2 FreeRTOS V7.5.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 mission critical applications that require provable dependability.
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65 /******************************************************************************
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66 * NOTE 1: This project provides two demo applications. A simple blinky style
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67 * project, and a more comprehensive test and demo application. The
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68 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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69 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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70 * in main.c. This file implements the comprehensive test and demo version.
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72 * NOTE 2: This file only contains the source code that is specific to the
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73 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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74 * required to configure the hardware, are defined in main.c.
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75 ******************************************************************************
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77 * main_full() creates a set of standard demo tasks (including a set of tasks
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78 * that test the interrupt nesting behaviour), some application specific tasks,
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79 * and a timer. It then starts the scheduler. The web documentation provides
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80 * more details of the standard demo application tasks, which provide no
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81 * particular functionality, but do provide a good example of how to use the
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84 * The interrupt nesting test tasks require that two timers are configured to
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85 * generate interrupts. The interrupt service routines are defined in
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86 * IntQueueTimer.c, and can be used as examples for application writers. They
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87 * do not, however, directly demonstrate the use of FreeRTOS safe API functions
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88 * (those that end in "FromISR"). Therefore, a dummy interrupt implementation
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89 * called Dummy_IRQHandler() is provided at the end of main.c.
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91 * In addition to the standard demo tasks, the following tasks and timer are
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92 * defined and/or created within this file:
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94 * "Reg test" tasks - These fill the registers with known values, then check
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95 * that each register maintains its expected value for the lifetime of the
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96 * task. Each task uses a different set of values. The reg test tasks execute
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97 * with a very low priority, so get preempted very frequently. A register
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98 * containing an unexpected value is indicative of an error in the context
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99 * switching mechanism.
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101 * "Check" software timer - The check timer period is initially set to three
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102 * seconds. Its callback function checks that all the standard demo tasks, and
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103 * the register check tasks, are not only still executing, but are executing
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104 * without reporting any errors. If the check timer callback discovers that a
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105 * task has either stalled, or reported an error, then it changes the period of
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106 * the check timer from the initial three seconds, to just 200ms. The callback
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107 * function also toggles the LED each time it is called. This provides a visual
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108 * indication of the system status: If the LED toggles every three seconds,
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109 * then no issues have been discovered. If the LED toggles every 200ms, then
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110 * an issue has been discovered with at least one task.
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113 /* Kernel includes. */
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114 #include "FreeRTOS.h"
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117 #include "timers.h"
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119 /* Common demo includes. */
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120 #include "blocktim.h"
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121 #include "countsem.h"
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122 #include "recmutex.h"
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123 #include "IntQueue.h"
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125 /* Hardware specific includes. */
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126 #include "lpc11xx.h"
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128 /* The period after which the check timer will expire provided no errors have
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129 been reported by any of the standard demo tasks. ms are converted to the
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130 equivalent in ticks using the portTICK_RATE_MS constant. */
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131 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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133 /* The period at which the check timer will expire if an error has been
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134 reported in one of the standard demo tasks. ms are converted to the equivalent
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135 in ticks using the portTICK_RATE_MS constant. */
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136 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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138 /* A block time of zero simply means "don't block". */
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139 #define mainDONT_BLOCK ( 0UL )
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141 /*-----------------------------------------------------------*/
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144 * Register check tasks, as described at the top of this file. The nature of
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145 * these files necessitates that they are written in an assembly.
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147 extern void vRegTest1Task( void *pvParameters );
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148 extern void vRegTest2Task( void *pvParameters );
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151 * The hardware only has a single LED. Simply toggle it.
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153 extern void vMainToggleLED( void );
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156 * The check timer callback function, as described at the top of this file.
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158 static void prvCheckTimerCallback( xTimerHandle xTimer );
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161 * Called by main() to create the comprehensive test/demo application if
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162 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is not set to 1.
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164 void main_full( void );
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166 /*-----------------------------------------------------------*/
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168 /* The following two variables are used to communicate the status of the
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169 register check tasks to the check software timer. If the variables keep
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170 incrementing, then the register check tasks has not discovered any errors. If
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171 a variable stops incrementing, then an error has been found. */
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172 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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174 /*-----------------------------------------------------------*/
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176 void main_full( void )
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178 xTimerHandle xCheckTimer = NULL;
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179 /* The register test tasks are asm functions that don't use a stack. The
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180 stack allocated just has to be large enough to hold the task context, and
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181 for the additional required for the stack overflow checking to work (if
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183 const size_t xRegTestStackSize = 25U;
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185 /* Create the standard demo tasks, including the interrupt nesting test
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187 vStartInterruptQueueTasks();
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188 vCreateBlockTimeTasks();
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189 vStartCountingSemaphoreTasks();
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190 vStartRecursiveMutexTasks();
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192 /* Create the register test tasks as described at the top of this file.
