/* | |
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, | |
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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 software timers, then | |
* starts the scheduler. The WEB documentation provides more details of the | |
* standard demo application tasks. In addition to the standard demo tasks, the | |
* following tasks and tests are also defined: | |
* | |
* "Register test" tasks - These tasks are used in part to test the kernel port. | |
* They set each processor register to a known value, then check that the | |
* register still contains that value. Each of the tasks sets the registers | |
* to different values, and will get swapping in and out between setting and | |
* then subsequently checking the register values. Discovery of an incorrect | |
* value would be indicative of an error in the task switching mechanism. | |
* | |
* "ISR triggered task" - This is provided as an example of how to write a | |
* FreeRTOS compatible interrupt service routine. See the comments in | |
* ISRTriggeredTask.c. | |
* | |
* "High Frequency Timer Test" - The high frequency timer is created to test | |
* the interrupt nesting method. The standard demo interrupt nesting test tasks | |
* are created with priorities at or below configMAX_SYSCALL_INTERRUPT_PRIORITY | |
* because they use interrupt safe FreeRTOS API functions. The high frequency | |
* time is created with a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY, | |
* so cannot us the same API functions. | |
* By way of demonstration, the demo application defines | |
* configMAX_SYSCALL_INTERRUPT_PRIORITY to be 3, configKERNEL_INTERRUPT_PRIORITY | |
* to be 1, and all other interrupts as follows: | |
* | |
* See the online documentation for this demo for more information on interrupt | |
* usage. | |
* | |
* "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 also toggle LED | |
* mainCHECK_LED; If mainCHECK_LED toggles every 3 seconds, no errors have | |
* been detected. If mainCHECK_LED toggles every 200ms then an error has been | |
* detected in at least one task. | |
* | |
*/ | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "queue.h" | |
#include "semphr.h" | |
#include "timers.h" | |
/* Demo application includes. */ | |
#include "partest.h" | |
#include "blocktim.h" | |
#include "flash_timer.h" | |
#include "semtest.h" | |
#include "GenQTest.h" | |
#include "QPeek.h" | |
#include "IntQueue.h" | |
#include "countsem.h" | |
#include "dynamic.h" | |
#include "QueueOverwrite.h" | |
#include "QueueSet.h" | |
#include "recmutex.h" | |
#include "EventGroupsDemo.h" | |
/*-----------------------------------------------------------*/ | |
/* 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 priorities of the various demo application tasks. */ | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainQUEUE_OVERWRITE_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
/* The LED controlled by the 'check' software timer. */ | |
#define mainCHECK_LED ( 2 ) | |
/* The number of LEDs that should be controlled by the flash software timer | |
standard demo. In this case it is only 1 as the starter kit has three LEDs, one | |
of which is controlled by the check timer and one of which is controlled by the | |
ISR triggered task. */ | |
#define mainNUM_FLASH_TIMER_LEDS ( 1 ) | |
/* Misc. */ | |
#define mainDONT_BLOCK ( 0 ) | |
/* The frequency at which the "high frequency interrupt" interrupt will | |
occur. */ | |
#define mainTEST_INTERRUPT_FREQUENCY ( 20000 ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* The check timer callback function, as described at the top of this file. | |
*/ | |
static void prvCheckTimerCallback( TimerHandle_t xTimer ); | |
/* | |
* It is important to ensure the high frequency timer test does not start before | |
* the kernel. It is therefore started from inside a software timer callback | |
* function, which will not execute until the timer service/daemon task is | |
* executing. A one-shot timer is used, so the callback function will only | |
* execute once (unless it is manually reset/restarted). | |
*/ | |
static void prvSetupHighFrequencyTimerTest( TimerHandle_t xTimer ); | |
/* | |
* Tasks that test the context switch mechanism by filling the processor | |
* registers with known values, then checking that the values contained | |
* within the registers is as expected. The tasks are likely to get swapped | |
* in and out between setting the register values and checking the register | |
* values. | |
*/ | |
static void prvRegTestTask1( void *pvParameters ); | |
static void prvRegTestTask2( void *pvParameters ); | |
/* | |
* The task that is periodically triggered by an interrupt, as described at the | |
* top of this file. | |
*/ | |
extern void vStartISRTriggeredTask( void ); | |
/*-----------------------------------------------------------*/ | |
/* Variables incremented by prvRegTestTask1() and prvRegTestTask2() respectively | |
on each iteration of their function. These are used to detect errors in the | |
reg test tasks. */ | |
volatile unsigned long ulRegTest1Cycles = 0, ulRegTest2Cycles = 0; | |
/*-----------------------------------------------------------*/ | |
/* | |
* Create the demo tasks then start the scheduler. | |
*/ | |
int main_full( void ) | |
{ | |
TimerHandle_t xTimer = NULL; | |
/* Create all the other standard demo tasks. */ | |
vStartLEDFlashTimers( mainNUM_FLASH_TIMER_LEDS ); | |
vCreateBlockTimeTasks(); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY ); | |
vStartQueuePeekTasks(); | |
vStartInterruptQueueTasks(); | |
vStartISRTriggeredTask(); | |
vStartCountingSemaphoreTasks(); | |
vStartDynamicPriorityTasks(); | |
vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_TASK_PRIORITY ); | |
vStartQueueSetTasks(); | |
vStartRecursiveMutexTasks(); | |
vStartEventGroupTasks(); | |
/* Create the tasks defined within this file. */ | |
