2 FreeRTOS V9.0.1 - Copyright (C) 2017 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 This file is part of the FreeRTOS distribution.
\r
9 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
10 the terms of the GNU General Public License (version 2) as published by the
\r
11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
\r
13 ***************************************************************************
\r
14 >>! NOTE: The modification to the GPL is included to allow you to !<<
\r
15 >>! distribute a combined work that includes FreeRTOS without being !<<
\r
16 >>! obliged to provide the source code for proprietary components !<<
\r
17 >>! outside of the FreeRTOS kernel. !<<
\r
18 ***************************************************************************
\r
20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
\r
23 link: http://www.freertos.org/a00114.html
\r
25 ***************************************************************************
\r
27 * FreeRTOS provides completely free yet professionally developed, *
\r
28 * robust, strictly quality controlled, supported, and cross *
\r
29 * platform software that is more than just the market leader, it *
\r
30 * is the industry's de facto standard. *
\r
32 * Help yourself get started quickly while simultaneously helping *
\r
33 * to support the FreeRTOS project by purchasing a FreeRTOS *
\r
34 * tutorial book, reference manual, or both: *
\r
35 * http://www.FreeRTOS.org/Documentation *
\r
37 ***************************************************************************
\r
39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
\r
40 the FAQ page "My application does not run, what could be wrong?". Have you
\r
41 defined configASSERT()?
\r
43 http://www.FreeRTOS.org/support - In return for receiving this top quality
\r
44 embedded software for free we request you assist our global community by
\r
45 participating in the support forum.
\r
47 http://www.FreeRTOS.org/training - Investing in training allows your team to
\r
48 be as productive as possible as early as possible. Now you can receive
\r
49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
\r
50 Ltd, and the world's leading authority on the world's leading RTOS.
\r
52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
\r
57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
\r
59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
\r
60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
61 licenses offer ticketed support, indemnification and commercial middleware.
\r
63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
64 engineered and independently SIL3 certified version for use in safety and
\r
65 mission critical applications that require provable dependability.
\r
70 /******************************************************************************
\r
71 * NOTE 1: This project provides two demo applications. A simple blinky style
\r
72 * project, and a more comprehensive test and demo application. The
\r
73 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
\r
74 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
\r
75 * in main.c. This file implements the comprehensive test and demo version.
\r
77 * NOTE 2: This file only contains the source code that is specific to the
\r
78 * full demo. Generic functions, such FreeRTOS hook functions, and functions
\r
79 * required to configure the hardware, are defined in main.c.
\r
81 ******************************************************************************
\r
83 * main_full() creates all the demo application tasks and software timers, then
\r
84 * starts the scheduler. The web documentation provides more details of the
\r
85 * standard demo application tasks, which provide no particular functionality,
\r
86 * but do provide a good example of how to use the FreeRTOS API.
\r
88 * In addition to the standard demo tasks, the following tasks and tests are
\r
89 * defined and/or created within this file:
\r
91 * "Reg test" tasks - These fill both the core and floating point registers with
\r
92 * known values, then check that each register maintains its expected value for
\r
93 * the lifetime of the task. Each task uses a different set of values. The reg
\r
94 * test tasks execute with a very low priority, so get preempted very
\r
95 * frequently. A register containing an unexpected value is indicative of an
\r
96 * error in the context switching mechanism.
\r
98 * "Check" task - The check task period is initially set to three seconds. The
\r
99 * task checks that all the standard demo tasks, and the register check tasks,
\r
100 * are not only still executing, but are executing without reporting any errors.
\r
101 * If the check task discovers that a task has either stalled, or reported an
\r
102 * error, then it changes its own execution period from the initial three
\r
103 * seconds, to just 200ms. The check task also toggles an LED each time it is
\r
104 * called. This provides a visual indication of the system status: If the LED
\r
105 * toggles every three seconds, then no issues have been discovered. If the LED
\r
106 * toggles every 200ms, then an issue has been discovered with at least one
\r
107 * task. The LED used is defined in mainCHECK_LED, below.