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193 These are naked functions that don't use any stack. A stack still has
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194 to be allocated to hold the task context. */
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195 xTaskCreate( vRegTest1Task, /* Function that implements the task. */
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196 ( signed char * ) "Reg1", /* Text name of the task. */
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197 xRegTestStackSize, /* Stack allocated to the task. */
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198 NULL, /* The task parameter is not used. */
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199 tskIDLE_PRIORITY, /* The priority to assign to the task. */
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200 NULL ); /* Don't receive a handle back, it is not needed. */
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202 xTaskCreate( vRegTest2Task, /* Function that implements the task. */
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203 ( signed char * ) "Reg2", /* Text name of the task. */
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204 xRegTestStackSize, /* Stack allocated to the task. */
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205 NULL, /* The task parameter is not used. */
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206 tskIDLE_PRIORITY, /* The priority to assign to the task. */
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207 NULL ); /* Don't receive a handle back, it is not needed. */
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209 /* Create the software timer that performs the 'check' functionality,
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210 as described at the top of this file. */
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211 xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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212 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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213 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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214 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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215 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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218 /* If the software timer was created successfully, start it. It won't
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219 actually start running until the scheduler starts. A block time of
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220 zero is used in this call, although any value could be used as the block
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221 time will be ignored because the scheduler has not started yet. */
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222 if( xCheckTimer != NULL )
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224 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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227 /* Start the kernel. From here on, only tasks and interrupts will run. */
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228 vTaskStartScheduler();
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230 /* If all is well, the scheduler will now be running, and the following
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231 line will never be reached. If the following line does execute, then there
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232 was insufficient FreeRTOS heap memory available for the idle and/or timer
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233 tasks to be created. See the memory management section on the FreeRTOS web
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234 site, or the FreeRTOS tutorial books for more details. */
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237 /*-----------------------------------------------------------*/
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239 /* See the description at the top of this file. */
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240 static void prvCheckTimerCallback( xTimerHandle xTimer )
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242 static long lChangedTimerPeriodAlready = pdFALSE;
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243 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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244 unsigned long ulErrorFound = pdFALSE;
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246 /* Check all the demo and test tasks to ensure that they are all still
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247 running, and that none have detected an error. */
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248 if( xAreIntQueueTasksStillRunning() != pdPASS )
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250 ulErrorFound |= ( 0x01UL << 0UL );
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253 if( xAreBlockTimeTestTasksStillRunning() != pdPASS )
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255 ulErrorFound |= ( 0x01UL << 1UL );
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258 if( xAreCountingSemaphoreTasksStillRunning() != pdPASS )
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260 ulErrorFound |= ( 0x01UL << 2UL );
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263 if( xAreRecursiveMutexTasksStillRunning() != pdPASS )
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265 ulErrorFound |= ( 0x01UL << 3UL );
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268 /* Check that the register test 1 task is still running. */
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269 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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271 ulErrorFound |= ( 0x01UL << 4UL );
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273 ulLastRegTest1Value = ulRegTest1LoopCounter;
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275 /* Check that the register test 2 task is still running. */
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276 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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278 ulErrorFound |= ( 0x01UL << 5UL );
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280 ulLastRegTest2Value = ulRegTest2LoopCounter;
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282 /* Toggle the check LED to give an indication of the system status. If
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283 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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284 everything is ok. A faster toggle indicates an error. */
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287 /* Have any errors been latched in ulErrorFound? If so, shorten the
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288 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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289 This will result in an increase in the rate at which mainCHECK_LED
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291 if( ulErrorFound != pdFALSE )
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293 if( lChangedTimerPeriodAlready == pdFALSE )
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295 lChangedTimerPeriodAlready = pdTRUE;
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297 /* This call to xTimerChangePeriod() uses a zero block time.
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298 Functions called from inside of a timer callback function must
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299 *never* attempt to block. */
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300 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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304 /*-----------------------------------------------------------*/
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