2 FreeRTOS V7.5.1 - Copyright (C) 2013 Real Time Engineers Ltd.
\r
4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
6 ***************************************************************************
\r
8 * FreeRTOS provides completely free yet professionally developed, *
\r
9 * robust, strictly quality controlled, supported, and cross *
\r
10 * platform software that has become a de facto standard. *
\r
12 * Help yourself get started quickly and support the FreeRTOS *
\r
13 * project by purchasing a FreeRTOS tutorial book, reference *
\r
14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
\r
18 ***************************************************************************
\r
20 This file is part of the FreeRTOS distribution.
\r
22 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
23 the terms of the GNU General Public License (version 2) as published by the
\r
24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
\r
26 >>! NOTE: The modification to the GPL is included to allow you to distribute
\r
27 >>! a combined work that includes FreeRTOS without being obliged to provide
\r
28 >>! the source code for proprietary components outside of the FreeRTOS
\r
31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
\r
34 link: http://www.freertos.org/a00114.html
\r
38 ***************************************************************************
\r
40 * Having a problem? Start by reading the FAQ "My application does *
\r
41 * not run, what could be wrong?" *
\r
43 * http://www.FreeRTOS.org/FAQHelp.html *
\r
45 ***************************************************************************
\r
47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
\r
48 license and Real Time Engineers Ltd. contact details.
\r
50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
\r
55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
56 licenses offer ticketed support, indemnification and middleware.
\r
58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
59 engineered and independently SIL3 certified version for use in safety and
\r
60 mission critical applications that require provable dependability.
\r
65 /******************************************************************************
\r
66 * NOTE 1: This project provides two demo applications. A simple blinky style
\r
67 * project, and a more comprehensive test and demo application. The
\r
68 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
\r
69 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
\r
70 * in main.c. This file implements the comprehensive test and demo version.
\r
72 * NOTE 2: This file only contains the source code that is specific to the
\r
73 * full demo. Generic functions, such FreeRTOS hook functions, and functions
\r
74 * required to configure the hardware, are defined in main.c.
\r
75 ******************************************************************************
\r
77 * main_full() creates all the demo application tasks and software timers,
\r
78 * then starts the scheduler. The web documentation provides more details of
\r
79 * the standard demo application tasks, which provide no particular
\r
80 * functionality, but do provide a good example of how to use the FreeRTOS API.
\r
82 * In addition to the standard demo tasks, the following tasks and tests are
\r
83 * defined and/or created within this file:
\r
85 * "Check" timer - The check software timer period is set to three seconds.
\r
86 * The callback function associated with the check software timer checks that
\r
87 * all the standard demo tasks are not only still executing, but are executing
\r
88 * without reporting any errors. If the check software timer discovers that a
\r
89 * task has either stalled, or reported an error, then the error is logged and
\r
90 * the check software timer toggles the red LEDs. If an error has never been
\r
91 * latched, the check software timer toggles the green LEDs. Therefore, if the
\r
92 * system is executing correctly, the green LEDs will toggle every three
\r
93 * seconds, and if an error has ever been detected, the red LEDs will toggle
\r
94 * every three seconds.
\r
96 * "Reg test" tasks - These fill both the core and floating point registers
\r
97 * with known values, then check that each register maintains its expected
\r
98 * value for the lifetime of the tasks. Each task uses a different set of
\r
99 * values. The reg test tasks execute with a very low priority, so get
\r
100 * preempted very frequently. A register containing an unexpected value is
\r
101 * indicative of an error in the context switching mechanism.
\r
103 * "LED" software timer - The callback function associated with the LED
\r
104 * software time maintains a pattern of spinning white LEDs.
\r
106 * See the documentation page for this demo on the FreeRTOS.org web site for
\r
107 * full information, including hardware setup requirements.
