2 FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
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25 This file is part of the FreeRTOS distribution.
27 FreeRTOS is free software; you can redistribute it and/or modify it under
28 the terms of the GNU General Public License (version 2) as published by the
29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
30 ***NOTE*** The exception to the GPL is included to allow you to distribute
31 a combined work that includes FreeRTOS without being obliged to provide the
32 source code for proprietary components outside of the FreeRTOS kernel.
33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
36 more details. You should have received a copy of the GNU General Public
37 License and the FreeRTOS license exception along with FreeRTOS; if not it
38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
39 by writing to Richard Barry, contact details for whom are available on the
44 http://www.FreeRTOS.org - Documentation, latest information, license and
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51 licensing and training services.
55 * Creates all the demo application tasks, then starts the scheduler.
57 * Main.c also creates a task called "Check". This only executes every three
58 * seconds but has the highest priority so is guaranteed to get processor time.
59 * Its main function is to check that all the other tasks are still operational.
60 * Each task (other than the "flash" tasks) maintains a unique count that is
61 * incremented each time the task successfully completes its function. Should
62 * any error occur within such a task the count is permanently halted. The
63 * check task inspects the count of each task to ensure it has changed since
64 * the last time the check task executed. If all the count variables have
65 * changed all the tasks are still executing error free, and the check task
66 * toggles the on board LED. Should any task contain an error at any time
67 * the LED toggle rate will change from 3 seconds to 500ms.
69 * NOTE: The demo application includes tasks that send and receive characters
70 * over the UART. The characters sent by one task are received by another -
71 * with an error condition being flagged should any characters be missed or
72 * received out of order. A loopback connector is required on the 9way D socket
73 * for this mechanism to operation (pins 2 and 3 the socket should be connected
74 * together - a paper clip is normally sufficient).
78 /* Standard includes. */
82 /* Scheduler includes. */
86 /* Demo application includes. */
100 /*-----------------------------------------------------------*/
102 /* Constants for the ComTest tasks. */
103 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
104 #define mainCOM_TEST_LED ( 5 )
106 /* Priorities for the demo application tasks. */
107 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
108 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
109 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
110 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
111 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
112 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
113 #define main7SEG_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
115 /* The rate at which the on board LED will toggle when there is/is not an
117 #define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
118 #define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
119 #define mainON_BOARD_LED_BIT ( ( unsigned long ) 7 )
121 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
122 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
123 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
124 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
126 /*-----------------------------------------------------------*/
129 * Checks that all the demo application tasks are still executing without error
130 * - as described at the top of the file.
132 static long prvCheckOtherTasksAreStillRunning( void );
135 * The task that executes at the highest priority and calls
136 * prvCheckOtherTasksAreStillRunning(). See the description at the top
139 static void vErrorChecks( void *pvParameters );
142 * Configure the processor for use with the Olimex demo board. This includes
143 * setup for the I/O, system clock, and access timings.
145 static void prvSetupHardware( void );
147 /*-----------------------------------------------------------*/
150 * Starts all the other tasks, then starts the scheduler.
154 /* Setup the hardware for use with the Xilinx evaluation board. */
157 /* Start the demo/test application tasks. */
158 vStartIntegerMathTasks( tskIDLE_PRIORITY );
159 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
160 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
161 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
162 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
163 vStartDynamicPriorityTasks();
164 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
165 vStart7SegTasks( main7SEG_TASK_PRIORITY );
167 /* Start the check task - which is defined in this file. */
168 xTaskCreate( vErrorChecks, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
170 /* Now all the tasks have been started - start the scheduler. */
171 vTaskStartScheduler();
173 /* Should never reach here! */
176 /*-----------------------------------------------------------*/
178 static void vErrorChecks( void *pvParameters )
180 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
182 /* Just to stop compiler warnings. */
183 ( void ) pvParameters;
185 /* Cycle for ever, delaying then checking all the other tasks are still
186 operating without error. If an error is detected then the delay period
187 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
188 the on board LED flash rate will increase. */
192 /* Delay until it is time to execute again. */
193 vTaskDelay( xDelayPeriod );
195 /* Check all the standard demo application tasks are executing without
197 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
199 /* An error has been detected in one of the tasks - flash faster. */
200 xDelayPeriod = mainERROR_FLASH_PERIOD;
203 /* The toggle rate of the LED depends on how long this task delays for.
204 An error reduces the delay period and so increases the toggle rate. */
205 vParTestToggleLED( mainON_BOARD_LED_BIT );
208 /*-----------------------------------------------------------*/
210 static void prvSetupHardware( void )
212 /* Initialise LED outputs. */
213 vParTestInitialise();
215 /*-----------------------------------------------------------*/
217 static long prvCheckOtherTasksAreStillRunning( void )
219 long lReturn = pdPASS;
221 /* Check all the demo tasks (other than the flash tasks) to ensure
222 that they are all still running, and that none of them have detected
225 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
230 if( xAreComTestTasksStillRunning() != pdTRUE )
235 if( xArePollingQueuesStillRunning() != pdTRUE )
240 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
245 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
250 if( xAreBlockingQueuesStillRunning() != pdTRUE )
257 /*-----------------------------------------------------------*/
259 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
261 /* This function will be called if a task overflows its stack. Inspect
262 pxCurrentTCB to find the offending task if the overflow was sever enough
263 to corrupt the pcTaskName parameter. */
264 vParTestSetLED( 4, 1 );
267 /*-----------------------------------------------------------*/
269 void vApplicationMallocFailedHook( void )
271 /* This function will be called if a call to pvPortMalloc() fails to return
272 the requested memory. pvPortMalloc() is called internally by the scheduler
273 whenever a task, queue or semaphore is created. */
274 vParTestSetLED( 4, 1 );
277 /*-----------------------------------------------------------*/