2 FreeRTOS V9.0.0rc2 - Copyright (C) 2016 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 /******************************************************************************
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72 * NOTE 1: This project provides three demo applications. A simple blinky
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73 * style project, a more comprehensive test and demo application, and an
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74 * lwIP example. The mainSELECTED_APPLICATION setting in main.c is used to
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75 * select between the three. See the notes on using mainSELECTED_APPLICATION
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76 * in main.c. This file implements the comprehensive 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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82 ******************************************************************************
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84 * main_full() creates all the demo application tasks and software timers, then
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85 * starts the scheduler. The web documentation provides more details of the
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86 * standard demo application tasks, which provide no particular functionality,
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87 * but do provide a good example of how to use the FreeRTOS API.
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89 * In addition to the standard demo tasks, the following tasks and tests are
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90 * defined and/or created within this file:
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92 * FreeRTOS+CLI command console. The command console is access through the
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93 * UART to USB connector on the ZC702 Zynq development board (marked J2). For
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94 * reasons of robustness testing the UART driver is deliberately written to be
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95 * inefficient and should not be used as a template for a production driver.
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96 * Type "help" to see a list of registered commands. The FreeRTOS+CLI license
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97 * is different to the FreeRTOS license, see http://www.FreeRTOS.org/cli for
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98 * license and usage details. The default baud rate is 115200.
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100 * "Reg test" tasks - These fill both the core and floating point registers with
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101 * known values, then check that each register maintains its expected value for
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102 * the lifetime of the task. Each task uses a different set of values. The reg
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103 * test tasks execute with a very low priority, so get preempted very
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104 * frequently. A register containing an unexpected value is indicative of an
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105 * error in the context switching mechanism.
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107 * "Check" task - The check task period is initially set to three seconds. The
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108 * task checks that all the standard demo tasks, and the register check tasks,
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109 * are not only still executing, but are executing without reporting any errors.
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110 * If the check task discovers that a task has either stalled, or reported an
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111 * error, then it changes its own execution period from the initial three
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112 * seconds, to just 200ms. The check task also toggles an LED each time it is
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113 * called. This provides a visual indication of the system status: If the LED
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114 * toggles every three seconds, then no issues have been discovered. If the LED
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115 * toggles every 200ms, then an issue has been discovered with at least one
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119 /* Standard includes. */
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122 /* Kernel includes. */
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123 #include "FreeRTOS.h"
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125 #include "timers.h"
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126 #include "semphr.h"
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128 /* Standard demo application includes. */
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129 #include "flash_timer.h"
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131 #include "semtest.h"
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132 #include "dynamic.h"
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133 #include "blocktim.h"
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134 #include "countsem.h"
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135 #include "GenQTest.h"
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136 #include "recmutex.h"
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137 #include "partest.h"
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138 #include "serial.h"
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139 #include "TimerDemo.h"
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140 #include "EventGroupsDemo.h"
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141 #include "TaskNotify.h"
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142 #include "IntSemTest.h"
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144 /* Priorities for the demo application tasks. */
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145 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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146 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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147 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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148 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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149 #define mainUART_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2UL )
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150 #define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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151 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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152 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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153 #define mainFLASH_PRIORITY ( tskIDLE_PRIORITY )
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155 /* The priority used by the UART command console task. */
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156 #define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( configMAX_PRIORITIES - 2 )
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158 /* The LED used by the check task. */
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159 #define mainCHECK_LED ( 7 )
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162 /* A block time of zero simply means "don't block". */
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163 #define mainDONT_BLOCK ( 0UL )
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165 /* The period of the check task, in ms, provided no errors have been reported by
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166 any of the standard demo tasks. ms are converted to the equivalent in ticks
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167 using the pdMS_TO_TICKS() macro constant. */
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168 #define mainNO_ERROR_CHECK_TASK_PERIOD ( pdMS_TO_TICKS( 3000UL ) )
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170 /* The period of the check task, in ms, if an error has been reported in one of
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171 the standard demo tasks. ms are converted to the equivalent in ticks using the
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172 pdMS_TO_TICKS() macro. */
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173 #define mainERROR_CHECK_TASK_PERIOD ( pdMS_TO_TICKS( 200UL ) )
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175 /* Parameters that are passed into the register check tasks solely for the
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176 purpose of ensuring parameters are passed into tasks correctly. */
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177 #define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
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178 #define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
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180 /* The base period used by the timer test tasks. */
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181 #define mainTIMER_TEST_PERIOD ( 50 )
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183 /* The number of timers to create that just flash LEDs. */
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184 #define mainNUM_FLASH_TIMERS ( 3 )
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185 /*-----------------------------------------------------------*/
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189 * The check task, as described at the top of this file.
