/* | |
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. | |
1 tab == 4 spaces! | |
*/ | |
/* | |
* Creates all the demo application tasks, then starts the scheduler. The WEB | |
* documentation provides more details of the demo application tasks. | |
* | |
* In addition to the standard demo tasks, the follow demo specific tasks are | |
* create: | |
* | |
* The "Check" task. 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. Most tasks maintain | |
* 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. | |
* | |
* The "Trace Utility" task. This can be used to obtain trace and debug | |
* information via UART1. | |
*/ | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "semphr.h" | |
/* Demo application includes. */ | |
#include "flash.h" | |
#include "integer.h" | |
#include "comtest2.h" | |
#include "PollQ.h" | |
#include "semtest.h" | |
#include "BlockQ.h" | |
#include "dynamic.h" | |
#include "flop.h" | |
#include "GenQTest.h" | |
#include "QPeek.h" | |
#include "blocktim.h" | |
#include "death.h" | |
#include "taskutility.h" | |
#include "partest.h" | |
#include "crflash.h" | |
#include "watchdog.h" | |
/* Library includes. */ | |
#include <watchdog.h> | |
/*-----------------------------------------------------------*/ | |
/* Demo task priorities. */ | |
#define WTC_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 ) | |
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 ) | |
#define TASK_UTILITY_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY ) | |
/* Baud rate used by the COM test tasks. */ | |
#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 ) | |
/* The frequency at which the 'Check' tasks executes. See the comments at the | |
top of the page. When the system is operating error free the 'Check' task | |
toggles an LED every three seconds. If an error is discovered in any task the | |
rate is increased to 500 milliseconds. [in this case the '*' characters on the | |
LCD represent LED's] */ | |
#define mainNO_ERROR_CHECK_DELAY ( (TickType_t) 3000 / portTICK_PERIOD_MS ) | |
#define mainERROR_CHECK_DELAY ( (TickType_t) 500 / portTICK_PERIOD_MS ) | |
/* LED assignments for the demo tasks. */ | |
#define mainNUM_FLASH_CO_ROUTINES 8 | |
#define mainCOM_TEST_LED 0x05 | |
#define mainCHECK_TEST_LED 0x07 | |
/*-----------------------------------------------------------*/ | |
/* | |
* The function that implements the Check task. See the comments at the head | |
* of the page for implementation details. | |
*/ | |
static void vErrorChecks( void *pvParameters ); | |
/* | |
* Called by the Check task. Returns pdPASS if all the other tasks are found | |
* to be operating without error - otherwise returns pdFAIL. | |
*/ | |
static short prvCheckOtherTasksAreStillRunning( void ); | |
/* | |
* Perform any hardware setup necessary for the demo. | |
*/ | |
static void prvSetupHardware( void ); | |
/*-----------------------------------------------------------*/ | |
void main( void ) | |
{ | |
InitIrqLevels(); /* Initialize interrupts */ | |
__set_il( 7 ); /* Allow all levels */ | |
prvSetupHardware(); | |
#if WATCHDOG == WTC_IN_TASK | |
vStartWatchdogTask( WTC_TASK_PRIORITY ); | |
#endif | |
/* Start the standard demo application tasks. */ | |
vStartLEDFlashTasks( mainLED_TASK_PRIORITY ); | |
vStartIntegerMathTasks( tskIDLE_PRIORITY ); | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY ); | |
vStartDynamicPriorityTasks(); | |
vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES ); | |
vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY ); | |
vCreateBlockTimeTasks(); | |
/* The definition INCLUDE_TraceListTasks is set within FreeRTOSConfig.h. */ | |
#if INCLUDE_TraceListTasks == 1 | |
vUtilityStartTraceTask( TASK_UTILITY_PRIORITY ); | |
#else | |
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 ); | |
#endif | |
/* Start the 'Check' task which is defined in this file. */ | |
xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* The suicide tasks must be started last as they record the number of other | |
tasks that exist within the system. The value is then used to ensure at run | |
time the number of tasks that exists is within expected bounds. */ | |
vCreateSuicidalTasks( mainDEATH_PRIORITY ); | |
/* Now start the scheduler. Following this call the created tasks should | |
be executing. */ | |
vTaskStartScheduler( ); | |