\r
111 * This demo is NOT configured to use the LED built onto the SAMA6D2
\r
114 * The LED driver PIN_LED definitions have been altered in
\r
115 * board_sama5d2-xplained.h to remap them to GPIOs terminating on pins 30,
\r
116 * 32 and 34 of J17. (This change is conditional on the preprocessor
\r
117 * #define "LEDS_ON_J17".) These GPIOs are configured to be "high drive"
\r
118 * push-pull outputs; they can source up to 18mA at 1.8v. Low
\r
119 * forward-voltage LEDs may be connected via 100 ohm resistors to pins
\r
120 * 30, 32 and 34 with their cathodes to pin 35/36 (GND).
\r
123 /* Standard includes. */
\r
126 /* Kernel includes. */
\r
127 #include "FreeRTOS.h"
\r
129 #include "timers.h"
\r
130 #include "semphr.h"
\r
132 /* Standard demo application includes. */
\r
134 #include "semtest.h"
\r
135 #include "dynamic.h"
\r
136 #include "BlockQ.h"
\r
137 #include "blocktim.h"
\r
138 #include "countsem.h"
\r
139 #include "GenQTest.h"
\r
140 #include "recmutex.h"
\r
142 #include "partest.h"
\r
143 #include "comtest2.h"
\r
144 #include "serial.h"
\r
145 #include "TimerDemo.h"
\r
146 #include "QueueOverwrite.h"
\r
147 #include "IntQueue.h"
\r
148 #include "EventGroupsDemo.h"
\r
151 /* Priorities for the demo application tasks. */
\r
152 #define mainLED_FLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1UL )
\r
153 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
\r
154 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
\r
155 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
\r
156 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
157 #define mainCDC_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2UL )
\r
158 #define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
159 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
\r
160 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
\r
162 /* The initial priority used by the UART command console task. */
\r
163 #define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( configMAX_PRIORITIES - 2 )
\r
165 /* The LED used by the check task. */
\r
166 #define mainCHECK_LED ( 2 )
\r
168 /* A block time of zero simply means "don't block". */
\r
169 #define mainDONT_BLOCK ( 0UL )
\r
171 /* The period of the check task, in ms, provided no errors have been reported by
\r
172 any of the standard demo tasks. ms are converted to the equivalent in ticks
\r
173 using the pdMS_TO_TICKS() macro constant. */
\r
174 #define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000UL )
\r
176 /* The period of the check task, in ms, if an error has been reported in one of
\r
177 the standard demo tasks. ms are converted to the equivalent in ticks using the
\r
178 pdMS_TO_TICKS() macro. */
\r
179 #define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 200UL )
\r
181 /* Parameters that are passed into the register check tasks solely for the
\r
182 purpose of ensuring parameters are passed into tasks correctly. */
\r
183 #define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
\r
184 #define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
\r
186 /* The base period used by the timer test tasks. */
\r
187 #define mainTIMER_TEST_PERIOD ( 50 )
\r
189 /*-----------------------------------------------------------*/
\r
192 * Called by main() to run the full demo (as opposed to the blinky demo) when
\r
193 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
\r
195 void main_full( void );
\r
198 * The check task, as described at the top of this file.
\r
200 static void prvCheckTask( void *pvParameters );
\r
203 * Register check tasks, and the tasks used to write over and check the contents
\r
204 * of the FPU registers, as described at the top of this file. The nature of
\r
205 * these files necessitates that they are written in an assembly file, but the
\r
206 * entry points are kept in the C file for the convenience of checking the task
\r
209 static void prvRegTestTaskEntry1( void *pvParameters );
\r
210 extern void vRegTest1Implementation( void );
\r
211 static void prvRegTestTaskEntry2( void *pvParameters );
\r
212 extern void vRegTest2Implementation( void );
\r
215 * A high priority task that does nothing other than execute at a pseudo random
\r
216 * time to ensure the other test tasks don't just execute in a repeating
\r
219 static void prvPseudoRandomiser( void *pvParameters );
\r
221 /*-----------------------------------------------------------*/
\r
223 /* The following two variables are used to communicate the status of the
\r
224 register check tasks to the check task. If the variables keep incrementing,
\r
225 then the register check tasks have not discovered any errors. If a variable
\r
226 stops incrementing, then an error has been found. */
\r
227 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
\r
229 /*-----------------------------------------------------------*/
