First version under SVN is V4.0.1
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Richard Barry
252
Demo/uIP_Demo_IAR_ARM7/main.c
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252
Demo/uIP_Demo_IAR_ARM7/main.c
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/*
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FreeRTOS V4.0.1 - copyright (C) 2003-2006 Richard Barry.
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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See http://www.FreeRTOS.org for documentation, latest information, license
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and contact details. Please ensure to read the configuration and relevant
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port sections of the online documentation.
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***************************************************************************
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*/
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/*
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* Creates all the application tasks, then starts the scheduler.
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*
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* A task is also created called "uIP". This executes the uIP stack and small
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* WEB server sample. All the other tasks are from the set of standard
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* demo tasks. The WEB documentation provides more details of the standard
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* demo application tasks.
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*
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* Main.c also creates a task called "Check". This only executes every three
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* seconds but has the highest priority so is guaranteed to get processor time.
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* Its main function is to check the status of all the other demo application
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* tasks. LED mainCHECK_LED is toggled every three seconds by the check task
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* should no error conditions be detected in any of the standard demo tasks.
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* The toggle rate increasing to 500ms indicates that at least one error has
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* been detected.
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*/
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/* Standard includes. */
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#include <stdlib.h>
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#include <string.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo application includes. */
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#include "partest.h"
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#include "PollQ.h"
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#include "dynamic.h"
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#include "semtest.h"
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#include "flash.h"
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#include "integer.h"
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#include "flop.h"
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#include "BlockQ.h"
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#include "death.h"
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#include "uip_task.h"
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/*-----------------------------------------------------------*/
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/* Priorities/stacks for the demo application tasks. */
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainUIP_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainUIP_TASK_STACK_SIZE ( 250 )
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/* The rate at which the on board LED will toggle when there is/is not an
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error. */
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#define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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#define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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/* The LED used by the check task to indicate the system status. */
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#define mainCHECK_LED ( 3 )
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/*-----------------------------------------------------------*/
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/*
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* Checks that all the demo application tasks are still executing without error
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* - as described at the top of the file.
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*/
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static portLONG prvCheckOtherTasksAreStillRunning( void );
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/*
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* The task that executes at the highest priority and calls
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* prvCheckOtherTasksAreStillRunning(). See the description at the top
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* of the file.
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*/
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static void vErrorChecks( void *pvParameters );
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/*
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* Configure the processor for use with the Atmel demo board. This is very
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* minimal as most of the setup is performed in the startup code.
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*/
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static void prvSetupHardware( void );
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/*-----------------------------------------------------------*/
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/*
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* Starts all the other tasks, then starts the scheduler.
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*/
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int main( void )
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{
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/* Configure the processor. */
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prvSetupHardware();
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/* Setup the port used to flash the LED's. */
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vParTestInitialise();
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/* Start the task that handles the TCP/IP and WEB server functionality. */
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xTaskCreate( vuIP_TASK, "uIP", mainUIP_TASK_STACK_SIZE, NULL, mainUIP_PRIORITY, NULL );
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/* Start the demo/test application tasks. These are created in addition
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to the TCP/IP task for demonstration and test purposes. */
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartDynamicPriorityTasks();
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartLEDFlashTasks( mainFLASH_PRIORITY );
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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vStartMathTasks( tskIDLE_PRIORITY );
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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/* Start the check task - which is defined in this file. */
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xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Must be last to get created. */
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vCreateSuicidalTasks( mainDEATH_PRIORITY );
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/* Now all the tasks have been started - start the scheduler. */
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vTaskStartScheduler();
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/* Should never reach here because the tasks should now be executing! */
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return 0;
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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/* When using the JTAG debugger the hardware is not always initialised to
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the correct default state. This line just ensures that this does not
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cause all interrupts to be masked at the start. */
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AT91C_BASE_AIC->AIC_EOICR = 0;
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/* Most setup is performed by the low level init function called from the
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startup asm file.
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Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as
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well as the UART Tx line. */
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AT91F_PIO_CfgOutput( AT91C_BASE_PIOB, LED_MASK );
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/* Enable the peripheral clock. */
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AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA );
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AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOB ) ;
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AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_EMAC ) ;
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}
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/*-----------------------------------------------------------*/
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static void vErrorChecks( void *pvParameters )
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{
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portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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portTickType xLastWakeTime;
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/* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
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functions correctly. */
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xLastWakeTime = xTaskGetTickCount();
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/* Cycle for ever, delaying then checking all the other tasks are still
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operating without error. If an error is detected then the delay period
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is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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the Check LED flash rate will increase. */
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for( ;; )
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{
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/* Delay until it is time to execute again. The delay period is
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shorter following an error. */
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vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
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/* Check all the standard demo application tasks are executing without
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error. */
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if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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{
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/* An error has been detected in one of the tasks - flash faster. */
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xDelayPeriod = mainERROR_FLASH_PERIOD;
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}
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vParTestToggleLED( mainCHECK_LED );
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}
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}
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/*-----------------------------------------------------------*/
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static portLONG prvCheckOtherTasksAreStillRunning( void )
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{
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portLONG lReturn = ( portLONG ) pdPASS;
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/* Check all the demo tasks (other than the flash tasks) to ensure
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that they are all still running, and that none of them have detected
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an error. */
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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if( xAreMathsTaskStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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return lReturn;
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}
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