2 FreeRTOS V8.2.0 - 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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71 * Creates all the demo application tasks, then starts the scheduler.
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73 * Main.c also creates a task called "Check". This only executes every three
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74 * seconds but has the highest priority so is guaranteed to get processor time.
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75 * Its main function is to check that all the other tasks are still operational.
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76 * Each task (other than the "flash" tasks) maintains a unique count that is
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77 * incremented each time the task successfully completes its function. Should
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78 * any error occur within such a task the count is permanently halted. The
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79 * check task inspects the count of each task to ensure it has changed since
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80 * the last time the check task executed. If all the count variables have
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81 * changed all the tasks are still executing error free, and the check task
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82 * toggles the on board LED. Should any task contain an error at any time
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83 * the LED toggle rate will change from 3 seconds to 500ms.
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85 * NOTE: The demo application includes tasks that send and receive characters
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86 * over the UART. The characters sent by one task are received by another -
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87 * with an error condition being flagged should any characters be missed or
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88 * received out of order. A loopback connector is required on the 9way D socket
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89 * for this mechanism to operation (pins 2 and 3 the socket should be connected
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90 * together - a paper clip is normally sufficient).
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94 /* Standard includes. */
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98 /* Scheduler includes. */
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99 #include "FreeRTOS.h"
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102 /* Demo application includes. */
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103 #include "partest.h"
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105 #include "integer.h"
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107 #include "comtest2.h"
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108 #include "semtest.h"
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110 #include "dynamic.h"
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111 #include "BlockQ.h"
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112 #include "serial.h"
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113 #include "demoGpio.h"
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115 #include "RegTest.h"
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117 /*-----------------------------------------------------------*/
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119 /* Constants for the ComTest tasks. */
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120 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
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121 #define mainCOM_TEST_LED ( 5 )
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123 /* Priorities for the demo application tasks. */
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124 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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125 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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126 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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127 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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128 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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129 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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130 #define main7SEG_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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132 /* The rate at which the on board LED will toggle when there is/is not an
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134 #define mainNO_ERROR_FLASH_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
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135 #define mainERROR_FLASH_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
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136 #define mainON_BOARD_LED_BIT ( ( unsigned long ) 7 )
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138 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
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139 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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140 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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141 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
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143 /*-----------------------------------------------------------*/
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146 * Checks that all the demo application tasks are still executing without error
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147 * - as described at the top of the file.
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149 static long prvCheckOtherTasksAreStillRunning( void );
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152 * The task that executes at the highest priority and calls
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153 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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156 static void vErrorChecks( void *pvParameters );
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159 * Configure the processor for use with the Olimex demo board. This includes
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160 * setup for the I/O, system clock, and access timings.
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162 static void prvSetupHardware( void );
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165 /*-----------------------------------------------------------*/
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168 * Starts all the other tasks, then starts the scheduler.
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172 /* Setup the hardware for use with the Xilinx evaluation board. */
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173 prvSetupHardware();
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175 /* Start the demo/test application tasks. */
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176 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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177 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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178 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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179 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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180 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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181 vStartDynamicPriorityTasks();
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182 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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183 vStart7SegTasks( main7SEG_TASK_PRIORITY );
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184 vStartRegTestTasks();
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186 /* Start the check task - which is defined in this file. */
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187 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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189 /* Now all the tasks have been started - start the scheduler. */
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190 vTaskStartScheduler();
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192 /* Should never reach here! */
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195 /*-----------------------------------------------------------*/
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197 static void vErrorChecks( void *pvParameters )
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199 TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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201 /* Just to stop compiler warnings. */
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202 ( void ) pvParameters;
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204 /* Cycle for ever, delaying then checking all the other tasks are still
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205 operating without error. If an error is detected then the delay period
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206 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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207 the on board LED flash rate will increase. */
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211 /* Delay until it is time to execute again. */
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212 vTaskDelay( xDelayPeriod );
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214 /* Check all the standard demo application tasks are executing without
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216 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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218 /* An error has been detected in one of the tasks - flash faster. */
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219 xDelayPeriod = mainERROR_FLASH_PERIOD;
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222 /* The toggle rate of the LED depends on how long this task delays for.
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223 An error reduces the delay period and so increases the toggle rate. */
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224 vParTestToggleLED( mainON_BOARD_LED_BIT );
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227 /*-----------------------------------------------------------*/
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229 static void prvSetupHardware( void )
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231 /* Initialise LED outputs. */
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232 vParTestInitialise();
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234 /*-----------------------------------------------------------*/
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236 static long prvCheckOtherTasksAreStillRunning( void )
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238 long lReturn = pdPASS;
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240 /* Check all the demo tasks (other than the flash tasks) to ensure
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241 that they are all still running, and that none of them have detected
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244 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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249 if( xAreComTestTasksStillRunning() != pdTRUE )
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254 if( xArePollingQueuesStillRunning() != pdTRUE )
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259 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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264 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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269 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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274 if( xAreRegTestTasksStillRunning() != pdTRUE )
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281 /*-----------------------------------------------------------*/
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283 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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285 /* This function will be called if a task overflows its stack. Inspect
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286 pxCurrentTCB to find the offending task if the overflow was sever enough
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287 to corrupt the pcTaskName parameter. */
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288 vParTestSetLED( 4, 1 );
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291 /*-----------------------------------------------------------*/
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293 void vApplicationMallocFailedHook( void )
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295 /* This function will be called if a call to pvPortMalloc() fails to return
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296 the requested memory. pvPortMalloc() is called internally by the scheduler
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297 whenever a task, queue or semaphore is created. */
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298 vParTestSetLED( 4, 1 );
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301 /*-----------------------------------------------------------*/
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303 /* Provide an exit function to prevent a whole load of standard library functions
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304 being brought into the build. */
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305 void exit( int status )
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