2 FreeRTOS.org V4.0.2 - Copyright (C) 2003-2006 Richard Barry.
\r
4 This file is part of the FreeRTOS.org distribution.
\r
6 FreeRTOS.org is free software; you can redistribute it and/or modify
\r
7 it under the terms of the GNU General Public License as published by
\r
8 the Free Software Foundation; either version 2 of the License, or
\r
9 (at your option) any later version.
\r
11 FreeRTOS.org is distributed in the hope that it will be useful,
\r
12 but WITHOUT ANY WARRANTY; without even the implied warranty of
\r
13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
\r
14 GNU General Public License for more details.
\r
16 You should have received a copy of the GNU General Public License
\r
17 along with FreeRTOS.org; if not, write to the Free Software
\r
18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
\r
20 A special exception to the GPL can be applied should you wish to distribute
\r
21 a combined work that includes FreeRTOS.org, without being obliged to provide
\r
22 the source code for any proprietary components. See the licensing section
\r
23 of http://www.FreeRTOS.org for full details of how and when the exception
\r
26 ***************************************************************************
\r
27 See http://www.FreeRTOS.org for documentation, latest information, license
\r
28 and contact details. Please ensure to read the configuration and relevant
\r
29 port sections of the online documentation.
\r
30 ***************************************************************************
\r
34 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
35 * documentation provides more details of the demo application tasks.
\r
37 * Main.c also creates a task called "Check". This only executes every three
\r
38 * seconds but has the highest priority so is guaranteed to get processor time.
\r
39 * Its main function is to check that all the other tasks are still operational.
\r
40 * Each task (other than the "flash" tasks) maintains a unique count that is
\r
41 * incremented each time the task successfully completes its function. Should
\r
42 * any error occur within such a task the count is permanently halted. The
\r
43 * check task inspects the count of each task to ensure it has changed since
\r
44 * the last time the check task executed. If all the count variables have
\r
45 * changed all the tasks are still executing error free, and the check task
\r
46 * toggles the onboard LED. Should any task contain an error at any time
\r
47 * the LED toggle rate will change from 3 seconds to 500ms.
\r
49 * To check the operation of the memory allocator the check task also
\r
50 * dynamically creates a task before delaying, and deletes it again when it
\r
51 * wakes. If memory cannot be allocated for the new task the call to xTaskCreate
\r
52 * will fail and an error is signalled. The dynamically created task itself
\r
53 * allocates and frees memory just to give the allocator a bit more exercise.
\r
57 /* Standard includes. */
\r
61 /* Scheduler include files. */
\r
62 #include "FreeRTOS.h"
\r
65 /* Demo application file headers. */
\r
67 #include "integer.h"
\r
69 #include "comtest2.h"
\r
70 #include "semtest.h"
\r
72 #include "dynamic.h"
\r
75 #include "partest.h"
\r
77 /* Priority definitions for most of the tasks in the demo application. Some
\r
78 tasks just use the idle priority. */
\r
79 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
80 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
81 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
82 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
83 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
84 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
86 /* Baud rate used by the serial port tasks (ComTest tasks). */
\r
87 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
\r
89 /* LED used by the serial port tasks. This is toggled on each character Tx,
\r
90 and mainCOM_TEST_LED + 1 is toggles on each character Rx. */
\r
91 #define mainCOM_TEST_LED ( 3 )
\r
93 /* LED that is toggled by the check task. The check task periodically checks
\r
94 that all the other tasks are operating without error. If no errors are found
\r
95 the LED is toggled with mainCHECK_PERIOD frequency. If an error is found
\r
96 the the toggle rate increases to mainERROR_CHECK_PERIOD. */
\r
97 #define mainCHECK_TASK_LED ( 5 )
\r
98 #define mainCHECK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
\r
99 #define mainERROR_CHECK_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
\r
101 /* Constants used by the vMemCheckTask() task. */
\r
102 #define mainCOUNT_INITIAL_VALUE ( ( unsigned portLONG ) 0 )
\r
103 #define mainNO_TASK ( 0 )
\r
105 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
\r
106 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
\r
107 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
\r
108 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
\r
111 * The 'Check' task.
\r
113 static void vErrorChecks( void *pvParameters );
\r
116 * Checks the unique counts of other tasks to ensure they are still operational.
\r
118 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount );
\r
121 * Dynamically created and deleted during each cycle of the vErrorChecks()
\r
122 * task. This is done to check the operation of the memory allocator.
\r
123 * See the top of vErrorChecks for more details.
\r
125 static void vMemCheckTask( void *pvParameters );
\r
127 /*-----------------------------------------------------------*/
\r
130 * Start all the tasks then start the scheduler.
\r
134 /* Setup the LED's for output. */
\r
135 vParTestInitialise();
\r
137 /* Start the various standard demo application tasks. */
\r
138 vStartIntegerMathTasks( tskIDLE_PRIORITY );
\r
139 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
\r
140 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
\r
141 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
142 vStartMathTasks( tskIDLE_PRIORITY );
\r
143 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
144 vStartDynamicPriorityTasks();
\r
145 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
147 /* Start the 'Check' task. */
\r
148 xTaskCreate( vErrorChecks, ( signed portCHAR * )"Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
\r
150 /* In this port, to use preemptive scheduler define configUSE_PREEMPTION
\r
151 as 1 in portmacro.h. To use the cooperative scheduler define
\r
152 configUSE_PREEMPTION as 0. */
\r
153 vTaskStartScheduler();
\r
155 /* Should never get here! */
\r
158 /*-----------------------------------------------------------*/
\r
161 * Cycle for ever, delaying then checking all the other tasks are still
\r
162 * operating without error. If an error is detected then the delay period
\r
163 * is decreased from mainCHECK_PERIOD to mainERROR_CHECK_PERIOD so
\r
164 * the on board LED flash rate will increase.
