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/*
* FreeRTOS Kernel V10.3.0
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
/*
* Creates all the demo application tasks, then starts the scheduler. The WEB
* documentation provides more details of the 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 task that does not flash an LED 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 an LED. Should any task contain an error at any time the LED toggle
* will stop.
*
* The LED flash and communications test tasks do not maintain a count.
*/
/*
Changes from V1.2.0
+ Changed the baud rate for the serial test from 19200 to 57600.
Changes from V1.2.3
+ The integer and comtest tasks are now used when the cooperative scheduler
is being used. Previously they were only used with the preemptive
scheduler.
Changes from V1.2.5
+ Set the baud rate to 38400. This has a smaller error percentage with an
8MHz clock (according to the manual).
Changes from V2.0.0
+ Delay periods are now specified using variables and constants of
TickType_t rather than unsigned long.
Changes from V2.2.0
+ File can now be built using either the IAR or WinAVR compiler.
Changes from V2.6.1
+ The IAR and WinAVR AVR ports are now maintained separately.
Changes from V4.0.5
+ Modified to demonstrate the use of co-routines.
*/
#include <stdlib.h>
#include <string.h>
#ifdef GCC_MEGA_AVR
/* EEPROM routines used only with the WinAVR compiler. */
#include <avr/eeprom.h>
#endif
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "croutine.h"
/* Demo file headers. */
#include "PollQ.h"
#include "integer.h"
#include "serial.h"
#include "comtest.h"
#include "crflash.h"
#include "print.h"
#include "partest.h"
#include "regtest.h"
/* Priority definitions for most of the tasks in the demo application. Some
tasks just use the idle priority. */
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
/* Baud rate used by the serial port tasks. */
#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 38400 )
/* LED used by the serial port tasks. This is toggled on each character Tx,
and mainCOM_TEST_LED + 1 is toggles on each character Rx. */
#define mainCOM_TEST_LED ( 4 )
/* LED that is toggled by the check task. The check task periodically checks
that all the other tasks are operating without error. If no errors are found
the LED is toggled. If an error is found at any time the LED is never toggles
again. */
#define mainCHECK_TASK_LED ( 7 )
/* The period between executions of the check task. */
#define mainCHECK_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
/* An address in the EEPROM used to count resets. This is used to check that
the demo application is not unexpectedly resetting. */
#define mainRESET_COUNT_ADDRESS ( ( void * ) 0x50 )
/* The number of coroutines to create. */
#define mainNUM_FLASH_COROUTINES ( 3 )
/*
* The task function for the "Check" task.
*/
static void vErrorChecks( void *pvParameters );
/*
* Checks the unique counts of other tasks to ensure they are still operational.
* Flashes an LED if everything is okay.
*/
static void prvCheckOtherTasksAreStillRunning( void );
/*
* Called on boot to increment a count stored in the EEPROM. This is used to
* ensure the CPU does not reset unexpectedly.
*/
static void prvIncrementResetCount( void );
/*
* Idle hook is used to scheduler co-routines.
*/
void vApplicationIdleHook( void );
short main( void )
{
prvIncrementResetCount();
/* Setup the LED's for output. */
vParTestInitialise();
/* Create the standard demo tasks. */
vStartIntegerMathTasks( tskIDLE_PRIORITY );
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
vStartRegTestTasks();
/* Create the tasks defined within this file. */
xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Create the co-routines that flash the LED's. */
vStartFlashCoRoutines( mainNUM_FLASH_COROUTINES );
/* In this port, to use preemptive scheduler define configUSE_PREEMPTION
as 1 in portmacro.h. To use the cooperative scheduler define
configUSE_PREEMPTION as 0. */
vTaskStartScheduler();
return 0;
}
/*-----------------------------------------------------------*/
static void vErrorChecks( void *pvParameters )
{
static volatile unsigned long ulDummyVariable = 3UL;
/* The parameters are not used. */
( void ) pvParameters;
/* Cycle for ever, delaying then checking all the other tasks are still
operating without error. */
for( ;; )
{
vTaskDelay( mainCHECK_PERIOD );
/* Perform a bit of 32bit maths to ensure the registers used by the
integer tasks get some exercise. The result here is not important -
see the demo application documentation for more info. */
ulDummyVariable *= 3;
prvCheckOtherTasksAreStillRunning();
}
}
/*-----------------------------------------------------------*/
static void prvCheckOtherTasksAreStillRunning( void )
{
static portBASE_TYPE xErrorHasOccurred = pdFALSE;
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
xErrorHasOccurred = pdTRUE;
}
if( xAreComTestTasksStillRunning() != pdTRUE )
{
xErrorHasOccurred = pdTRUE;
}
if( xArePollingQueuesStillRunning() != pdTRUE )
{
xErrorHasOccurred = pdTRUE;
}
if( xAreRegTestTasksStillRunning() != pdTRUE )
{
xErrorHasOccurred = pdTRUE;
}
if( xErrorHasOccurred == pdFALSE )
{
/* Toggle the LED if everything is okay so we know if an error occurs even if not
using console IO. */
vParTestToggleLED( mainCHECK_TASK_LED );
}
}
/*-----------------------------------------------------------*/
static void prvIncrementResetCount( void )
{
unsigned char ucCount;
const unsigned char ucReadBit = ( unsigned char ) 0x01;
const unsigned char ucWrite1 = ( unsigned char ) 0x04;
const unsigned char ucWrite2 = ( unsigned char ) 0x02;
/* Increment the EEPROM value at 0x00.
Setup the EEPROM address. */
EEARH = 0x00;
EEARL = 0x00;
/* Set the read enable bit. */
EECR |= ucReadBit;
/* Wait for the read. */
while( EECR & ucReadBit );
/* The byte is ready. */
ucCount = EEDR;
/* Increment the reset count, then write the byte back. */
ucCount++;
EEDR = ucCount;
EECR = ucWrite1;
EECR = ( ucWrite1 | ucWrite2 );
}
/*-----------------------------------------------------------*/
void vApplicationIdleHook( void )
{
vCoRoutineSchedule();
}
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