2 FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /******************************************************************************
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71 * NOTE 1: This project provides two demo applications. A simple blinky style
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72 * project, and a more comprehensive test and demo application. The
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73 * configCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in FreeRTOSConifg.h is used to
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74 * select between the two. See the notes on using
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75 * configCREATE_SIMPLE_BLINKY_DEMO_ONLY in main.c. This file implements the
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76 * comprehensive test and demo version.
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78 * NOTE 2: This file only contains the source code that is specific to the
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79 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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80 * required to configure the hardware, are defined in main.c.
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81 ******************************************************************************
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83 * main_full() creates all the demo application tasks and a software timer, then
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84 * starts the scheduler. The web documentation provides more details of the
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85 * standard demo application tasks, which provide no particular functionality,
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86 * but do provide a good example of how to use the FreeRTOS API.
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88 * In addition to the standard demo tasks, the following tasks and tests are
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89 * defined and/or created within this file:
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91 * "Check" timer - The check software timer period is initially set to three
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92 * seconds. The callback function associated with the check software timer
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93 * checks that all the standard demo tasks are not only still executing, but
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94 * are executing without reporting any errors. If the check software timer
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95 * discovers that a task has either stalled, or reported an error, then it
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96 * changes its own execution period from the initial three seconds, to just
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97 * 200ms. The check software timer callback function also toggles the green
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98 * LED each time it is called. This provides a visual indication of the system
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99 * status: If the green LED toggles every three seconds, then no issues have
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100 * been discovered. If the green LED toggles every 200ms, then an issue has
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101 * been discovered with at least one task.
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103 * FreeRTOS+CLI command console. The command console is access through UART0
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104 * using 115200 baud and the Microsemi MSS UART drivers. Type "help" to see a
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105 * list of registered commands, which include some basic file system commands
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106 * (see FreeRTOS+FAT SL comments below). The FreeRTOS+CLI license is different
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107 * to the FreeRTOS license, see http://www.FreeRTOS.org/cli for license and
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110 * FreeRTOS+FAT SL. FreeRTOS+FAT SL is demonstrated using a RAM disk. [At the
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111 * time of writing] The functionality of the file system demo is identical to
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112 * the functionality of the FreeRTOS Win32 simulator file system demo with the
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113 * command console being accessed via the UART (as described above) instead of
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114 * a network terminal. The FreeRTOS+FAT SL license is different to the FreeRTOS
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115 * license, see http://www.FreeRTOS.org/fat_sl for license and usage details,
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116 * and a description of the file system demo functionality.
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118 * See the documentation page for this demo on the FreeRTOS.org web site for
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119 * full information, including hardware setup requirements.
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122 /* Standard includes. */
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125 /* Kernel includes. */
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126 #include "FreeRTOS.h"
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128 #include "timers.h"
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131 /* Standard demo application includes. */
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132 #include "integer.h"
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134 #include "semtest.h"
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135 #include "dynamic.h"
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136 #include "BlockQ.h"
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137 #include "blocktim.h"
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138 #include "countsem.h"
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139 #include "GenQTest.h"
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140 #include "recmutex.h"
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142 #include "flash_timer.h"
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143 #include "partest.h"
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144 #include "UARTCommandConsole.h"
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146 /* Priorities for the demo application tasks. */
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147 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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148 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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149 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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150 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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151 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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153 /* A block time of zero simply means "don't block". */
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154 #define mainDONT_BLOCK ( 0UL )
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156 /* The period after which the check timer will expire, in ms, provided no errors
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157 have been reported by any of the standard demo tasks. ms are converted to the
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158 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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159 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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161 /* The period at which the check timer will expire, in ms, if an error has been
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162 reported in one of the standard demo tasks. ms are converted to the equivalent
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163 in ticks using the portTICK_PERIOD_MS constant. */
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164 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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166 /* The standard demo flash timers can be used to flash any number of LEDs. In
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167 this case, because only three LEDs are available, and one is in use by the
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168 check timer, only two are used by the flash timers. */
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169 #define mainNUMBER_OF_FLASH_TIMERS_LEDS ( 1 )
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171 /* The LED toggled by the check timer. The first two LEDs are toggle by the
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172 standard demo flash timers. */
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173 #define mainCHECK_LED ( 1 )
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175 /* The size of the stack and the priority used by the UART command console
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177 #define mainUART_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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178 #define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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180 /*-----------------------------------------------------------*/
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183 * The check timer callback function, as described at the top of this file.