xTaskCreate( prvRegTestTask1, /* The function that implements the task. */ | |
"Reg1", /* Text name for the task to assist debugger - not used by FreeRTOS itself. */ | |
configMINIMAL_STACK_SIZE, /* The stack size to allocate for the task - specified in words not bytes. */ | |
NULL, /* The parameter to pass into the task - not used in this case so set to NULL. */ | |
tskIDLE_PRIORITY, /* The priority to assign to the task. */ | |
NULL ); /* Used to obtain a handle to the task being created - not used in this case so set to NULL. */ | |
xTaskCreate( prvRegTestTask2, "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); | |
/* 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( xTimer != NULL ) | |
{ | |
xTimerStart( xTimer, mainDONT_BLOCK ); | |
} | |
/* A software timer is also used to start the high frequency timer test. | |
This is to ensure the test does not start before the kernel. This time a | |
one shot software timer is used. */ | |
xTimer = xTimerCreate( "HighHzTimerSetup", 1, pdFALSE, ( void * ) 0, prvSetupHighFrequencyTimerTest ); | |
if( xTimer != NULL ) | |
{ | |
xTimerStart( xTimer, mainDONT_BLOCK ); | |
} | |
/* Finally 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. http://www.freertos.org/a00111.html */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvRegTestTask1( void *pvParameters ) | |
{ | |
extern void vRegTest1( volatile unsigned long * ); | |
/* Avoid compiler warnings. */ | |
( void ) pvParameters; | |
/* Pass the address of the RegTest1 loop counter into the test function, | |
which is necessarily implemented in assembler. */ | |
vRegTest1( &ulRegTest1Cycles ); | |
/* vRegTest1 should never exit! */ | |
vTaskDelete( NULL ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvRegTestTask2( void *pvParameters ) | |
{ | |
extern void vRegTest2( volatile unsigned long * ); | |
/* Avoid compiler warnings. */ | |
( void ) pvParameters; | |
/* Pass the address of the RegTest2 loop counter into the test function, | |
which is necessarily implemented in assembler. */ | |
vRegTest2( &ulRegTest2Cycles ); | |
/* vRegTest1 should never exit! */ | |
vTaskDelete( NULL ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvCheckTimerCallback( TimerHandle_t xTimer ) | |
{ | |
static long lChangedTimerPeriodAlready = pdFALSE; | |
static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0, ulLastHighFrequencyTimerInterrupts = 0; | |
static const unsigned long ulExpectedHighFrequencyInterrupts = ( ( mainTEST_INTERRUPT_FREQUENCY / 1000UL ) * mainCHECK_TIMER_PERIOD_MS ) - 10; /* 10 allows for a margin of error. */ | |
unsigned long ulErrorOccurred = pdFALSE; | |
/* The count of the high frequency timer interrupts. */ | |
extern unsigned long ulHighFrequencyTimerInterrupts; | |
/* Avoid compiler warnings. */ | |
( void ) xTimer; | |
/* Check that the register test 1 task is still running. */ | |
if( ulLastRegTest1Value == ulRegTest1Cycles ) | |
{ | |
ulErrorOccurred |= ( 0x01UL << 1UL ); | |
} | |
ulLastRegTest1Value = ulRegTest1Cycles; | |
/* Check that the register test 2 task is still running. */ | |
if( ulLastRegTest2Value == ulRegTest2Cycles ) | |
{ | |
ulErrorOccurred |= ( 0x01UL << 2UL ); | |
} | |
ulLastRegTest2Value = ulRegTest2Cycles; | |
/* Have any of the standard demo tasks detected an error in their | |
operation? */ | |
if( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorOccurred |= ( 0x01UL << 3UL ); | |
} | |
else if( xAreQueuePeekTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorOccurred |= ( 0x01UL << 4UL ); | |
} | |
else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorOccurred |= ( 0x01UL << 5UL ); | |
} | |
else if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorOccurred |= ( 0x01UL << 6UL ); | |
} | |
else if( xAreIntQueueTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorOccurred |= ( 0x01UL << 7UL ); | |
} | |
else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorOccurred |= ( 0x01UL << 8UL ); | |
} | |
else if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorOccurred |= ( 0x01UL << 9UL ); | |
} | |
else if( xIsQueueOverwriteTaskStillRunning() != pdTRUE ) | |
{ | |
ulErrorOccurred |= ( 0x01UL << 10UL ); | |
} | |
else if( xAreQueueSetTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorOccurred |= ( 0x01UL << 11UL ); | |
} | |
else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorOccurred |= ( 0x01UL << 12UL ); | |
} | |
else if( xAreEventGroupTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorOccurred |= ( 0x01UL << 13UL ); | |
} | |
/* Ensure the expected number of high frequency interrupts have occurred. */ | |
if( ulLastHighFrequencyTimerInterrupts != 0 ) | |
{ | |
if( ( ulHighFrequencyTimerInterrupts - ulLastHighFrequencyTimerInterrupts ) < ulExpectedHighFrequencyInterrupts ) | |
{ | |
ulErrorOccurred |= ( 0x01UL << 14UL ); | |
} | |
} | |
ulLastHighFrequencyTimerInterrupts = ulHighFrequencyTimerInterrupts; | |
if( ulErrorOccurred != pdFALSE ) | |
{ | |
/* An error occurred. Increase the frequency at which the check timer | |
toggles its LED to give visual feedback of the potential error | |
condition. */ | |
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 as to do so could impact other software | |
timers. */ | |
xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK ); | |
} | |
} | |
vParTestToggleLED( mainCHECK_LED ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHighFrequencyTimerTest( TimerHandle_t xTimer ) | |
{ | |
void vSetupTimerTest( unsigned short usFrequencyHz ); | |
/* Avoid compiler warnings. */ | |
( void ) xTimer; | |
/* Setup the high frequency, high priority, timer test. It is setup in this | |
software timer callback to ensure it does not start before the kernel does. | |
This is a one shot timer - so the setup routine will only be executed once. */ | |
vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY ); | |
} | |
/*-----------------------------------------------------------*/ | |