2 FreeRTOS.org V5.3.0 - Copyright (C) 2003-2009 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 it
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7 under the terms of the GNU General Public License (version 2) as published
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8 by the Free Software Foundation and modified by the FreeRTOS exception.
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9 **NOTE** The exception to the GPL is included to allow you to distribute a
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10 combined work that includes FreeRTOS.org without being obliged to provide
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11 the source code for any proprietary components. Alternative commercial
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12 license and support terms are also available upon request. See the
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13 licensing section of http://www.FreeRTOS.org for full details.
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15 FreeRTOS.org is distributed in the hope that it will be useful, but WITHOUT
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16 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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17 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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20 You should have received a copy of the GNU General Public License along
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21 with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59
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22 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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25 ***************************************************************************
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27 * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
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29 * This is a concise, step by step, 'hands on' guide that describes both *
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30 * general multitasking concepts and FreeRTOS specifics. It presents and *
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31 * explains numerous examples that are written using the FreeRTOS API. *
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32 * Full source code for all the examples is provided in an accompanying *
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35 ***************************************************************************
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39 Please ensure to read the configuration and relevant port sections of the
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40 online documentation.
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42 http://www.FreeRTOS.org - Documentation, latest information, license and
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45 http://www.SafeRTOS.com - A version that is certified for use in safety
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48 http://www.OpenRTOS.com - Commercial support, development, porting,
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49 licensing and training services.
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53 * Creates all the demo application tasks, then starts the scheduler. The WEB
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54 * documentation provides more details of the standard demo application tasks
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55 * (which just exist to test the kernel port and provide an example of how to use
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56 * each FreeRTOS API function).
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58 * In addition to the standard demo tasks, the following tasks and tests are
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59 * defined and/or created within this file:
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61 * "LCD" task - the LCD task is a 'gatekeeper' task. It is the only task that
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62 * is permitted to access the display directly. Other tasks wishing to write a
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63 * message to the LCD send the message on a queue to the LCD task instead of
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64 * accessing the LCD themselves. The LCD task just blocks on the queue waiting
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65 * for messages - waking and displaying the messages as they arrive. The use
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66 * of a gatekeeper in this manner permits both tasks and interrupts to write to
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67 * the LCD without worrying about mutual exclusion. This is demonstrated by the
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68 * check hook (see below) which sends messages to the display even though it
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69 * executes from an interrupt context.
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71 * "Check" hook - This only executes fully every five seconds from the tick
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72 * hook. Its main function is to check that all the standard demo tasks are
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73 * still operational. Should any unexpected behaviour be discovered within a
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74 * demo task then the tick hook will write an error to the LCD (via the LCD task).
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75 * If all the demo tasks are executing with their expected behaviour then the
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76 * check task writes PASS to the LCD (again via the LCD task), as described above.
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80 /* Scheduler includes. */
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81 #include "FreeRTOS.h"
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86 /* Demo app includes. */
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88 #include "integer.h"
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89 #include "blocktim.h"
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91 #include "partest.h"
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92 #include "semtest.h"
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94 #include "lcd_message.h"
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95 #include "GenQTest.h"
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97 #include "recmutex.h"
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99 #include "comtest2.h"
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101 /* Atmel library includes. */
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103 #include <lcd/color.h>
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104 #include <lcd/lcdd.h>
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105 #include <lcd/draw.h>
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108 /*-----------------------------------------------------------*/
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110 /* The time between cycles of the 'check' functionality (defined within the
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112 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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114 /* The LCD task uses the sprintf function so requires a little more stack too. */
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115 #define mainLCD_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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117 /* Task priorities. */
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118 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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119 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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120 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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121 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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122 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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123 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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124 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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126 /* The maximum number of message that can be waiting for display at any one
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128 #define mainLCD_QUEUE_SIZE ( 3 )
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130 /* Constants used by the comtest tasks. There isn't a spare LED so an invalid
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131 LED is specified. */
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132 #define mainBAUD_RATE ( 115200 )
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133 #define mainCOM_TEST_LED ( 10 )
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135 /*-----------------------------------------------------------*/
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138 * Configure the hardware for the demo.
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140 static void prvSetupHardware( void );
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143 * The LCD gatekeeper task. Tasks wishing to write to the LCD do not access
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144 * the LCD directly, but instead send the message to the LCD gatekeeper task.
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146 static void prvLCDTask( void *pvParameters );
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149 * Hook functions that can get called by the kernel. The 'check' functionality
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150 * is implemented within the tick hook.
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152 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
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155 * The tick hook function as described in the comments at the top of this file.
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156 * The tick hook is used to monitor all the standard demo tasks to look for
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157 * errors. The tick hook is also used to demonstrate how the LCD gatekeeper
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158 * task can be used to allow interrupts to write to the LCD.
