2 FreeRTOS V8.2.0 - Copyright (C) 2015 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
\r
72 * style project, and a more comprehensive test and demo application. The
\r
73 * mainCREATE_SIMPLY_BLINKY_DEMO_ONLY setting in main.c is used to select
\r
74 * between the two. See the notes on using mainCREATE_SIMPLY_BLINKY_DEMO_ONLY
\r
75 * in main.c. This file implements the comprehensive 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
110 /* Standard includes. */
\r
113 /* Kernel includes. */
\r
114 #include "FreeRTOS.h"
\r
116 #include "timers.h"
\r
117 #include "semphr.h"
\r
119 /* Standard demo application includes. */
\r
121 #include "semtest.h"
\r
122 #include "dynamic.h"
\r
123 #include "BlockQ.h"
\r
124 #include "blocktim.h"
\r
125 #include "countsem.h"
\r
126 #include "GenQTest.h"
\r
127 #include "recmutex.h"
\r
129 #include "partest.h"
\r
130 #include "comtest2.h"
\r
131 #include "serial.h"
\r
132 #include "TimerDemo.h"
\r
133 #include "QueueOverwrite.h"
\r
134 #include "EventGroupsDemo.h"
\r
135 #include "IntSemTest.h"
\r
137 /* Priorities for the demo application tasks. */
\r
138 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
\r
139 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
\r
140 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
\r
141 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
142 #define mainUART_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3UL )
\r
143 #define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
144 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
\r
145 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
\r
147 /* The priority used by the UART command console task. This is very basic and
\r
148 uses the Altera polling UART driver - so *must* run at the idle priority. */
\r
149 #define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
151 /* The LED used by the check timer. */
\r
152 #define mainCHECK_LED ( 0 )
\r
154 /* A block time of zero simply means "don't block". */
\r
155 #define mainDONT_BLOCK ( 0UL )
\r
157 /* The period after which the check timer will expire, in ms, provided no errors
\r
158 have been reported by any of the standard demo tasks. ms are converted to the
\r
159 equivalent in ticks using the portTICK_PERIOD_MS constant. */
\r
160 #define mainNO_ERROR_CHECK_TASK_PERIOD ( 3000UL / portTICK_PERIOD_MS )
\r
162 /* The period at which the check timer will expire, in ms, if an error has been
\r
163 reported in one of the standard demo tasks. ms are converted to the equivalent
\r
164 in ticks using the portTICK_PERIOD_MS constant. */
\r
165 #define mainERROR_CHECK_TASK_PERIOD ( 200UL / portTICK_PERIOD_MS )
\r
167 /* Parameters that are passed into the register check tasks solely for the
\r
168 purpose of ensuring parameters are passed into tasks correctly. */
\r
169 #define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
\r
170 #define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
\r
172 /* The base period used by the timer test tasks. */
\r
173 #define mainTIMER_TEST_PERIOD ( 50 )
\r
175 /*-----------------------------------------------------------*/
\r
179 * The check task, as described at the top of this file.
\r
181 static void prvCheckTask( void *pvParameters );
\r
184 * Register check tasks, and the tasks used to write over and check the contents
\r
185 * of the FPU registers, as described at the top of this file. The nature of
\r
186 * these files necessitates that they are written in an assembly file, but the
\r
187 * entry points are kept in the C file for the convenience of checking the task
\r
190 static void prvRegTestTaskEntry1( void *pvParameters );
\r
191 extern void vRegTest1Implementation( void );
\r
192 static void prvRegTestTaskEntry2( void *pvParameters );
\r
193 extern void vRegTest2Implementation( void );
\r
196 * Register commands that can be used with FreeRTOS+CLI. The commands are
\r
197 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
\r
199 extern void vRegisterSampleCLICommands( void );
\r
202 * The task that manages the FreeRTOS+CLI input and output.
