1 /*This file has been prepared for Doxygen automatic documentation generation.*/
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2 /*! \file *********************************************************************
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4 * \brief FreeRTOS Real Time Kernel example.
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6 * Creates all the demo application tasks, then starts the scheduler. The WEB
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7 * documentation provides more details of the demo application tasks.
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9 * Main. c also creates a task called "Check". This only executes every three
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10 * seconds but has the highest priority so is guaranteed to get processor time.
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11 * Its main function is to check that all the other tasks are still operational.
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12 * Each task that does not flash an LED maintains a unique count that is
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13 * incremented each time the task successfully completes its function. Should
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14 * any error occur within such a task the count is permanently halted. The
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15 * check task inspects the count of each task to ensure it has changed since
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16 * the last time the check task executed. If all the count variables have
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17 * changed all the tasks are still executing error free, and the check task
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18 * toggles an LED. Should any task contain an error at any time the LED toggle
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21 * The LED flash and communications test tasks do not maintain a count.
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23 * - Compiler: IAR EWAVR32 and GNU GCC for AVR32
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24 * - Supported devices: All AVR32 devices with GPIO.
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27 * \author Atmel Corporation: http://www.atmel.com \n
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28 * Support and FAQ: http://support.atmel.no/
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30 *****************************************************************************/
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33 FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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36 ***************************************************************************
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38 * FreeRTOS tutorial books are available in pdf and paperback. *
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39 * Complete, revised, and edited pdf reference manuals are also *
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42 * Purchasing FreeRTOS documentation will not only help you, by *
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43 * ensuring you get running as quickly as possible and with an *
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44 * in-depth knowledge of how to use FreeRTOS, it will also help *
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45 * the FreeRTOS project to continue with its mission of providing *
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46 * professional grade, cross platform, de facto standard solutions *
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47 * for microcontrollers - completely free of charge! *
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49 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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51 * Thank you for using FreeRTOS, and thank you for your support! *
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53 ***************************************************************************
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56 This file is part of the FreeRTOS distribution.
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58 FreeRTOS is free software; you can redistribute it and/or modify it under
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59 the terms of the GNU General Public License (version 2) as published by the
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60 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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61 >>>NOTE<<< The modification to the GPL is included to allow you to
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62 distribute a combined work that includes FreeRTOS without being obliged to
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63 provide the source code for proprietary components outside of the FreeRTOS
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64 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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65 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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66 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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67 more details. You should have received a copy of the GNU General Public
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68 License and the FreeRTOS license exception along with FreeRTOS; if not it
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69 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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70 by writing to Richard Barry, contact details for whom are available on the
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75 ***************************************************************************
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77 * Having a problem? Start by reading the FAQ "My application does *
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78 * not run, what could be wrong? *
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80 * http://www.FreeRTOS.org/FAQHelp.html *
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82 ***************************************************************************
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85 http://www.FreeRTOS.org - Documentation, training, latest information,
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86 license and contact details.
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88 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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89 including FreeRTOS+Trace - an indispensable productivity tool.
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91 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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92 the code with commercial support, indemnification, and middleware, under
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93 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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94 provide a safety engineered and independently SIL3 certified version under
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95 the SafeRTOS brand: http://www.SafeRTOS.com.
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100 #include <stdlib.h>
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101 #include <string.h>
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103 /* Environment header files. */
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106 /* Scheduler header files. */
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107 #include "FreeRTOS.h"
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110 /* Demo file headers. */
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111 #include "partest.h"
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112 #include "serial.h"
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113 #include "integer.h"
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114 #include "comtest.h"
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117 #include "semtest.h"
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118 #include "dynamic.h"
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119 #include "BlockQ.h"
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123 /*! \name Priority definitions for most of the tasks in the demo application.
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124 * Some tasks just use the idle priority.
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127 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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128 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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129 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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130 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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131 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 3 )
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132 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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133 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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136 //! Baud rate used by the serial port tasks.
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137 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 57600 )
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139 //! LED used by the serial port tasks. This is toggled on each character Tx,
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140 //! and mainCOM_TEST_LED + 1 is toggled on each character Rx.
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141 #define mainCOM_TEST_LED ( 3 )
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143 //! LED that is toggled by the check task. The check task periodically checks
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144 //! that all the other tasks are operating without error. If no errors are found
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145 //! the LED is toggled. If an error is found at any time the LED toggles faster.
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146 #define mainCHECK_TASK_LED ( 6 )
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148 //! LED that is set upon error.
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149 #define mainERROR_LED ( 7 )
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151 //! The period between executions of the check task.
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152 #define mainCHECK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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154 //! If an error is detected in a task, the vErrorChecks task will enter in an
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155 //! infinite loop flashing the LED at this rate.
