1 /*This file has been prepared for Doxygen automatic documentation generation.*/
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2 /*! \file *********************************************************************
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4 * \brief FreeRTOS Real Time Kernel example.
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6 * Creates all the demo application tasks, then starts the scheduler. The WEB
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7 * documentation provides more details of the demo application tasks.
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9 * Main. c also creates a task called "Check". This only executes every three
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10 * seconds but has the highest priority so is guaranteed to get processor time.
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11 * Its main function is to check that all the other tasks are still operational.
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12 * Each task that does not flash an LED maintains a unique count that is
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13 * incremented each time the task successfully completes its function. Should
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14 * any error occur within such a task the count is permanently halted. The
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15 * check task inspects the count of each task to ensure it has changed since
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16 * the last time the check task executed. If all the count variables have
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17 * changed all the tasks are still executing error free, and the check task
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18 * toggles an LED. Should any task contain an error at any time the LED toggle
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21 * The LED flash and communications test tasks do not maintain a count.
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23 * - Compiler: IAR EWAVR32 and GNU GCC for AVR32
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24 * - Supported devices: All AVR32 devices with GPIO.
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27 * \author Atmel Corporation: http://www.atmel.com \n
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28 * Support and FAQ: http://support.atmel.no/
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30 *****************************************************************************/
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33 FreeRTOS.org V5.3.0 - Copyright (C) 2003-2009 Richard Barry.
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35 This file is part of the FreeRTOS.org distribution.
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37 FreeRTOS.org is free software; you can redistribute it and/or modify it
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38 under the terms of the GNU General Public License (version 2) as published
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39 by the Free Software Foundation and modified by the FreeRTOS exception.
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40 **NOTE** The exception to the GPL is included to allow you to distribute a
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41 combined work that includes FreeRTOS.org without being obliged to provide
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42 the source code for any proprietary components. Alternative commercial
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43 license and support terms are also available upon request. See the
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44 licensing section of http://www.FreeRTOS.org for full details.
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46 FreeRTOS.org is distributed in the hope that it will be useful, but WITHOUT
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47 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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48 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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51 You should have received a copy of the GNU General Public License along
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52 with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59
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53 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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56 ***************************************************************************
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58 * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
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60 * This is a concise, step by step, 'hands on' guide that describes both *
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61 * general multitasking concepts and FreeRTOS specifics. It presents and *
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62 * explains numerous examples that are written using the FreeRTOS API. *
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63 * Full source code for all the examples is provided in an accompanying *
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66 ***************************************************************************
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70 Please ensure to read the configuration and relevant port sections of the
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71 online documentation.
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73 http://www.FreeRTOS.org - Documentation, latest information, license and
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76 http://www.SafeRTOS.com - A version that is certified for use in safety
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79 http://www.OpenRTOS.com - Commercial support, development, porting,
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80 licensing and training services.
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88 /* Environment header files. */
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91 /* Scheduler header files. */
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92 #include "FreeRTOS.h"
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95 /* Demo file headers. */
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96 #include "partest.h"
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98 #include "integer.h"
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99 #include "comtest.h"
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102 #include "semtest.h"
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103 #include "dynamic.h"
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104 #include "BlockQ.h"
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108 /*! \name Priority definitions for most of the tasks in the demo application.
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109 * Some tasks just use the idle priority.
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112 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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113 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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114 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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115 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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116 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 3 )
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117 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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118 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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121 //! Baud rate used by the serial port tasks.
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122 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 57600 )
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124 //! LED used by the serial port tasks. This is toggled on each character Tx,
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125 //! and mainCOM_TEST_LED + 1 is toggled on each character Rx.
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126 #define mainCOM_TEST_LED ( 3 )
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128 //! LED that is toggled by the check task. The check task periodically checks
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129 //! that all the other tasks are operating without error. If no errors are found
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130 //! the LED is toggled. If an error is found at any time the LED toggles faster.
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131 #define mainCHECK_TASK_LED ( 6 )
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133 //! LED that is set upon error.
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134 #define mainERROR_LED ( 7 )
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136 //! The period between executions of the check task.
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137 #define mainCHECK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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139 //! If an error is detected in a task, the vErrorChecks task will enter in an
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140 //! infinite loop flashing the LED at this rate.
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141 #define mainERROR_FLASH_RATE ( (portTickType) 500 / portTICK_RATE_MS )
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143 /*! \name Constants used by the vMemCheckTask() task.
