/* | |
FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that has become a de facto standard. * | |
* * | |
* Help yourself get started quickly and support the FreeRTOS * | |
* project by purchasing a FreeRTOS tutorial book, reference * | |
* manual, or both from: http://www.FreeRTOS.org/Documentation * | |
* * | |
* Thank you! * | |
* * | |
*************************************************************************** | |
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 (version 2) as published by the | |
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. | |
>>! NOTE: The modification to the GPL is included to allow you to !<< | |
>>! distribute a combined work that includes FreeRTOS without being !<< | |
>>! obliged to provide the source code for proprietary components !<< | |
>>! outside of the FreeRTOS kernel. !<< | |
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. Full license text is available from the following | |
link: http://www.freertos.org/a00114.html | |
1 tab == 4 spaces! | |
*************************************************************************** | |
* * | |
* Having a problem? Start by reading the FAQ "My application does * | |
* not run, what could be wrong?" * | |
* * | |
* http://www.FreeRTOS.org/FAQHelp.html * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
license and Real Time Engineers Ltd. contact details. | |
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
compatible FAT file system, and our tiny thread aware UDP/IP stack. | |
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS | |
licenses offer ticketed support, indemnification and middleware. | |
http://www.SafeRTOS.com - High Integrity Systems also provide a safety | |
engineered and independently SIL3 certified version for use in safety and | |
mission critical applications that require provable dependability. | |
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*/ | |
/* | |
* | |
* main() 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. | |
* | |
* This file also includes the functionality implemented within the | |
* standard demo application file integer.c. This is done to demonstrate the | |
* use of an idle hook. See the documentation within integer.c for the | |
* rationale of the integer task functionality. | |
* */ | |
/* Kernel includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "queue.h" | |
#include "cpu.h" | |
/* special prototypes for memory-banked functions */ | |
void vStartPolledQueueTasks( unsigned portBASE_TYPE uxPriority ); | |
portBASE_TYPE xArePollingQueuesStillRunning( void ); | |
/* Demo application includes. */ | |
#include "flash.h" | |
#include "PollQ.h" | |
#include "dynamic.h" | |
#include "partest.h" | |
#include "comtest2.h" | |
#include "BlockQ.h" | |
#include "integer.h" | |
#include "death.h" | |
/*----------------------------------------------------------- | |
Definitions. | |
-----------------------------------------------------------*/ | |
/* Priorities assigned to demo application tasks. */ | |
#define mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
/* 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 with mainCHECK_PERIOD frequency. If an error is found | |
then the toggle rate increases to mainERROR_CHECK_PERIOD. */ | |
#define mainCHECK_TASK_LED ( 7 ) | |
#define mainCHECK_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS ) | |
#define mainERROR_CHECK_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS ) | |
/* The constants used in the idle task calculation. */ | |
#define intgCONST1 ( ( long ) 123 ) | |
#define intgCONST2 ( ( long ) 234567 ) | |
#define intgCONST3 ( ( long ) -3 ) | |
#define intgCONST4 ( ( long ) 7 ) | |
#define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 ) | |
/* Baud rate used by the serial port tasks (ComTest tasks). | |
IMPORTANT: The function COM0_SetBaudRateValue() which is generated by the | |
Processor Expert is used to set the baud rate. As configured in the FreeRTOS | |
download this value must be one of the following: | |
0 to configure for 38400 baud. | |
1 to configure for 19200 baud. | |
2 to configure for 9600 baud. | |
3 to configure for 4800 baud. */ | |
#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 2 ) | |
/* 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 ( 3 ) | |
/*----------------------------------------------------------- | |
Local functions prototypes. | |
-----------------------------------------------------------*/ | |
/* | |
* The 'Check' task function. See the explanation at the top of the file. | |
*/ | |
