2 FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.
\r
4 This file is part of the FreeRTOS.org distribution.
\r
6 FreeRTOS.org is free software; you can redistribute it and/or modify
\r
7 it under the terms of the GNU General Public License as published by
\r
8 the Free Software Foundation; either version 2 of the License, or
\r
9 (at your option) any later version.
\r
11 FreeRTOS.org is distributed in the hope that it will be useful,
\r
12 but WITHOUT ANY WARRANTY; without even the implied warranty of
\r
13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
\r
14 GNU General Public License for more details.
\r
16 You should have received a copy of the GNU General Public License
\r
17 along with FreeRTOS.org; if not, write to the Free Software
\r
18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
\r
20 A special exception to the GPL can be applied should you wish to distribute
\r
21 a combined work that includes FreeRTOS.org, without being obliged to provide
\r
22 the source code for any proprietary components. See the licensing section
\r
23 of http://www.FreeRTOS.org for full details of how and when the exception
\r
26 ***************************************************************************
\r
28 Please ensure to read the configuration and relevant port sections of the
\r
29 online documentation.
\r
31 +++ http://www.FreeRTOS.org +++
\r
32 Documentation, latest information, license and contact details.
\r
34 +++ http://www.SafeRTOS.com +++
\r
35 A version that is certified for use in safety critical systems.
\r
37 +++ http://www.OpenRTOS.com +++
\r
38 Commercial support, development, porting, licensing and training services.
\r
40 ***************************************************************************
\r
44 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
\r
45 The processor MUST be in supervisor mode when vTaskStartScheduler is
\r
46 called. The demo applications included in the FreeRTOS.org download switch
\r
47 to supervisor mode prior to main being called. If you are not using one of
\r
48 these demo application projects then ensure Supervisor mode is used.
\r
53 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
54 * documentation provides more details of the demo application tasks.
\r
56 * Main.c also creates a task called "Check". This only executes every three
\r
57 * seconds but has the highest priority so is guaranteed to get processor time.
\r
58 * Its main function is to check that all the other tasks are still operational.
\r
59 * Each task (other than the "flash" tasks) maintains a unique count that is
\r
60 * incremented each time the task successfully completes its function. Should
\r
61 * any error occur within such a task the count is permanently halted. The
\r
62 * check task inspects the count of each task to ensure it has changed since
\r
63 * the last time the check task executed. If all the count variables have
\r
64 * changed all the tasks are still executing error free, and the check task
\r
65 * toggles the onboard LED. Should any task contain an error at any time
\r
66 * the LED toggle rate will change from 3 seconds to 500ms.
\r
68 * To check the operation of the memory allocator the check task also
\r
69 * dynamically creates a task before delaying, and deletes it again when it
\r
70 * wakes. If memory cannot be allocated for the new task the call to xTaskCreate
\r
71 * will fail and an error is signalled. The dynamically created task itself
\r
72 * allocates and frees memory just to give the allocator a bit more exercise.
\r
76 /* Standard includes. */
\r
80 /* Scheduler includes. */
\r
81 #include "FreeRTOS.h"
\r
84 /* Demo application includes. */
\r
85 #include "partest.h"
\r
87 #include "integer.h"
\r
89 #include "comtest2.h"
\r
90 #include "semtest.h"
\r
92 #include "dynamic.h"
\r
96 /* Hardware specific definitions. */
\r
100 /*-----------------------------------------------------------*/
\r
102 /* Constants for the ComTest tasks. */
\r
103 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
\r
104 #define mainCOM_TEST_LED ( 5 )
\r
106 /* Priorities for the demo application tasks. */
\r
107 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
108 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
109 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
110 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
\r
111 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
112 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
114 /* The rate at which the on board LED will toggle when there is/is not an
\r
116 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
\r
117 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
\r
118 #define mainON_BOARD_LED_BIT ( ( unsigned portLONG ) 7 )
\r
120 /* Constants used by the vMemCheckTask() task. */
\r
121 #define mainCOUNT_INITIAL_VALUE ( ( unsigned portLONG ) 0 )
\r
122 #define mainNO_TASK ( 0 )
\r
124 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
\r
125 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
\r
126 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
\r
127 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
\r
129 #define MAX_WAIT_STATES 8
\r
130 static const unsigned portLONG ululCSRWaitValues[ MAX_WAIT_STATES + 1 ] =
\r
132 WaitState1,/* There is no "zero wait state" value, so use one wait state */
\r
142 /*-----------------------------------------------------------*/
\r
145 * Checks that all the demo application tasks are still executing without error
\r
146 * - as described at the top of the file.
\r
148 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount );
\r
151 * The task that executes at the highest priority and calls
\r
152 * prvCheckOtherTasksAreStillRunning(). See the description at the top
\r
155 static void vErrorChecks( void *pvParameters );
\r
158 * Dynamically created and deleted during each cycle of the vErrorChecks()
\r
159 * task. This is done to check the operation of the memory allocator.
\r
160 * See the top of vErrorChecks for more details.