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160 void vApplicationTickHook( void );
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163 /*-----------------------------------------------------------*/
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165 /* The queue used to send messages to the LCD task. */
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166 static xQueueHandle xLCDQueue;
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168 /*-----------------------------------------------------------*/
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172 /* Prepare the hardware. */
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173 prvSetupHardware();
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175 /* Create the queue used by the LCD task. Messages for display on the LCD
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176 are received via this queue. */
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177 xLCDQueue = xQueueCreate( mainLCD_QUEUE_SIZE, sizeof( xLCDMessage ) );
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179 /* Start the standard demo tasks. These do nothing other than test the
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180 port and provide some APU usage examples. */
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181 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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182 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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183 vStartRecursiveMutexTasks();
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184 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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185 vCreateBlockTimeTasks();
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186 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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187 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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188 vStartQueuePeekTasks();
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189 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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190 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_TEST_LED );
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192 /* Start the tasks defined within this file/specific to this demo. */
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193 xTaskCreate( prvLCDTask, ( signed char * ) "LCD", mainLCD_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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195 /* Start the scheduler. */
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196 vTaskStartScheduler();
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198 /* Will only get here if there was insufficient memory to create the idle
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202 /*-----------------------------------------------------------*/
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204 void prvSetupHardware( void )
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206 /* Initialise the port used for the LED outputs. */
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207 vParTestInitialise();
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209 /*-----------------------------------------------------------*/
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211 void vApplicationTickHook( void )
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213 static xLCDMessage xMessage = { "PASS" };
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214 static unsigned portLONG ulTicksSinceLastDisplay = 0;
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215 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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217 /* Called from every tick interrupt. Have enough ticks passed to make it
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218 time to perform our health status check again? */
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219 ulTicksSinceLastDisplay++;
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220 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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222 ulTicksSinceLastDisplay = 0;
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224 /* Has an error been found in any task? */
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225 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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227 xMessage.pcMessage = "ERROR IN GEN Q";
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229 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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231 xMessage.pcMessage = "ERROR IN MATH";
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233 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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235 xMessage.pcMessage = "ERROR IN BLOCK Q";
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237 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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239 xMessage.pcMessage = "ERROR IN BLOCK TIME";
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241 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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243 xMessage.pcMessage = "ERROR IN SEMAPHORE";
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245 else if( xArePollingQueuesStillRunning() != pdTRUE )
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247 xMessage.pcMessage = "ERROR IN POLL Q";
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249 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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251 xMessage.pcMessage = "ERROR IN PEEK Q";
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253 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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255 xMessage.pcMessage = "ERROR IN REC MUTEX";
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257 else if( xAreComTestTasksStillRunning() != pdTRUE )
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259 xMessage.pcMessage = "ERROR IN COMTEST";
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262 /* Send the message to the LCD gatekeeper for display. */
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263 xHigherPriorityTaskWoken = pdFALSE;
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264 xQueueSendFromISR( xLCDQueue, &xMessage, &xHigherPriorityTaskWoken );
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267 /*-----------------------------------------------------------*/
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269 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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272 ( void ) pcTaskName;
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274 /* If the parameters have been corrupted then inspect pxCurrentTCB to
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275 identify which task has overflowed its stack. */
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278 /*-----------------------------------------------------------*/
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280 static void prvLCDTask( void *pvParameters )
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282 xLCDMessage xMessage;
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283 unsigned long ulY = 0;
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284 const unsigned long ulX = 5;
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285 const unsigned long ulMaxY = 250, ulYIncrement = 22, ulWidth = 250, ulHeight = 20;;
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287 /* Initialize LCD. */
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290 LCDD_Fill( ( void * ) BOARD_LCD_BASE, COLOR_WHITE );
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291 LCDD_DrawString( ( void * ) BOARD_LCD_BASE, 1, ulY + 3, " www.FreeRTOS.org", COLOR_BLACK );
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295 /* Wait for a message from the check function (which is executed in
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297 xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY );
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299 /* Clear the space where the old message was. */
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300 LCDD_DrawRectangle( ( void * ) BOARD_LCD_BASE, 0, ulY, ulWidth, ulHeight, COLOR_WHITE );
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302 /* Increment to the next drawing position. */
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303 ulY += ulYIncrement;
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305 /* Have the Y position moved past the end of the LCD? */
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306 if( ulY >= ulMaxY )
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311 /* Draw a new rectangle, in which the message will be written. */
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312 LCDD_DrawRectangle( ( void * ) BOARD_LCD_BASE, 0, ulY, ulWidth, ulHeight, COLOR_GREEN );
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314 /* Write the message. */
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315 LCDD_DrawString( ( void * ) BOARD_LCD_BASE, ulX, ulY + 3, xMessage.pcMessage, COLOR_BLACK );
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