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/*
FreeRTOS V4.6.1 - Copyright (C) 2003-2006 Richard Barry.
MCF5235 Port - Copyright (C) 2006 Christian Walter.
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.
***************************************************************************
***************************************************************************
* *
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
* *
* This is a concise, step by step, 'hands on' guide that describes both *
* general multitasking concepts and FreeRTOS specifics. It presents and *
* explains numerous examples that are written using the FreeRTOS API. *
* Full source code for all the examples is provided in an accompanying *
* .zip file. *
* *
***************************************************************************
***************************************************************************
Please ensure to read the configuration and relevant port sections of the
online documentation.
http://www.FreeRTOS.org - Documentation, latest information, license and
contact details.
http://www.SafeRTOS.com - A version that is certified for use in safety
critical systems.
http://www.OpenRTOS.com - Commercial support, development, porting,
licensing and training services.
*/
/* ------------------------ System includes ------------------------------- */
#include <stdlib.h>
#include <string.h>
/* ------------------------ FreeRTOS includes ----------------------------- */
#include "FreeRTOS.h"
#include "task.h"
/* ------------------------ Demo application includes --------------------- */
#include "partest.h"
#include "flash.h"
#include "integer.h"
#include "PollQ.h"
#include "comtest2.h"
#include "semtest.h"
#include "flop.h"
#include "dynamic.h"
#include "BlockQ.h"
#include "serial.h"
/* ------------------------ Defines --------------------------------------- */
/* Constants for the ComTest tasks. */
#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 38400 )
#define mainCOM_TEST_LED ( -1 )
/* 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 mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
/* Interval in which tasks are checked. */
#define mainCHECK_PERIOD ( ( TickType_t ) 2000 / portTICK_PERIOD_MS )
/* Constants used by the vMemCheckTask() task. */
#define mainCOUNT_INITIAL_VALUE ( ( unsigned long ) 0 )
#define mainNO_TASK ( 0 )
/* The size of the memory blocks allocated by the vMemCheckTask() task. */
#define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
#define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
#define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
/* ------------------------ Static variables ------------------------------ */
xComPortHandle xSTDComPort = NULL;
/* ------------------------ Static functions ------------------------------ */
static portTASK_FUNCTION( vErrorChecks, pvParameters );
static long prvCheckOtherTasksAreStillRunning( unsigned long
ulMemCheckTaskCount );
static portTASK_FUNCTION( vMemCheckTask, pvParameters );
/* ------------------------ Implementation -------------------------------- */
int
main( int argc, char *argv[] )
{
asm volatile ( "move.w #0x2000, %sr\n\t" );
xSTDComPort = xSerialPortInitMinimal( 38400, 8 );
/* Start the demo/test application tasks. */
vStartIntegerMathTasks( tskIDLE_PRIORITY );
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
vStartMathTasks( tskIDLE_PRIORITY );
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
vStartDynamicPriorityTasks( );
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
/* Start the check task - which is defined in this file. */
xTaskCreate( vErrorChecks, "Check", 512, NULL,
mainCHECK_TASK_PRIORITY, NULL );
/* Now all the tasks have been started - start the scheduler. */
vTaskStartScheduler( );
/* Should never get here! */
return 0;
}
static
portTASK_FUNCTION( vErrorChecks, pvParameters )
{
unsigned long ulMemCheckTaskRunningCount;
TaskHandle_t xCreatedTask;
/* The parameters are not used in this function. */
( void )pvParameters;
xSerialPortInitMinimal( mainCOM_TEST_BAUD_RATE, 8 );
for( ;; )
{
ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
xCreatedTask = mainNO_TASK;
if( xTaskCreate
( vMemCheckTask, "MEM_CHECK",
configMINIMAL_STACK_SIZE, ( void * )&ulMemCheckTaskRunningCount,
tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
{
xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY );
}
/* Delay until it is time to execute again. */
vTaskDelay( mainCHECK_PERIOD );
/* Delete the dynamically created task. */
if( xCreatedTask != mainNO_TASK )
{
vTaskDelete( xCreatedTask );
}
if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) !=
pdPASS )
{
xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY );
}
else
{
xSerialPutChar( xSTDComPort, '.', portMAX_DELAY );
}
}
}
static long
prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount )
{
long lReturn = ( long ) 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 = ( long ) pdFAIL;
}
if( xArePollingQueuesStillRunning( ) != pdTRUE )
{
lReturn = ( long ) pdFAIL;
}
if( xAreMathsTaskStillRunning( ) != pdTRUE )
{
lReturn = ( long ) pdFAIL;
}
if( xAreSemaphoreTasksStillRunning( ) != pdTRUE )
{
lReturn = ( long ) pdFAIL;
}
if( xAreDynamicPriorityTasksStillRunning( ) != pdTRUE )
{
lReturn = ( long ) pdFAIL;
}
if( xAreBlockingQueuesStillRunning( ) != pdTRUE )
{
lReturn = ( long ) pdFAIL;
}
if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
{
// The vMemCheckTask did not increment the counter - it must
// have failed.
lReturn = ( long ) pdFAIL;
}
return lReturn;
}
static void
vMemCheckTask( void *pvParameters )
{
unsigned long *pulMemCheckTaskRunningCounter;
void *pvMem1, *pvMem2, *pvMem3;
static long lErrorOccurred = pdFALSE;
/* This task is dynamically created then deleted during each cycle of the
vErrorChecks task to check the operation of the memory allocator. Each time
the task is created memory is allocated for the stack and TCB. Each time
the task is deleted this memory is returned to the heap. This task itself
exercises the allocator by allocating and freeing blocks.
The task executes at the idle priority so does not require a delay.
pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
vErrorChecks() task that this task is still executing without error. */
pulMemCheckTaskRunningCounter = ( unsigned long * )pvParameters;
for( ;; )
{
if( lErrorOccurred == pdFALSE )
{
/* We have never seen an error so increment the counter. */
( *pulMemCheckTaskRunningCounter )++;
}
/* Allocate some memory - just to give the allocator some extra
exercise. This has to be in a critical section to ensure the
task does not get deleted while it has memory allocated. */
vTaskSuspendAll( );
{
pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
if( pvMem1 == NULL )
{
lErrorOccurred = pdTRUE;
}
else
{
memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
vPortFree( pvMem1 );
}
}
xTaskResumeAll( );
/* Again - with a different size block. */
vTaskSuspendAll( );
{
pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
if( pvMem2 == NULL )
{
lErrorOccurred = pdTRUE;
}
else
{
memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
vPortFree( pvMem2 );
}
}
xTaskResumeAll( );
/* Again - with a different size block. */
vTaskSuspendAll( );
{
pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
if( pvMem3 == NULL )
{
lErrorOccurred = pdTRUE;
}
else
{
memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
vPortFree( pvMem3 );
}
}
xTaskResumeAll( );
}
}
void
vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
{
}
void
vParTestToggleLED( unsigned portBASE_TYPE uxLED )
{
}