\r
162 static void vMemCheckTask( void *pvParameters );
\r
165 * Configure the processor for use with the Olimex demo board. This includes
\r
166 * setup for the I/O, system clock, and access timings.
\r
168 static void prvSetupHardware( void );
\r
170 /*-----------------------------------------------------------*/
\r
173 * Starts all the other tasks, then starts the scheduler.
\r
177 /* Setup the hardware for use with the Olimex demo board. */
\r
178 prvSetupHardware();
\r
180 /* Start the demo/test application tasks. */
\r
181 vStartIntegerMathTasks( tskIDLE_PRIORITY );
\r
182 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
\r
183 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
\r
184 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
185 vStartMathTasks( tskIDLE_PRIORITY );
\r
186 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
187 vStartDynamicPriorityTasks();
\r
188 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
190 /* Start the check task - which is defined in this file. */
\r
191 xTaskCreate( vErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
\r
193 /* Now all the tasks have been started - start the scheduler.
\r
195 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
\r
196 The processor MUST be in supervisor mode when vTaskStartScheduler is
\r
197 called. The demo applications included in the FreeRTOS.org download switch
\r
198 to supervisor mode prior to main being called. If you are not using one of
\r
199 these demo application projects then ensure Supervisor mode is used here. */
\r
200 vTaskStartScheduler();
\r
202 /* Should never reach here! */
\r
205 /*-----------------------------------------------------------*/
\r
207 static void vErrorChecks( void *pvParameters )
\r
209 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
\r
210 unsigned portLONG ulMemCheckTaskRunningCount;
\r
211 xTaskHandle xCreatedTask;
\r
213 /* Cycle for ever, delaying then checking all the other tasks are still
\r
214 operating without error. If an error is detected then the delay period
\r
215 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
\r
216 the on board LED flash rate will increase.
\r
218 In addition to the standard tests the memory allocator is tested through
\r
219 the dynamic creation and deletion of a task each cycle. Each time the
\r
220 task is created memory must be allocated for its stack. When the task is
\r
221 deleted this memory is returned to the heap. If the task cannot be created
\r
222 then it is likely that the memory allocation failed. */
\r
226 /* Reset xCreatedTask. This is modified by the task about to be
\r
227 created so we can tell if it is executing correctly or not. */
\r
228 xCreatedTask = mainNO_TASK;
\r
230 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
\r
232 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
\r
233 if( xTaskCreate( vMemCheckTask, ( signed portCHAR * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
\r
235 /* Could not create the task - we have probably run out of heap. */
\r
236 xDelayPeriod = mainERROR_FLASH_PERIOD;
\r
239 /* Delay until it is time to execute again. */
\r
240 vTaskDelay( xDelayPeriod );
\r
242 /* Delete the dynamically created task. */
\r
243 if( xCreatedTask != mainNO_TASK )
\r
245 vTaskDelete( xCreatedTask );
\r
248 /* Check all the standard demo application tasks are executing without
\r
249 error. ulMemCheckTaskRunningCount is checked to ensure it was
\r
250 modified by the task just deleted. */
\r
251 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
\r
253 /* An error has been detected in one of the tasks - flash faster. */
\r
254 xDelayPeriod = mainERROR_FLASH_PERIOD;
\r
257 /* The toggle rate of the LED depends on how long this task delays for.
\r
258 An error reduces the delay period and so increases the toggle rate. */
\r
259 vParTestToggleLED( mainON_BOARD_LED_BIT );
\r
262 /*-----------------------------------------------------------*/
\r
264 static void prvSetupHardware( void )
\r
268 #ifdef RUN_FROM_ROM
\r
270 portFLOAT nsecsPerClockTick;
\r
271 portLONG lNumWaitStates;
\r
272 unsigned portLONG ulCSRWaitValue;
\r
274 /* We are compiling to run from ROM (either on-chip or off-chip flash).
\r
275 Leave the RAM/flash mapped the way they are on reset
\r
276 (flash @ 0x00000000, RAM @ 0x00300000), and set up the
\r
277 proper flash wait states (starts out at the maximum number
\r
278 of wait states on reset, so we should be able to reduce it).