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146 #define mainCOUNT_INITIAL_VALUE ( ( unsigned portLONG ) 0 )
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147 #define mainNO_TASK ( 0 )
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150 /*! \name The size of the memory blocks allocated by the vMemCheckTask() task.
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153 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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154 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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155 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 15 )
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159 /*-----------------------------------------------------------*/
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162 * The task that executes at the highest priority and calls
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163 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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166 static void vErrorChecks( void *pvParameters );
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169 * Checks that all the demo application tasks are still executing without error
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170 * - as described at the top of the file.
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172 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void );
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175 * A task that exercises the memory allocator.
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177 static void vMemCheckTask( void *pvParameters );
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180 * Called by the check task following the detection of an error to set the
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181 * LEDs into a state that shows an error has beeen found.
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183 static void prvIndicateError( void );
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185 /*-----------------------------------------------------------*/
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189 /* Start the crystal oscillator 0 and switch the main clock to it. */
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190 pm_switch_to_osc0(&AVR32_PM, FOSC0, OSC0_STARTUP);
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192 portDBG_TRACE("Starting the FreeRTOS AVR32 UC3 Demo...");
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194 /* Setup the LED's for output. */
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195 vParTestInitialise();
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197 /* Start the standard demo tasks. See the WEB documentation for more
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199 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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200 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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201 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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202 vStartIntegerMathTasks( 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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206 vStartMathTasks( tskIDLE_PRIORITY );
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208 /* Start the demo tasks defined within this file, specifically the check
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209 task as described at the top of this file. */
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212 , (const signed portCHAR *)"ErrCheck"
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213 , configMINIMAL_STACK_SIZE
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215 , mainCHECK_TASK_PRIORITY
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218 /* Start the scheduler. */
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219 vTaskStartScheduler();
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221 /* Will only get here if there was insufficient memory to create the idle
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226 /*-----------------------------------------------------------*/
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229 * \brief The task function for the "Check" task.
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231 static void vErrorChecks( void *pvParameters )
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233 static volatile unsigned portLONG ulDummyVariable = 3UL;
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234 unsigned portLONG ulMemCheckTaskRunningCount;
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235 xTaskHandle xCreatedTask;
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236 portBASE_TYPE bSuicidalTask = 0;
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238 /* The parameters are not used. Prevent compiler warnings. */
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239 ( void ) pvParameters;
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241 /* Cycle for ever, delaying then checking all the other tasks are still
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242 operating without error.
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244 In addition to the standard tests the memory allocator is tested through
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245 the dynamic creation and deletion of a task each cycle. Each time the
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246 task is created memory must be allocated for its stack. When the task is
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247 deleted this memory is returned to the heap. If the task cannot be created
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248 then it is likely that the memory allocation failed. */
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252 /* Do this only once. */
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253 if( bSuicidalTask == 0 )
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257 /* This task has to be created last as it keeps account of the number of
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258 tasks it expects to see running. However its implementation expects
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259 to be called before vTaskStartScheduler(). We're in the case here where
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260 vTaskStartScheduler() has already been called (thus the hidden IDLE task
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261 has already been spawned). Since vCreateSuicidalTask() supposes that the
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262 IDLE task isn't included in the response from uxTaskGetNumberOfTasks(),
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263 let the MEM_CHECK task play that role. => this is why vCreateSuicidalTasks()
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264 is not called as the last task. */
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265 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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268 /* Reset xCreatedTask. This is modified by the task about to be
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269 created so we can tell if it is executing correctly or not. */
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270 xCreatedTask = mainNO_TASK;
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272 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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274 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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276 if( xTaskCreate( vMemCheckTask,
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277 ( signed portCHAR * ) "MEM_CHECK",
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278 configMINIMAL_STACK_SIZE,
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279 ( void * ) &ulMemCheckTaskRunningCount,
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280 tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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282 /* Could not create the task - we have probably run out of heap.
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283 Don't go any further and flash the LED faster to provide visual
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284 feedback of the error. */
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285 prvIndicateError();
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288 /* Delay until it is time to execute again. */
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289 vTaskDelay( mainCHECK_PERIOD );
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291 /* Delete the dynamically created task. */
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292 if( xCreatedTask != mainNO_TASK )
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294 vTaskDelete( xCreatedTask );
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297 /* Perform a bit of 32bit maths to ensure the registers used by the
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298 integer tasks get some exercise. The result here is not important -
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299 see the demo application documentation for more info. */
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300 ulDummyVariable *= 3;
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302 /* Check all other tasks are still operating without error.
