3 FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
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6 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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8 This file is part of the FreeRTOS distribution.
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10 FreeRTOS is free software; you can redistribute it and/or modify it under
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11 the terms of the GNU General Public License (version 2) as published by the
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12 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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14 ***************************************************************************
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15 >>! NOTE: The modification to the GPL is included to allow you to !<<
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16 >>! distribute a combined work that includes FreeRTOS without being !<<
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17 >>! obliged to provide the source code for proprietary components !<<
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18 >>! outside of the FreeRTOS kernel. !<<
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19 ***************************************************************************
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21 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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22 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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23 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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24 link: http://www.freertos.org/a00114.html
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26 ***************************************************************************
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28 * FreeRTOS provides completely free yet professionally developed, *
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29 * robust, strictly quality controlled, supported, and cross *
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30 * platform software that is more than just the market leader, it *
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31 * is the industry's de facto standard. *
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33 * Help yourself get started quickly while simultaneously helping *
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34 * to support the FreeRTOS project by purchasing a FreeRTOS *
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35 * tutorial book, reference manual, or both: *
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36 * http://www.FreeRTOS.org/Documentation *
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38 ***************************************************************************
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40 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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41 the FAQ page "My application does not run, what could be wrong?". Have you
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42 defined configASSERT()?
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44 http://www.FreeRTOS.org/support - In return for receiving this top quality
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45 embedded software for free we request you assist our global community by
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46 participating in the support forum.
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48 http://www.FreeRTOS.org/training - Investing in training allows your team to
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49 be as productive as possible as early as possible. Now you can receive
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50 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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51 Ltd, and the world's leading authority on the world's leading RTOS.
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53 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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54 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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55 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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57 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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58 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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60 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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61 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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62 licenses offer ticketed support, indemnification and commercial middleware.
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64 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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65 engineered and independently SIL3 certified version for use in safety and
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66 mission critical applications that require provable dependability.
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74 * main() creates all the demo application tasks, then starts the scheduler.
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75 * The WEB documentation provides more details of the demo application tasks.
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77 * main.c also creates a task called "Check". This only executes every three
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78 * seconds but has the highest priority so is guaranteed to get processor time.
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79 * Its main function is to check that all the other tasks are still operational.
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80 * Each task (other than the "flash" tasks) maintains a unique count that is
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81 * incremented each time the task successfully completes its function. Should
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82 * any error occur within such a task the count is permanently halted. The
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83 * check task inspects the count of each task to ensure it has changed since
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84 * the last time the check task executed. If all the count variables have
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85 * changed all the tasks are still executing error free, and the check task
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86 * toggles the onboard LED. Should any task contain an error at any time
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87 * the LED toggle rate will change from 3 seconds to 500ms.
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89 * This file also includes the functionality implemented within the
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90 * standard demo application file integer.c. This is done to demonstrate the
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91 * use of an idle hook. See the documentation within integer.c for the
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92 * rationale of the integer task functionality.
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95 /* Kernel includes. */
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96 #include "FreeRTOS.h"
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102 /* special prototypes for memory-banked functions */
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103 void vStartPolledQueueTasks( unsigned portBASE_TYPE uxPriority );
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104 portBASE_TYPE xArePollingQueuesStillRunning( void );
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106 /* Demo application includes. */
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109 #include "dynamic.h"
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110 #include "partest.h"
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111 #include "comtest2.h"
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112 #include "BlockQ.h"
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113 #include "integer.h"
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117 /*-----------------------------------------------------------
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119 -----------------------------------------------------------*/
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121 /* Priorities assigned to demo application tasks. */
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122 #define mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 2 )
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123 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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124 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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125 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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126 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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127 #define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
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129 /* LED that is toggled by the check task. The check task periodically checks
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130 that all the other tasks are operating without error. If no errors are found
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131 the LED is toggled with mainCHECK_PERIOD frequency. If an error is found
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132 then the toggle rate increases to mainERROR_CHECK_PERIOD. */
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133 #define mainCHECK_TASK_LED ( 7 )
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134 #define mainCHECK_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
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135 #define mainERROR_CHECK_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
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137 /* The constants used in the idle task calculation. */
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138 #define intgCONST1 ( ( long ) 123 )
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139 #define intgCONST2 ( ( long ) 234567 )
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140 #define intgCONST3 ( ( long ) -3 )
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141 #define intgCONST4 ( ( long ) 7 )
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142 #define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
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145 /* Baud rate used by the serial port tasks (ComTest tasks).
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146 IMPORTANT: The function COM0_SetBaudRateValue() which is generated by the
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147 Processor Expert is used to set the baud rate. As configured in the FreeRTOS
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148 download this value must be one of the following:
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150 0 to configure for 38400 baud.
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151 1 to configure for 19200 baud.
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152 2 to configure for 9600 baud.