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156 #define mainERROR_FLASH_RATE ( (portTickType) 500 / portTICK_RATE_MS )
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158 /*! \name Constants used by the vMemCheckTask() task.
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161 #define mainCOUNT_INITIAL_VALUE ( ( unsigned portLONG ) 0 )
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162 #define mainNO_TASK ( 0 )
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165 /*! \name The size of the memory blocks allocated by the vMemCheckTask() task.
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168 #define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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169 #define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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170 #define mainMEM_CHECK_SIZE_3 ( ( size_t ) 15 )
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174 /*-----------------------------------------------------------*/
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177 * The task that executes at the highest priority and calls
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178 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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181 static void vErrorChecks( void *pvParameters );
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184 * Checks that all the demo application tasks are still executing without error
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185 * - as described at the top of the file.
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187 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void );
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190 * A task that exercises the memory allocator.
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192 static void vMemCheckTask( void *pvParameters );
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195 * Called by the check task following the detection of an error to set the
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196 * LEDs into a state that shows an error has beeen found.
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198 static void prvIndicateError( void );
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200 /*-----------------------------------------------------------*/
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204 /* Start the crystal oscillator 0 and switch the main clock to it. */
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205 pm_switch_to_osc0(&AVR32_PM, FOSC0, OSC0_STARTUP);
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207 portDBG_TRACE("Starting the FreeRTOS AVR32 UC3 Demo...");
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209 /* Setup the LED's for output. */
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210 vParTestInitialise();
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212 /* Start the standard demo tasks. See the WEB documentation for more
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214 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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215 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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216 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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217 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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218 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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219 vStartDynamicPriorityTasks();
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220 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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221 vStartMathTasks( tskIDLE_PRIORITY );
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223 /* Start the demo tasks defined within this file, specifically the check
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224 task as described at the top of this file. */
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227 , (const signed portCHAR *)"ErrCheck"
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228 , configMINIMAL_STACK_SIZE
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230 , mainCHECK_TASK_PRIORITY
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233 /* Start the scheduler. */
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234 vTaskStartScheduler();
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236 /* Will only get here if there was insufficient memory to create the idle
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241 /*-----------------------------------------------------------*/
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244 * \brief The task function for the "Check" task.
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246 static void vErrorChecks( void *pvParameters )
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248 static volatile unsigned portLONG ulDummyVariable = 3UL;
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249 unsigned portLONG ulMemCheckTaskRunningCount;
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250 xTaskHandle xCreatedTask;
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251 portBASE_TYPE bSuicidalTask = 0;
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253 /* The parameters are not used. Prevent compiler warnings. */
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254 ( void ) pvParameters;
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256 /* Cycle for ever, delaying then checking all the other tasks are still
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257 operating without error.
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259 In addition to the standard tests the memory allocator is tested through
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260 the dynamic creation and deletion of a task each cycle. Each time the
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261 task is created memory must be allocated for its stack. When the task is
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262 deleted this memory is returned to the heap. If the task cannot be created
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263 then it is likely that the memory allocation failed. */
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267 /* Do this only once. */
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268 if( bSuicidalTask == 0 )
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272 /* This task has to be created last as it keeps account of the number of
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273 tasks it expects to see running. However its implementation expects
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274 to be called before vTaskStartScheduler(). We're in the case here where
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275 vTaskStartScheduler() has already been called (thus the hidden IDLE task
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276 has already been spawned). Since vCreateSuicidalTask() supposes that the
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277 IDLE task isn't included in the response from uxTaskGetNumberOfTasks(),
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278 let the MEM_CHECK task play that role. => this is why vCreateSuicidalTasks()
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279 is not called as the last task. */
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280 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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283 /* Reset xCreatedTask. This is modified by the task about to be
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284 created so we can tell if it is executing correctly or not. */
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285 xCreatedTask = mainNO_TASK;
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287 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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289 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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291 if( xTaskCreate( vMemCheckTask,
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292 ( signed portCHAR * ) "MEM_CHECK",
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293 configMINIMAL_STACK_SIZE,
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294 ( void * ) &ulMemCheckTaskRunningCount,
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295 tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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297 /* Could not create the task - we have probably run out of heap.
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298 Don't go any further and flash the LED faster to provide visual
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299 feedback of the error. */
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300 prvIndicateError();
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303 /* Delay until it is time to execute again. */
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304 vTaskDelay( mainCHECK_PERIOD );
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306 /* Delete the dynamically created task. */
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307 if( xCreatedTask != mainNO_TASK )
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309 vTaskDelete( xCreatedTask );
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312 /* Perform a bit of 32bit maths to ensure the registers used by the
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313 integer tasks get some exercise. The result here is not important -
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314 see the demo application documentation for more info. */
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315 ulDummyVariable *= 3;
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317 /* Check all other tasks are still operating without error.