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303 Check that vMemCheckTask did increment the counter. */
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304 if( ( prvCheckOtherTasksAreStillRunning() != pdFALSE )
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305 || ( ulMemCheckTaskRunningCount == mainCOUNT_INITIAL_VALUE ) )
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307 /* An error has occurred in one of the tasks.
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308 Don't go any further and flash the LED faster to give visual
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309 feedback of the error. */
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310 prvIndicateError();
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314 /* Toggle the LED if everything is okay. */
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315 vParTestToggleLED( mainCHECK_TASK_LED );
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319 /*-----------------------------------------------------------*/
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323 * \brief Checks that all the demo application tasks are still executing without error.
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325 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
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327 static portBASE_TYPE xErrorHasOccurred = pdFALSE;
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329 if( xAreComTestTasksStillRunning() != pdTRUE )
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331 xErrorHasOccurred = pdTRUE;
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334 if( xArePollingQueuesStillRunning() != pdTRUE )
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336 xErrorHasOccurred = pdTRUE;
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339 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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341 xErrorHasOccurred = pdTRUE;
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344 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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346 xErrorHasOccurred = pdTRUE;
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349 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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351 xErrorHasOccurred = pdTRUE;
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354 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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356 xErrorHasOccurred = pdTRUE;
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359 if( xAreMathsTaskStillRunning() != pdTRUE )
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361 xErrorHasOccurred = pdTRUE;
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364 if( xIsCreateTaskStillRunning() != pdTRUE )
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366 xErrorHasOccurred = pdTRUE;
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369 return ( xErrorHasOccurred );
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371 /*-----------------------------------------------------------*/
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375 * \brief Dynamically created and deleted during each cycle of the vErrorChecks()
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376 * task. This is done to check the operation of the memory allocator.
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377 * See the top of vErrorChecks for more details.
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379 * \param *pvParameters Parameters for the task (can be of any kind)
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381 static void vMemCheckTask( void *pvParameters )
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383 unsigned portLONG *pulMemCheckTaskRunningCounter;
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384 void *pvMem1, *pvMem2, *pvMem3;
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385 static portLONG lErrorOccurred = pdFALSE;
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387 /* This task is dynamically created then deleted during each cycle of the
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388 vErrorChecks task to check the operation of the memory allocator. Each time
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389 the task is created memory is allocated for the stack and TCB. Each time
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390 the task is deleted this memory is returned to the heap. This task itself
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391 exercises the allocator by allocating and freeing blocks.
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393 The task executes at the idle priority so does not require a delay.
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395 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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396 vErrorChecks() task that this task is still executing without error. */
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398 pulMemCheckTaskRunningCounter = ( unsigned portLONG * ) pvParameters;
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402 if( lErrorOccurred == pdFALSE )
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404 /* We have never seen an error so increment the counter. */
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405 ( *pulMemCheckTaskRunningCounter )++;
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409 /* There has been an error so reset the counter so the check task
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410 can tell that an error occurred. */
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411 *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
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414 /* Allocate some memory - just to give the allocator some extra
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415 exercise. This has to be in a critical section to ensure the
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416 task does not get deleted while it has memory allocated. */
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420 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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422 if( pvMem1 == NULL )
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424 lErrorOccurred = pdTRUE;
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428 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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429 vPortFree( pvMem1 );
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434 /* Again - with a different size block. */
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437 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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439 if( pvMem2 == NULL )
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441 lErrorOccurred = pdTRUE;
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445 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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446 vPortFree( pvMem2 );
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451 /* Again - with a different size block. */
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454 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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455 if( pvMem3 == NULL )
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457 lErrorOccurred = pdTRUE;
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461 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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462 vPortFree( pvMem3 );
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468 /*-----------------------------------------------------------*/
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470 static void prvIndicateError( void )
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472 /* The check task has found an error in one of the other tasks.
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473 Set the LEDs to a state that indicates this. */
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474 vParTestSetLED(mainERROR_LED,pdTRUE);
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478 #if( BOARD==EVK1100 )
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479 vParTestToggleLED( mainCHECK_TASK_LED );
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480 vTaskDelay( mainERROR_FLASH_RATE );
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482 #if ( BOARD==EVK1101 )
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483 vParTestSetLED( 0, pdTRUE );
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484 vParTestSetLED( 1, pdTRUE );
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485 vParTestSetLED( 2, pdTRUE );
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486 vParTestSetLED( 3, pdTRUE );
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