2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
\r
5 ***************************************************************************
\r
7 * FreeRTOS tutorial books are available in pdf and paperback. *
\r
8 * Complete, revised, and edited pdf reference manuals are also *
\r
11 * Purchasing FreeRTOS documentation will not only help you, by *
\r
12 * ensuring you get running as quickly as possible and with an *
\r
13 * in-depth knowledge of how to use FreeRTOS, it will also help *
\r
14 * the FreeRTOS project to continue with its mission of providing *
\r
15 * professional grade, cross platform, de facto standard solutions *
\r
16 * for microcontrollers - completely free of charge! *
\r
18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
\r
20 * Thank you for using FreeRTOS, and thank you for your support! *
\r
22 ***************************************************************************
\r
25 This file is part of the FreeRTOS distribution.
\r
27 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
28 the terms of the GNU General Public License (version 2) as published by the
\r
29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
\r
30 >>>NOTE<<< The modification to the GPL is included to allow you to
\r
31 distribute a combined work that includes FreeRTOS without being obliged to
\r
32 provide the source code for proprietary components outside of the FreeRTOS
\r
33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
\r
34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
\r
35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
\r
36 more details. You should have received a copy of the GNU General Public
\r
37 License and the FreeRTOS license exception along with FreeRTOS; if not it
\r
38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
\r
39 by writing to Richard Barry, contact details for whom are available on the
\r
44 ***************************************************************************
\r
46 * Having a problem? Start by reading the FAQ "My application does *
\r
47 * not run, what could be wrong? *
\r
49 * http://www.FreeRTOS.org/FAQHelp.html *
\r
51 ***************************************************************************
\r
54 http://www.FreeRTOS.org - Documentation, training, latest information,
\r
55 license and contact details.
\r
57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
58 including FreeRTOS+Trace - an indispensable productivity tool.
\r
60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
\r
61 the code with commercial support, indemnification, and middleware, under
\r
62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
\r
63 provide a safety engineered and independently SIL3 certified version under
\r
64 the SafeRTOS brand: http://www.SafeRTOS.com.
\r
68 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
69 * documentation provides more details of the demo application tasks.
\r
71 * Main.c also creates a task called "Check". This only executes every three
\r
72 * seconds but has the highest priority so is guaranteed to get processor time.
\r
73 * Its main function is to check that all the other tasks are still operational.
\r
74 * Each task (other than the "flash" tasks) maintains a unique count that is
\r
75 * incremented each time the task successfully completes its function. Should
\r
76 * any error occur within such a task the count is permanently halted. The
\r
77 * check task inspects the count of each task to ensure it has changed since
\r
78 * the last time the check task executed. If all the count variables have
\r
79 * changed all the tasks are still executing error free, and the check task
\r
80 * toggles the onboard LED. Should any task contain an error at any time
\r
81 * the LED toggle rate will change from 3 seconds to 500ms.
\r
83 * To check the operation of the memory allocator the check task also
\r
84 * dynamically creates a task before delaying, and deletes it again when it
\r
85 * wakes. If memory cannot be allocated for the new task the call to xTaskCreate
\r
86 * will fail and an error is signalled. The dynamically created task itself
\r
87 * allocates and frees memory just to give the allocator a bit more exercise.
