2 FreeRTOS.org V5.0.4 - Copyright (C) 2003-2008 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 ***************************************************************************
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29 * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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30 * and even write all or part of your application on your behalf. *
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31 * See http://www.OpenRTOS.com for details of the services we provide to *
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32 * expedite your project. *
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34 ***************************************************************************
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35 ***************************************************************************
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37 Please ensure to read the configuration and relevant port sections of the
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38 online documentation.
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40 http://www.FreeRTOS.org - Documentation, latest information, license and
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43 http://www.SafeRTOS.com - A version that is certified for use in safety
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46 http://www.OpenRTOS.com - Commercial support, development, porting,
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47 licensing and training services.
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52 * Creates all the demo application tasks, then starts the scheduler. The WEB
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53 * documentation provides more details of the standard demo application tasks.
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54 * In addition to the standard demo tasks, the following tasks and tests are
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55 * defined and/or created within this file:
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57 * "Check" task - This only executes every five seconds but has a high priority
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58 * to ensure it gets processor time. Its main function is to check that all the
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59 * standard demo tasks are still operational. While no errors have been
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60 * discovered the check task will toggle an LED every 5 seconds - the toggle
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61 * rate increasing to 500ms being a visual indication that at least one task has
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62 * reported unexpected behaviour.
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64 * "Reg test" tasks - These fill the registers with known values, then check
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65 * that each register still contains its expected value. Each task uses
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66 * different values. The tasks run with very low priority so get preempted very
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67 * frequently. A register containing an unexpected value is indicative of an
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68 * error in the context switching mechanism.
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72 /* Standard includes. */
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75 /* Scheduler includes. */
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76 #include "FreeRTOS.h"
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81 /* Demo app includes. */
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84 #include "crflash.h"
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85 #include "partest.h"
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86 #include "semtest.h"
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88 #include "GenQTest.h"
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90 #include "recmutex.h"
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92 /*-----------------------------------------------------------*/
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94 /* The time between cycles of the 'check' functionality - as described at the
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95 top of this file. */
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96 #define mainNO_ERROR_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
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98 /* The rate at which the LED controlled by the 'check' task will flash should an
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99 error have been detected. */
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100 #define mainERROR_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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102 /* The LED controlled by the 'check' task. */
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103 #define mainCHECK_LED ( 3 )
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105 /* ComTest constants - there is no free LED for the comtest tasks. */
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106 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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107 #define mainCOM_TEST_LED ( 5 )
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109 /* Task priorities. */
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110 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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111 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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112 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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113 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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114 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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115 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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116 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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117 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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118 #define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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120 /* Co-routines are used to flash the LEDs. */
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121 #define mainNUM_FLASH_CO_ROUTINES ( 3 )
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124 * Configure the hardware for the demo.
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126 static void prvSetupHardware( void );
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129 * Implements the 'check' task functionality as described at the top of this
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132 static void prvCheckTask( void *pvParameters );
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134 /*-----------------------------------------------------------*/
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136 /* Counters used to detect errors within the reg test tasks. */
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137 static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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139 /*-----------------------------------------------------------*/
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143 /* Setup the hardware ready for this demo. */
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144 prvSetupHardware();
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146 /* Start the standard demo tasks. */
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147 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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148 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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149 vStartQueuePeekTasks();
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150 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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152 /* For demo purposes use some co-routines to flash the LEDs. */
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153 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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155 /* Create the check task. */
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156 xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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158 /* Start the scheduler. */
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159 vTaskStartScheduler();
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161 /* Will only get here if there was insufficient memory to create the idle
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167 /*-----------------------------------------------------------*/
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169 static void prvCheckTask( void *pvParameters )
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171 unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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172 portTickType xLastExecutionTime;
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174 ( void ) pvParameters;
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176 /* Initialise the variable used to control our iteration rate prior to
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178 xLastExecutionTime = xTaskGetTickCount();
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182 /* Wait until it is time to run the tests again. */
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183 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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185 /* Has an error been found in any task? */
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186 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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191 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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196 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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201 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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206 /* If an error has been found then increase our cycle rate, and in so
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207 doing increase the rate at which the check task LED toggles. */
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210 ulTicksToWait = mainERROR_PERIOD;
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213 /* Toggle the LED each itteration. */
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214 vParTestToggleLED( mainCHECK_LED );
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217 /*-----------------------------------------------------------*/
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219 void prvSetupHardware( void )
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221 portDISABLE_INTERRUPTS();
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223 /* Setup the port used to toggle LEDs. */
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224 vParTestInitialise();
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226 /*-----------------------------------------------------------*/
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228 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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230 /* This will get called if a stack overflow is detected during the context
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231 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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232 problems within nested interrupts, but only do this for debug purposes as
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233 it will increase the context switch time. */
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236 ( void ) pcTaskName;
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242 /*-----------------------------------------------------------*/
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244 void vApplicationIdleHook( void );
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245 void vApplicationIdleHook( void )
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247 /* The co-routines run in the idle task. */
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248 vCoRoutineSchedule();
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250 /*-----------------------------------------------------------*/
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254 /* To keep the linker happy only as the libraries have been removed from
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