1 /*This file has been prepared for Doxygen automatic documentation generation.*/
\r
2 /*! \file *********************************************************************
\r
4 * \brief FreeRTOS Real Time Kernel example.
\r
6 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
7 * documentation provides more details of the demo application tasks.
\r
9 * Main. c also creates a task called "Check". This only executes every three
\r
10 * seconds but has the highest priority so is guaranteed to get processor time.
\r
11 * Its main function is to check that all the other tasks are still operational.
\r
12 * Each task that does not flash an LED maintains a unique count that is
\r
13 * incremented each time the task successfully completes its function. Should
\r
14 * any error occur within such a task the count is permanently halted. The
\r
15 * check task inspects the count of each task to ensure it has changed since
\r
16 * the last time the check task executed. If all the count variables have
\r
17 * changed all the tasks are still executing error free, and the check task
\r
18 * toggles an LED. Should any task contain an error at any time the LED toggle
\r
21 * The LED flash and communications test tasks do not maintain a count.
\r
23 * - Compiler: IAR EWAVR32 and GNU GCC for AVR32
\r
24 * - Supported devices: All AVR32 devices with GPIO.
\r
27 * \author Atmel Corporation: http://www.atmel.com \n
\r
28 * Support and FAQ: http://support.atmel.no/
\r
30 *****************************************************************************/
\r
33 FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
\r
35 This file is part of the FreeRTOS distribution.
\r
37 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
38 the terms of the GNU General Public License (version 2) as published by the
\r
39 Free Software Foundation and modified by the FreeRTOS exception.
\r
40 **NOTE** The exception to the GPL is included to allow you to distribute a
\r
41 combined work that includes FreeRTOS without being obliged to provide the
\r
42 source code for proprietary components outside of the FreeRTOS kernel.
\r
43 Alternative commercial license and support terms are also available upon
\r
44 request. See the licensing section of http://www.FreeRTOS.org for full
\r
47 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
\r
48 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
\r
49 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
\r
52 You should have received a copy of the GNU General Public License along
\r
53 with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
\r
54 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
\r
57 ***************************************************************************
\r
59 * The FreeRTOS eBook and reference manual are available to purchase for a *
\r
60 * small fee. Help yourself get started quickly while also helping the *
\r
61 * FreeRTOS project! See http://www.FreeRTOS.org/Documentation for details *
\r
63 ***************************************************************************
\r
67 Please ensure to read the configuration and relevant port sections of the
\r
68 online documentation.
\r
70 http://www.FreeRTOS.org - Documentation, latest information, license and
\r
73 http://www.SafeRTOS.com - A version that is certified for use in safety
\r
76 http://www.OpenRTOS.com - Commercial support, development, porting,
\r
77 licensing and training services.
\r
85 /* Environment header files. */
\r
88 /* Scheduler header files. */
\r
89 #include "FreeRTOS.h"
\r
92 /* Demo file headers. */
\r
93 #include "partest.h"
\r
95 #include "integer.h"
\r
96 #include "comtest.h"
\r
99 #include "semtest.h"
\r
100 #include "dynamic.h"
\r
101 #include "BlockQ.h"
\r
105 /*! \name Priority definitions for most of the tasks in the demo application.
\r
106 * Some tasks just use the idle priority.
\r
109 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
110 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
111 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
112 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
113 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
114 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
\r
115 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
118 //! Baud rate used by the serial port tasks.
\r
119 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 57600 )
\r
121 //! LED used by the serial port tasks. This is toggled on each character Tx,
\r
122 //! and mainCOM_TEST_LED + 1 is toggled on each character Rx.
\r
123 #define mainCOM_TEST_LED ( 3 )
\r
125 //! LED that is toggled by the check task. The check task periodically checks
\r
126 //! that all the other tasks are operating without error. If no errors are found
\r
127 //! the LED is toggled. If an error is found at any time the LED toggles faster.
\r
128 #define mainCHECK_TASK_LED ( 6 )
\r
130 //! LED that is set upon error.
\r
131 #define mainERROR_LED ( 7 )
\r
133 //! The period between executions of the check task.
\r
134 #define mainCHECK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
\r
136 //! If an error is detected in a task, the vErrorChecks task will enter in an
\r
137 //! infinite loop flashing the LED at this rate.
\r
138 #define mainERROR_FLASH_RATE ( (portTickType) 500 / portTICK_RATE_MS )
\r
140 /*! \name Constants used by the vMemCheckTask() task.
\r
143 #define mainCOUNT_INITIAL_VALUE ( ( unsigned portLONG ) 0 )
\r
144 #define mainNO_TASK ( 0 )
\r
147 /*! \name The size of the memory blocks allocated by the vMemCheckTask() task.
