begriffs open source - cmsis-freertos/blob - Demo/AVR_ATMega323

1 /*

4

5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

6

7 This file is part of the FreeRTOS distribution.

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9 FreeRTOS is free software; you can redistribute it and/or modify it under

10 the terms of the GNU General Public License (version 2) as published by the

11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.

12

13 ***************************************************************************

14 >>! NOTE: The modification to the GPL is included to allow you to !<<

15 >>! distribute a combined work that includes FreeRTOS without being !<<

16 >>! obliged to provide the source code for proprietary components !<<

17 >>! outside of the FreeRTOS kernel. !<<

18 ***************************************************************************

19

20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY

21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS

22 FOR A PARTICULAR PURPOSE. Full license text is available on the following

23 link: http://www.freertos.org/a00114.html

24

25 ***************************************************************************

26 * *

27 * FreeRTOS provides completely free yet professionally developed, *

28 * robust, strictly quality controlled, supported, and cross *

29 * platform software that is more than just the market leader, it *

30 * is the industry's de facto standard. *

31 * *

32 * Help yourself get started quickly while simultaneously helping *

33 * to support the FreeRTOS project by purchasing a FreeRTOS *

34 * tutorial book, reference manual, or both: *

35 * http://www.FreeRTOS.org/Documentation *

36 * *

37 ***************************************************************************

38

39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading

40 the FAQ page "My application does not run, what could be wrong?". Have you

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64 engineered and independently SIL3 certified version for use in safety and

65 mission critical applications that require provable dependability.

66

67 1 tab == 4 spaces!

68 */

69

70 /*

71 * Creates all the demo application tasks, then starts the scheduler. The WEB

72 * documentation provides more details of the demo application tasks.

73 *

74 * Main. c also creates a task called "Check". This only executes every three

75 * seconds but has the highest priority so is guaranteed to get processor time.

76 * Its main function is to check that all the other tasks are still operational.

77 * Each task that does not flash an LED maintains a unique count that is

78 * incremented each time the task successfully completes its function. Should

79 * any error occur within such a task the count is permanently halted. The

80 * check task inspects the count of each task to ensure it has changed since

81 * the last time the check task executed. If all the count variables have

82 * changed all the tasks are still executing error free, and the check task

83 * toggles an LED. Should any task contain an error at any time the LED toggle

84 * will stop.

85 *

86 * The LED flash and communications test tasks do not maintain a count.

87 */

88

89 /*

90 Changes from V1.2.0

91

92 + Changed the baud rate for the serial test from 19200 to 57600.

93

94 Changes from V1.2.3

95

96 + The integer and comtest tasks are now used when the cooperative scheduler

97 is being used. Previously they were only used with the preemptive

98 scheduler.

99

100 Changes from V1.2.5

101

102 + Set the baud rate to 38400. This has a smaller error percentage with an

103 8MHz clock (according to the manual).

104

105 Changes from V2.0.0

106

107 + Delay periods are now specified using variables and constants of

108 TickType_t rather than unsigned long.

109

110 Changes from V2.2.0

111

112 + File can now be built using either the IAR or WinAVR compiler.

113

114 Changes from V2.6.1

115

116 + The IAR and WinAVR AVR ports are now maintained separately.

117

118 Changes from V4.0.5

119

120 + Modified to demonstrate the use of co-routines.

121 */

122

123 #include <stdlib.h>

124 #include <string.h>

125

126 #ifdef GCC_MEGA_AVR

127 /* EEPROM routines used only with the WinAVR compiler. */

128 #include <avr/eeprom.h>

129 #endif

130

131 /* Scheduler include files. */

132 #include "FreeRTOS.h"

133 #include "task.h"

134 #include "croutine.h"

135

136 /* Demo file headers. */

137 #include "PollQ.h"

138 #include "integer.h"

139 #include "serial.h"

140 #include "comtest.h"

141 #include "crflash.h"

142 #include "print.h"

143 #include "partest.h"

144 #include "regtest.h"

145

146 /* Priority definitions for most of the tasks in the demo application. Some

147 tasks just use the idle priority. */

148 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )

149 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )

150 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )

151 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )

152

153 /* Baud rate used by the serial port tasks. */

154 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 38400 )

155

156 /* LED used by the serial port tasks. This is toggled on each character Tx,

157 and mainCOM_TEST_LED + 1 is toggles on each character Rx. */

158 #define mainCOM_TEST_LED ( 4 )

159

160 /* LED that is toggled by the check task. The check task periodically checks

161 that all the other tasks are operating without error. If no errors are found

162 the LED is toggled. If an error is found at any time the LED is never toggles

163 again. */

164 #define mainCHECK_TASK_LED ( 7 )

165

166 /* The period between executions of the check task. */

167 #define mainCHECK_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )

168

169 /* An address in the EEPROM used to count resets. This is used to check that

170 the demo application is not unexpectedly resetting. */

171 #define mainRESET_COUNT_ADDRESS ( ( void * ) 0x50 )

172

173 /* The number of coroutines to create. */

174 #define mainNUM_FLASH_COROUTINES ( 3 )

175

176 /*

177 * The task function for the "Check" task.