\r
204 extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
\r
207 * A high priority task that does nothing other than execute at a pseudo random
\r
208 * time to ensure the other test tasks don't just execute in a repeating
\r
211 static void prvPseudoRandomiser( void *pvParameters );
\r
213 /*-----------------------------------------------------------*/
\r
215 /* The following two variables are used to communicate the status of the
\r
216 register check tasks to the check task. If the variables keep incrementing,
\r
217 then the register check tasks has not discovered any errors. If a variable
\r
218 stops incrementing, then an error has been found. */
\r
219 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
\r
221 /*-----------------------------------------------------------*/
\r
223 void main_full( void )
\r
225 /* Start all the other standard demo/test tasks. They have not particular
\r
226 functionality, but do demonstrate how to use the FreeRTOS API and test the
\r
228 vStartDynamicPriorityTasks();
\r
229 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
230 vCreateBlockTimeTasks();
\r
231 vStartCountingSemaphoreTasks();
\r
232 vStartGenericQueueTasks( tskIDLE_PRIORITY );
\r
233 vStartRecursiveMutexTasks();
\r
234 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
235 vStartMathTasks( mainFLOP_TASK_PRIORITY );
\r
236 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
\r
237 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
\r
238 vStartEventGroupTasks();
\r
239 vStartInterruptSemaphoreTasks();
\r
241 /* Start the tasks that implements the command console on the UART, as
\r
242 described above. */
\r
243 vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );
\r
245 /* Register the standard CLI commands. */
\r
246 vRegisterSampleCLICommands();
\r
248 /* Create the register check tasks, as described at the top of this file */
\r
249 xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );
\r
250 xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
\r
252 /* Create the task that just adds a little random behaviour. */
\r
253 xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
\r
255 /* Create the task that performs the 'check' functionality, as described at
\r
256 the top of this file. */
\r
257 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
\r
259 /* The set of tasks created by the following function call have to be
\r
260 created last as they keep account of the number of tasks they expect to see
\r
262 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
\r
264 /* Start the scheduler. */
\r
265 vTaskStartScheduler();
\r
267 /* If all is well, the scheduler will now be running, and the following
\r
268 line will never be reached. If the following line does execute, then
\r
269 there was either insufficient FreeRTOS heap memory available for the idle
\r
270 and/or timer tasks to be created, or vTaskStartScheduler() was called from
\r
271 User mode. See the memory management section on the FreeRTOS web site for
\r
272 more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The
\r
273 mode from which main() is called is set in the C start up code and must be
\r
274 a privileged mode (not user mode). */
\r
277 /*-----------------------------------------------------------*/
\r
279 static void prvCheckTask( void *pvParameters )
\r
281 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
\r
282 TickType_t xLastExecutionTime;
\r
283 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
\r
284 unsigned long ulErrorFound = pdFALSE;
\r
286 /* Just to stop compiler warnings. */
\r
287 ( void ) pvParameters;
\r
289 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
\r
290 works correctly. */
\r
291 xLastExecutionTime = xTaskGetTickCount();
\r
293 /* Cycle for ever, delaying then checking all the other tasks are still
\r
294 operating without error. The onboard LED is toggled on each iteration.
