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 software timers,
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79 * then starts the scheduler. The web documentation provides more details of
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80 * the standard demo application tasks, which provide no particular
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81 * functionality, 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 set to three seconds.
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87 * The callback function associated with the check software timer checks that
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88 * all the standard demo tasks are not only still executing, but are executing
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89 * without reporting any errors. If the check software timer discovers that a
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90 * task has either stalled, or reported an error, then the error is logged and
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91 * the check software timer toggles the red LEDs. If an error has never been
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92 * latched, the check software timer toggles the green LEDs. Therefore, if the
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93 * system is executing correctly, the green LEDs will toggle every three
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94 * seconds, and if an error has ever been detected, the red LEDs will toggle
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95 * every three seconds.
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97 * "Reg test" tasks - These fill both the core and floating point registers
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98 * with known values, then check that each register maintains its expected
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99 * value for the lifetime of the tasks. Each task uses a different set of
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100 * values. The reg test tasks execute with a very low priority, so get
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101 * preempted very frequently. A register containing an unexpected value is
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102 * indicative of an error in the context switching mechanism.
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104 * "LED" software timer - The callback function associated with the LED
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105 * software time maintains a pattern of spinning white LEDs.
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107 * See the documentation page for this demo on the FreeRTOS.org web site for
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108 * full information, including hardware setup requirements.
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111 /* Standard includes. */
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114 /* Kernel includes. */
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115 #include "FreeRTOS.h"
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117 #include "timers.h"
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118 #include "semphr.h"
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120 /* Standard demo application includes. */
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121 #include "integer.h"
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123 #include "semtest.h"
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124 #include "dynamic.h"
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125 #include "BlockQ.h"
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126 #include "blocktim.h"
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127 #include "countsem.h"
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128 #include "GenQTest.h"
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129 #include "recmutex.h"
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131 #include "partest.h"
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133 #include "serial.h"
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134 #include "comtest.h"
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136 /* Priorities for the demo application tasks. */
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137 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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138 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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139 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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140 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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141 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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142 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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143 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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145 /* A block time of zero simply means "don't block". */
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146 #define mainDONT_BLOCK ( 0UL )
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148 /* The period after which the check timer will expire, converted to ticks. */
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149 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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151 /* The period after which the LED timer will expire, converted to ticks. */
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152 #define mainLED_TIMER_PERIOD_MS ( 75UL / portTICK_PERIOD_MS )
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154 /* Constants for the ComTest tasks. */
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155 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
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156 #define mainCOM_TEST_LED ( 100 )
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158 /*-----------------------------------------------------------*/
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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 * The LED timer callback function, as described at the top of this file.
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168 static void prvLEDTimerCallback( TimerHandle_t xTimer );
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171 * The reg test tasks, as described at the top of this file.
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173 extern void vRegTestTask1( void *pvParameters );
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174 extern void vRegTestTask2( void *pvParameters );
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176 /*-----------------------------------------------------------*/
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178 /* Variables that are incremented on each iteration of the reg test tasks -
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179 provided the tasks have not reported any errors. The check task inspects these
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180 variables to ensure they are still incrementing as expected. If a variable
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181 stops incrementing then it is likely that its associate task has stalled. */
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182 volatile unsigned long ulRegTest1Counter = 0, ulRegTest2Counter = 0;
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184 /*-----------------------------------------------------------*/
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186 void main_full( void )
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188 TimerHandle_t xTimer = NULL;
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190 /* Start all the standard demo/test tasks. These have not particular
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191 functionality, but do demonstrate how to use the FreeRTOS API, and test the
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193 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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194 vStartDynamicPriorityTasks();
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195 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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196 vCreateBlockTimeTasks();
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197 vStartCountingSemaphoreTasks();
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198 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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199 vStartRecursiveMutexTasks();
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200 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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201 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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202 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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203 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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205 /* Create the register test tasks, as described at the top of this file. */