\r
91 /* Standard includes. */
\r
95 /* Scheduler include files. */
\r
96 #include "FreeRTOS.h"
\r
99 /* Demo application file headers. */
\r
101 #include "integer.h"
\r
103 #include "comtest2.h"
\r
104 #include "semtest.h"
\r
106 #include "dynamic.h"
\r
107 #include "BlockQ.h"
\r
108 #include "serial.h"
\r
109 #include "partest.h"
\r
111 /* Priority definitions for most of the tasks in the demo application. Some
\r
112 tasks just use the idle priority. */
\r
113 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
114 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
115 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
116 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
117 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
118 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
120 /* Baud rate used by the serial port tasks (ComTest tasks). */
\r
121 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
\r
123 /* LED used by the serial port tasks. This is toggled on each character Tx,
\r
124 and mainCOM_TEST_LED + 1 is toggles on each character Rx. */
\r
125 #define mainCOM_TEST_LED ( 3 )
\r
127 /* LED that is toggled by the check task. The check task periodically checks
\r
128 that all the other tasks are operating without error. If no errors are found
\r
129 the LED is toggled with mainCHECK_PERIOD frequency. If an error is found
\r
130 the the toggle rate increases to mainERROR_CHECK_PERIOD. */
\r
131 #define mainCHECK_TASK_LED ( 5 )
\r
132 #define mainCHECK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
\r
133 #define mainERROR_CHECK_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
\r
135 /* Constants used by the vMemCheckTask() task. */
\r
136 #define mainCOUNT_INITIAL_VALUE ( ( unsigned long ) 0 )
\r
137 #define mainNO_TASK ( 0 )
\r
139 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
\r
140 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
\r
141 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
\r
142 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
\r
145 * The 'Check' task.
\r
147 static void vErrorChecks( void *pvParameters );
\r
150 * Checks the unique counts of other tasks to ensure they are still operational.
\r
152 static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount );
\r
155 * Dynamically created and deleted during each cycle of the vErrorChecks()
\r
156 * task. This is done to check the operation of the memory allocator.
\r
157 * See the top of vErrorChecks for more details.
\r
159 static void vMemCheckTask( void *pvParameters );
\r
161 /*-----------------------------------------------------------*/
\r
164 * Start all the tasks then start the scheduler.
\r
168 /* Setup the LED's for output. */
\r
169 vParTestInitialise();
\r
171 /* Start the various standard demo application tasks. */
\r
172 vStartIntegerMathTasks( tskIDLE_PRIORITY );
\r
173 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
\r
174 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
\r
175 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
176 vStartMathTasks( tskIDLE_PRIORITY );
\r
177 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
178 vStartDynamicPriorityTasks();
\r
179 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
181 /* Start the 'Check' task. */
\r
182 xTaskCreate( vErrorChecks, ( signed char * )"Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
\r
184 /* In this port, to use preemptive scheduler define configUSE_PREEMPTION
\r
185 as 1 in portmacro.h. To use the cooperative scheduler define
\r
186 configUSE_PREEMPTION as 0. */
\r
187 vTaskStartScheduler();
\r
189 /* Should never get here! */
\r
192 /*-----------------------------------------------------------*/
\r
195 * Cycle for ever, delaying then checking all the other tasks are still
\r
196 * operating without error. If an error is detected then the delay period
\r
197 * is decreased from mainCHECK_PERIOD to mainERROR_CHECK_PERIOD so
\r
198 * the on board LED flash rate will increase.
\r
200 * In addition to the standard tests the memory allocator is tested through
\r
201 * the dynamic creation and deletion of a task each cycle. Each time the
\r
202 * task is created memory must be allocated for its stack. When the task is
\r
203 * deleted this memory is returned to the heap. If the task cannot be created
\r
204 * then it is likely that the memory allocation failed. In addition the
\r
205 * dynamically created task allocates and frees memory while it runs.
\r
207 static void vErrorChecks( void *pvParameters )
\r
209 portTickType xDelayPeriod = mainCHECK_PERIOD;
\r
210 volatile unsigned long ulMemCheckTaskRunningCount;
\r
211 xTaskHandle xCreatedTask;
\r
212 portTickType xLastWakeTime;
\r
214 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
\r
215 functions correctly. */
\r
216 xLastWakeTime = xTaskGetTickCount();
\r
220 /* Set ulMemCheckTaskRunningCount to a known value so we can check
\r
221 later that it has changed. */
\r
222 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
\r
224 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
\r
226 xCreatedTask = mainNO_TASK;
\r
227 if( xTaskCreate( vMemCheckTask, ( signed char * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
\r
229 /* Could not create the task - we have probably run out of heap. */
\r
230 xDelayPeriod = mainERROR_CHECK_PERIOD;
\r
234 /* Delay until it is time to execute again. The delay period is
\r
235 shorter following an error. */
\r
236 vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
\r
239 /* Delete the dynamically created task. */
\r
240 if( xCreatedTask != mainNO_TASK )
\r
242 vTaskDelete( xCreatedTask );
\r
245 /* Check all the standard demo application tasks are executing without
\r
246 error. ulMemCheckTaskRunningCount is checked to ensure it was
\r
247 modified by the task just deleted. */
\r
248 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
\r
250 /* An error has been detected in one of the tasks - flash faster. */
\r
251 xDelayPeriod = mainERROR_CHECK_PERIOD;
\r
254 vParTestToggleLED( mainCHECK_TASK_LED );
\r
257 /*-----------------------------------------------------------*/
\r
260 * Check each set of tasks in turn to see if they have experienced any
\r
261 * error conditions.
