1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
|
/*
FreeRTOS.org V5.1.2 - Copyright (C) 2003-2009 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org 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
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
***************************************************************************
* *
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
* *
* This is a concise, step by step, 'hands on' guide that describes both *
* general multitasking concepts and FreeRTOS specifics. It presents and *
* explains numerous examples that are written using the FreeRTOS API. *
* Full source code for all the examples is provided in an accompanying *
* .zip file. *
* *
***************************************************************************
***************************************************************************
Please ensure to read the configuration and relevant port sections of the
online documentation.
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.
*/
/*
* Creates all the application tasks, then starts the scheduler.
*
* A task is created called "uIP". This executes the uIP stack and small
* WEB server sample. All the other tasks are from the set of standard
* demo tasks. The WEB documentation provides more details of the standard
* demo application tasks.
*
* Main.c also creates a task called "Check". This only executes every three
* seconds but has the highest priority so is guaranteed to get processor time.
* Its main function is to check that all the other tasks are still operational.
* Each standard demo task maintains a unique count that is incremented each
* time the task successfully completes its function. Should any error occur
* within such a task the count is permanently halted. The check task inspects
* the count of each task to ensure it has changed since the last time the
* check task executed. If all the count variables have changed all the tasks
* are still executing error free, and the check task toggles the yellow LED.
* Should any task contain an error at any time the LED toggle rate will change
* from 3 seconds to 500ms.
*
*/
/* Standard includes. */
#include <stdlib.h>
#include <string.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo application includes. */
#include "PollQ.h"
#include "dynamic.h"
#include "semtest.h"
/*-----------------------------------------------------------*/
/* Constants to setup the PLL. */
#define mainPLL_MUL_4 ( ( unsigned portCHAR ) 0x0003 )
#define mainPLL_DIV_1 ( ( unsigned portCHAR ) 0x0000 )
#define mainPLL_ENABLE ( ( unsigned portCHAR ) 0x0001 )
#define mainPLL_CONNECT ( ( unsigned portCHAR ) 0x0003 )
#define mainPLL_FEED_BYTE1 ( ( unsigned portCHAR ) 0xaa )
#define mainPLL_FEED_BYTE2 ( ( unsigned portCHAR ) 0x55 )
#define mainPLL_LOCK ( ( unsigned portLONG ) 0x0400 )
/* Constants to setup the MAM. */
#define mainMAM_TIM_3 ( ( unsigned portCHAR ) 0x03 )
#define mainMAM_MODE_FULL ( ( unsigned portCHAR ) 0x02 )
/* Constants to setup the peripheral bus. */
#define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
/* Priorities/stacks for the demo application tasks. */
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainUIP_PRIORITY ( tskIDLE_PRIORITY + 3 )
#define mainUIP_TASK_STACK_SIZE ( 150 )
/* The rate at which the on board LED will toggle when there is/is not an
error. */
#define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
#define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
#define mainON_BOARD_LED_BIT ( ( unsigned portLONG ) 0x80 )
#define mainYELLOW_LED ( 1 << 11 )
/*-----------------------------------------------------------*/
/*
* This is the uIP task which is defined within the uip.c file. This has not
* been placed into a header file in order to minimise the changes to the uip
* code.
*/
extern void ( vuIP_TASK ) ( void *pvParameters );
/*
* The Yellow LED is under the control of the Check task. All the other LED's
* are under the control of the uIP task.
*/
void prvToggleOnBoardLED( void );
/*
* Checks that all the demo application tasks are still executing without error
* - as described at the top of the file.
*/
static portLONG prvCheckOtherTasksAreStillRunning( void );
/*
* The task that executes at the highest priority and calls
* prvCheckOtherTasksAreStillRunning(). See the description at the top
* of the file.
*/
static void vErrorChecks( void *pvParameters );
/*
* Configure the processor for use with the Olimex demo board. This includes
* setup for the I/O, system clock, and access timings.
*/
static void prvSetupHardware( void );
/*-----------------------------------------------------------*/
/*
* Starts all the other tasks, then starts the scheduler.
*/
int main( void )
{
/* Configure the processor. */
prvSetupHardware();
/* Start the task that handles the TCP/IP functionality. */
xTaskCreate( vuIP_TASK, "uIP", mainUIP_TASK_STACK_SIZE, NULL, mainUIP_PRIORITY, NULL );
/* Start the demo/test application tasks. These are created in addition
to the TCP/IP task for demonstration and test purposes. */
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
vStartDynamicPriorityTasks();
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
/* Start the check task - which is defined in this file. */
xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Now all the tasks have been started - 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();
/* Should never reach here! */
return 0;
}
/*-----------------------------------------------------------*/
static void vErrorChecks( void *pvParameters )
{
portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
/* Cycle for ever, delaying then checking all the other tasks are still
operating without error. If an error is detected then the delay period
is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
the on board LED flash rate will increase. */
for( ;; )
{
/* Delay until it is time to execute again. */
vTaskDelay( xDelayPeriod );
/* Check all the standard demo application tasks are executing without
error. */
if( prvCheckOtherTasksAreStillRunning() != pdPASS )
{
/* An error has been detected in one of the tasks - flash faster. */
xDelayPeriod = mainERROR_FLASH_PERIOD;
}
prvToggleOnBoardLED();
}
}
/*-----------------------------------------------------------*/
static void prvSetupHardware( void )
{
#ifdef RUN_FROM_RAM
/* Remap the interrupt vectors to RAM if we are are running from RAM. */
SCB_MEMMAP = 2;
#endif
/* Setup the PLL to multiply the XTAL input by 4. */
SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );
/* Activate the PLL by turning it on then feeding the correct sequence of
bytes. */
SCB_PLLCON = mainPLL_ENABLE;
SCB_PLLFEED = mainPLL_FEED_BYTE1;
SCB_PLLFEED = mainPLL_FEED_BYTE2;
/* Wait for the PLL to lock... */
while( !( SCB_PLLSTAT & mainPLL_LOCK ) );
/* ...before connecting it using the feed sequence again. */
SCB_PLLCON = mainPLL_CONNECT;
SCB_PLLFEED = mainPLL_FEED_BYTE1;
SCB_PLLFEED = mainPLL_FEED_BYTE2;
/* Setup and turn on the MAM. Three cycle access is used due to the fast
PLL used. It is possible faster overall performance could be obtained by
tuning the MAM and PLL settings. */
MAM_TIM = mainMAM_TIM_3;
MAM_CR = mainMAM_MODE_FULL;
/* Setup the peripheral bus to be the same as the PLL output. */
SCB_VPBDIV = mainBUS_CLK_FULL;
}
/*-----------------------------------------------------------*/
void prvToggleOnBoardLED( void )
{
unsigned portLONG ulState;
ulState = GPIO0_IOPIN;
if( ulState & mainYELLOW_LED )
{
GPIO_IOCLR = mainYELLOW_LED;
}
else
{
GPIO_IOSET = mainYELLOW_LED;
}
}
/*-----------------------------------------------------------*/
static portLONG prvCheckOtherTasksAreStillRunning( void )
{
portLONG lReturn = ( portLONG ) pdPASS;
/* Check all the demo tasks (other than the flash tasks) to ensure
that they are all still running, and that none of them have detected
an error. */
if( xArePollingQueuesStillRunning() != pdTRUE )
{
lReturn = ( portLONG ) pdFAIL;
}
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
{
lReturn = ( portLONG ) pdFAIL;
}
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
lReturn = ( portLONG ) pdFAIL;
}
return lReturn;
}
|