\r
150 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
\r
151 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
\r
152 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 15 )
\r
156 /*-----------------------------------------------------------*/
\r
159 * The task that executes at the highest priority and calls
\r
160 * prvCheckOtherTasksAreStillRunning(). See the description at the top
\r
163 static void vErrorChecks( void *pvParameters );
\r
166 * Checks that all the demo application tasks are still executing without error
\r
167 * - as described at the top of the file.
\r
169 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void );
\r
172 * A task that exercises the memory allocator.
\r
174 static void vMemCheckTask( void *pvParameters );
\r
177 * Called by the check task following the detection of an error to set the
\r
178 * LEDs into a state that shows an error has beeen found.
\r
180 static void prvIndicateError( void );
\r
182 /*-----------------------------------------------------------*/
\r
186 /* Start the crystal oscillator 0 and switch the main clock to it. */
\r
187 pm_switch_to_osc0(&AVR32_PM, FOSC0, OSC0_STARTUP);
\r
189 portDBG_TRACE("Starting the FreeRTOS AVR32 UC3 Demo...");
\r
191 /* Setup the LED's for output. */
\r
192 vParTestInitialise();
\r
194 /* Start the standard demo tasks. See the WEB documentation for more
\r
196 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
\r
197 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
\r
198 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
199 vStartIntegerMathTasks( tskIDLE_PRIORITY );
\r
200 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
201 vStartDynamicPriorityTasks();
\r
202 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
203 vStartMathTasks( tskIDLE_PRIORITY );
\r
205 /* Start the demo tasks defined within this file, specifically the check
\r
206 task as described at the top of this file. */
\r
209 , (const signed portCHAR *)"ErrCheck"
\r
210 , configMINIMAL_STACK_SIZE
\r
212 , mainCHECK_TASK_PRIORITY
\r
215 /* Start the scheduler. */
\r
216 vTaskStartScheduler();
\r
218 /* Will only get here if there was insufficient memory to create the idle
\r
223 /*-----------------------------------------------------------*/
\r
226 * \brief The task function for the "Check" task.
\r
228 static void vErrorChecks( void *pvParameters )
\r
230 static volatile unsigned portLONG ulDummyVariable = 3UL;
\r
231 unsigned portLONG ulMemCheckTaskRunningCount;
\r
232 xTaskHandle xCreatedTask;
\r
233 portBASE_TYPE bSuicidalTask = 0;
\r
235 /* The parameters are not used. Prevent compiler warnings. */
\r
236 ( void ) pvParameters;
\r
238 /* Cycle for ever, delaying then checking all the other tasks are still
\r
239 operating without error.
\r
241 In addition to the standard tests the memory allocator is tested through
\r
242 the dynamic creation and deletion of a task each cycle. Each time the
\r
243 task is created memory must be allocated for its stack. When the task is
\r
244 deleted this memory is returned to the heap. If the task cannot be created
\r
245 then it is likely that the memory allocation failed. */
\r
249 /* Do this only once. */
\r
250 if( bSuicidalTask == 0 )
\r
254 /* This task has to be created last as it keeps account of the number of
\r
255 tasks it expects to see running. However its implementation expects
\r
256 to be called before vTaskStartScheduler(). We're in the case here where
\r
257 vTaskStartScheduler() has already been called (thus the hidden IDLE task
\r
258 has already been spawned). Since vCreateSuicidalTask() supposes that the
\r
259 IDLE task isn't included in the response from uxTaskGetNumberOfTasks(),
\r
260 let the MEM_CHECK task play that role. => this is why vCreateSuicidalTasks()
\r
261 is not called as the last task. */
\r
262 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
\r
265 /* Reset xCreatedTask. This is modified by the task about to be
\r
266 created so we can tell if it is executing correctly or not. */
\r
267 xCreatedTask = mainNO_TASK;
\r
269 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
\r
271 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
\r
273 if( xTaskCreate( vMemCheckTask,
\r
274 ( signed portCHAR * ) "MEM_CHECK",
\r
275 configMINIMAL_STACK_SIZE,
\r
276 ( void * ) &ulMemCheckTaskRunningCount,
\r
277 tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
\r
279 /* Could not create the task - we have probably run out of heap.
\r
280 Don't go any further and flash the LED faster to provide visual
\r
281 feedback of the error. */
\r
282 prvIndicateError();
\r
285 /* Delay until it is time to execute again. */
\r
286 vTaskDelay( mainCHECK_PERIOD );
\r
288 /* Delete the dynamically created task. */
\r
289 if( xCreatedTask != mainNO_TASK )
\r
291 vTaskDelete( xCreatedTask );
\r
294 /* Perform a bit of 32bit maths to ensure the registers used by the
\r
295 integer tasks get some exercise. The result here is not important -
\r
296 see the demo application documentation for more info. */
\r
297 ulDummyVariable *= 3;
\r
299 /* Check all other tasks are still operating without error.
