2 FreeRTOS.org V4.3.1 - Copyright (C) 2003-2007 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 See http://www.FreeRTOS.org for documentation, latest information, license
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28 and contact details. Please ensure to read the configuration and relevant
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29 port sections of the online documentation.
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31 Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
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32 with commercial development and support options.
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33 ***************************************************************************
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37 * Creates all the demo application tasks, then starts the scheduler. The WEB
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38 * documentation provides more details of the demo application tasks.
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40 * Main.c also creates a task called "Check". This only executes every three
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41 * seconds but has the highest priority so is guaranteed to get processor time.
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42 * Its main function is to check that all the other tasks are still operational.
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43 * Each task (other than the "flash" tasks) maintains a unique count that is
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44 * incremented each time the task successfully completes its function. Should
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45 * any error occur within such a task the count is permanently halted. The
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46 * check task inspects the count of each task to ensure it has changed since
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47 * the last time the check task executed. If all the count variables have
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48 * changed all the tasks are still executing error free, and the check task
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49 * toggles the onboard LED. Should any task contain an error at any time
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50 * the LED toggle rate will change from 3 seconds to 500ms.
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52 * To check the operation of the memory allocator the check task also
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53 * dynamically creates a task before delaying, and deletes it again when it
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54 * wakes. If memory cannot be allocated for the new task the call to xTaskCreate
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55 * will fail and an error is signalled. The dynamically created task itself
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56 * allocates and frees memory just to give the allocator a bit more exercise.
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60 /* Standard includes. */
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64 /* Scheduler include files. */
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65 #include "FreeRTOS.h"
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68 /* Demo application file headers. */
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70 #include "integer.h"
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72 #include "comtest2.h"
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73 #include "semtest.h"
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75 #include "dynamic.h"
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78 #include "partest.h"
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80 /* Priority definitions for most of the tasks in the demo application. Some
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81 tasks just use the idle priority. */
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82 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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83 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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84 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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85 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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86 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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87 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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89 /* Baud rate used by the serial port tasks (ComTest tasks). */
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90 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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92 /* LED used by the serial port tasks. This is toggled on each character Tx,
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93 and mainCOM_TEST_LED + 1 is toggles on each character Rx. */
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94 #define mainCOM_TEST_LED ( 3 )
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96 /* LED that is toggled by the check task. The check task periodically checks
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97 that all the other tasks are operating without error. If no errors are found
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98 the LED is toggled with mainCHECK_PERIOD frequency. If an error is found
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99 the the toggle rate increases to mainERROR_CHECK_PERIOD. */
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100 #define mainCHECK_TASK_LED ( 5 )
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101 #define mainCHECK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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102 #define mainERROR_CHECK_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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104 /* Constants used by the vMemCheckTask() task. */
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105 #define mainCOUNT_INITIAL_VALUE ( ( unsigned portLONG ) 0 )
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106 #define mainNO_TASK ( 0 )
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108 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
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109 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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110 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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111 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
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114 * The 'Check' task.
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116 static void vErrorChecks( void *pvParameters );
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119 * Checks the unique counts of other tasks to ensure they are still operational.
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121 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount );
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124 * Dynamically created and deleted during each cycle of the vErrorChecks()
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125 * task. This is done to check the operation of the memory allocator.
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126 * See the top of vErrorChecks for more details.
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128 static void vMemCheckTask( void *pvParameters );
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130 /*-----------------------------------------------------------*/
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133 * Start all the tasks then start the scheduler.
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137 /* Setup the LED's for output. */
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138 vParTestInitialise();
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140 /* Start the various standard demo application tasks. */
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141 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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142 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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143 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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144 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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145 vStartMathTasks( tskIDLE_PRIORITY );
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146 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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147 vStartDynamicPriorityTasks();
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148 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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150 /* Start the 'Check' task. */
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151 xTaskCreate( vErrorChecks, ( signed portCHAR * )"Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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153 /* In this port, to use preemptive scheduler define configUSE_PREEMPTION
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154 as 1 in portmacro.h. To use the cooperative scheduler define
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155 configUSE_PREEMPTION as 0. */
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156 vTaskStartScheduler();
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158 /* Should never get here! */
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161 /*-----------------------------------------------------------*/
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164 * Cycle for ever, delaying then checking all the other tasks are still
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165 * operating without error. If an error is detected then the delay period
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166 * is decreased from mainCHECK_PERIOD to mainERROR_CHECK_PERIOD so
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167 * the on board LED flash rate will increase.
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169 * In addition to the standard tests the memory allocator is tested through
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170 * the dynamic creation and deletion of a task each cycle. Each time the
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171 * task is created memory must be allocated for its stack. When the task is
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172 * deleted this memory is returned to the heap. If the task cannot be created
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173 * then it is likely that the memory allocation failed. In addition the
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174 * dynamically created task allocates and frees memory while it runs.
