2 FreeRTOS.org V4.4.0 - Copyright (C) 2003-2007 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 See http://www.FreeRTOS.org for documentation, latest information, license
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28 and contact details. Please ensure to read the configuration and relevant
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29 port sections of the online documentation.
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31 Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
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32 with commercial development and support options.
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33 ***************************************************************************
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37 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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38 The processor MUST be in supervisor mode when vTaskStartScheduler is
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39 called. The demo applications included in the FreeRTOS.org download switch
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40 to supervisor mode prior to main being called. If you are not using one of
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41 these demo application projects then ensure Supervisor mode is used.
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46 * Creates all the demo application tasks, then starts the scheduler. The WEB
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47 * documentation provides more details of the demo application tasks.
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49 * Main.c also creates a task called "Check". This only executes every three
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50 * seconds but has the highest priority so is guaranteed to get processor time.
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51 * Its main function is to check that all the other tasks are still operational.
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52 * Each task (other than the "flash" tasks) maintains a unique count that is
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53 * incremented each time the task successfully completes its function. Should
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54 * any error occur within such a task the count is permanently halted. The
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55 * check task inspects the count of each task to ensure it has changed since
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56 * the last time the check task executed. If all the count variables have
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57 * changed all the tasks are still executing error free, and the check task
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58 * toggles the onboard LED. Should any task contain an error at any time
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59 * the LED toggle rate will change from 3 seconds to 500ms.
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61 * To check the operation of the memory allocator the check task also
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62 * dynamically creates a task before delaying, and deletes it again when it
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63 * wakes. If memory cannot be allocated for the new task the call to xTaskCreate
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64 * will fail and an error is signalled. The dynamically created task itself
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65 * allocates and frees memory just to give the allocator a bit more exercise.
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72 + The vErrorChecks() task now dynamically creates then deletes a task each
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73 cycle. This tests the operation of the memory allocator.
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77 + vParTestInitialise() is called during initialisation to ensure all the
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82 /* Standard includes. */
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86 /* Scheduler includes. */
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87 #include "FreeRTOS.h"
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90 /* Demo application includes. */
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91 #include "partest.h"
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93 #include "integer.h"
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95 #include "comtest2.h"
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96 #include "semtest.h"
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98 #include "dynamic.h"
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100 #include "serial.h"
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102 /*-----------------------------------------------------------*/
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104 /* Constants to setup I/O. */
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105 #define mainTX_ENABLE ( ( unsigned portLONG ) 0x0001 )
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106 #define mainRX_ENABLE ( ( unsigned portLONG ) 0x0004 )
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107 #define mainP0_14 ( ( unsigned portLONG ) 0x4000 )
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108 #define mainJTAG_PORT ( ( unsigned portLONG ) 0x3E0000UL )
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110 /* Constants to setup the PLL. */
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111 #define mainPLL_MUL_4 ( ( unsigned portCHAR ) 0x0003 )
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112 #define mainPLL_DIV_1 ( ( unsigned portCHAR ) 0x0000 )
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113 #define mainPLL_ENABLE ( ( unsigned portCHAR ) 0x0001 )
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114 #define mainPLL_CONNECT ( ( unsigned portCHAR ) 0x0003 )
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115 #define mainPLL_FEED_BYTE1 ( ( unsigned portCHAR ) 0xaa )
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116 #define mainPLL_FEED_BYTE2 ( ( unsigned portCHAR ) 0x55 )
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117 #define mainPLL_LOCK ( ( unsigned portLONG ) 0x0400 )
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119 /* Constants to setup the MAM. */
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120 #define mainMAM_TIM_3 ( ( unsigned portCHAR ) 0x03 )
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121 #define mainMAM_MODE_FULL ( ( unsigned portCHAR ) 0x02 )
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123 /* Constants to setup the peripheral bus. */
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124 #define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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126 /* Constants for the ComTest tasks. */
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127 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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128 #define mainCOM_TEST_LED ( 3 )
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130 /* Priorities for the demo application tasks. */
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131 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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132 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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133 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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134 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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135 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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136 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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138 /* The rate at which the on board LED will toggle when there is/is not an
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140 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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141 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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142 #define mainON_BOARD_LED_BIT ( ( unsigned portLONG ) 0x80 )
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144 /* Constants used by the vMemCheckTask() task. */
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145 #define mainCOUNT_INITIAL_VALUE ( ( unsigned portLONG ) 0 )
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146 #define mainNO_TASK ( 0 )
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148 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
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149 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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150 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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151 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
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153 /*-----------------------------------------------------------*/
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156 * The Olimex demo board has a single built in LED. This function simply
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157 * toggles its state.