\r
295 If an error is detected then the delay period is decreased from
\r
296 mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
\r
297 effect of increasing the rate at which the onboard LED toggles, and in so
\r
298 doing gives visual feedback of the system status. */
\r
301 /* Delay until it is time to execute again. */
\r
302 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
\r
304 /* Check all the demo tasks (other than the flash tasks) to ensure
\r
305 that they are all still running, and that none have detected an error. */
\r
306 if( xAreMathsTaskStillRunning() != pdTRUE )
\r
308 ulErrorFound = 1 << 1;
\r
311 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
\r
313 ulErrorFound = 1 << 2;
\r
316 if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
318 ulErrorFound = 1 << 3;
\r
321 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
323 ulErrorFound = 1 << 4;
\r
326 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
328 ulErrorFound = 1 << 5;
\r
331 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
\r
333 ulErrorFound = 1 << 6;
\r
336 if( xIsCreateTaskStillRunning() != pdTRUE )
\r
338 ulErrorFound = 1 << 7;
\r
341 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
343 ulErrorFound = 1 << 8;
\r
346 if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS )
\r
348 ulErrorFound = 1 << 9;
\r
351 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
\r
353 ulErrorFound = 1 << 10;
\r
356 if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
\r
358 ulErrorFound = 1 << 11;
\r
361 if( xAreEventGroupTasksStillRunning() != pdPASS )
\r
363 ulErrorFound = 1 << 12;
\r
366 if( xAreInterruptSemaphoreTasksStillRunning() != pdPASS )
\r
368 ulErrorFound = 1 << 13;
\r
371 /* Check that the register test 1 task is still running. */
\r
372 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
\r
374 ulErrorFound = 1 << 14;
\r
376 ulLastRegTest1Value = ulRegTest1LoopCounter;
\r
378 /* Check that the register test 2 task is still running. */
\r
379 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
\r
381 ulErrorFound = 1 << 15;
\r
383 ulLastRegTest2Value = ulRegTest2LoopCounter;
\r
385 /* Toggle the check LED to give an indication of the system status. If
\r
386 the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
\r
387 everything is ok. A faster toggle indicates an error. */
\r
388 vParTestToggleLED( mainCHECK_LED );
\r
390 if( ulErrorFound != pdFALSE )
\r
392 /* An error has been detected in one of the tasks - flash the LED
\r
393 at a higher frequency to give visible feedback that something has
\r
394 gone wrong (it might just be that the loop back connector required
\r
395 by the comtest tasks has not been fitted). */
\r
396 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
\r
400 /*-----------------------------------------------------------*/
\r
402 static void prvRegTestTaskEntry1( void *pvParameters )
\r
404 /* Although the regtest task is written in assembler, its entry point is
\r
405 written in C for convenience of checking the task parameter is being passed
\r
407 if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
\r
409 /* The reg test task also tests the floating point registers. Tasks
\r
410 that use the floating point unit must call vPortTaskUsesFPU() before
\r
411 any floating point instructions are executed. */
\r
412 vPortTaskUsesFPU();
\r
414 /* Start the part of the test that is written in assembler. */
\r
415 vRegTest1Implementation();
\r
418 /* The following line will only execute if the task parameter is found to
\r
419 be incorrect. The check timer will detect that the regtest loop counter is
\r
420 not being incremented and flag an error. */
\r
421 vTaskDelete( NULL );
\r
423 /*-----------------------------------------------------------*/
\r
425 static void prvRegTestTaskEntry2( void *pvParameters )
\r
427 /* Although the regtest task is written in assembler, its entry point is
\r
428 written in C for convenience of checking the task parameter is being passed
\r
430 if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
\r
432 /* The reg test task also tests the floating point registers. Tasks
\r
433 that use the floating point unit must call vPortTaskUsesFPU() before
\r
434 any floating point instructions are executed. */
\r
435 vPortTaskUsesFPU();
\r
437 /* Start the part of the test that is written in assembler. */
\r
438 vRegTest2Implementation();
\r
441 /* The following line will only execute if the task parameter is found to
\r
442 be incorrect. The check timer will detect that the regtest loop counter is
\r
443 not being incremented and flag an error. */
\r
444 vTaskDelete( NULL );
\r
446 /*-----------------------------------------------------------*/
\r
448 static void prvPseudoRandomiser( void *pvParameters )
\r
450 const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = ( 35 / portTICK_PERIOD_MS );
\r
451 volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue;
\r
454 /* This task does nothing other than ensure there is a little bit of
\r
455 disruption in the scheduling pattern of the other tasks. Normally this is
\r
456 done by generating interrupts at pseudo random times. */
\r
459 ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;
\r
460 ulValue = ( ulNextRand >> 16UL ) & 0xffUL;
\r
462 if( ulValue < ulMinDelay )
\r
464 ulValue = ulMinDelay;
\r
467 vTaskDelay( ulValue );
\r
469 while( ulValue > 0 )
\r
471 __asm volatile( "NOP" );
\r
472 __asm volatile( "NOP" );
\r
473 __asm volatile( "NOP" );
\r
474 __asm volatile( "NOP" );
\r