\r
300 Check that vMemCheckTask did increment the counter. */
\r
301 if( ( prvCheckOtherTasksAreStillRunning() != pdFALSE )
\r
302 || ( ulMemCheckTaskRunningCount == mainCOUNT_INITIAL_VALUE ) )
\r
304 /* An error has occurred in one of the tasks.
\r
305 Don't go any further and flash the LED faster to give visual
\r
306 feedback of the error. */
\r
307 prvIndicateError();
\r
311 /* Toggle the LED if everything is okay. */
\r
312 vParTestToggleLED( mainCHECK_TASK_LED );
\r
316 /*-----------------------------------------------------------*/
\r
320 * \brief Checks that all the demo application tasks are still executing without error.
\r
322 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
\r
324 static portBASE_TYPE xErrorHasOccurred = pdFALSE;
\r
326 if( xAreComTestTasksStillRunning() != pdTRUE )
\r
328 xErrorHasOccurred = pdTRUE;
\r
331 if( xArePollingQueuesStillRunning() != pdTRUE )
\r
333 xErrorHasOccurred = pdTRUE;
\r
336 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
338 xErrorHasOccurred = pdTRUE;
\r
341 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
343 xErrorHasOccurred = pdTRUE;
\r
346 if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
348 xErrorHasOccurred = pdTRUE;
\r
351 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
\r
353 xErrorHasOccurred = pdTRUE;
\r
356 if( xAreMathsTaskStillRunning() != pdTRUE )
\r
358 xErrorHasOccurred = pdTRUE;
\r
361 if( xIsCreateTaskStillRunning() != pdTRUE )
\r
363 xErrorHasOccurred = pdTRUE;
\r
366 return ( xErrorHasOccurred );
\r
368 /*-----------------------------------------------------------*/
\r
372 * \brief Dynamically created and deleted during each cycle of the vErrorChecks()
\r
373 * task. This is done to check the operation of the memory allocator.
\r
374 * See the top of vErrorChecks for more details.
\r
376 * \param *pvParameters Parameters for the task (can be of any kind)
\r
378 static void vMemCheckTask( void *pvParameters )
\r
380 unsigned portLONG *pulMemCheckTaskRunningCounter;
\r
381 void *pvMem1, *pvMem2, *pvMem3;
\r
382 static portLONG lErrorOccurred = pdFALSE;
\r
384 /* This task is dynamically created then deleted during each cycle of the
\r
385 vErrorChecks task to check the operation of the memory allocator. Each time
\r
386 the task is created memory is allocated for the stack and TCB. Each time
\r
387 the task is deleted this memory is returned to the heap. This task itself
\r
388 exercises the allocator by allocating and freeing blocks.
\r
390 The task executes at the idle priority so does not require a delay.
\r
392 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
\r
393 vErrorChecks() task that this task is still executing without error. */
\r
395 pulMemCheckTaskRunningCounter = ( unsigned portLONG * ) pvParameters;
\r
399 if( lErrorOccurred == pdFALSE )
\r
401 /* We have never seen an error so increment the counter. */
\r
402 ( *pulMemCheckTaskRunningCounter )++;
\r
406 /* There has been an error so reset the counter so the check task
\r
407 can tell that an error occurred. */
\r
408 *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
\r
411 /* Allocate some memory - just to give the allocator some extra
\r
412 exercise. This has to be in a critical section to ensure the
\r
413 task does not get deleted while it has memory allocated. */
\r
417 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
\r
419 if( pvMem1 == NULL )
\r
421 lErrorOccurred = pdTRUE;
\r
425 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
\r
426 vPortFree( pvMem1 );
\r
431 /* Again - with a different size block. */
\r
434 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
\r
436 if( pvMem2 == NULL )
\r
438 lErrorOccurred = pdTRUE;
\r
442 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
\r
443 vPortFree( pvMem2 );
\r
448 /* Again - with a different size block. */
\r
451 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
\r
452 if( pvMem3 == NULL )
\r
454 lErrorOccurred = pdTRUE;
\r
458 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
\r
459 vPortFree( pvMem3 );
\r
465 /*-----------------------------------------------------------*/
\r
467 static void prvIndicateError( void )
\r
469 /* The check task has found an error in one of the other tasks.
\r
470 Set the LEDs to a state that indicates this. */
\r
471 vParTestSetLED(mainERROR_LED,pdTRUE);
\r
475 #if( BOARD==EVK1100 )
\r
476 vParTestToggleLED( mainCHECK_TASK_LED );
\r
477 vTaskDelay( mainERROR_FLASH_RATE );
\r
479 #if ( BOARD==EVK1101 )
\r
480 vParTestSetLED( 0, pdTRUE );
\r
481 vParTestSetLED( 1, pdTRUE );
\r
482 vParTestSetLED( 2, pdTRUE );
\r
483 vParTestSetLED( 3, pdTRUE );
\r