2 FreeRTOS V4.6.1 - Copyright (C) 2003-2006 Richard Barry.
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3 MCF5235 Port - Copyright (C) 2006 Christian Walter.
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5 This file is part of the FreeRTOS distribution.
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7 FreeRTOS is free software; you can redistribute it and/or modify
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8 it under the terms of the GNU General Public License** as published by
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9 the Free Software Foundation; either version 2 of the License, or
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10 (at your option) any later version.
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12 FreeRTOS is distributed in the hope that it will be useful,
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13 but WITHOUT ANY WARRANTY; without even the implied warranty of
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14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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15 GNU General Public License for more details.
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17 You should have received a copy of the GNU General Public License
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18 along with FreeRTOS; if not, write to the Free Software
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19 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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21 A special exception to the GPL can be applied should you wish to distribute
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22 a combined work that includes FreeRTOS, without being obliged to provide
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23 the source code for any proprietary components. See the licensing section
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24 of http://www.FreeRTOS.org for full details of how and when the exception
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27 ***************************************************************************
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28 ***************************************************************************
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30 * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
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32 * This is a concise, step by step, 'hands on' guide that describes both *
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33 * general multitasking concepts and FreeRTOS specifics. It presents and *
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34 * explains numerous examples that are written using the FreeRTOS API. *
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35 * Full source code for all the examples is provided in an accompanying *
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38 ***************************************************************************
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39 ***************************************************************************
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41 Please ensure to read the configuration and relevant port sections of the
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42 online documentation.
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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54 /* ------------------------ System includes ------------------------------- */
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58 /* ------------------------ FreeRTOS includes ----------------------------- */
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59 #include "FreeRTOS.h"
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62 /* ------------------------ Demo application includes --------------------- */
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63 #include "partest.h"
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65 #include "integer.h"
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67 #include "comtest2.h"
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68 #include "semtest.h"
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70 #include "dynamic.h"
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74 /* ------------------------ Defines --------------------------------------- */
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75 /* Constants for the ComTest tasks. */
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76 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 38400 )
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77 #define mainCOM_TEST_LED ( -1 )
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79 /* Priorities for the demo application tasks. */
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80 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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81 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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82 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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83 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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84 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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85 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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87 /* Interval in which tasks are checked. */
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88 #define mainCHECK_PERIOD ( ( portTickType ) 2000 / portTICK_RATE_MS )
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90 /* Constants used by the vMemCheckTask() task. */
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91 #define mainCOUNT_INITIAL_VALUE ( ( unsigned long ) 0 )
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92 #define mainNO_TASK ( 0 )
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94 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
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95 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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96 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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97 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
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99 /* ------------------------ Static variables ------------------------------ */
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100 xComPortHandle xSTDComPort = NULL;
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102 /* ------------------------ Static functions ------------------------------ */
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103 static portTASK_FUNCTION( vErrorChecks, pvParameters );
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104 static long prvCheckOtherTasksAreStillRunning( unsigned long
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105 ulMemCheckTaskCount );
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106 static portTASK_FUNCTION( vMemCheckTask, pvParameters );
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108 /* ------------------------ Implementation -------------------------------- */
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110 main( int argc, char *argv[] )
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112 asm volatile ( "move.w #0x2000, %sr\n\t" );
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114 xSTDComPort = xSerialPortInitMinimal( 38400, 8 );
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116 /* Start the demo/test application tasks. */
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117 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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118 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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119 vStartMathTasks( tskIDLE_PRIORITY );
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120 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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121 vStartDynamicPriorityTasks( );
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122 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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124 /* Start the check task - which is defined in this file. */
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125 xTaskCreate( vErrorChecks, ( signed char * )"Check", 512, NULL,