\r
231 void main_full( void )
\r
233 /* Start all the other standard demo/test tasks. They have no particular
\r
234 functionality, but do demonstrate how to use the FreeRTOS API and test the
\r
236 vStartInterruptQueueTasks();
\r
237 vStartDynamicPriorityTasks();
\r
238 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
239 vCreateBlockTimeTasks();
\r
240 vStartCountingSemaphoreTasks();
\r
241 vStartGenericQueueTasks( tskIDLE_PRIORITY );
\r
242 vStartRecursiveMutexTasks();
\r
243 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
244 vStartMathTasks( mainFLOP_TASK_PRIORITY );
\r
245 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
\r
246 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
\r
247 vStartEventGroupTasks();
\r
249 /* Create the register check tasks, as described at the top of this file */
\r
250 xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );
\r
251 xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
\r
253 /* Create the task that just adds a little random behaviour. */
\r
254 xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
\r
256 /* Create the task that performs the 'check' functionality, as described at
\r
257 the top of this file. */
\r
258 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
\r
260 /* The set of tasks created by the following function call have to be
\r
261 created last as they keep account of the number of tasks they expect to see
\r
263 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
\r
265 /* Start the scheduler. */
\r
266 vTaskStartScheduler();
\r
268 /* If all is well, the scheduler will now be running, and the following
\r
269 line will never be reached. If the following line does execute, then
\r
270 there was either insufficient FreeRTOS heap memory available for the idle
\r
271 and/or timer tasks to be created, or vTaskStartScheduler() was called from
\r
272 User mode. See the memory management section on the FreeRTOS web site for
\r
273 more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The
\r
274 mode from which main() is called is set in the C start up code and must be
\r
275 a privileged mode (not user mode). */
\r
278 /*-----------------------------------------------------------*/
\r
280 static void prvCheckTask( void *pvParameters )
\r
282 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
\r
283 TickType_t xLastExecutionTime;
\r
284 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
\r
285 unsigned long ulErrorFound = pdFALSE;
\r
287 /* Just to stop compiler warnings. */
\r
288 ( void ) pvParameters;
\r
290 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
\r
291 works correctly. */
\r
292 xLastExecutionTime = xTaskGetTickCount();
\r
294 /* Cycle for ever, delaying then checking all the other tasks are still
\r
295 operating without error. The onboard LED is toggled on each iteration.
\r
296 If an error is detected then the delay period is decreased from
\r
297 mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
\r
298 effect of increasing the rate at which the onboard LED toggles, and in so
\r
299 doing gives visual feedback of the system status. */
\r
302 /* Delay until it is time to execute again. */
\r
303 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
\r
305 /* Check all the demo tasks (other than the flash tasks) to ensure
\r
306 that they are all still running, and that none have detected an error. */
\r
307 if( xAreIntQueueTasksStillRunning() != pdTRUE )
\r
309 ulErrorFound = pdTRUE;
\r
312 if( xAreMathsTaskStillRunning() != pdTRUE )
\r
314 ulErrorFound = pdTRUE;
\r
317 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
\r
319 ulErrorFound = pdTRUE;
\r
322 if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
324 ulErrorFound = pdTRUE;
\r
327 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
329 ulErrorFound = pdTRUE;
\r
332 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
334 ulErrorFound = pdTRUE;
\r
337 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
\r
339 ulErrorFound = pdTRUE;
\r
342 if( xIsCreateTaskStillRunning() != pdTRUE )
\r
344 ulErrorFound = pdTRUE;
\r
347 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
349 ulErrorFound = pdTRUE;
\r
352 if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS )
\r
354 ulErrorFound = pdTRUE;
\r
357 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
\r
359 ulErrorFound = pdTRUE;
\r
362 if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
\r
364 ulErrorFound = pdTRUE;
\r
367 if( xAreEventGroupTasksStillRunning() != pdPASS )
\r
369 ulErrorFound = pdTRUE;
\r
372 /* Check that the register test 1 task is still running. */
\r
373 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
\r
375 ulErrorFound = pdTRUE;
\r
377 ulLastRegTest1Value = ulRegTest1LoopCounter;
\r
379 /* Check that the register test 2 task is still running. */
\r
