2 FreeRTOS V8.1.2 - Copyright (C) 2014 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 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /******************************************************************************
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67 * NOTE 1: This project provides two demo applications. A simple blinky style
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68 * project, and a more comprehensive test and demo application. The
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69 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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70 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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71 * in main.c. This file implements the comprehensive test and demo version.
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73 * NOTE 2: This file only contains the source code that is specific to the
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74 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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75 * required to configure the hardware, are defined in main.c.
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76 ******************************************************************************
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78 * main_full() creates all the demo application tasks and a software timer, then
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79 * starts the scheduler. The web documentation provides more details of the
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80 * standard demo application tasks, which provide no particular functionality,
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81 * but do provide a good example of how to use the FreeRTOS API.
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83 * In addition to the standard demo tasks, the following tasks and tests are
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84 * defined and/or created within this file:
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86 * "Check" timer - The check software timer period is initially set to three
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87 * seconds. The callback function associated with the check software timer
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88 * checks that all the standard demo tasks are not only still executing, but
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89 * are executing without reporting any errors. If the check software timer
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90 * discovers that a task has either stalled, or reported an error, then it
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91 * changes its own execution period from the initial three seconds, to just
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92 * 200ms. The check software timer callback function also toggles the green
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93 * LED each time it is called. This provides a visual indication of the system
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94 * status: If the green LED toggles every three seconds, then no issues have
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95 * been discovered. If the green LED toggles every 200ms, then an issue has
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96 * been discovered with at least one task.
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98 * See the documentation page for this demo on the FreeRTOS.org web site for
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99 * full information, including hardware setup requirements.
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102 /* Standard includes. */
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105 /* Kernel includes. */
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106 #include "FreeRTOS.h"
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108 #include "timers.h"
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109 #include "semphr.h"
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111 /* Standard demo application includes. */
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112 #include "integer.h"
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114 #include "semtest.h"
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115 #include "dynamic.h"
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116 #include "BlockQ.h"
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117 #include "blocktim.h"
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118 #include "countsem.h"
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119 #include "GenQTest.h"
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120 #include "recmutex.h"
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122 #include "flash_timer.h"
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123 #include "partest.h"
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124 #include "comtest2.h"
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125 #include "QueueSet.h"
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126 #include "IntQueue.h"
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127 #include "TaskNotify.h"
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128 #include "TimerDemo.h"
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129 #include "EventGroupsDemo.h"
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130 #include "IntSemTest.h"
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132 /* Atmel library includes. */
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135 /* Priorities for the demo application tasks. */
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136 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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137 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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138 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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139 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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140 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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141 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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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 /* The period after which the check timer will expire, in ms, provided no errors
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147 have been reported by any of the standard demo tasks. ms are converted to the
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148 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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149 #define mainCHECK_TIMER_PERIOD_MS ( pdMS_TO_TICKS( 3000UL ) )
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151 /* The period at which the check timer will expire, in ms, if an error has been
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152 reported in one of the standard demo tasks. ms are converted to the equivalent
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153 in ticks using the portTICK_PERIOD_MS constant. */
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154 #define mainERROR_CHECK_TIMER_PERIOD_MS ( pdMS_TO_TICKS( 200UL ) )
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156 /* The standard demo flash timers can be used to flash any number of LEDs. In
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157 this case, because only three LEDs are available, and one is in use by the
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158 check timer, only two are used by the flash timers. */
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159 #define mainNUMBER_OF_FLASH_TIMERS_LEDS ( 2 )
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161 /* The LED toggled by the check timer. The first two LEDs are toggle by the
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162 standard demo flash timers. */
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163 #define mainCHECK_LED ( 2 )
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165 /* Baud rate used by the comtest tasks. */
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166 #define mainCOM_TEST_BAUD_RATE ( 115200 )
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168 /* The LED used by the comtest tasks. In this case, there are no LEDs available
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169 for the comtest, so the LED number is deliberately out of range. */
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170 #define mainCOM_TEST_LED ( 3 )
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172 /* Used by the standard demo timer tasks. */
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173 #define mainTIMER_TEST_PERIOD ( 50 )
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175 /*-----------------------------------------------------------*/
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178 * Called by the idle hook function when the project is configured to run the
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179 * full (as opposed to the blinky) demo.
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181 void vFullDemoIdleHook( void );
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184 * Called by the tick hook function when the project is configured to run the
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185 * full (as opposed to the blinky) demo.
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187 void vFullDemoTickHook( void );
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190 * The check timer callback function, as described at the top of this file.