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126 mainCHECK_TASK_PRIORITY, NULL );
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128 /* Now all the tasks have been started - start the scheduler. */
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129 vTaskStartScheduler( );
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131 /* Should never get here! */
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138 portTASK_FUNCTION( vErrorChecks, pvParameters )
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140 unsigned long ulMemCheckTaskRunningCount;
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141 xTaskHandle xCreatedTask;
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143 /* The parameters are not used in this function. */
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144 ( void )pvParameters;
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146 xSerialPortInitMinimal( mainCOM_TEST_BAUD_RATE, 8 );
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150 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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151 xCreatedTask = mainNO_TASK;
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154 ( vMemCheckTask, ( signed char * )"MEM_CHECK",
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155 configMINIMAL_STACK_SIZE, ( void * )&ulMemCheckTaskRunningCount,
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156 tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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158 xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY );
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161 /* Delay until it is time to execute again. */
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162 vTaskDelay( mainCHECK_PERIOD );
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164 /* Delete the dynamically created task. */
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165 if( xCreatedTask != mainNO_TASK )
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167 vTaskDelete( xCreatedTask );
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170 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) !=
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173 xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY );
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177 xSerialPutChar( xSTDComPort, '.', portMAX_DELAY );
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183 prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount )
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185 long lReturn = ( long ) pdPASS;
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187 /* Check all the demo tasks (other than the flash tasks) to ensure
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188 * that they are all still running, and that none of them have detected
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192 if( xAreIntegerMathsTaskStillRunning( ) != pdTRUE )
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194 lReturn = ( long ) pdFAIL;
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197 if( xArePollingQueuesStillRunning( ) != pdTRUE )
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199 lReturn = ( long ) pdFAIL;
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202 if( xAreMathsTaskStillRunning( ) != pdTRUE )
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204 lReturn = ( long ) pdFAIL;
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207 if( xAreSemaphoreTasksStillRunning( ) != pdTRUE )
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209 lReturn = ( long ) pdFAIL;
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212 if( xAreDynamicPriorityTasksStillRunning( ) != pdTRUE )
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214 lReturn = ( long ) pdFAIL;
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217 if( xAreBlockingQueuesStillRunning( ) != pdTRUE )
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219 lReturn = ( long ) pdFAIL;
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221 if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
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223 // The vMemCheckTask did not increment the counter - it must
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225 lReturn = ( long ) pdFAIL;
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231 vMemCheckTask( void *pvParameters )
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233 unsigned long *pulMemCheckTaskRunningCounter;
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234 void *pvMem1, *pvMem2, *pvMem3;
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235 static long lErrorOccurred = pdFALSE;
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237 /* This task is dynamically created then deleted during each cycle of the
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238 vErrorChecks task to check the operation of the memory allocator. Each time
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239 the task is created memory is allocated for the stack and TCB. Each time
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240 the task is deleted this memory is returned to the heap. This task itself
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241 exercises the allocator by allocating and freeing blocks.
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243 The task executes at the idle priority so does not require a delay.
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245 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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246 vErrorChecks() task that this task is still executing without error. */
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248 pulMemCheckTaskRunningCounter = ( unsigned long * )pvParameters;
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252 if( lErrorOccurred == pdFALSE )
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254 /* We have never seen an error so increment the counter. */
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255 ( *pulMemCheckTaskRunningCounter )++;
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258 /* Allocate some memory - just to give the allocator some extra
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259 exercise. This has to be in a critical section to ensure the
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260 task does not get deleted while it has memory allocated. */
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261 vTaskSuspendAll( );
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263 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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264 if( pvMem1 == NULL )
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266 lErrorOccurred = pdTRUE;
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270 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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271 vPortFree( pvMem1 );
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276 /* Again - with a different size block. */
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277 vTaskSuspendAll( );
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279 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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280 if( pvMem2 == NULL )
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282 lErrorOccurred = pdTRUE;
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286 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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287 vPortFree( pvMem2 );
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292 /* Again - with a different size block. */
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293 vTaskSuspendAll( );
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295 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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296 if( pvMem3 == NULL )
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298 lErrorOccurred = pdTRUE;
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302 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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303 vPortFree( pvMem3 );
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311 vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
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316 vParTestToggleLED( unsigned portBASE_TYPE uxLED )
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