www.pudn.com > FreeRTOSV4.0.0.zip > main.c, change:2006-03-21,size:10046b


/* 
	FreeRTOS V4.0.0 - Copyright (C) 2003-2006 Richard Barry. 
 
	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 as published by 
	the Free Software Foundation; either version 2 of the License, or 
	(at your option) any later version. 
 
	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 
	along with FreeRTOS; 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, 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. 
 
	*************************************************************************** 
	See http://www.FreeRTOS.org for documentation, latest information, license 
	and contact details.  Please ensure to read the configuration and relevant 
	port sections of the online documentation. 
	*************************************************************************** 
*/ 
 
 
/*  
	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 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 (other than the "flash" tasks) 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 onboard 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> 
 
/* Scheduler includes. */ 
#include "FreeRTOS.h" 
#include "task.h" 
 
/* Demo application includes. */ 
#include "flash.h" 
#include "integer.h" 
#include "PollQ.h" 
#include "BlockQ.h" 
#include "semtest.h" 
#include "dynamic.h" 
#include "partest.h" 
#include "comtest2.h" 
 
/* Priorities for the demo application tasks. */ 
#define mainLED_TASK_PRIORITY		( tskIDLE_PRIORITY + 3 ) 
#define mainQUEUE_POLL_PRIORITY		( tskIDLE_PRIORITY + 2 ) 
#define mainCHECK_TASK_PRIORITY		( tskIDLE_PRIORITY + 4 ) 
#define mainSEM_TEST_PRIORITY		( tskIDLE_PRIORITY + 1 ) 
#define mainBLOCK_Q_PRIORITY		( tskIDLE_PRIORITY + 2 ) 
#define mainCOM_TEST_PRIORITY		( tskIDLE_PRIORITY + 2 ) 
 
/* Constants required by the 'Check' task. */ 
#define mainNO_ERROR_FLASH_PERIOD	( ( portTickType ) 3000 / portTICK_RATE_MS  ) 
#define mainERROR_FLASH_PERIOD		( ( portTickType ) 500 / portTICK_RATE_MS  ) 
#define mainCHECK_TASK_LED			( 7 ) 
 
/* Constants for the ComTest tasks. */ 
#define mainCOM_TEST_BAUD_RATE		( ( unsigned portLONG ) 115200 ) 
#define mainCOM_TEST_LED			( 4 ) 
#define mainTX_ENABLE				( ( unsigned portLONG ) 0x0001 ) 
#define mainRX_ENABLE				( ( unsigned portLONG ) 0x0004 ) 
 
/* 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 ) 
 
/* And finally, constant to setup the port for the LED's. */ 
#define mainLED_TO_OUTPUT			( ( unsigned portLONG ) 0xff0000 ) 
 
/* 
 * 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 ); 
 
/* 
 * Configures the processor for use with this demo. 
 */ 
static void prvSetupHardware( 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 ); 
 
 
/*-----------------------------------------------------------*/ 
 
/* 
 * Starts all the other tasks, then starts the scheduler. 
 */ 
void main( void ) 
{ 
	/* Setup the processor. */ 
	prvSetupHardware(); 
 
	/* Start all the standard demo application tasks. */ 
	vStartIntegerMathTasks( tskIDLE_PRIORITY ); 
	vStartLEDFlashTasks( mainLED_TASK_PRIORITY ); 
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); 
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); 
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); 
	vStartDynamicPriorityTasks(); 
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED ); 
		 
	/* Start the check task - which is defined in this file. */ 
	xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); 
 
	/* 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; 
} 
/*-----------------------------------------------------------*/ 
 
static void prvSetupHardware( void ) 
{ 
	/* Setup the PLL to multiply the XTAL input by 4. */ 
	PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 ); 
 
	/* Activate the PLL by turning it on then feeding the correct sequence of 
	bytes. */ 
	PLLCON = mainPLL_ENABLE; 
	PLLFEED = mainPLL_FEED_BYTE1; 
	PLLFEED = mainPLL_FEED_BYTE2; 
 
	/* Wait for the PLL to lock... */ 
	while( !( PLLSTAT & mainPLL_LOCK ) ); 
 
	/* ...before connecting it using the feed sequence again. */ 
	PLLCON = mainPLL_CONNECT; 
	PLLFEED = mainPLL_FEED_BYTE1; 
	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. */ 
	MAMTIM = mainMAM_TIM_3; 
	MAMCR = mainMAM_MODE_FULL; 
 
	/* Setup the peripheral bus to be the same as the PLL output. */ 
	VPBDIV = mainBUS_CLK_FULL; 
	 
	/* Configure the RS2332 pins.  All other pins remain at their default of 0. */ 
	PINSEL0 |= mainTX_ENABLE; 
	PINSEL0 |= mainRX_ENABLE; 
 
	/* LED pins need to be output. */ 
	IO1DIR = mainLED_TO_OUTPUT; 
 
	/* Setup the peripheral bus to be the same as the PLL output. */ 
	VPBDIV = mainBUS_CLK_FULL; 
} 
/*-----------------------------------------------------------*/ 
 
static void vErrorChecks( void *pvParameters ) 
{ 
portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD; 
 
	/* The parameters are not used in this task. */ 
	( void ) pvParameters; 
 
	/* 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; 
		} 
		 
		vParTestToggleLED( mainCHECK_TASK_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( xAreIntegerMathsTaskStillRunning() != pdTRUE ) 
	{ 
		lReturn = ( portLONG ) pdFAIL; 
	} 
 
	if( xArePollingQueuesStillRunning() != pdTRUE ) 
	{ 
		lReturn = ( portLONG ) pdFAIL; 
	} 
 
	if( xAreSemaphoreTasksStillRunning() != pdTRUE ) 
	{ 
		lReturn = ( portLONG ) pdFAIL; 
	} 
 
	if( xAreBlockingQueuesStillRunning() != pdTRUE ) 
	{ 
		lReturn = ( portLONG ) pdFAIL; 
	} 
 
	if( xAreComTestTasksStillRunning() != pdTRUE ) 
	{ 
		lReturn = ( portLONG ) pdFAIL; 
	} 
 
	if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) 
	{ 
		lReturn = ( portLONG ) pdFAIL; 
	} 
 
	return lReturn; 
} 
/*-----------------------------------------------------------*/