2 FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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68 * Creates all the demo application tasks and co-routines, then starts the
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71 * Main. c also creates a task called "Print". This only executes every
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72 * five seconds but has the highest priority so is guaranteed to get
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73 * processor time. Its main function is to check that all the other tasks
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74 * are still operational. Nearly all the tasks in the demo application
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75 * maintain a unique count that is incremented each time the task successfully
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76 * completes its function. Should any error occur within the task the count is
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77 * permanently halted. The print task checks the count of each task to ensure
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78 * it has changed since the last time the print task executed. If any count is
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79 * found not to have changed the print task displays an appropriate message.
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80 * If all the tasks are still incrementing their unique counts the print task
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81 * displays an "OK" message.
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83 * The LED flash tasks do not maintain a count as they already provide visual
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84 * feedback of their status.
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86 * The print task blocks on the queue into which messages that require
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87 * displaying are posted. It will therefore only block for the full 5 seconds
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88 * if no messages are posted onto the queue.
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90 * Main. c also provides a demonstration of how the trace visualisation utility
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91 * can be used, and how the scheduler can be stopped.
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93 * \page MainC main.c
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94 * \ingroup DemoFiles
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100 #include "FreeRTOS.h"
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102 #include "croutine.h"
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103 #include "partest.h"
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104 #include "serial.h"
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106 /* Demo file headers. */
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107 #include "BlockQ.h"
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110 #include "crflash.h"
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113 #include "comtest.h"
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114 #include "fileio.h"
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115 #include "semtest.h"
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116 #include "integer.h"
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117 #include "dynamic.h"
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118 #include "mevents.h"
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119 #include "crhook.h"
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120 #include "blocktim.h"
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121 #include "AltBlock.h"
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122 #include "GenQTest.h"
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124 #include "countsem.h"
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125 #include "AltQTest.h"
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126 #include "AltPollQ.h"
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127 #include "AltBlckQ.h"
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128 #include "RecMutex.h"
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130 /* Priority definitions for the tasks in the demo application. */
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131 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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132 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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133 #define mainPRINT_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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134 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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135 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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136 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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137 #define mainSEMAPHORE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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138 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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140 #define mainPRINT_STACK_SIZE ( ( unsigned short ) 512 )
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141 #define mainDEBUG_LOG_BUFFER_SIZE ( ( unsigned short ) 20480 )
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143 /* The number of flash co-routines to create. */
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144 #define mainNUM_FLASH_CO_ROUTINES ( 8 )
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146 /* Task function for the "Print" task as described at the top of the file. */
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147 static void vErrorChecks( void *pvParameters );
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149 /* Function that checks the unique count of all the other tasks as described at
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150 the top of the file. */
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151 static void prvCheckOtherTasksAreStillRunning( void );
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153 /* Key presses can be used to start/stop the trace visualisation utility or stop
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155 static void prvCheckForKeyPresses( void );
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157 /* Buffer used by the trace visualisation utility so only needed if the trace
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159 #if configUSE_TRACE_FACILITY == 1
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160 static char pcWriteBuffer[ mainDEBUG_LOG_BUFFER_SIZE ];
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163 /* Constant definition used to turn on/off the pre-emptive scheduler. */
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164 static const short sUsingPreemption = configUSE_PREEMPTION;
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166 /* Start the math tasks appropriate to the build. The Borland port does
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167 not yet support floating point so uses the integer equivalent. */
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168 static void prvStartMathTasks( void );
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170 /* Check which ever tasks are relevant to this build. */
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171 static portBASE_TYPE prvCheckMathTasksAreStillRunning( void );
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173 /* Used to demonstrate the "task switched in" callback function. */
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174 static portBASE_TYPE prvExampleTaskHook( void * pvParameter );
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176 /* Just used to count the number of times the example task callback function is
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177 called, and the number of times a queue send passes. */
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178 static unsigned long long uxCheckTaskHookCallCount = 0;
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179 static unsigned long long uxQueueSendPassedCount = 0;
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181 /*-----------------------------------------------------------*/
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185 /* Initialise hardware and utilities. */
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186 vParTestInitialise();
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187 vPrintInitialise();
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189 /* CREATE ALL THE DEMO APPLICATION TASKS. */
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190 prvStartMathTasks();
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191 vStartComTestTasks( mainCOM_TEST_PRIORITY, serCOM1, ser115200 );
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192 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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193 vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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194 vCreateBlockTimeTasks();
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195 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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196 vStartSemaphoreTasks( mainSEMAPHORE_TASK_PRIORITY );
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197 vStartDynamicPriorityTasks();
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198 vStartMultiEventTasks();
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199 vStartQueuePeekTasks();
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200 vStartCountingSemaphoreTasks();
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201 vStartAltGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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202 vCreateAltBlockTimeTasks();