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185 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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188 * Register commands that can be used with FreeRTOS+CLI. The commands are
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189 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
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191 extern void vRegisterSampleCLICommands( void );
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192 extern void vRegisterFileSystemCLICommands( void );
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194 /* Prepare to run the full demo: Configure the IO, register the CLI
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195 * commands, and depending on configuration, generate a set of sample files on
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198 static void prvPrepareForFullDemo( void );
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201 * Creates and verifies different files on the volume, demonstrating the use of
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202 * various different API functions.
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204 extern void vCreateAndVerifySampleFiles( void );
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206 /*-----------------------------------------------------------*/
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208 void main_full( void )
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210 TimerHandle_t xCheckTimer = NULL;
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212 /* Prepare to run the full demo: Configure the IO, register the CLI
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213 commands, and depending on configuration, generate a set of sample files on
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215 prvPrepareForFullDemo();
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217 /* Start all the other standard demo/test tasks. The have not particular
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218 functionality, but do demonstrate how to use the FreeRTOS API and test the
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220 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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221 vStartDynamicPriorityTasks();
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222 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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223 vCreateBlockTimeTasks();
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224 vStartCountingSemaphoreTasks();
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225 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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226 vStartRecursiveMutexTasks();
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227 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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228 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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229 vStartLEDFlashTimers( mainNUMBER_OF_FLASH_TIMERS_LEDS );
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231 /* Start the tasks that implements the command console on the UART, as
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232 described above. */
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233 vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );
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235 /* Create the software timer that performs the 'check' functionality,
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236 as described at the top of this file. */
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237 xCheckTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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238 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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239 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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240 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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241 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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244 if( xCheckTimer != NULL )
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246 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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249 /* The set of tasks created by the following function call have to be
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250 created last as they keep account of the number of tasks they expect to see
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252 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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254 /* Start the scheduler. */
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255 vTaskStartScheduler();
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257 /* If all is well, the scheduler will now be running, and the following line
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258 will never be reached. If the following line does execute, then there was
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259 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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260 to be created. See the memory management section on the FreeRTOS web site
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261 for more details. */
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264 /*-----------------------------------------------------------*/
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266 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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268 static long lChangedTimerPeriodAlready = pdFALSE;
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269 unsigned long ulErrorFound = pdFALSE;
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271 /* Check all the demo tasks (other than the flash tasks) to ensure
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272 they are all still running, and that none have detected an error. */
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273 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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275 ulErrorFound = pdTRUE;
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278 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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280 ulErrorFound = pdTRUE;
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283 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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285 ulErrorFound = pdTRUE;
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288 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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290 ulErrorFound = pdTRUE;
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293 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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295 ulErrorFound = pdTRUE;
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298 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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300 ulErrorFound = pdTRUE;
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303 if( xIsCreateTaskStillRunning() != pdTRUE )
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305 ulErrorFound = pdTRUE;
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308 if( xArePollingQueuesStillRunning() != pdTRUE )
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310 ulErrorFound = pdTRUE;
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313 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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315 ulErrorFound = pdTRUE;
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318 /* Toggle the check LED to give an indication of the system status. If
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319 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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320 everything is ok. A faster toggle indicates an error. */
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321 vParTestToggleLED( mainCHECK_LED );
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323 /* Have any errors been latch in ulErrorFound? If so, shorten the
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324 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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325 This will result in an increase in the rate at which mainCHECK_LED
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327 if( ulErrorFound != pdFALSE )
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329 if( lChangedTimerPeriodAlready == pdFALSE )
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331 lChangedTimerPeriodAlready = pdTRUE;
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333 /* This call to xTimerChangePeriod() uses a zero block time.
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334 Functions called from inside of a timer callback function must
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335 *never* attempt to block. */
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336 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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340 /*-----------------------------------------------------------*/
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342 static void prvPrepareForFullDemo( void )
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344 /* If the file system is only going to be accessed from one task then
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345 F_FS_THREAD_AWARE can be set to 0 and the set of example files are created
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346 before the RTOS scheduler is started. If the file system is going to be
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347 access from more than one task then F_FS_THREAD_AWARE must be set to 1 and
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348 the set of sample files are created from the idle task hook function
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349 vApplicationIdleHook() - which is defined in this file. */
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350 #if F_FS_THREAD_AWARE == 0
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352 /* Initialise the drive and file system, then create a few example
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353 files. The output from this function just goes to the stdout window,
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354 allowing the output to be viewed when the UDP command console is not
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356 vCreateAndVerifySampleFiles();
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360 /* Register both the standard and file system related CLI commands. */
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361 vRegisterSampleCLICommands();
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362 vRegisterFileSystemCLICommands();
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