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191 static void prvCheckTask( void *pvParameters );
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194 * Register check tasks, and the tasks used to write over and check the contents
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195 * of the FPU registers, as described at the top of this file. The nature of
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196 * these files necessitates that they are written in an assembly file, but the
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197 * entry points are kept in the C file for the convenience of checking the task
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200 static void prvRegTestTaskEntry1( void *pvParameters );
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201 extern void vRegTest1Implementation( void );
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202 static void prvRegTestTaskEntry2( void *pvParameters );
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203 extern void vRegTest2Implementation( void );
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206 * Register commands that can be used with FreeRTOS+CLI. The commands are
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207 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
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209 extern void vRegisterSampleCLICommands( void );
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212 * The task that manages the FreeRTOS+CLI input and output.
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214 extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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217 * When the full demo is build the tick hook it used to demonstrate API
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218 * functions being called from an interrupt and to perform some tests.
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220 void vFullDemoTickHook( void );
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223 * When the full demo is build the idle hook is used to create some timers that
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224 * cannot be created in main() because the timer demo tasks need the entire
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227 void vFullDemoIdleHook( void );
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229 /*-----------------------------------------------------------*/
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231 /* The following two variables are used to communicate the status of the
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232 register check tasks to the check task. If the variables keep incrementing,
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233 then the register check tasks have not discovered any errors. If a variable
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234 stops incrementing, then an error has been found. */
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235 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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237 /*-----------------------------------------------------------*/
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239 void main_full( void )
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241 /* Start all the other standard demo/test tasks. They have no particular
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242 functionality, but do demonstrate how to use the FreeRTOS API and test the
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244 vStartDynamicPriorityTasks();
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245 vCreateBlockTimeTasks();
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246 vStartCountingSemaphoreTasks();
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247 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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248 vStartRecursiveMutexTasks();
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249 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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250 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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251 vStartEventGroupTasks();
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252 vStartTaskNotifyTask();
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253 vStartInterruptSemaphoreTasks();
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255 /* Note - the set of standard demo tasks contains two versions of
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256 vStartMathTasks.c. One is defined in flop.c, and uses double precision
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257 floating point numbers and variables. The other is defined in sp_flop.c,
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258 and uses single precision floating point numbers and variables. The
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259 MicroBlaze floating point unit only handles single precision floating.
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260 Therefore, to test the floating point hardware, sp_flop.c should be included
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261 in this project. */
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262 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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264 /* Start the tasks that implements the command console on the UART, as
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265 described above. */
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266 vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );
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268 /* Register the standard CLI commands. */
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269 vRegisterSampleCLICommands();
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271 /* Create the register check tasks, as described at the top of this file */
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272 xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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273 xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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275 /* Create the task that performs the 'check' functionality, as described at
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276 the top of this file. */
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277 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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279 /* Start the scheduler. */
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280 vTaskStartScheduler();
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282 /* If all is well, the scheduler will now be running, and the following
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283 line will never be reached. If the following line does execute, then
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284 there was insufficient FreeRTOS heap memory available for the Idle and/or
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285 timer tasks to be created. See the memory management section on the
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286 FreeRTOS web site for more details on the FreeRTOS heap
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287 http://www.freertos.org/a00111.html. */
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290 /*-----------------------------------------------------------*/
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292 static void prvCheckTask( void *pvParameters )
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294 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
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295 TickType_t xLastExecutionTime;
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296 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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297 unsigned long ulErrorFound = pdFALSE;
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299 /* Just to stop compiler warnings. */
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300 ( void ) pvParameters;
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302 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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303 works correctly. */
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304 xLastExecutionTime = xTaskGetTickCount();
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306 /* Cycle for ever, delaying then checking all the other tasks are still
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307 operating without error. The onboard LED is toggled on each iteration.