178 */

179 static void vErrorChecks( void *pvParameters );

180

181 /*

182 * Checks the unique counts of other tasks to ensure they are still operational.

183 * Flashes an LED if everything is okay.

184 */

185 static void prvCheckOtherTasksAreStillRunning( void );

186

187 /*

188 * Called on boot to increment a count stored in the EEPROM. This is used to

189 * ensure the CPU does not reset unexpectedly.

190 */

191 static void prvIncrementResetCount( void );

192

193 /*

194 * Idle hook is used to scheduler co-routines.

195 */

196 void vApplicationIdleHook( void );

197

198 short main( void )

199 {

200 prvIncrementResetCount();

201

202 /* Setup the LED's for output. */

203 vParTestInitialise();

204

205 /* Create the standard demo tasks. */

206 vStartIntegerMathTasks( tskIDLE_PRIORITY );

207 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );

208 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );

209 vStartRegTestTasks();

210

211 /* Create the tasks defined within this file. */

212 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

213

214 /* Create the co-routines that flash the LED's. */

215 vStartFlashCoRoutines( mainNUM_FLASH_COROUTINES );

216

217 /* In this port, to use preemptive scheduler define configUSE_PREEMPTION

218 as 1 in portmacro.h. To use the cooperative scheduler define

219 configUSE_PREEMPTION as 0. */

220 vTaskStartScheduler();

221

222 return 0;

223 }

224 /*-----------------------------------------------------------*/

225

226 static void vErrorChecks( void *pvParameters )

227 {

228 static volatile unsigned long ulDummyVariable = 3UL;

229

230 /* The parameters are not used. */

231 ( void ) pvParameters;

232

233 /* Cycle for ever, delaying then checking all the other tasks are still

234 operating without error. */

235 for( ;; )

236 {

237 vTaskDelay( mainCHECK_PERIOD );

238

239 /* Perform a bit of 32bit maths to ensure the registers used by the

240 integer tasks get some exercise. The result here is not important -

241 see the demo application documentation for more info. */

242 ulDummyVariable *= 3;

243

244 prvCheckOtherTasksAreStillRunning();

245 }

246 }

247 /*-----------------------------------------------------------*/

248

249 static void prvCheckOtherTasksAreStillRunning( void )

250 {

251 static portBASE_TYPE xErrorHasOccurred = pdFALSE;

252

253 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )

254 {

255 xErrorHasOccurred = pdTRUE;

256 }

257

258 if( xAreComTestTasksStillRunning() != pdTRUE )

259 {

260 xErrorHasOccurred = pdTRUE;

261 }

262

263 if( xArePollingQueuesStillRunning() != pdTRUE )

264 {

265 xErrorHasOccurred = pdTRUE;

266 }

267

268 if( xAreRegTestTasksStillRunning() != pdTRUE )

269 {

270 xErrorHasOccurred = pdTRUE;

271 }

272

273 if( xErrorHasOccurred == pdFALSE )

274 {

275 /* Toggle the LED if everything is okay so we know if an error occurs even if not

276 using console IO. */

277 vParTestToggleLED( mainCHECK_TASK_LED );

278 }

279 }

280 /*-----------------------------------------------------------*/

281

282 static void prvIncrementResetCount( void )

283 {

284 unsigned char ucCount;

285 const unsigned char ucReadBit = ( unsigned char ) 0x01;

286 const unsigned char ucWrite1 = ( unsigned char ) 0x04;

287 const unsigned char ucWrite2 = ( unsigned char ) 0x02;

288

289 /* Increment the EEPROM value at 0x00.

290

291 Setup the EEPROM address. */

292 EEARH = 0x00;

293 EEARL = 0x00;

294

295 /* Set the read enable bit. */

296 EECR |= ucReadBit;

297

298 /* Wait for the read. */

299 while( EECR & ucReadBit );

300

301 /* The byte is ready. */

302 ucCount = EEDR;

303

304 /* Increment the reset count, then write the byte back. */

305 ucCount++;

306 EEDR = ucCount;

307 EECR = ucWrite1;

308 EECR = ( ucWrite1 | ucWrite2 );

309 }

310 /*-----------------------------------------------------------*/

311

312 void vApplicationIdleHook( void )

313 {

314 vCoRoutineSchedule();

315 }

316