/* | |
* FreeRTOS Kernel V10.0.1 | |
* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. | |
* | |
* Permission is hereby granted, free of charge, to any person obtaining a copy of | |
* this software and associated documentation files (the "Software"), to deal in | |
* the Software without restriction, including without limitation the rights to | |
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of | |
* the Software, and to permit persons to whom the Software is furnished to do so, | |
* subject to the following conditions: | |
* | |
* The above copyright notice and this permission notice shall be included in all | |
* copies or substantial portions of the Software. | |
* | |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS | |
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR | |
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER | |
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN | |
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | |
* | |
* http://www.FreeRTOS.org | |
* http://aws.amazon.com/freertos | |
* | |
* 1 tab == 4 spaces! | |
*/ | |
/****************************************************************************** | |
* 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, 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" task - The check task period is initially set to three seconds. The | |
* task 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 task 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 task also toggles an 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. The LED used is defined in mainCHECK_LED, below. | |
* | |
* NOTE on LEDS: | |
* | |
* This demo is NOT configured to use the LED built onto the SAMA6D2 | |
* XPLained board! | |
* | |
* The LED driver PIN_LED definitions have been altered in | |
* board_sama5d2-xplained.h to remap them to GPIOs terminating on pins 30, | |
* 32 and 34 of J17. (This change is conditional on the preprocessor | |
* #define "LEDS_ON_J17".) These GPIOs are configured to be "high drive" | |
* push-pull outputs; they can source up to 18mA at 1.8v. Low | |
* forward-voltage LEDs may be connected via 100 ohm resistors to pins | |
* 30, 32 and 34 with their cathodes to pin 35/36 (GND). | |
*/ | |
/* 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 "BlockQ.h" | |
#include "blocktim.h" | |
#include "countsem.h" | |
#include "GenQTest.h" | |
#include "recmutex.h" | |
#include "death.h" | |
#include "partest.h" | |
#include "comtest2.h" | |
#include "serial.h" | |
#include "TimerDemo.h" | |
#include "QueueOverwrite.h" | |
#include "IntQueue.h" | |
#include "EventGroupsDemo.h" | |
#include "flash.h" | |
/* Priorities for the demo application tasks. */ | |
#define mainLED_FLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1UL ) | |
#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 ) | |
#define mainCDC_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2UL ) | |
#define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 ) | |
#define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY ) | |
/* The initial priority used by the UART command console task. */ | |
#define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( configMAX_PRIORITIES - 2 ) | |
/* The LED used by the check task. */ | |
#define mainCHECK_LED ( 2 ) | |
/* A block time of zero simply means "don't block". */ | |
#define mainDONT_BLOCK ( 0UL ) | |
/* The period of the check task, 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 pdMS_TO_TICKS() macro constant. */ | |
#define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000UL ) | |
/* The period of the check task, 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 | |
pdMS_TO_TICKS() macro. */ | |
#define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 200UL ) | |
/* Parameters that are passed into the register check tasks solely for the | |
purpose of ensuring parameters are passed into tasks correctly. */ | |
#define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 ) | |
#define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 ) | |
/* The base period used by the timer test tasks. */ | |
#define mainTIMER_TEST_PERIOD ( 50 ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* Called by main() to run the full demo (as opposed to the blinky demo) when | |
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0. | |
*/ | |
void main_full( void ); | |
/* | |
* The check task, as described at the top of this file. | |
*/ | |
static void prvCheckTask( void *pvParameters ); | |
/* | |
* 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, but the | |
* entry points are kept in the C file for the convenience of checking the task | |
* parameter. | |
*/ | |
static void prvRegTestTaskEntry1( void *pvParameters ); | |
extern void vRegTest1Implementation( void ); | |
static void prvRegTestTaskEntry2( void *pvParameters ); | |
extern void vRegTest2Implementation( void ); | |
/* | |
* A high priority task that does nothing other than execute at a pseudo random | |
* time to ensure the other test tasks don't just execute in a repeating | |
* pattern. | |
*/ | |
static void prvPseudoRandomiser( void *pvParameters ); | |
/*-----------------------------------------------------------*/ | |
/* The following two variables are used to communicate the status of the | |
register check tasks to the check task. If the variables keep incrementing, | |
then the register check tasks have 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 ) | |
{ | |
/* Start all the other standard demo/test tasks. They have no particular | |
functionality, but do demonstrate how to use the FreeRTOS API and test the | |
kernel port. */ | |
vStartInterruptQueueTasks(); | |
vStartDynamicPriorityTasks(); | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
vCreateBlockTimeTasks(); | |
vStartCountingSemaphoreTasks(); | |
vStartGenericQueueTasks( tskIDLE_PRIORITY ); | |
vStartRecursiveMutexTasks(); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartMathTasks( mainFLOP_TASK_PRIORITY ); | |
vStartTimerDemoTask( mainTIMER_TEST_PERIOD ); | |
vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY ); | |
vStartEventGroupTasks(); | |
/* Create the register check tasks, as described at the top of this file */ | |
xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL ); | |
xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL ); | |
/* Create the task that just adds a little random behaviour. */ | |
xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL ); | |
/* Create the task that performs the 'check' functionality, as described at | |
the top of this file. */ | |
xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* The set of tasks created by the following function call have to be | |