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308 If an error is detected then the delay period is decreased from
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309 mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
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310 effect of increasing the rate at which the onboard LED toggles, and in so
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311 doing gives visual feedback of the system status. */
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314 /* Delay until it is time to execute again. */
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315 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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317 /* Check all the demo tasks (other than the flash tasks) to ensure
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318 that they are all still running, and that none have detected an error. */
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319 if( xAreMathsTaskStillRunning() != pdTRUE )
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321 ulErrorFound |= 1UL << 1UL;
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324 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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326 ulErrorFound |= 1UL << 2UL;
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329 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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331 ulErrorFound |= 1UL << 4UL;
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334 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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336 ulErrorFound |= 1UL << 5UL;
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339 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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341 ulErrorFound |= 1UL << 6UL;
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344 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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346 ulErrorFound |= 1UL << 8UL;
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349 if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS )
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351 ulErrorFound |= 1UL << 9UL;
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354 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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356 ulErrorFound |= 1UL << 10UL;
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359 if( xAreEventGroupTasksStillRunning() != pdPASS )
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361 ulErrorFound |= 1UL << 12UL;
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364 if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
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366 ulErrorFound |= 1UL << 13UL;
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369 if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
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371 ulErrorFound |= 1UL << 14UL;
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374 /* Check that the register test 1 task is still running. */
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375 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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377 ulErrorFound |= 1UL << 15UL;
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379 ulLastRegTest1Value = ulRegTest1LoopCounter;
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381 /* Check that the register test 2 task is still running. */
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382 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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384 ulErrorFound |= 1UL << 16UL;
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386 ulLastRegTest2Value = ulRegTest2LoopCounter;
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388 /* Toggle the check LED to give an indication of the system status. If
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389 the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
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390 everything is ok. A faster toggle indicates an error. */
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391 vParTestToggleLED( mainCHECK_LED );
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393 if( ulErrorFound != pdFALSE )
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395 /* An error has been detected in one of the tasks - flash the LED
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396 at a higher frequency to give visible feedback that something has
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398 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
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402 /*-----------------------------------------------------------*/
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404 static void prvRegTestTaskEntry1( void *pvParameters )
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406 /* Although the regtest task is written in assembler, its entry point is
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407 written in C for convenience of checking the task parameter is being passed
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409 if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
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411 /* Start the part of the test that is written in assembler. */
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412 vRegTest1Implementation();
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415 /* The following line will only execute if the task parameter is found to
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416 be incorrect. The check task will detect that the regtest loop counter is
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417 not being incremented and flag an error. */
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418 vTaskDelete( NULL );
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420 /*-----------------------------------------------------------*/
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422 static void prvRegTestTaskEntry2( void *pvParameters )
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424 /* Although the regtest task is written in assembler, its entry point is
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425 written in C for convenience of checking the task parameter is being passed
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427 if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
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429 /* Start the part of the test that is written in assembler. */
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430 vRegTest2Implementation();
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433 /* The following line will only execute if the task parameter is found to
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434 be incorrect. The check task will detect that the regtest loop counter is
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435 not being incremented and flag an error. */
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436 vTaskDelete( NULL );
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438 /*-----------------------------------------------------------*/
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440 void vFullDemoTickHook( void )
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442 /* The full demo includes a software timer demo/test that requires
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443 prodding periodically from the tick interrupt. */
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444 vTimerPeriodicISRTests();
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446 /* Call the periodic event group from ISR demo. */
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447 vPeriodicEventGroupsProcessing();
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449 /* Use task notifications from an interrupt. */
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450 xNotifyTaskFromISR();
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452 /* Use mutexes from interrupts. */
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453 vInterruptSemaphorePeriodicTest();
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455 /*-----------------------------------------------------------*/
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457 void vFullDemoIdleHook( void )
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459 static uint32_t ulStartedTimers = pdFALSE;
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461 if( ulStartedTimers == pdFALSE )
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463 /* The flash timers are not created from main() as the timer demo needs
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464 the entire timer command queue in order to perform some tests. */
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465 vStartLEDFlashTimers( mainNUM_FLASH_TIMERS );
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466 ulStartedTimers = pdTRUE;
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