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176 static void vErrorChecks( void *pvParameters )
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178 portTickType xDelayPeriod = mainCHECK_PERIOD;
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179 volatile unsigned portLONG ulMemCheckTaskRunningCount;
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180 xTaskHandle xCreatedTask;
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181 portTickType xLastWakeTime;
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183 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
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184 functions correctly. */
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185 xLastWakeTime = xTaskGetTickCount();
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189 /* Set ulMemCheckTaskRunningCount to a known value so we can check
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190 later that it has changed. */
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191 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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193 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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195 xCreatedTask = mainNO_TASK;
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196 if( xTaskCreate( vMemCheckTask, ( signed portCHAR * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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198 /* Could not create the task - we have probably run out of heap. */
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199 xDelayPeriod = mainERROR_CHECK_PERIOD;
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203 /* Delay until it is time to execute again. The delay period is
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204 shorter following an error. */
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205 vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
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208 /* Delete the dynamically created task. */
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209 if( xCreatedTask != mainNO_TASK )
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211 vTaskDelete( xCreatedTask );
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214 /* Check all the standard demo application tasks are executing without
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215 error. ulMemCheckTaskRunningCount is checked to ensure it was
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216 modified by the task just deleted. */
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217 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
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219 /* An error has been detected in one of the tasks - flash faster. */
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220 xDelayPeriod = mainERROR_CHECK_PERIOD;
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223 vParTestToggleLED( mainCHECK_TASK_LED );
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226 /*-----------------------------------------------------------*/
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229 * Check each set of tasks in turn to see if they have experienced any
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230 * error conditions.
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232 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount )
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234 portLONG lNoErrorsDiscovered = ( portLONG ) pdTRUE;
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236 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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238 lNoErrorsDiscovered = pdFALSE;
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241 if( xAreComTestTasksStillRunning() != pdTRUE )
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243 lNoErrorsDiscovered = pdFALSE;
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246 if( xArePollingQueuesStillRunning() != pdTRUE )
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248 lNoErrorsDiscovered = pdFALSE;
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251 if( xAreMathsTaskStillRunning() != pdTRUE )
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253 lNoErrorsDiscovered = pdFALSE;
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256 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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258 lNoErrorsDiscovered = pdFALSE;
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261 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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263 lNoErrorsDiscovered = pdFALSE;
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266 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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268 lNoErrorsDiscovered = pdFALSE;
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271 if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
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273 /* The vMemCheckTask task did not increment the counter - it must
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275 lNoErrorsDiscovered = pdFALSE;
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278 return lNoErrorsDiscovered;
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280 /*-----------------------------------------------------------*/
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282 static void vMemCheckTask( void *pvParameters )
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284 unsigned portLONG *pulMemCheckTaskRunningCounter;
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285 void *pvMem1, *pvMem2, *pvMem3;
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286 static portLONG lErrorOccurred = pdFALSE;
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288 /* This task is dynamically created then deleted during each cycle of the
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289 vErrorChecks task to check the operation of the memory allocator. Each time
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290 the task is created memory is allocated for the stack and TCB. Each time
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291 the task is deleted this memory is returned to the heap. This task itself
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292 exercises the allocator by allocating and freeing blocks.
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294 The task executes at the idle priority so does not require a delay.
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296 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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297 vErrorChecks() task that this task is still executing without error. */
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299 pulMemCheckTaskRunningCounter = ( unsigned portLONG * ) pvParameters;
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303 if( lErrorOccurred == pdFALSE )
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305 /* We have never seen an error so increment the counter. */
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306 ( *pulMemCheckTaskRunningCounter )++;
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310 /* Reset the count so an error is detected by the
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311 prvCheckOtherTasksAreStillRunning() function. */
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312 *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
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315 /* Allocate some memory - just to give the allocator some extra
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316 exercise. This has to be in a critical section to ensure the
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317 task does not get deleted while it has memory allocated. */
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320 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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321 if( pvMem1 == NULL )
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323 lErrorOccurred = pdTRUE;
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327 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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328 vPortFree( pvMem1 );
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333 /* Again - with a different size block. */
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336 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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337 if( pvMem2 == NULL )
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339 lErrorOccurred = pdTRUE;
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343 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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344 vPortFree( pvMem2 );
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349 /* Again - with a different size block. */
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352 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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353 if( pvMem3 == NULL )
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355 lErrorOccurred = pdTRUE;
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359 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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360 vPortFree( pvMem3 );
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366 /*-----------------------------------------------------------*/
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369 * Called by the startup code. Initial processor setup can be placed in this
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372 void hw_initialise (void)
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