\r
166 * In addition to the standard tests the memory allocator is tested through
\r
167 * the dynamic creation and deletion of a task each cycle. Each time the
\r
168 * task is created memory must be allocated for its stack. When the task is
\r
169 * deleted this memory is returned to the heap. If the task cannot be created
\r
170 * then it is likely that the memory allocation failed. In addition the
\r
171 * dynamically created task allocates and frees memory while it runs.
\r
173 static void vErrorChecks( void *pvParameters )
\r
175 portTickType xDelayPeriod = mainCHECK_PERIOD;
\r
176 volatile unsigned portLONG ulMemCheckTaskRunningCount;
\r
177 xTaskHandle xCreatedTask;
\r
178 portTickType xLastWakeTime;
\r
180 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
\r
181 functions correctly. */
\r
182 xLastWakeTime = xTaskGetTickCount();
\r
186 /* Set ulMemCheckTaskRunningCount to a known value so we can check
\r
187 later that it has changed. */
\r
188 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
\r
190 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
\r
192 xCreatedTask = mainNO_TASK;
\r
193 if( xTaskCreate( vMemCheckTask, ( signed portCHAR * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
\r
195 /* Could not create the task - we have probably run out of heap. */
\r
196 xDelayPeriod = mainERROR_CHECK_PERIOD;
\r
200 /* Delay until it is time to execute again. The delay period is
\r
201 shorter following an error. */
\r
202 vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
\r
205 /* Delete the dynamically created task. */
\r
206 if( xCreatedTask != mainNO_TASK )
\r
208 vTaskDelete( xCreatedTask );
\r
211 /* Check all the standard demo application tasks are executing without
\r
212 error. ulMemCheckTaskRunningCount is checked to ensure it was
\r
213 modified by the task just deleted. */
\r
214 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
\r
216 /* An error has been detected in one of the tasks - flash faster. */
\r
217 xDelayPeriod = mainERROR_CHECK_PERIOD;
\r
220 vParTestToggleLED( mainCHECK_TASK_LED );
\r
223 /*-----------------------------------------------------------*/
\r
226 * Check each set of tasks in turn to see if they have experienced any
\r
227 * error conditions.
\r
229 static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount )
\r
231 portLONG lNoErrorsDiscovered = ( portLONG ) pdTRUE;
\r
233 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
235 lNoErrorsDiscovered = pdFALSE;
\r
238 if( xAreComTestTasksStillRunning() != pdTRUE )
\r
240 lNoErrorsDiscovered = pdFALSE;
\r
243 if( xArePollingQueuesStillRunning() != pdTRUE )
\r
245 lNoErrorsDiscovered = pdFALSE;
\r
248 if( xAreMathsTaskStillRunning() != pdTRUE )
\r
250 lNoErrorsDiscovered = pdFALSE;
\r
253 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
255 lNoErrorsDiscovered = pdFALSE;
\r
258 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
\r
260 lNoErrorsDiscovered = pdFALSE;
\r
263 if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
265 lNoErrorsDiscovered = pdFALSE;
\r
268 if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
\r
270 /* The vMemCheckTask task did not increment the counter - it must
\r
272 lNoErrorsDiscovered = pdFALSE;
\r
275 return lNoErrorsDiscovered;
\r
277 /*-----------------------------------------------------------*/
\r
279 static void vMemCheckTask( void *pvParameters )
\r
281 unsigned portLONG *pulMemCheckTaskRunningCounter;
\r
282 void *pvMem1, *pvMem2, *pvMem3;
\r
283 static portLONG lErrorOccurred = pdFALSE;
\r
285 /* This task is dynamically created then deleted during each cycle of the
\r
286 vErrorChecks task to check the operation of the memory allocator. Each time
\r
287 the task is created memory is allocated for the stack and TCB. Each time
\r
288 the task is deleted this memory is returned to the heap. This task itself
\r
289 exercises the allocator by allocating and freeing blocks.
\r
291 The task executes at the idle priority so does not require a delay.
\r
293 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
\r
294 vErrorChecks() task that this task is still executing without error. */
\r
296 pulMemCheckTaskRunningCounter = ( unsigned portLONG * ) pvParameters;
\r
300 if( lErrorOccurred == pdFALSE )
\r
302 /* We have never seen an error so increment the counter. */
\r
303 ( *pulMemCheckTaskRunningCounter )++;
\r
307 /* Reset the count so an error is detected by the
\r
308 prvCheckOtherTasksAreStillRunning() function. */
\r
309 *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
\r
312 /* Allocate some memory - just to give the allocator some extra
\r
313 exercise. This has to be in a critical section to ensure the
\r
314 task does not get deleted while it has memory allocated. */
\r
317 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
\r
318 if( pvMem1 == NULL )
\r
320 lErrorOccurred = pdTRUE;
\r
324 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
\r
325 vPortFree( pvMem1 );
\r
330 /* Again - with a different size block. */
\r
333 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
\r
334 if( pvMem2 == NULL )
\r
336 lErrorOccurred = pdTRUE;
\r
340 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
\r
341 vPortFree( pvMem2 );
\r
346 /* Again - with a different size block. */
\r
349 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
\r
350 if( pvMem3 == NULL )
\r
352 lErrorOccurred = pdTRUE;
\r
356 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
\r
357 vPortFree( pvMem3 );
\r
363 /*-----------------------------------------------------------*/
\r
366 * Called by the startup code. Initial processor setup can be placed in this
\r
369 void hw_initialise (void)
\r