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153 3 to configure for 4800 baud. */
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154 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 2 )
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156 /* LED used by the serial port tasks. This is toggled on each character Tx,
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157 and mainCOM_TEST_LED + 1 is toggles on each character Rx. */
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158 #define mainCOM_TEST_LED ( 3 )
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160 /*-----------------------------------------------------------
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161 Local functions prototypes.
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162 -----------------------------------------------------------*/
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165 * The 'Check' task function. See the explanation at the top of the file.
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167 static void ATTR_BANK1 vErrorChecks( void* pvParameters );
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170 * The idle task hook - in which the integer task is implemented. See the
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171 * explanation at the top of the file.
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173 void ATTR_BANK0 vApplicationIdleHook( void );
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176 * Checks the unique counts of other tasks to ensure they are still operational.
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178 static long ATTR_BANK0 prvCheckOtherTasksAreStillRunning( void );
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182 /*-----------------------------------------------------------
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184 -----------------------------------------------------------*/
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186 /* A few tasks are defined within this file. This flag is used to indicate
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187 their status. If an error is detected in one of the locally defined tasks then
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188 this flag is set to pdTRUE. */
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189 portBASE_TYPE xLocalError = pdFALSE;
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192 /*-----------------------------------------------------------*/
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194 /* This is called from startup. */
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195 int ATTR_BANK0 main ( void )
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197 /* Start some of the standard demo tasks. */
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198 vStartLEDFlashTasks( mainFLASH_PRIORITY );
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199 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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200 vStartDynamicPriorityTasks();
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201 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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202 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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203 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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205 /* Start the locally defined tasks. There is also a task implemented as
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207 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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209 /* Must be the last demo created. */
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210 vCreateSuicidalTasks( mainDEATH_PRIORITY );
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212 /* All the tasks have been created - start the scheduler. */
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213 vTaskStartScheduler();
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215 /* Should not reach here! */
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219 /*-----------------------------------------------------------*/
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221 static void vErrorChecks( void *pvParameters )
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223 TickType_t xDelayPeriod = mainCHECK_PERIOD;
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224 TickType_t xLastWakeTime;
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226 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
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227 functions correctly. */
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228 xLastWakeTime = xTaskGetTickCount();
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232 /* Delay until it is time to execute again. The delay period is
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233 shorter following an error. */
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234 vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
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236 /* Check all the demo application tasks are executing without
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237 error. If an error is found the delay period is shortened - this
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238 has the effect of increasing the flash rate of the 'check' task
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240 if( prvCheckOtherTasksAreStillRunning() == pdFAIL )
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242 /* An error has been detected in one of the tasks - flash faster. */
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243 xDelayPeriod = mainERROR_CHECK_PERIOD;
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246 /* Toggle the LED each cycle round. */
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247 vParTestToggleLED( mainCHECK_TASK_LED );
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250 /*-----------------------------------------------------------*/
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252 static long prvCheckOtherTasksAreStillRunning( void )
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254 portBASE_TYPE xAllTasksPassed = pdPASS;
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256 if( xArePollingQueuesStillRunning() != pdTRUE )
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258 xAllTasksPassed = pdFAIL;
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261 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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263 xAllTasksPassed = pdFAIL;
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266 if( xAreComTestTasksStillRunning() != pdTRUE )
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268 xAllTasksPassed = pdFALSE;
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271 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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273 xAllTasksPassed = pdFALSE;
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276 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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278 xAllTasksPassed = pdFALSE;
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281 if( xIsCreateTaskStillRunning() != pdTRUE )
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283 xAllTasksPassed = pdFALSE;
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286 /* Also check the status flag for the tasks defined within this function. */
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287 if( xLocalError != pdFALSE )
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289 xAllTasksPassed = pdFAIL;
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292 return xAllTasksPassed;
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294 /*-----------------------------------------------------------*/
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296 void vApplicationIdleHook( void )
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298 /* This variable is effectively set to a constant so it is made volatile to
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299 ensure the compiler does not just get rid of it. */
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300 volatile long lValue;
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302 /* Keep performing a calculation and checking the result against a constant. */
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304 /* Perform the calculation. This will store partial value in
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305 registers, resulting in a good test of the context switch mechanism. */
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306 lValue = intgCONST1;
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307 lValue += intgCONST2;
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308 lValue *= intgCONST3;
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309 lValue /= intgCONST4;
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311 /* Did we perform the calculation correctly with no corruption? */
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312 if( lValue != intgEXPECTED_ANSWER )
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315 portENTER_CRITICAL();
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316 xLocalError = pdTRUE;
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317 portEXIT_CRITICAL();
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320 /* Yield in case cooperative scheduling is being used. */
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321 #if configUSE_PREEMPTION == 0
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327 /*-----------------------------------------------------------*/
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