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318 Check that vMemCheckTask did increment the counter. */
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319 if( ( prvCheckOtherTasksAreStillRunning() != pdFALSE )
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320 || ( ulMemCheckTaskRunningCount == mainCOUNT_INITIAL_VALUE ) )
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322 /* An error has occurred in one of the tasks.
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323 Don't go any further and flash the LED faster to give visual
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324 feedback of the error. */
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325 prvIndicateError();
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329 /* Toggle the LED if everything is okay. */
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330 vParTestToggleLED( mainCHECK_TASK_LED );
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334 /*-----------------------------------------------------------*/
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338 * \brief Checks that all the demo application tasks are still executing without error.
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340 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
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342 static portBASE_TYPE xErrorHasOccurred = pdFALSE;
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344 if( xAreComTestTasksStillRunning() != pdTRUE )
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346 xErrorHasOccurred = pdTRUE;
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349 if( xArePollingQueuesStillRunning() != pdTRUE )
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351 xErrorHasOccurred = pdTRUE;
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354 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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356 xErrorHasOccurred = pdTRUE;
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359 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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361 xErrorHasOccurred = pdTRUE;
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364 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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366 xErrorHasOccurred = pdTRUE;
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369 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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371 xErrorHasOccurred = pdTRUE;
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374 if( xAreMathsTaskStillRunning() != pdTRUE )
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376 xErrorHasOccurred = pdTRUE;
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379 if( xIsCreateTaskStillRunning() != pdTRUE )
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381 xErrorHasOccurred = pdTRUE;
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384 return ( xErrorHasOccurred );
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386 /*-----------------------------------------------------------*/
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390 * \brief Dynamically created and deleted during each cycle of the vErrorChecks()
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391 * task. This is done to check the operation of the memory allocator.
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392 * See the top of vErrorChecks for more details.
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394 * \param *pvParameters Parameters for the task (can be of any kind)
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396 static void vMemCheckTask( void *pvParameters )
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398 unsigned portLONG *pulMemCheckTaskRunningCounter;
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399 void *pvMem1, *pvMem2, *pvMem3;
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400 static portLONG lErrorOccurred = pdFALSE;
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402 /* This task is dynamically created then deleted during each cycle of the
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403 vErrorChecks task to check the operation of the memory allocator. Each time
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404 the task is created memory is allocated for the stack and TCB. Each time
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405 the task is deleted this memory is returned to the heap. This task itself
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406 exercises the allocator by allocating and freeing blocks.
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408 The task executes at the idle priority so does not require a delay.
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410 pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
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411 vErrorChecks() task that this task is still executing without error. */
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413 pulMemCheckTaskRunningCounter = ( unsigned portLONG * ) pvParameters;
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417 if( lErrorOccurred == pdFALSE )
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419 /* We have never seen an error so increment the counter. */
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420 ( *pulMemCheckTaskRunningCounter )++;
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424 /* There has been an error so reset the counter so the check task
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425 can tell that an error occurred. */
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426 *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
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429 /* Allocate some memory - just to give the allocator some extra
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430 exercise. This has to be in a critical section to ensure the
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431 task does not get deleted while it has memory allocated. */
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435 pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
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437 if( pvMem1 == NULL )
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439 lErrorOccurred = pdTRUE;
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443 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
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444 vPortFree( pvMem1 );
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449 /* Again - with a different size block. */
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452 pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
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454 if( pvMem2 == NULL )
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456 lErrorOccurred = pdTRUE;
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460 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
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461 vPortFree( pvMem2 );
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466 /* Again - with a different size block. */
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469 pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
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470 if( pvMem3 == NULL )
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472 lErrorOccurred = pdTRUE;
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476 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
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477 vPortFree( pvMem3 );
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483 /*-----------------------------------------------------------*/
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485 static void prvIndicateError( void )
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487 /* The check task has found an error in one of the other tasks.
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488 Set the LEDs to a state that indicates this. */
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489 vParTestSetLED(mainERROR_LED,pdTRUE);
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493 #if( BOARD==EVK1100 )
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494 vParTestToggleLED( mainCHECK_TASK_LED );
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495 vTaskDelay( mainERROR_FLASH_RATE );
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497 #if ( BOARD==EVK1101 )
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498 vParTestSetLED( 0, pdTRUE );
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499 vParTestSetLED( 1, pdTRUE );
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500 vParTestSetLED( 2, pdTRUE );
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501 vParTestSetLED( 3, pdTRUE );
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