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159 void prvToggleOnBoardLED( void );
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162 * Checks that all the demo application tasks are still executing without error
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163 * - as described at the top of the file.
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165 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount );
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168 * The task that executes at the highest priority and calls
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169 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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172 static void vErrorChecks( void *pvParameters );
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175 * Dynamically created and deleted during each cycle of the vErrorChecks()
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176 * task. This is done to check the operation of the memory allocator.
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177 * See the top of vErrorChecks for more details.
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179 static void vMemCheckTask( void *pvParameters );
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182 * Configure the processor for use with the Olimex demo board. This includes
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183 * setup for the I/O, system clock, and access timings.
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185 static void prvSetupHardware( void );
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187 /*-----------------------------------------------------------*/
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190 * Starts all the other tasks, then starts the scheduler.
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194 /* Setup the hardware for use with the Olimex demo board. */
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195 prvSetupHardware();
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197 /* Start the demo/test application tasks. */
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198 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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199 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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200 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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201 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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202 vStartMathTasks( tskIDLE_PRIORITY );
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203 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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204 vStartDynamicPriorityTasks();
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205 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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207 /* Start the check task - which is defined in this file. */
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208 xTaskCreate( vErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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210 /* Now all the tasks have been started - start the scheduler.
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212 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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213 The processor MUST be in supervisor mode when vTaskStartScheduler is
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214 called. The demo applications included in the FreeRTOS.org download switch
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215 to supervisor mode prior to main being called. If you are not using one of
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216 these demo application projects then ensure Supervisor mode is used here. */
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217 vTaskStartScheduler();
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219 /* Should never reach here! */
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222 /*-----------------------------------------------------------*/
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224 static void vErrorChecks( void *pvParameters )
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226 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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227 unsigned portLONG ulMemCheckTaskRunningCount;
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228 xTaskHandle xCreatedTask;
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230 /* The parameters are not used in this function. */
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231 ( void ) pvParameters;
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233 /* Cycle for ever, delaying then checking all the other tasks are still
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234 operating without error. If an error is detected then the delay period
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235 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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236 the on board LED flash rate will increase.
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238 In addition to the standard tests the memory allocator is tested through
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239 the dynamic creation and deletion of a task each cycle. Each time the
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240 task is created memory must be allocated for its stack. When the task is
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241 deleted this memory is returned to the heap. If the task cannot be created
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242 then it is likely that the memory allocation failed. */
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246 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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248 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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249 xCreatedTask = mainNO_TASK;
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250 if( xTaskCreate( vMemCheckTask, ( signed portCHAR * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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252 /* Could not create the task - we have probably run out of heap. */
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253 xDelayPeriod = mainERROR_FLASH_PERIOD;
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256 /* Delay until it is time to execute again. */
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257 vTaskDelay( xDelayPeriod );
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259 /* Delete the dynamically created task. */
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260 if( xCreatedTask != mainNO_TASK )
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262 vTaskDelete( xCreatedTask );
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265 /* Check all the standard demo application tasks are executing without
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266 error. ulMemCheckTaskRunningCount is checked to ensure it was
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267 modified by the task just deleted. */
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268 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
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270 /* An error has been detected in one of the tasks - flash faster. */
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271 xDelayPeriod = mainERROR_FLASH_PERIOD;
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274 prvToggleOnBoardLED();
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277 /*-----------------------------------------------------------*/
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279 static void prvSetupHardware( void )
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281 #ifdef RUN_FROM_RAM
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282 /* Remap the interrupt vectors to RAM if we are are running from RAM. */
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286 /* Configure the RS2332 pins. All other pins remain at their default of 0. */
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287 PCB_PINSEL0 |= mainTX_ENABLE;
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288 PCB_PINSEL0 |= mainRX_ENABLE;
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290 /* Set all GPIO to output other than the P0.14 (BSL), and the JTAG pins.
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291 The JTAG pins are left as input as I'm not sure what will happen if the
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292 Wiggler is connected after powerup - not that it would be a good idea to
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294 GPIO_IODIR = ~( mainP0_14 + mainJTAG_PORT );
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296 /* Setup the PLL to multiply the XTAL input by 4. */
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297 SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );
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299 /* Activate the PLL by turning it on then feeding the correct sequence of
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301 SCB_PLLCON = mainPLL_ENABLE;
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302 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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303 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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305 /* Wait for the PLL to lock... */
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306 while( !( SCB_PLLSTAT & mainPLL_LOCK ) );
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308 /* ...before connecting it using the feed sequence again. */
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309 SCB_PLLCON = mainPLL_CONNECT;
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310 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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311 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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313 /* Setup and turn on the MAM. Three cycle access is used due to the fast
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314 PLL used. It is possible faster overall performance could be obtained by
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315 tuning the MAM and PLL settings. */
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316 MAM_TIM = mainMAM_TIM_3;
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317 MAM_CR = mainMAM_MODE_FULL;
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319 /* Setup the peripheral bus to be the same as the PLL output. */
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320 SCB_VPBDIV = mainBUS_CLK_FULL;
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322 /* Initialise LED outputs. */
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323 vParTestInitialise();
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325 /*-----------------------------------------------------------*/
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327 void prvToggleOnBoardLED( void )
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329 unsigned portLONG ulState;
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331 ulState = GPIO0_IOPIN;
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332 if( ulState & mainON_BOARD_LED_BIT )
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334 GPIO_IOCLR = mainON_BOARD_LED_BIT;
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338 GPIO_IOSET = mainON_BOARD_LED_BIT;
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341 /*-----------------------------------------------------------*/
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343 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount )
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345 portLONG lReturn = ( portLONG ) pdPASS;
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347 /* Check all the demo tasks (other than the flash tasks) to ensure
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348 that they are all still running, and that none of them have detected
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351 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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353 lReturn = ( portLONG ) pdFAIL;
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356 if( xAreComTestTasksStillRunning() != pdTRUE )
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358 lReturn = ( portLONG ) pdFAIL;
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361 if( xArePollingQueuesStillRunning() != pdTRUE )
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363 lReturn = ( portLONG ) pdFAIL;
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366 if( xAreMathsTaskStillRunning() != pdTRUE )
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368 lReturn = ( portLONG ) pdFAIL;
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371 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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373 lReturn = ( portLONG ) pdFAIL;
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376 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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378 lReturn = ( portLONG ) pdFAIL;
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381 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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383 lReturn = ( portLONG ) pdFAIL;
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386 if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
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388 /* The vMemCheckTask did not increment the counter - it must
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390 lReturn = ( portLONG ) pdFAIL;
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395 /*-----------------------------------------------------------*/
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397 static void vMemCheckTask( void *pvParameters )
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399 unsigned portLONG *pulMemCheckTaskRunningCounter;
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400 void *pvMem1, *pvMem2, *pvMem3;
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401 static portLONG lErrorOccurred = pdFALSE;
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403 /* This task is dynamically created then deleted during each cycle of the
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404 vErrorChecks task to check the operation of the memory allocator. Each time
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405 the task is created memory is allocated for the stack and TCB. Each time
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406 the task is deleted this memory is returned to the heap. This task itself
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407 exercises the allocator by allocating and freeing blocks.
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409 The task executes at the idle priority so does not require a delay.
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411 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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412 vErrorChecks() task that this task is still executing without error. */
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414 pulMemCheckTaskRunningCounter = ( unsigned portLONG * ) pvParameters;
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418 if( lErrorOccurred == pdFALSE )
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420 /* We have never seen an error so increment the counter. */
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421 ( *pulMemCheckTaskRunningCounter )++;
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424 /* Allocate some memory - just to give the allocator some extra
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425 exercise. This has to be in a critical section to ensure the
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426 task does not get deleted while it has memory allocated. */
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429 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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430 if( pvMem1 == NULL )
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432 lErrorOccurred = pdTRUE;
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436 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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437 vPortFree( pvMem1 );
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442 /* Again - with a different size block. */
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445 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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446 if( pvMem2 == NULL )
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448 lErrorOccurred = pdTRUE;
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452 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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453 vPortFree( pvMem2 );
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458 /* Again - with a different size block. */
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461 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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462 if( pvMem3 == NULL )
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464 lErrorOccurred = pdTRUE;
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468 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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469 vPortFree( pvMem3 );
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