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206 xTaskCreate( vRegTestTask1, "Reg1...", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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207 xTaskCreate( vRegTestTask2, "Reg2...", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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210 /* Create the software timer that performs the 'check' functionality,
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211 as described at the top of this file. */
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212 xTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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213 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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214 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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215 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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216 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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219 if( xTimer != NULL )
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221 xTimerStart( xTimer, mainDONT_BLOCK );
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224 /* Create the software timer that performs the 'LED spin' functionality,
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225 as described at the top of this file. */
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226 xTimer = xTimerCreate( "LEDTimer", /* A text name, purely to help debugging. */
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227 ( mainLED_TIMER_PERIOD_MS ),/* The timer period, in this case 75ms. */
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228 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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229 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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230 prvLEDTimerCallback /* The callback function that toggles the white LEDs. */
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233 if( xTimer != NULL )
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235 xTimerStart( xTimer, mainDONT_BLOCK );
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238 /* The set of tasks created by the following function call have to be
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239 created last as they keep account of the number of tasks they expect to see
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241 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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243 /* Start the scheduler. */
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244 vTaskStartScheduler();
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246 /* If all is well, the scheduler will now be running, and the following line
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247 will never be reached. If the following line does execute, then there was
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248 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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249 to be created. See the memory management section on the FreeRTOS web site
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250 for more details. */
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253 /*-----------------------------------------------------------*/
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255 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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257 static long lChangeToRedLEDsAlready = pdFALSE;
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258 static unsigned long ulLastRegTest1Counter = 0, ulLastRegTest2Counter = 0;
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259 unsigned long ulErrorFound = pdFALSE;
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260 /* LEDs are defaulted to use the Green LEDs. The Red LEDs are used if an error
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262 static unsigned long ulLED1 = 8, ulLED2 = 11;
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263 const unsigned long ulRedLED1 = 6, ulRedLED2 = 9;
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265 /* Check all the demo tasks (other than the flash tasks) to ensure
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266 they are all still running, and that none have detected an error. */
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268 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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270 ulErrorFound = pdTRUE;
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273 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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275 ulErrorFound = pdTRUE;
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278 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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280 ulErrorFound = pdTRUE;
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283 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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285 ulErrorFound = pdTRUE;
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288 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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290 ulErrorFound = pdTRUE;
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293 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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295 ulErrorFound = pdTRUE;
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298 if( xIsCreateTaskStillRunning() != pdTRUE )
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300 ulErrorFound = pdTRUE;
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303 if( xArePollingQueuesStillRunning() != pdTRUE )
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305 ulErrorFound = pdTRUE;
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308 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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310 ulErrorFound = pdTRUE;
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313 if( xAreMathsTaskStillRunning() != pdTRUE )
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315 ulErrorFound = pdTRUE;
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318 if( xAreComTestTasksStillRunning() != pdTRUE )
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320 ulErrorFound = pdTRUE;
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323 /* Check the reg test tasks are still cycling. They will stop
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324 incrementing their loop counters if they encounter an error. */
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325 if( ulRegTest1Counter == ulLastRegTest1Counter )
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327 ulErrorFound = pdTRUE;
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330 if( ulRegTest2Counter == ulLastRegTest2Counter )
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332 ulErrorFound = pdTRUE;
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335 ulLastRegTest1Counter = ulRegTest1Counter;
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336 ulLastRegTest2Counter = ulRegTest2Counter;
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338 /* Toggle the check LEDs to give an indication of the system status. If
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339 the green LEDs are toggling, then no errors have been detected. If the red
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340 LEDs are toggling, then an error has been reported in at least one task. */
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341 vParTestToggleLED( ulLED1 );
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342 vParTestToggleLED( ulLED2 );
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344 /* Have any errors been latch in ulErrorFound? If so, ensure the gree LEDs
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345 are off, then switch to using the red LEDs. */
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346 if( ulErrorFound != pdFALSE )
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348 if( lChangeToRedLEDsAlready == pdFALSE )
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350 lChangeToRedLEDsAlready = pdTRUE;
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352 /* An error has been found. Switch to use the red LEDs. */
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353 vParTestSetLED( ulLED1, pdFALSE );
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354 vParTestSetLED( ulLED2, pdFALSE );
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355 ulLED1 = ulRedLED1;
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356 ulLED2 = ulRedLED2;
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360 /*-----------------------------------------------------------*/
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362 static void prvLEDTimerCallback( TimerHandle_t xTimer )
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364 const unsigned long ulNumWhiteLEDs = 6;
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365 static unsigned long ulLit1 = 2, ulLit2 = 1;
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367 vParTestSetLED( ulLit2, pdFALSE );
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372 if( ulLit1 >= ulNumWhiteLEDs )
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377 vParTestSetLED( ulLit1, pdTRUE );
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379 /*-----------------------------------------------------------*/
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