static void ATTR_BANK1 vErrorChecks( void* pvParameters ); | |
/* | |
* The idle task hook - in which the integer task is implemented. See the | |
* explanation at the top of the file. | |
*/ | |
void ATTR_BANK0 vApplicationIdleHook( void ); | |
/* | |
* Checks the unique counts of other tasks to ensure they are still operational. | |
*/ | |
static long ATTR_BANK0 prvCheckOtherTasksAreStillRunning( void ); | |
/*----------------------------------------------------------- | |
Local variables. | |
-----------------------------------------------------------*/ | |
/* A few tasks are defined within this file. This flag is used to indicate | |
their status. If an error is detected in one of the locally defined tasks then | |
this flag is set to pdTRUE. */ | |
portBASE_TYPE xLocalError = pdFALSE; | |
/*-----------------------------------------------------------*/ | |
/* This is called from startup. */ | |
int ATTR_BANK0 main ( void ) | |
{ | |
/* Start some of the standard demo tasks. */ | |
vStartLEDFlashTasks( mainFLASH_PRIORITY ); | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
vStartDynamicPriorityTasks(); | |
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED ); | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
vStartIntegerMathTasks( tskIDLE_PRIORITY ); | |
/* Start the locally defined tasks. There is also a task implemented as | |
the idle hook. */ | |
xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* Must be the last demo created. */ | |
vCreateSuicidalTasks( mainDEATH_PRIORITY ); | |
/* All the tasks have been created - start the scheduler. */ | |
vTaskStartScheduler(); | |
/* Should not reach here! */ | |
for( ;; ); | |
return 0; | |
} | |
/*-----------------------------------------------------------*/ | |
static void vErrorChecks( void *pvParameters ) | |
{ | |
TickType_t xDelayPeriod = mainCHECK_PERIOD; | |
TickType_t xLastWakeTime; | |
/* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil() | |
functions correctly. */ | |
xLastWakeTime = xTaskGetTickCount(); | |
for( ;; ) | |
{ | |
/* Delay until it is time to execute again. The delay period is | |
shorter following an error. */ | |
vTaskDelayUntil( &xLastWakeTime, xDelayPeriod ); | |
/* Check all the demo application tasks are executing without | |
error. If an error is found the delay period is shortened - this | |
has the effect of increasing the flash rate of the 'check' task | |
LED. */ | |
if( prvCheckOtherTasksAreStillRunning() == pdFAIL ) | |
{ | |
/* An error has been detected in one of the tasks - flash faster. */ | |
xDelayPeriod = mainERROR_CHECK_PERIOD; | |
} | |
/* Toggle the LED each cycle round. */ | |
vParTestToggleLED( mainCHECK_TASK_LED ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static long prvCheckOtherTasksAreStillRunning( void ) | |
{ | |
portBASE_TYPE xAllTasksPassed = pdPASS; | |
if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
xAllTasksPassed = pdFAIL; | |
} | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
xAllTasksPassed = pdFAIL; | |
} | |
if( xAreComTestTasksStillRunning() != pdTRUE ) | |
{ | |
xAllTasksPassed = pdFALSE; | |
} | |
if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
xAllTasksPassed = pdFALSE; | |
} | |
if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
xAllTasksPassed = pdFALSE; | |
} | |
if( xIsCreateTaskStillRunning() != pdTRUE ) | |
{ | |
xAllTasksPassed = pdFALSE; | |
} | |
/* Also check the status flag for the tasks defined within this function. */ | |
if( xLocalError != pdFALSE ) | |
{ | |
xAllTasksPassed = pdFAIL; | |
} | |
return xAllTasksPassed; | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationIdleHook( void ) | |
{ | |
/* This variable is effectively set to a constant so it is made volatile to | |
ensure the compiler does not just get rid of it. */ | |
volatile long lValue; | |
/* Keep performing a calculation and checking the result against a constant. */ | |
/* Perform the calculation. This will store partial value in | |
registers, resulting in a good test of the context switch mechanism. */ | |
lValue = intgCONST1; | |
lValue += intgCONST2; | |
lValue *= intgCONST3; | |
lValue /= intgCONST4; | |
/* Did we perform the calculation correctly with no corruption? */ | |
if( lValue != intgEXPECTED_ANSWER ) | |
{ | |
/* Error! */ | |
portENTER_CRITICAL(); | |
xLocalError = pdTRUE; | |
portEXIT_CRITICAL(); | |
} | |
/* Yield in case cooperative scheduling is being used. */ | |
#if configUSE_PREEMPTION == 0 | |
{ | |
taskYIELD(); | |
} | |
#endif | |
} | |
/*-----------------------------------------------------------*/ | |