[修改] 增加freeRTOS
1. 版本FreeRTOSv202212.01，命名为kernel；
This commit is contained in:
260
kernel/FreeRTOS/Demo/AVR_ATMega323_IAR/main.c
Normal file
260
kernel/FreeRTOS/Demo/AVR_ATMega323_IAR/main.c
Normal file
@ -0,0 +1,260 @@
|
||||
/*
|
||||
* FreeRTOS V202212.01
|
||||
* 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.
|
||||
*
|
||||
* https://www.FreeRTOS.org
|
||||
* https://github.com/FreeRTOS
|
||||
*
|
||||
*/
|
||||
|
||||
/*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
#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"
|
||||
|
||||
/* Demo file headers. */
|
||||
#include "PollQ.h"
|
||||
#include "integer.h"
|
||||
#include "serial.h"
|
||||
#include "comtest.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 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 (empty)
|
||||
*/
|
||||
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 );
|
||||
|
||||
/* 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 )
|
||||
{
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user