/* | |
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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*/ | |
/****************************************************************************** | |
* 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 all the demo application tasks and a software timer, 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 tests are | |
* defined and/or created within this file: | |
* | |
* "Reg test" tasks - These fill both the core and floating point 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. | |
* | |
* "Check" timer - The check software timer period is initially set to three | |
* seconds. The callback function associated with the check software timer | |
* 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 software timer discovers that a task has either stalled, or | |
* reported an error, then it changes its own execution period from the initial | |
* three seconds, to just 200ms. The check software timer callback function | |
* also toggles the single LED 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. | |
*/ | |
/* Standard includes. */ | |
#include <stdio.h> | |
/* Kernel includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "timers.h" | |
#include "semphr.h" | |
/* Standard demo application includes. */ | |
#include "flop.h" | |
#include "semtest.h" | |
#include "dynamic.h" | |
#include "blocktim.h" | |
#include "countsem.h" | |
#include "GenQTest.h" | |
#include "recmutex.h" | |
/* Priorities for the demo application tasks. */ | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL ) | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL ) | |
#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL ) | |
#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
/* A block time of zero simply means "don't block". */ | |
#define mainDONT_BLOCK ( 0UL ) | |
/* The period after which the check timer will expire, in ms, 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, in ms, 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 ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* The check timer callback function, as described at the top of this file. | |
*/ | |
static void prvCheckTimerCallback( TimerHandle_t xTimer ); | |
/* | |
* Register check tasks, and the tasks used to write over and check the contents | |
* of the FPU registers, as described at the top of this file. The nature of | |
* these files necessitates that they are written in an assembly file. | |
*/ | |
extern void vRegTest1Task( void *pvParameters ); | |
extern void vRegTest2Task( void *pvParameters ); | |
/*-----------------------------------------------------------*/ | |
/* 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 xCheckTimer = NULL; | |
/* Start all the other standard demo/test tasks. The have not particular | |
functionality, but do demonstrate how to use the FreeRTOS API and test the | |
kernel port. */ | |
vStartDynamicPriorityTasks(); | |
vCreateBlockTimeTasks(); | |
vStartCountingSemaphoreTasks(); | |
vStartGenericQueueTasks( tskIDLE_PRIORITY ); | |
vStartRecursiveMutexTasks(); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartMathTasks( mainFLOP_TASK_PRIORITY ); | |
/* Create the register check tasks, as described at the top of this | |
file */ | |
xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL ); | |
xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL ); | |
/* Create the software timer that performs the 'check' functionality, | |
as described at the top of this file. */ | |
xCheckTimer = 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( xCheckTimer != NULL ) | |
{ | |
xTimerStart( xCheckTimer, mainDONT_BLOCK ); | |
} | |
/* Start the scheduler. */ | |
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 | |
for more details. */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
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 tasks (other than the flash tasks) to ensure | |
that they are all still running, and that none have detected an error. */ | |
if( xAreMathsTaskStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
if ( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
/* Check that the register test 1 task is still running. */ | |
if( ulLastRegTest1Value == ulRegTest1LoopCounter ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
ulLastRegTest1Value = ulRegTest1LoopCounter; | |
/* Check that the register test 2 task is still running. */ | |
if( ulLastRegTest2Value == ulRegTest2LoopCounter ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
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. */ | |
configTOGGLE_LED(); | |
/* Have any errors been latch 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 ); | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |