/* | |
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 | |
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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 | |
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* * | |
* Having a problem? Start by reading the FAQ "My application does * | |
* not run, what could be wrong?" * | |
* * | |
* http://www.FreeRTOS.org/FAQHelp.html * | |
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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 | |
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*/ | |
/****************************************************************************** | |
* NOTE 1: This project provides two demo applications. A simple blinky style | |
* project, and a more comprehensive test and demo application. The | |
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select | |
* between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY | |
* in main.c. This file implements the comprehensive test and demo version. | |
* | |
* NOTE 2: This file only contains the source code that is specific to the | |
* full demo. Generic functions, such FreeRTOS hook functions, and functions | |
* required to configure the hardware, are defined in main.c. | |
****************************************************************************** | |
* | |
* main_full() creates a set of standard demo tasks, some application specific | |
* tasks, and four timers. It then starts the scheduler. The web documentation | |
* provides more details of the standard demo application tasks, which provide | |
* no particular functionality, but do provide a good example of how to use the | |
* FreeRTOS API. | |
* | |
* In addition to the standard demo tasks, the following tasks and timer are | |
* defined and/or created within this file: | |
* | |
* "Reg test" tasks - These fill the registers with known values, then check | |
* that each register maintains its expected value for the lifetime of the | |
* task. Each task uses a different set of values. The reg test tasks execute | |
* with a very low priority, so get preempted very frequently. A register | |
* containing an unexpected value is indicative of an error in the context | |
* switching mechanism. | |
* | |
* "Flash timers" - A software timer callback function is defined that does | |
* nothing but toggle an LED. Three software timers are created that each | |
* use the same callback function, but each toggles a different LED at a | |
* different frequency. One software timer uses LED1, another LED2 and the | |
* third LED3. | |
* | |
* "Check" software timer - The check timer period is initially set to three | |
* seconds. Its callback function checks that all the standard demo tasks, and | |
* the register check tasks, are not only still executing, but are executing | |
* without reporting any errors. If the check timer callback discovers that a | |
* task has either stalled, or reported an error, then it changes the period of | |
* the check timer from the initial three seconds, to just 200ms. The callback | |
* function also toggles LED 4 each time it is called. This provides a visual | |
* indication of the system status: If the LED toggles every three seconds, | |
* then no issues have been discovered. If the LED toggles every 200ms, then | |
* an issue has been discovered with at least one task. | |
*/ | |
/* Kernel includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "queue.h" | |
#include "timers.h" | |
/* Common demo includes. */ | |
#include "blocktim.h" | |
#include "countsem.h" | |
#include "recmutex.h" | |
#include "ParTest.h" | |
#include "dynamic.h" | |
/* Hardware includes. */ | |
#include "stm320518_eval.h" | |
/* The period after which the check timer will expire provided no errors have | |
been reported by any of the standard demo tasks. ms are converted to the | |
equivalent in ticks using the portTICK_PERIOD_MS constant. */ | |
#define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS ) | |
/* The period at which the check timer will expire if an error has been | |
reported in one of the standard demo tasks. ms are converted to the equivalent | |
in ticks using the portTICK_PERIOD_MS constant. */ | |
#define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS ) | |
/* A block time of zero simply means "don't block". */ | |
#define mainDONT_BLOCK ( 0UL ) | |
/* The base toggle rate used by the flash timers. Each toggle rate is a | |
multiple of this. */ | |
#define mainFLASH_TIMER_BASE_RATE ( 200UL / portTICK_PERIOD_MS ) | |
/* The LED toggle by the check timer. */ | |
#define mainCHECK_LED ( 3 ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* Register check tasks, as described at the top of this file. The nature of | |
* these files necessitates that they are written in an assembly. | |
*/ | |
extern void vRegTest1Task( void *pvParameters ); | |
extern void vRegTest2Task( void *pvParameters ); | |
/* | |
* The hardware only has a single LED. Simply toggle it. | |
*/ | |
extern void vMainToggleLED( void ); | |
/* | |
* The check timer callback function, as described at the top of this file. | |
*/ | |
static void prvCheckTimerCallback( TimerHandle_t xTimer ); | |
/* | |
* The flash timer callback function, as described at the top of this file. | |
* This callback function is assigned to three separate software timers. | |
*/ | |
static void prvFlashTimerCallback( TimerHandle_t xTimer ); | |
/* | |
* Called by main() to create the comprehensive test/demo application if | |
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is not set to 1. | |
*/ | |
void main_full( void ); | |
/*-----------------------------------------------------------*/ | |
/* The following two variables are used to communicate the status of the | |
register check tasks to the check software timer. If the variables keep | |
incrementing, then the register check tasks has not discovered any errors. If | |
a variable stops incrementing, then an error has been found. */ | |
volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL; | |