/* vTaskStartScheduler() will only return if an error occurs while the | |
idle task is being created. */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHardware( void ) | |
{ | |
/* Initialise the port used by the LEDs. */ | |
vParTestInitialise(); | |
/* See watchdog.h for definitions relating to the watchdog use. */ | |
#if WATCHDOG != WTC_NONE | |
InitWatchdog(); | |
#endif | |
} | |
/*-----------------------------------------------------------*/ | |
static void vErrorChecks( void *pvParameters ) | |
{ | |
TickType_t xDelayPeriod = mainNO_ERROR_CHECK_DELAY; | |
/* Just to remove compiler warnings. */ | |
( void ) pvParameters; | |
/* Cycle for ever, delaying then checking all the other tasks are still | |
operating without error. */ | |
for( ;; ) | |
{ | |
/* Wait until it is time to check again. The time we wait here depends | |
on whether an error has been detected or not. When an error is | |
detected the time is shortened resulting in a faster LED flash rate. */ | |
vTaskDelay( xDelayPeriod ); | |
/* See if the other tasks are all ok. */ | |
if( prvCheckOtherTasksAreStillRunning() != pdPASS ) | |
{ | |
/* An error occurred in one of the tasks so shorten the delay | |
period - which has the effect of increasing the frequency of the | |
LED toggle. */ | |
xDelayPeriod = mainERROR_CHECK_DELAY; | |
} | |
/* Flash! */ | |
vParTestToggleLED( mainCHECK_TEST_LED ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static short prvCheckOtherTasksAreStillRunning( void ) | |
{ | |
static short sNoErrorFound = pdTRUE; | |
/* The demo tasks maintain a count that increments every cycle of the task | |
provided that the task has never encountered an error. This function | |
checks the counts maintained by the tasks to ensure they are still being | |
incremented. A count remaining at the same value between calls therefore | |
indicates that an error has been detected. Only tasks that do not flash | |
an LED are checked. */ | |
if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
sNoErrorFound = pdFALSE; | |
} | |
if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
sNoErrorFound = pdFALSE; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
sNoErrorFound = pdFALSE; | |
} | |
if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
sNoErrorFound = pdFALSE; | |
} | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
sNoErrorFound = pdFALSE; | |
} | |
if( xAreFlashCoRoutinesStillRunning() != pdTRUE ) | |
{ | |
sNoErrorFound = pdFALSE; | |
} | |
if( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
{ | |
sNoErrorFound = pdFALSE; | |
} | |
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) | |
{ | |
sNoErrorFound = pdFALSE; | |
} | |
if( xIsCreateTaskStillRunning() != pdTRUE ) | |
{ | |
sNoErrorFound = pdFALSE; | |
} | |
#if INCLUDE_TraceListTasks == 0 | |
{ | |
if( xAreComTestTasksStillRunning() != pdTRUE ) | |
{ | |
sNoErrorFound = pdFALSE; | |
} | |
} | |
#endif | |
return sNoErrorFound; | |
} | |
/*-----------------------------------------------------------*/ | |
/* Idle hook function. */ | |
#if configUSE_IDLE_HOOK == 1 | |
void vApplicationIdleHook( void ) | |
{ | |
/* Are we using the idle task to kick the watchdog? See watchdog.h | |
for watchdog kicking options. Note this is for demonstration only | |
and is not a suggested method of servicing the watchdog in a real | |
application. */ | |
#if WATCHDOG == WTC_IN_IDLE | |
Kick_Watchdog(); | |
#endif | |
vCoRoutineSchedule(); | |
} | |
#else | |
#if WATCHDOG == WTC_IN_IDLE | |
#error configUSE_IDLE_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the idle task hook. | |
#endif | |
#endif | |
/*-----------------------------------------------------------*/ | |
/* Tick hook function. */ | |
#if configUSE_TICK_HOOK == 1 | |
void vApplicationTickHook( void ) | |
{ | |
/* Are we using the tick to kick the watchdog? See watchdog.h | |
for watchdog kicking options. Note this is for demonstration | |
only and is not a suggested method of servicing the watchdog in | |
a real application. */ | |
#if WATCHDOG == WTC_IN_TICK | |
Kick_Watchdog(); | |
#endif | |
} | |
#else | |
#if WATCHDOG == WTC_IN_TICK | |
#error configUSE_TICK_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the tick hook. | |
#endif | |
#endif | |
/*-----------------------------------------------------------*/ |