2 FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /******************************************************************************
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71 * NOTE 1: This project provides two demo applications. A simple blinky style
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72 * project, and a more comprehensive test and demo application. The
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73 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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74 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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75 * in main.c. This file implements the comprehensive test and demo version.
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77 * NOTE 2: This file only contains the source code that is specific to the
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78 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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79 * required to configure the hardware, are defined in main.c.
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80 ******************************************************************************
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82 * main_full() creates a set of standard demo tasks (including a set of tasks
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83 * that test the interrupt nesting behaviour), some application specific tasks,
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84 * and a timer. It then starts the scheduler. The web documentation provides
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85 * more details of the standard demo application tasks, which provide no
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86 * particular functionality, but do provide a good example of how to use the
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89 * The interrupt nesting test tasks require that two timers are configured to
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90 * generate interrupts. The interrupt service routines are defined in
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91 * IntQueueTimer.c, and can be used as examples for application writers. They
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92 * do not, however, directly demonstrate the use of FreeRTOS safe API functions
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93 * (those that end in "FromISR"). Therefore, a dummy interrupt implementation
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94 * called Dummy_IRQHandler() is provided at the end of main.c.
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96 * In addition to the standard demo tasks, the following tasks and timer are
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97 * defined and/or created within this file:
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99 * "Reg test" tasks - These fill the registers with known values, then check
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100 * that each register maintains its expected value for the lifetime of the
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101 * task. Each task uses a different set of values. The reg test tasks execute
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102 * with a very low priority, so get preempted very frequently. A register
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103 * containing an unexpected value is indicative of an error in the context
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104 * switching mechanism.
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106 * "Check" software timer - The check timer period is initially set to three
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107 * seconds. Its callback function checks that all the standard demo tasks, and
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108 * the register check tasks, are not only still executing, but are executing
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109 * without reporting any errors. If the check timer callback discovers that a
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110 * task has either stalled, or reported an error, then it changes the period of
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111 * the check timer from the initial three seconds, to just 200ms. The callback
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112 * function also toggles the LED each time it is called. This provides a visual
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113 * indication of the system status: If the LED toggles every three seconds,
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114 * then no issues have been discovered. If the LED toggles every 200ms, then
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115 * an issue has been discovered with at least one task.
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118 /* Kernel includes. */
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119 #include "FreeRTOS.h"
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122 #include "timers.h"
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124 /* Common demo includes. */
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125 #include "blocktim.h"
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126 #include "countsem.h"
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127 #include "recmutex.h"
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128 #include "IntQueue.h"
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130 /* Hardware specific includes. */
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131 #include "lpc11xx.h"
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133 /* The period after which the check timer will expire provided no errors have
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134 been reported by any of the standard demo tasks. ms are converted to the
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135 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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136 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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138 /* The period at which the check timer will expire if an error has been
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139 reported in one of the standard demo tasks. ms are converted to the equivalent
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140 in ticks using the portTICK_PERIOD_MS constant. */
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141 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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143 /* A block time of zero simply means "don't block". */
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144 #define mainDONT_BLOCK ( 0UL )
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146 /*-----------------------------------------------------------*/
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149 * Register check tasks, as described at the top of this file. The nature of
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150 * these files necessitates that they are written in an assembly.
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152 extern void vRegTest1Task( void *pvParameters );
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153 extern void vRegTest2Task( void *pvParameters );
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156 * The hardware only has a single LED. Simply toggle it.
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158 extern void vMainToggleLED( void );
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161 * The check timer callback function, as described at the top of this file.
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163 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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166 * Called by main() to create the comprehensive test/demo application if
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167 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is not set to 1.
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169 void main_full( void );
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171 /*-----------------------------------------------------------*/
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173 /* The following two variables are used to communicate the status of the
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174 register check tasks to the check software timer. If the variables keep
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175 incrementing, then the register check tasks have not discovered any errors. If
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176 a variable stops incrementing, then an error has been found. */
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177 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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179 /*-----------------------------------------------------------*/
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181 void main_full( void )
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183 TimerHandle_t xCheckTimer = NULL;
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184 /* The register test tasks are asm functions that don't use a stack. The
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185 stack allocated just has to be large enough to hold the task context, and
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186 for the additional required for the stack overflow checking to work (if
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188 const size_t xRegTestStackSize = 25U;
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190 /* Create the standard demo tasks, including the interrupt nesting test
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192 vStartInterruptQueueTasks();
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193 vCreateBlockTimeTasks();
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194 vStartCountingSemaphoreTasks();
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195 vStartRecursiveMutexTasks();
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197 /* Create the register test tasks as described at the top of this file.