/*-----------------------------------------------------------*/ | |
void main_full( void ) | |
{ | |
TimerHandle_t xTimer = NULL; | |
unsigned long ulTimer; | |
const unsigned long ulTimersToCreate = 3L; | |
/* The register test tasks are asm functions that don't use a stack. The | |
stack allocated just has to be large enough to hold the task context, and | |
for the additional required for the stack overflow checking to work (if | |
configured). */ | |
const size_t xRegTestStackSize = 25U; | |
/* Create the standard demo tasks */ | |
vCreateBlockTimeTasks(); | |
vStartCountingSemaphoreTasks(); | |
vStartRecursiveMutexTasks(); | |
vStartDynamicPriorityTasks(); | |
/* Create the register test tasks as described at the top of this file. | |
These are naked functions that don't use any stack. A stack still has | |
to be allocated to hold the task context. */ | |
xTaskCreate( vRegTest1Task, /* Function that implements the task. */ | |
"Reg1", /* Text name of the task. */ | |
xRegTestStackSize, /* Stack allocated to the task. */ | |
NULL, /* The task parameter is not used. */ | |
tskIDLE_PRIORITY, /* The priority to assign to the task. */ | |
NULL ); /* Don't receive a handle back, it is not needed. */ | |
xTaskCreate( vRegTest2Task, /* Function that implements the task. */ | |
"Reg2", /* Text name of the task. */ | |
xRegTestStackSize, /* Stack allocated to the task. */ | |
NULL, /* The task parameter is not used. */ | |
tskIDLE_PRIORITY, /* The priority to assign to the task. */ | |
NULL ); /* Don't receive a handle back, it is not needed. */ | |
/* Create the three flash timers. */ | |
for( ulTimer = 0UL; ulTimer < ulTimersToCreate; ulTimer++ ) | |
{ | |
xTimer = xTimerCreate( "FlashTimer", /* A text name, purely to help debugging. */ | |
( mainFLASH_TIMER_BASE_RATE * ( ulTimer + 1UL ) ), /* The timer period, in this case 3000ms (3s). */ | |
pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */ | |
( void * ) ulTimer, /* The ID is used to hold the number of the LED that will be flashed. */ | |
prvFlashTimerCallback /* The callback function that inspects the status of all the other tasks. */ | |
); | |
if( xTimer != NULL ) | |
{ | |
xTimerStart( xTimer, mainDONT_BLOCK ); | |
} | |
} | |
/* Create the software timer that performs the 'check' functionality, | |
as described at the top of this file. */ | |
xTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */ | |
( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */ | |
pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */ | |
( void * ) 0, /* The ID is not used, so can be set to anything. */ | |
prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */ | |
); | |
/* If the software timer was created successfully, start it. It won't | |
actually start running until the scheduler starts. A block time of | |
zero is used in this call, although any value could be used as the block | |
time will be ignored because the scheduler has not started yet. */ | |
if( xTimer != NULL ) | |
{ | |
xTimerStart( xTimer, mainDONT_BLOCK ); | |
} | |
/* Start the kernel. From here on, only tasks and interrupts will run. */ | |
vTaskStartScheduler(); | |
/* If all is well, the scheduler will now be running, and the following | |
line will never be reached. If the following line does execute, then there | |
was insufficient FreeRTOS heap memory available for the idle and/or timer | |
tasks to be created. See the memory management section on the FreeRTOS web | |
site, or the FreeRTOS tutorial books for more details. */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
/* See the description at the top of this file. */ | |
static void prvCheckTimerCallback( TimerHandle_t xTimer ) | |
{ | |
static long lChangedTimerPeriodAlready = pdFALSE; | |
static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0; | |
unsigned long ulErrorFound = pdFALSE; | |
/* Check all the demo and test tasks to ensure that they are all still | |
running, and that none have detected an error. */ | |
if( xAreDynamicPriorityTasksStillRunning() != pdPASS ) | |
{ | |
ulErrorFound |= ( 0x01UL << 0UL ); | |
} | |
if( xAreBlockTimeTestTasksStillRunning() != pdPASS ) | |
{ | |
ulErrorFound |= ( 0x01UL << 1UL ); | |
} | |
if( xAreCountingSemaphoreTasksStillRunning() != pdPASS ) | |
{ | |
ulErrorFound |= ( 0x01UL << 2UL ); | |
} | |
if( xAreRecursiveMutexTasksStillRunning() != pdPASS ) | |
{ | |
ulErrorFound |= ( 0x01UL << 3UL ); | |
} | |
/* Check that the register test 1 task is still running. */ | |
if( ulLastRegTest1Value == ulRegTest1LoopCounter ) | |
{ | |
ulErrorFound |= ( 0x01UL << 4UL ); | |
} | |
ulLastRegTest1Value = ulRegTest1LoopCounter; | |
/* Check that the register test 2 task is still running. */ | |
if( ulLastRegTest2Value == ulRegTest2LoopCounter ) | |
{ | |
ulErrorFound |= ( 0x01UL << 5UL ); | |
} | |
ulLastRegTest2Value = ulRegTest2LoopCounter; | |
/* Toggle the check LED to give an indication of the system status. If | |
the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then | |
everything is ok. A faster toggle indicates an error. */ | |
vParTestToggleLED( mainCHECK_LED ); | |
/* Have any errors been latched in ulErrorFound? If so, shorten the | |
period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds. | |
This will result in an increase in the rate at which mainCHECK_LED | |
toggles. */ | |
if( ulErrorFound != pdFALSE ) | |
{ | |
if( lChangedTimerPeriodAlready == pdFALSE ) | |
{ | |
lChangedTimerPeriodAlready = pdTRUE; | |
/* This call to xTimerChangePeriod() uses a zero block time. | |
Functions called from inside of a timer callback function must | |
*never* attempt to block. */ | |
xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK ); | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvFlashTimerCallback( TimerHandle_t xTimer ) | |
{ | |
unsigned long ulLED; | |
/* This callback function is assigned to three separate software timers. | |
Each timer toggles a different LED. Obtain the number of the LED that | |
this timer is toggling. */ | |
ulLED = ( unsigned long ) pvTimerGetTimerID( xTimer ); | |
/* Toggle the LED. */ | |
vParTestToggleLED( ulLED ); | |
} | |