380 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
\r
382 ulErrorFound = pdTRUE;
\r
384 ulLastRegTest2Value = ulRegTest2LoopCounter;
\r
386 /* Toggle the check LED to give an indication of the system status. If
\r
387 the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
\r
388 everything is ok. A faster toggle indicates an error. */
\r
389 vParTestToggleLED( mainCHECK_LED );
\r
391 if( ulErrorFound != pdFALSE )
\r
393 /* An error has been detected in one of the tasks - flash the LED
\r
394 at a higher frequency to give visible feedback that something has
\r
395 gone wrong (it might just be that the loop back connector required
\r
396 by the comtest tasks has not been fitted). */
\r
397 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
\r
401 /*-----------------------------------------------------------*/
\r
403 static void prvRegTestTaskEntry1( void *pvParameters )
\r
405 /* Although the regtest task is written in assembler, its entry point is
\r
406 written in C for convenience of checking the task parameter is being passed
\r
408 if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
\r
410 /* The reg test task also tests the floating point registers. Tasks
\r
411 that use the floating point unit must call vPortTaskUsesFPU() before
\r
412 any floating point instructions are executed. */
\r
413 vPortTaskUsesFPU();
\r
415 /* Start the part of the test that is written in assembler. */
\r
416 vRegTest1Implementation();
\r
419 /* The following line will only execute if the task parameter is found to
\r
420 be incorrect. The check task will detect that the regtest loop counter is
\r
421 not being incremented and flag an error. */
\r
422 vTaskDelete( NULL );
\r
424 /*-----------------------------------------------------------*/
\r
426 static void prvRegTestTaskEntry2( void *pvParameters )
\r
428 /* Although the regtest task is written in assembler, its entry point is
\r
429 written in C for convenience of checking the task parameter is being passed
\r
431 if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
\r
433 /* The reg test task also tests the floating point registers. Tasks
\r
434 that use the floating point unit must call vPortTaskUsesFPU() before
\r
435 any floating point instructions are executed. */
\r
436 vPortTaskUsesFPU();
\r
438 /* Start the part of the test that is written in assembler. */
\r
439 vRegTest2Implementation();
\r
442 /* The following line will only execute if the task parameter is found to
\r
443 be incorrect. The check task will detect that the regtest loop counter is
\r
444 not being incremented and flag an error. */
\r
445 vTaskDelete( NULL );
\r
447 /*-----------------------------------------------------------*/
\r
449 static void prvPseudoRandomiser( void *pvParameters )
\r
451 const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = ( 35 / portTICK_PERIOD_MS ), ulIBit = ( 1UL << 7UL );
\r
452 volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue;
\r
454 /* A few minor port tests before entering the randomiser loop.
\r
456 At this point interrupts should be enabled. */
\r
457 configASSERT( ( __get_CPSR() & ulIBit ) == 0 );
\r
459 /* The CPU does not have an interrupt mask register, so critical sections
\r
460 have to globally disable interrupts. Therefore entering a critical section
\r
461 should leave the I bit set. */
\r
462 taskENTER_CRITICAL();
\r
463 configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );
\r
465 /* Nest the critical sections. */
\r
466 taskENTER_CRITICAL();
\r
467 configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );
\r
469 /* After yielding the I bit should still be set. Note yielding is possible
\r
470 in a critical section as each task maintains its own critical section
\r
471 nesting count so some tasks are in critical sections and others are not -
\r
472 however this is *not* something task code should do! */
\r
474 configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );
\r
476 /* The I bit should not be cleared again until both critical sections have
\r
478 taskEXIT_CRITICAL();
\r
480 configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );
\r
481 taskEXIT_CRITICAL();
\r
482 configASSERT( ( __get_CPSR() & ulIBit ) == 0 );
\r
484 configASSERT( ( __get_CPSR() & ulIBit ) == 0 );
\r
486 /* This task does nothing other than ensure there is a little bit of
\r
487 disruption in the scheduling pattern of the other tasks. Normally this is
\r
488 done by generating interrupts at pseudo random times. */
\r
491 ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;
\r
492 ulValue = ( ulNextRand >> 16UL ) & 0xffUL;
\r
494 if( ulValue < ulMinDelay )
\r
496 ulValue = ulMinDelay;
\r
499 vTaskDelay( ulValue );
\r
501 while( ulValue > 0 )
\r
503 __asm volatile( "NOP" );
\r
504 __asm volatile( "NOP" );
\r
505 __asm volatile( "NOP" );
\r
506 __asm volatile( "NOP" );
\r