\r
110 /* Standard includes. */
\r
113 /* Kernel includes. */
\r
114 #include "FreeRTOS.h"
\r
116 #include "timers.h"
\r
117 #include "semphr.h"
\r
119 /* Standard demo application includes. */
\r
120 #include "integer.h"
\r
122 #include "semtest.h"
\r
123 #include "dynamic.h"
\r
124 #include "BlockQ.h"
\r
125 #include "blocktim.h"
\r
126 #include "countsem.h"
\r
127 #include "GenQTest.h"
\r
128 #include "recmutex.h"
\r
130 #include "partest.h"
\r
132 #include "serial.h"
\r
133 #include "comtest.h"
\r
135 /* Priorities for the demo application tasks. */
\r
136 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
\r
137 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
\r
138 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
\r
139 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
\r
140 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
141 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
142 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
144 /* A block time of zero simply means "don't block". */
\r
145 #define mainDONT_BLOCK ( 0UL )
\r
147 /* The period after which the check timer will expire, converted to ticks. */
\r
148 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
\r
150 /* The period after which the LED timer will expire, converted to ticks. */
\r
151 #define mainLED_TIMER_PERIOD_MS ( 75UL / portTICK_RATE_MS )
\r
153 /* Constants for the ComTest tasks. */
\r
154 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
\r
155 #define mainCOM_TEST_LED ( 100 )
\r
157 /*-----------------------------------------------------------*/
\r
160 * The check timer callback function, as described at the top of this file.
\r
162 static void prvCheckTimerCallback( xTimerHandle xTimer );
\r
165 * The LED timer callback function, as described at the top of this file.
\r
167 static void prvLEDTimerCallback( xTimerHandle xTimer );
\r
170 * The reg test tasks, as described at the top of this file.
\r
172 extern void vRegTestTask1( void *pvParameters );
\r
173 extern void vRegTestTask2( void *pvParameters );
\r
175 /*-----------------------------------------------------------*/
\r
177 /* Variables that are incremented on each iteration of the reg test tasks -
\r
178 provided the tasks have not reported any errors. The check task inspects these
\r
179 variables to ensure they are still incrementing as expected. If a variable
\r
180 stops incrementing then it is likely that its associate task has stalled. */
\r
181 volatile unsigned long ulRegTest1Counter = 0, ulRegTest2Counter = 0;
\r
183 /*-----------------------------------------------------------*/
\r
185 void main_full( void )
\r
187 xTimerHandle xTimer = NULL;
\r
189 /* Start all the standard demo/test tasks. These have not particular
\r
190 functionality, but do demonstrate how to use the FreeRTOS API, and test the
\r
192 vStartIntegerMathTasks( tskIDLE_PRIORITY );
\r
193 vStartDynamicPriorityTasks();
\r
194 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
195 vCreateBlockTimeTasks();
\r
196 vStartCountingSemaphoreTasks();
\r
197 vStartGenericQueueTasks( tskIDLE_PRIORITY );
\r
198 vStartRecursiveMutexTasks();
\r
199 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
200 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
201 vStartMathTasks( mainFLOP_TASK_PRIORITY );
\r
202 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
\r
204 /* Create the register test tasks, as described at the top of this file. */
\r
205 xTaskCreate( vRegTestTask1, ( const signed char * ) "Reg1...", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
\r
206 xTaskCreate( vRegTestTask2, ( const signed char * ) "Reg2...", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
\r
209 /* Create the software timer that performs the 'check' functionality,
\r
210 as described at the top of this file. */
\r
211 xTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
\r
212 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
\r
213 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
\r
214 ( void * ) 0, /* The ID is not used, so can be set to anything. */
\r
215 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
\r
218 if( xTimer != NULL )
\r
220 xTimerStart( xTimer, mainDONT_BLOCK );
\r
223 /* Create the software timer that performs the 'LED spin' functionality,
\r
224 as described at the top of this file. */