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198 These are naked functions that don't use any stack. A stack still has
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199 to be allocated to hold the task context. */
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200 xTaskCreate( vRegTest1Task, /* Function that implements the task. */
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201 "Reg1", /* Text name of the task. */
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202 xRegTestStackSize, /* Stack allocated to the task. */
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203 NULL, /* The task parameter is not used. */
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204 tskIDLE_PRIORITY, /* The priority to assign to the task. */
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205 NULL ); /* Don't receive a handle back, it is not needed. */
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207 xTaskCreate( vRegTest2Task, /* Function that implements the task. */
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208 "Reg2", /* Text name of the task. */
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209 xRegTestStackSize, /* Stack allocated to the task. */
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210 NULL, /* The task parameter is not used. */
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211 tskIDLE_PRIORITY, /* The priority to assign to the task. */
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212 NULL ); /* Don't receive a handle back, it is not needed. */
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214 /* Create the software timer that performs the 'check' functionality,
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215 as described at the top of this file. */
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216 xCheckTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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217 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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218 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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219 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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220 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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223 /* If the software timer was created successfully, start it. It won't
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224 actually start running until the scheduler starts. A block time of
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225 zero is used in this call, although any value could be used as the block
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226 time will be ignored because the scheduler has not started yet. */
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227 if( xCheckTimer != NULL )
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229 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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232 /* Start the kernel. From here on, only tasks and interrupts will run. */
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233 vTaskStartScheduler();
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235 /* If all is well, the scheduler will now be running, and the following
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236 line will never be reached. If the following line does execute, then there
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237 was insufficient FreeRTOS heap memory available for the idle and/or timer
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238 tasks to be created. See the memory management section on the FreeRTOS web
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239 site, or the FreeRTOS tutorial books for more details. */
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242 /*-----------------------------------------------------------*/
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244 /* See the description at the top of this file. */
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245 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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247 static long lChangedTimerPeriodAlready = pdFALSE;
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248 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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249 unsigned long ulErrorFound = pdFALSE;
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251 /* Check all the demo and test tasks to ensure that they are all still
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252 running, and that none have detected an error. */
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253 if( xAreIntQueueTasksStillRunning() != pdPASS )
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255 ulErrorFound |= ( 0x01UL << 0UL );
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258 if( xAreBlockTimeTestTasksStillRunning() != pdPASS )
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260 ulErrorFound |= ( 0x01UL << 1UL );
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263 if( xAreCountingSemaphoreTasksStillRunning() != pdPASS )
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265 ulErrorFound |= ( 0x01UL << 2UL );
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268 if( xAreRecursiveMutexTasksStillRunning() != pdPASS )
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270 ulErrorFound |= ( 0x01UL << 3UL );
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273 /* Check that the register test 1 task is still running. */
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274 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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276 ulErrorFound |= ( 0x01UL << 4UL );
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278 ulLastRegTest1Value = ulRegTest1LoopCounter;
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280 /* Check that the register test 2 task is still running. */
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281 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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283 ulErrorFound |= ( 0x01UL << 5UL );
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285 ulLastRegTest2Value = ulRegTest2LoopCounter;
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287 /* Toggle the check LED to give an indication of the system status. If
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288 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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289 everything is ok. A faster toggle indicates an error. */
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292 /* Have any errors been latched in ulErrorFound? If so, shorten the
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293 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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294 This will result in an increase in the rate at which mainCHECK_LED
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296 if( ulErrorFound != pdFALSE )
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298 if( lChangedTimerPeriodAlready == pdFALSE )
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300 lChangedTimerPeriodAlready = pdTRUE;
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302 /* This call to xTimerChangePeriod() uses a zero block time.
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303 Functions called from inside of a timer callback function must
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304 *never* attempt to block. */
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305 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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309 /*-----------------------------------------------------------*/
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projects / freertos / blob