created last as they keep account of the number of tasks they expect to see | |
running. */ | |
vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY ); | |
/* 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 either insufficient FreeRTOS heap memory available for the idle | |
and/or timer tasks to be created, or vTaskStartScheduler() was called from | |
User mode. See the memory management section on the FreeRTOS web site for | |
more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The | |
mode from which main() is called is set in the C start up code and must be | |
a privileged mode (not user mode). */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvCheckTask( void *pvParameters ) | |
{ | |
TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD; | |
TickType_t xLastExecutionTime; | |
static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0; | |
unsigned long ulErrorFound = pdFALSE; | |
/* Just to stop compiler warnings. */ | |
( void ) pvParameters; | |
/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil() | |
works correctly. */ | |
xLastExecutionTime = xTaskGetTickCount(); | |
/* Cycle for ever, delaying then checking all the other tasks are still | |
operating without error. The onboard LED is toggled on each iteration. | |
If an error is detected then the delay period is decreased from | |
mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the | |
effect of increasing the rate at which the onboard LED toggles, and in so | |
doing gives visual feedback of the system status. */ | |
for( ;; ) | |
{ | |
/* Delay until it is time to execute again. */ | |
vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod ); | |
/* 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( xAreIntQueueTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
if( xAreMathsTaskStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
if ( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
if( xIsCreateTaskStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
if( xIsQueueOverwriteTaskStillRunning() != pdPASS ) | |
{ | |
ulErrorFound = pdTRUE; | |
} | |
if( xAreEventGroupTasksStillRunning() != pdPASS ) | |
{ | |
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 mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then | |
everything is ok. A faster toggle indicates an error. */ | |
vParTestToggleLED( mainCHECK_LED ); | |
if( ulErrorFound != pdFALSE ) | |
{ | |
/* An error has been detected in one of the tasks - flash the LED | |
at a higher frequency to give visible feedback that something has | |
gone wrong (it might just be that the loop back connector required | |
by the comtest tasks has not been fitted). */ | |
xDelayPeriod = mainERROR_CHECK_TASK_PERIOD; | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvRegTestTaskEntry1( void *pvParameters ) | |
{ | |
/* Although the regtest task is written in assembler, its entry point is | |
written in C for convenience of checking the task parameter is being passed | |
in correctly. */ | |
if( pvParameters == mainREG_TEST_TASK_1_PARAMETER ) | |
{ | |
/* The reg test task also tests the floating point registers. Tasks | |
that use the floating point unit must call vPortTaskUsesFPU() before | |
any floating point instructions are executed. */ | |
vPortTaskUsesFPU(); | |
/* Start the part of the test that is written in assembler. */ | |
vRegTest1Implementation(); | |
} | |
/* The following line will only execute if the task parameter is found to | |
be incorrect. The check task will detect that the regtest loop counter is | |
not being incremented and flag an error. */ | |
vTaskDelete( NULL ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvRegTestTaskEntry2( void *pvParameters ) | |
{ | |
/* Although the regtest task is written in assembler, its entry point is | |
written in C for convenience of checking the task parameter is being passed | |
in correctly. */ | |
if( pvParameters == mainREG_TEST_TASK_2_PARAMETER ) | |
{ | |
/* The reg test task also tests the floating point registers. Tasks | |
that use the floating point unit must call vPortTaskUsesFPU() before | |
any floating point instructions are executed. */ | |
vPortTaskUsesFPU(); | |
/* Start the part of the test that is written in assembler. */ | |
vRegTest2Implementation(); | |
} | |
/* The following line will only execute if the task parameter is found to | |
be incorrect. The check task will detect that the regtest loop counter is | |
not being incremented and flag an error. */ | |
vTaskDelete( NULL ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvPseudoRandomiser( void *pvParameters ) | |
{ | |
const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = ( 35 / portTICK_PERIOD_MS ), ulIBit = ( 1UL << 7UL ); | |
volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue; | |
/* A few minor port tests before entering the randomiser loop. | |
At this point interrupts should be enabled. */ | |
configASSERT( ( __get_CPSR() & ulIBit ) == 0 ); | |
/* The CPU does not have an interrupt mask register, so critical sections | |
have to globally disable interrupts. Therefore entering a critical section | |
should leave the I bit set. */ | |
taskENTER_CRITICAL(); | |
configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit ); | |
/* Nest the critical sections. */ | |
taskENTER_CRITICAL(); | |
configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit ); | |
/* After yielding the I bit should still be set. Note yielding is possible | |
in a critical section as each task maintains its own critical section | |
nesting count so some tasks are in critical sections and others are not - | |
however this is *not* something task code should do! */ | |
taskYIELD(); | |
configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit ); | |
/* The I bit should not be cleared again until both critical sections have | |
been exited. */ | |
taskEXIT_CRITICAL(); | |
taskYIELD(); | |
configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit ); | |
taskEXIT_CRITICAL(); | |
configASSERT( ( __get_CPSR() & ulIBit ) == 0 ); | |
taskYIELD(); | |
configASSERT( ( __get_CPSR() & ulIBit ) == 0 ); | |
/* This task does nothing other than ensure there is a little bit of | |
disruption in the scheduling pattern of the other tasks. Normally this is | |
done by generating interrupts at pseudo random times. */ | |
for( ;; ) | |
{ | |
ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement; | |
ulValue = ( ulNextRand >> 16UL ) & 0xffUL; | |
if( ulValue < ulMinDelay ) | |
{ | |
ulValue = ulMinDelay; | |
} | |
vTaskDelay( ulValue ); | |
while( ulValue > 0 ) | |
{ | |
__asm volatile( "NOP" ); | |
__asm volatile( "NOP" ); | |
__asm volatile( "NOP" ); | |
__asm volatile( "NOP" ); | |
ulValue--; | |
} | |
} | |
} | |