\r
225 xTimer = xTimerCreate( ( const signed char * ) "LEDTimer", /* A text name, purely to help debugging. */
\r
226 ( mainLED_TIMER_PERIOD_MS ), /* The timer period, in this case 75ms. */
\r
227 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
\r
228 ( void * ) 0, /* The ID is not used, so can be set to anything. */
\r
229 prvLEDTimerCallback /* The callback function that toggles the white LEDs. */
\r
232 if( xTimer != NULL )
\r
234 xTimerStart( xTimer, mainDONT_BLOCK );
\r
237 /* The set of tasks created by the following function call have to be
\r
238 created last as they keep account of the number of tasks they expect to see
\r
240 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
\r
242 /* Start the scheduler. */
\r
243 vTaskStartScheduler();
\r
245 /* If all is well, the scheduler will now be running, and the following line
\r
246 will never be reached. If the following line does execute, then there was
\r
247 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
\r
248 to be created. See the memory management section on the FreeRTOS web site
\r
249 for more details. */
\r
252 /*-----------------------------------------------------------*/
\r
254 static void prvCheckTimerCallback( xTimerHandle xTimer )
\r
256 static long lChangeToRedLEDsAlready = pdFALSE;
\r
257 static unsigned long ulLastRegTest1Counter = 0, ulLastRegTest2Counter = 0;
\r
258 unsigned long ulErrorFound = pdFALSE;
\r
259 /* LEDs are defaulted to use the Green LEDs. The Red LEDs are used if an error
\r
261 static unsigned long ulLED1 = 8, ulLED2 = 11;
\r
262 const unsigned long ulRedLED1 = 6, ulRedLED2 = 9;
\r
264 /* Check all the demo tasks (other than the flash tasks) to ensure
\r
265 they are all still running, and that none have detected an error. */
\r
267 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
269 ulErrorFound = pdTRUE;
\r
272 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
\r
274 ulErrorFound = pdTRUE;
\r
277 if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
279 ulErrorFound = pdTRUE;
\r
282 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
284 ulErrorFound = pdTRUE;
\r
287 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
289 ulErrorFound = pdTRUE;
\r
292 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
\r
294 ulErrorFound = pdTRUE;
\r
297 if( xIsCreateTaskStillRunning() != pdTRUE )
\r
299 ulErrorFound = pdTRUE;
\r
302 if( xArePollingQueuesStillRunning() != pdTRUE )
\r
304 ulErrorFound = pdTRUE;
\r
307 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
309 ulErrorFound = pdTRUE;
\r
312 if( xAreMathsTaskStillRunning() != pdTRUE )
\r
314 ulErrorFound = pdTRUE;
\r
317 if( xAreComTestTasksStillRunning() != pdTRUE )
\r
319 ulErrorFound = pdTRUE;
\r
322 /* Check the reg test tasks are still cycling. They will stop
\r
323 incrementing their loop counters if they encounter an error. */
\r
324 if( ulRegTest1Counter == ulLastRegTest1Counter )
\r
326 ulErrorFound = pdTRUE;
\r
329 if( ulRegTest2Counter == ulLastRegTest2Counter )
\r
331 ulErrorFound = pdTRUE;
\r
334 ulLastRegTest1Counter = ulRegTest1Counter;
\r
335 ulLastRegTest2Counter = ulRegTest2Counter;
\r
337 /* Toggle the check LEDs to give an indication of the system status. If
\r
338 the green LEDs are toggling, then no errors have been detected. If the red
\r
339 LEDs are toggling, then an error has been reported in at least one task. */
\r
340 vParTestToggleLED( ulLED1 );
\r
341 vParTestToggleLED( ulLED2 );
\r
343 /* Have any errors been latch in ulErrorFound? If so, ensure the gree LEDs
\r
344 are off, then switch to using the red LEDs. */
\r
345 if( ulErrorFound != pdFALSE )
\r
347 if( lChangeToRedLEDsAlready == pdFALSE )
\r
349 lChangeToRedLEDsAlready = pdTRUE;
\r
351 /* An error has been found. Switch to use the red LEDs. */
\r
352 vParTestSetLED( ulLED1, pdFALSE );
\r
353 vParTestSetLED( ulLED2, pdFALSE );
\r
354 ulLED1 = ulRedLED1;
\r
355 ulLED2 = ulRedLED2;
\r
359 /*-----------------------------------------------------------*/
\r
361 static void prvLEDTimerCallback( xTimerHandle xTimer )
\r
363 const unsigned long ulNumWhiteLEDs = 6;
\r
364 static unsigned long ulLit1 = 2, ulLit2 = 1;
\r
366 vParTestSetLED( ulLit2, pdFALSE );
\r
371 if( ulLit1 >= ulNumWhiteLEDs )
\r
376 vParTestSetLED( ulLit1, pdTRUE );
\r
378 /*-----------------------------------------------------------*/
\r