\r
279 Most of this code will probably get removed by the compiler
\r
280 if optimization is enabled, since these calculations are
\r
281 based on constants. But the compiler should still produce
\r
282 a correct wait state register value. */
\r
283 nsecsPerClockTick = ( portFLOAT ) 1000000000 / configCPU_CLOCK_HZ;
\r
284 lNumWaitStates = ( portLONG )( ( configFLASH_SPEED_NSEC / nsecsPerClockTick ) + 0.5 ) - 1;
\r
286 if( lNumWaitStates < 0 )
\r
288 lNumWaitStates = 0;
\r
291 if( lNumWaitStates > MAX_WAIT_STATES )
\r
293 lNumWaitStates = MAX_WAIT_STATES;
\r
296 ulCSRWaitValue = ululCSRWaitValues[ lNumWaitStates ];
\r
297 ulCSRWaitValue = WaitState5;
\r
299 AT91C_BASE_EBI->EBI_CSR[ 0 ] = ulCSRWaitValue | DataBus16 | WaitStateEnable
\r
300 | PageSize1M | tDF_0cycle
\r
301 | ByteWriteAccessType | CSEnable
\r
302 | 0x00000000 /* Base Address */;
\r
304 #else /* else we are compiling to run from on-chip RAM */
\r
306 /* If compiling to run from RAM, we expect the on-chip RAM to already
\r
307 be mapped at 0x00000000. This is typically done with an initialization
\r
308 script for the JTAG emulator you are using to download and run the
\r
309 demo application. So there is nothing to do here in this case. */
\r
313 /* Disable all interrupts at the AIC level initially... */
\r
314 AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;
\r
316 /* Set all SVR and SMR entries to default values (start with a clean slate)... */
\r
317 for( lCount = 0; lCount < 32; lCount++ )
\r
319 AT91C_BASE_AIC->AIC_SVR[ lCount ] = (unsigned long) 0;
\r
320 AT91C_BASE_AIC->AIC_SMR[ lCount ] = AIC_SRCTYPE_INT_EDGE_TRIGGERED;
\r
323 /* Disable clocks to all peripherals initially... */
\r
324 AT91C_BASE_PS->PS_PCDR = 0xFFFFFFFF;
\r
326 /* Clear all interrupts at the AIC level initially... */
\r
327 AT91C_BASE_AIC->AIC_ICCR = 0xFFFFFFFF;
\r
329 /* Perform 8 "End Of Interrupt" cmds to make sure AIC will not Lock out
\r
331 for( lCount = 0; lCount < 8; lCount++ )
\r
333 AT91C_BASE_AIC->AIC_EOICR = 0;
\r
336 /* Initialise LED outputs. */
\r
337 vParTestInitialise();
\r
339 /*-----------------------------------------------------------*/
\r
341 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount )
\r
343 portLONG lReturn = ( portLONG ) pdPASS;
\r
345 /* Check all the demo tasks (other than the flash tasks) to ensure
\r
346 that they are all still running, and that none of them have detected
\r
349 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
351 lReturn = ( portLONG ) pdFAIL;
\r
354 if( xAreComTestTasksStillRunning() != pdTRUE )
\r
356 lReturn = ( portLONG ) pdFAIL;
\r
359 if( xArePollingQueuesStillRunning() != pdTRUE )
\r
361 lReturn = ( portLONG ) pdFAIL;
\r
364 if( xAreMathsTaskStillRunning() != pdTRUE )
\r
366 lReturn = ( portLONG ) pdFAIL;
\r
369 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
371 lReturn = ( portLONG ) pdFAIL;
\r
374 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
\r
376 lReturn = ( portLONG ) pdFAIL;
\r
379 if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
381 lReturn = ( portLONG ) pdFAIL;
\r
384 if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
\r
386 /* The vMemCheckTask did not increment the counter - it must
\r
388 lReturn = ( portLONG ) pdFAIL;
\r
393 /*-----------------------------------------------------------*/
\r
395 static void vMemCheckTask( void *pvParameters )
\r
397 unsigned portLONG *pulMemCheckTaskRunningCounter;
\r
398 void *pvMem1, *pvMem2, *pvMem3;
\r
399 static portLONG lErrorOccurred = pdFALSE;
\r
401 /* This task is dynamically created then deleted during each cycle of the
\r
402 vErrorChecks task to check the operation of the memory allocator. Each time
\r
403 the task is created memory is allocated for the stack and TCB. Each time
\r
404 the task is deleted this memory is returned to the heap. This task itself
\r
405 exercises the allocator by allocating and freeing blocks.
\r
407 The task executes at the idle priority so does not require a delay.
\r
409 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
\r
410 vErrorChecks() task that this task is still executing without error. */
\r
412 pulMemCheckTaskRunningCounter = ( unsigned portLONG * ) pvParameters;
\r
416 if( lErrorOccurred == pdFALSE )
\r
418 /* We have never seen an error so increment the counter. */
\r
419 ( *pulMemCheckTaskRunningCounter )++;
\r
423 /* There has been an error so reset the counter so the check task
\r
424 can tell that an error occurred. */
\r
425 *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
\r
428 /* Allocate some memory - just to give the allocator some extra
\r
429 exercise. This has to be in a critical section to ensure the
\r
430 task does not get deleted while it has memory allocated. */
\r
433 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
\r
434 if( pvMem1 == NULL )
\r
436 lErrorOccurred = pdTRUE;
\r
440 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
\r
441 vPortFree( pvMem1 );
\r
446 /* Again - with a different size block. */
\r
449 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
\r
450 if( pvMem2 == NULL )
\r
452 lErrorOccurred = pdTRUE;
\r
456 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
\r
457 vPortFree( pvMem2 );
\r
462 /* Again - with a different size block. */
\r
465 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
\r
466 if( pvMem3 == NULL )
\r
468 lErrorOccurred = pdTRUE;
\r
472 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
\r
473 vPortFree( pvMem3 );
\r