred = pdTRUE;
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        }
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        if( xAreComTestTasksStillRunning() != pdTRUE )
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        {
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                xErrorHasOccurred = pdTRUE;
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        }
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        if( xArePollingQueuesStillRunning() != pdTRUE )
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        {
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                xErrorHasOccurred = pdTRUE;
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        }
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        if( xAreRegTestTasksStillRunning() != pdTRUE )
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        {
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                xErrorHasOccurred = pdTRUE;
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        }
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        if( xErrorHasOccurred == pdFALSE )
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        {
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                /* Toggle the LED if everything is okay so we know if an error occurs even if not
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                using console IO. */
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                vParTestToggleLED( mainCHECK_TASK_LED );
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        }
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}
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/*-----------------------------------------------------------*/
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static void prvIncrementResetCount( void )
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{
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unsigned char ucCount;
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const unsigned char ucReadBit = ( unsigned char ) 0x01;
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const unsigned char ucWrite1 = ( unsigned char ) 0x04;
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const unsigned char ucWrite2 = ( unsigned char ) 0x02;
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        /* Increment the EEPROM value at 0x00.
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        Setup the EEPROM address. */
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        EEARH = 0x00;
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        EEARL = 0x00;
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        /* Set the read enable bit. */
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        EECR |= ucReadBit;
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        /* Wait for the read. */
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        while( EECR & ucReadBit );
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        /* The byte is ready. */
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        ucCount = EEDR;
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        /* Increment the reset count, then write the byte back. */
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        ucCount++;
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        EEDR = ucCount;
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        EECR = ucWrite1;
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        EECR = ( ucWrite1 | ucWrite2 );
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}
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/*-----------------------------------------------------------*/
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void vApplicationIdleHook( void )
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{
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        vCoRoutineSchedule();
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}
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