\r
263 static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount )
\r
265 long lNoErrorsDiscovered = ( long ) pdTRUE;
\r
267 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
269 lNoErrorsDiscovered = pdFALSE;
\r
272 if( xAreComTestTasksStillRunning() != pdTRUE )
\r
274 lNoErrorsDiscovered = pdFALSE;
\r
277 if( xArePollingQueuesStillRunning() != pdTRUE )
\r
279 lNoErrorsDiscovered = pdFALSE;
\r
282 if( xAreMathsTaskStillRunning() != pdTRUE )
\r
284 lNoErrorsDiscovered = pdFALSE;
\r
287 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
289 lNoErrorsDiscovered = pdFALSE;
\r
292 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
\r
294 lNoErrorsDiscovered = pdFALSE;
\r
297 if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
299 lNoErrorsDiscovered = pdFALSE;
\r
302 if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
\r
304 /* The vMemCheckTask task did not increment the counter - it must
\r
306 lNoErrorsDiscovered = pdFALSE;
\r
309 return lNoErrorsDiscovered;
\r
311 /*-----------------------------------------------------------*/
\r
313 static void vMemCheckTask( void *pvParameters )
\r
315 unsigned long *pulMemCheckTaskRunningCounter;
\r
316 void *pvMem1, *pvMem2, *pvMem3;
\r
317 static long lErrorOccurred = pdFALSE;
\r
319 /* This task is dynamically created then deleted during each cycle of the
\r
320 vErrorChecks task to check the operation of the memory allocator. Each time
\r
321 the task is created memory is allocated for the stack and TCB. Each time
\r
322 the task is deleted this memory is returned to the heap. This task itself
\r
323 exercises the allocator by allocating and freeing blocks.
\r
325 The task executes at the idle priority so does not require a delay.
\r
327 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
\r
328 vErrorChecks() task that this task is still executing without error. */
\r
330 pulMemCheckTaskRunningCounter = ( unsigned long * ) pvParameters;
\r
334 if( lErrorOccurred == pdFALSE )
\r
336 /* We have never seen an error so increment the counter. */
\r
337 ( *pulMemCheckTaskRunningCounter )++;
\r
341 /* Reset the count so an error is detected by the
\r
342 prvCheckOtherTasksAreStillRunning() function. */
\r
343 *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
\r
346 /* Allocate some memory - just to give the allocator some extra
\r
347 exercise. This has to be in a critical section to ensure the
\r
348 task does not get deleted while it has memory allocated. */
\r
351 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
\r
352 if( pvMem1 == NULL )
\r
354 lErrorOccurred = pdTRUE;
\r
358 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
\r
359 vPortFree( pvMem1 );
\r
364 /* Again - with a different size block. */
\r
367 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
\r
368 if( pvMem2 == NULL )
\r
370 lErrorOccurred = pdTRUE;
\r
374 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
\r
375 vPortFree( pvMem2 );
\r
380 /* Again - with a different size block. */
\r
383 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
\r
384 if( pvMem3 == NULL )
\r
386 lErrorOccurred = pdTRUE;
\r
390 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
\r
391 vPortFree( pvMem3 );
\r
397 /*-----------------------------------------------------------*/
\r
400 * Called by the startup code. Initial processor setup can be placed in this
\r
403 void hw_initialise (void)
\r