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
|
/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and 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 modification 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!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
*/
/*
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 );
}
}
}
|
