www.pudn.com > FreeRTOSV4.0.0.zip > main.c, change:2006-03-21,size:10089b


/* 
	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 "partest.h" 
#include "flash.h" 
#include "integer.h" 
#include "comtest2.h" 
#include "serial.h" 
 
#ifdef KEIL_THUMB_INTERWORK 
	/*  
		THUMB mode allows more tasks to be created without the executable  
		binary exceeding the limits allowed by the evaluation version of  
		uVision3. 
	*/ 
	#include "PollQ.h" 
	#include "BlockQ.h" 
	#include "semtest.h" 
	#include "dynamic.h" 
 
#endif 
 
/*-----------------------------------------------------------*/ 
 
/* Constants to setup I/O and processor. */ 
#define mainTX_ENABLE		( ( unsigned portLONG ) 0x0001 ) 
#define mainRX_ENABLE		( ( unsigned portLONG ) 0x0004 ) 
#define mainBUS_CLK_FULL	( ( unsigned portCHAR ) 0x01 ) 
#define mainLED_TO_OUTPUT	( ( unsigned portLONG ) 0xff0000 ) 
 
/* Constants for the ComTest demo application tasks. */ 
#define mainCOM_TEST_BAUD_RATE	( ( unsigned portLONG ) 115200 ) 
#define mainCOM_TEST_LED		( 3 ) 
 
/* Priorities for the demo application tasks. */ 
#define mainLED_TASK_PRIORITY		( tskIDLE_PRIORITY + 3 ) 
#define mainCOM_TEST_PRIORITY		( tskIDLE_PRIORITY + 2 ) 
#define mainQUEUE_POLL_PRIORITY		( tskIDLE_PRIORITY + 2 ) 
#define mainBLOCK_Q_PRIORITY		( tskIDLE_PRIORITY + 2 ) 
#define mainSEM_TEST_PRIORITY		( tskIDLE_PRIORITY + 1 ) 
#define mainCHECK_TASK_PRIORITY		( tskIDLE_PRIORITY + 4 ) 
 
/* Constants used by the "check" task.  As described at the head of this file 
the check task toggles an LED.  The rate at which the LED flashes is used to 
indicate whether an error has been detected or not.  If the LED toggles every 
3 seconds then no errors have been detected.  If the rate increases to 500ms 
then an error has been detected in at least one of the demo application tasks. */ 
#define mainCHECK_LED				( 7 ) 
#define mainNO_ERROR_FLASH_PERIOD	( ( portTickType ) 3000 / portTICK_RATE_MS  ) 
#define mainERROR_FLASH_PERIOD		( ( portTickType ) 500 / portTICK_RATE_MS  ) 
 
/*-----------------------------------------------------------*/ 
 
/* 
 * 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 Keil demo board.  This is very 
 * minimal as most of the setup is managed by the settings in the project 
 * file. 
 */ 
static void prvSetupHardware( void ); 
 
/*-----------------------------------------------------------*/ 
 
 
 
/* 
 * Application entry point: 
 * Starts all the other tasks, then starts the scheduler.  
 */ 
int main( void ) 
{ 
	/* Setup the hardware for use with the Keil demo board. */ 
	prvSetupHardware(); 
 
	/* Start the demo/test application tasks. */ 
	vStartIntegerMathTasks( tskIDLE_PRIORITY ); 
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED ); 
	vStartLEDFlashTasks( mainLED_TASK_PRIORITY ); 
 
	#ifdef KEIL_THUMB_INTERWORK 
		/* When using THUMB mode we can start more tasks without the executable 
		exceeding the size limit imposed by the evaluation version of uVision3. */ 
		vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); 
		vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); 
		vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); 
		vStartDynamicPriorityTasks(); 
	#endif 
 
	/* Start the check task - which is defined in this file.  This is the task 
	that periodically checks to see that all the other tasks are executing  
	without error. */ 
	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; 
 
	/* Parameters are not used. */ 
	( 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. 
 
	This task runs at the highest priority. */ 
 
	for( ;; ) 
	{ 
		/* The period of the delay depends on whether an error has been  
		detected or not.  If an error has been detected then the period 
		is reduced to increase the LED flash rate. */ 
		vTaskDelay( xDelayPeriod ); 
 
		if( prvCheckOtherTasksAreStillRunning() != pdPASS ) 
		{ 
			/* An error has been detected in one of the tasks - flash faster. */ 
			xDelayPeriod = mainERROR_FLASH_PERIOD; 
		} 
 
		/* Toggle the LED before going back to wait for the next cycle. */ 
		vParTestToggleLED( mainCHECK_LED ); 
	} 
} 
/*-----------------------------------------------------------*/ 
 
static void prvSetupHardware( void ) 
{ 
	/* Perform the hardware setup required.  This is minimal as most of the 
	setup is managed by the settings in the project file. */ 
 
	/* 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. */ 
	IODIR1 = mainLED_TO_OUTPUT; 
 
	/* Setup the peripheral bus to be the same as the PLL output. */ 
	VPBDIV = mainBUS_CLK_FULL; 
} 
/*-----------------------------------------------------------*/ 
 
static portLONG prvCheckOtherTasksAreStillRunning( void ) 
{ 
portLONG lReturn = 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() != pdPASS ) 
	{ 
		lReturn = pdFAIL; 
	} 
 
	if( xAreComTestTasksStillRunning() != pdPASS ) 
	{ 
		lReturn = pdFAIL; 
	} 
 
	#ifdef KEIL_THUMB_INTERWORK 
 
		/* When using THUMB mode we can start more tasks without the executable 
		exceeding the size limit imposed by the evaluation version of uVision3. */ 
	 
		if( xArePollingQueuesStillRunning() != pdTRUE ) 
		{ 
			lReturn = pdFAIL; 
		} 
	 
		if( xAreBlockingQueuesStillRunning() != pdTRUE ) 
		{ 
			lReturn = pdFAIL; 
		} 
	 
		if( xAreSemaphoreTasksStillRunning() != pdTRUE ) 
		{ 
			lReturn = pdFAIL; 
		} 
 
		if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) 
		{ 
			lReturn = pdFAIL; 
		} 
 
	#endif 
 
	return lReturn; 
} 
/*-----------------------------------------------------------*/