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192 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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194 /*-----------------------------------------------------------*/
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196 void main_full( void )
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198 /* Start all the other standard demo/test tasks. The have not particular
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199 functionality, but do demonstrate how to use the FreeRTOS API and test the
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201 vStartInterruptQueueTasks();
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202 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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203 vStartDynamicPriorityTasks();
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204 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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205 vCreateBlockTimeTasks();
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206 vStartCountingSemaphoreTasks();
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207 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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208 vStartRecursiveMutexTasks();
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209 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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210 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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211 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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212 vStartQueueSetTasks();
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213 vStartTaskNotifyTask();
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214 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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215 vStartEventGroupTasks();
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216 vStartInterruptSemaphoreTasks();
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218 /* The set of tasks created by the following function call have to be
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219 created last as they keep account of the number of tasks they expect to see
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221 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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223 /* Start the scheduler. */
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224 vTaskStartScheduler();
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226 /* If all is well, the scheduler will now be running, and the following line
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227 will never be reached. If the following line does execute, then there was
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228 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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229 to be created. See the memory management section on the FreeRTOS web site
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230 for more details. */
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233 /*-----------------------------------------------------------*/
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235 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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237 static long lChangedTimerPeriodAlready = pdFALSE;
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238 unsigned long ulErrorFound = pdFALSE;
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240 /* Check all the demo tasks (other than the flash tasks) to ensure
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241 they are all still running, and that none have detected an error. */
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243 if( xAreIntQueueTasksStillRunning() != pdTRUE )
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245 ulErrorFound |= 1UL << 0UL;
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248 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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250 ulErrorFound |= 1UL << 1UL;
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253 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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255 ulErrorFound |= 1UL << 2UL;
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258 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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260 ulErrorFound |= 1UL << 3UL;
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263 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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265 ulErrorFound |= 1UL << 4UL;
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268 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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270 ulErrorFound |= 1UL << 5UL;
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273 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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275 ulErrorFound |= 1UL << 6UL;
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278 if( xIsCreateTaskStillRunning() != pdTRUE )
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280 ulErrorFound |= 1UL << 7UL;
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283 if( xArePollingQueuesStillRunning() != pdTRUE )
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285 ulErrorFound |= 1UL << 8UL;
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288 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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290 ulErrorFound |= 1UL << 9UL;
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293 if( xAreComTestTasksStillRunning() != pdTRUE )
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295 ulErrorFound |= 1UL << 10UL;
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298 if( xAreQueueSetTasksStillRunning() != pdTRUE )
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300 ulErrorFound |= 1UL << 11UL;
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303 if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
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305 ulErrorFound |= 1UL << 12UL;
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308 if( xAreTimerDemoTasksStillRunning( mainCHECK_TIMER_PERIOD_MS ) != pdTRUE )
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310 ulErrorFound |= 1UL << 13UL;
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313 if( xAreEventGroupTasksStillRunning() != pdTRUE )
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315 ulErrorFound |= 1UL << 14UL;
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318 if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
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320 ulErrorFound |= 1UL << 15UL;
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324 /* Toggle the check LED to give an indication of the system status. If
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325 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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326 everything is ok. A faster toggle indicates an error. */
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327 vParTestToggleLED( mainCHECK_LED );
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329 /* Have any errors been latch in ulErrorFound? If so, shorten the
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330 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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331 This will result in an increase in the rate at which mainCHECK_LED
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333 if( ulErrorFound != pdFALSE )
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335 if( lChangedTimerPeriodAlready == pdFALSE )
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337 lChangedTimerPeriodAlready = pdTRUE;
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339 /* This call to xTimerChangePeriod() uses a zero block time.
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340 Functions called from inside of a timer callback function must
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341 *never* attempt to block. */
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342 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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346 /*-----------------------------------------------------------*/
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348 void vFullDemoIdleHook( void )
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350 static TimerHandle_t xCheckTimer = NULL;
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352 if( xCheckTimer == NULL )
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354 /* Create the software timer that performs the 'check'
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355 functionality, in the full demo. This is not done before the
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356 scheduler is started as to do so would prevent the standard demo
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357 timer tasks from passing their tests (they expect the timer
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358 command queue to be empty. */
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359 xCheckTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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360 mainCHECK_TIMER_PERIOD_MS, /* The timer period, in this case 3000ms (3s). */
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361 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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362 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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363 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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366 if( xCheckTimer != NULL )
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368 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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371 /* Also start some timers that just flash LEDs. */
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372 vStartLEDFlashTimers( mainNUMBER_OF_FLASH_TIMERS_LEDS );
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375 /*-----------------------------------------------------------*/
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377 void vFullDemoTickHook( void )
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379 /* In this case the tick hook is used as part of the queue set test. */
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380 vQueueSetAccessQueueSetFromISR();
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382 /* Use task notifications from an interrupt. */
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383 xNotifyTaskFromISR();
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385 /* Use timers from an interrupt. */
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386 vTimerPeriodicISRTests();
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388 /* Use event groups from an interrupt. */
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389 vPeriodicEventGroupsProcessing();
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391 /* Use mutexes from interrupts. */
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392 vInterruptSemaphorePeriodicTest();
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