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203 vStartAltBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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204 vStartAltPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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205 vStartRecursiveMutexTasks();
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207 /* Create the "Print" task as described at the top of the file. */
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208 xTaskCreate( vErrorChecks, "Print", mainPRINT_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );
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210 /* This task has to be created last as it keeps account of the number of tasks
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211 it expects to see running. */
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212 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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214 /* Create the co-routines that flash the LED's. */
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215 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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217 /* Create the co-routines that communicate with the tick hook. */
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218 vStartHookCoRoutines();
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220 /* Set the scheduler running. This function will not return unless a task
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221 calls vTaskEndScheduler(). */
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222 vTaskStartScheduler();
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226 /*-----------------------------------------------------------*/
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228 static portBASE_TYPE prvExampleTaskHook( void * pvParameter )
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230 if( pvParameter != ( void * ) 0xabcd )
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232 /* The parameter did not contain the value we expected, so cause an
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233 error to be detected by setting the call count back to zero. */
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234 uxCheckTaskHookCallCount = 0;
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238 /* Simply increment a number so we know the callback has been executed. */
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239 uxCheckTaskHookCallCount++;
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244 /*-----------------------------------------------------------*/
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246 void vMainQueueSendPassed( void )
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248 /* This is just an example implementation of the "queue send" trace hook. */
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249 uxQueueSendPassedCount++;
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251 /*-----------------------------------------------------------*/
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253 static void vErrorChecks( void *pvParameters )
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255 portTickType xExpectedWakeTime;
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256 const portTickType xPrintRate = ( portTickType ) 5000 / portTICK_RATE_MS;
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257 const long lMaxAllowableTimeDifference = ( long ) 0;
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258 portTickType xWakeTime;
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259 long lTimeDifference;
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260 const char *pcReceivedMessage;
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261 const char * const pcTaskBlockedTooLongMsg = "Print task blocked too long!\r\n";
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262 const char * const pcUnexpectedHookValueMsg = "Task hook has unexpected value!\r\n";
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264 ( void ) pvParameters;
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266 /* Register our callback function. */
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267 vTaskSetApplicationTaskTag( NULL, prvExampleTaskHook );
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269 /* Just for test purposes. */
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270 if( xTaskGetApplicationTaskTag( NULL ) != prvExampleTaskHook )
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272 vPrintDisplayMessage( &pcUnexpectedHookValueMsg );
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275 /* Loop continuously, blocking, then checking all the other tasks are still
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276 running, before blocking once again. This task blocks on the queue of
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277 messages that require displaying so will wake either by its time out expiring,
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278 or a message becoming available. */
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281 /* Calculate the time we will unblock if no messages are received
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282 on the queue. This is used to check that we have not blocked for too long. */
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283 xExpectedWakeTime = xTaskGetTickCount();
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284 xExpectedWakeTime += xPrintRate;
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286 /* Block waiting for either a time out or a message to be posted that
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287 required displaying. */
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288 pcReceivedMessage = pcPrintGetNextMessage( xPrintRate );
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290 /* Was a message received? */
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291 if( pcReceivedMessage == NULL )
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293 /* A message was not received so we timed out, did we unblock at the
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295 xWakeTime = xTaskGetTickCount();
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297 /* Calculate the difference between the time we unblocked and the
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298 time we should have unblocked. */
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299 if( xWakeTime > xExpectedWakeTime )
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301 lTimeDifference = ( long ) ( xWakeTime - xExpectedWakeTime );
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305 lTimeDifference = ( long ) ( xExpectedWakeTime - xWakeTime );
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308 if( lTimeDifference > lMaxAllowableTimeDifference )
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310 /* We blocked too long - create a message that will get
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311 printed out the next time around. If we are not using
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312 preemption then we won't expect the timing to be so
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314 if( sUsingPreemption == pdTRUE )
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316 vPrintDisplayMessage( &pcTaskBlockedTooLongMsg );
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320 /* Check the other tasks are still running, just in case. */
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321 prvCheckOtherTasksAreStillRunning();
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325 /* We unblocked due to a message becoming available. Send the message
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327 vDisplayMessage( pcReceivedMessage );
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330 /* Key presses are used to invoke the trace visualisation utility, or end
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332 prvCheckForKeyPresses();
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335 /*-----------------------------------------------------------*/
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337 static void prvCheckForKeyPresses( void )
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341 taskENTER_CRITICAL();
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343 /* kbhit can be used in .exe's that are executed from the command
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344 line, but not if executed through the debugger. */
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349 taskEXIT_CRITICAL();
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353 /* Key presses can be used to start/stop the trace utility, or end the
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358 /* Only define keys for turning on and off the trace if the trace
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360 #if configUSE_TRACE_FACILITY == 1
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361 case 't' : vTaskList( pcWriteBuffer );
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362 vWriteMessageToDisk( pcWriteBuffer );
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364 /* The legacy trace is no longer supported. Use FreeRTOS+Trace instead
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365 case 's' : vTaskStartTrace( pcWriteBuffer, mainDEBUG_LOG_BUFFER_SIZE );
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369 unsigned long ulBufferLength;
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370 ulBufferLength = ulTaskEndTrace();
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371 vWriteBufferToDisk( pcWriteBuffer, ulBufferLength );
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377 default : vTaskEndScheduler();
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382 /*-----------------------------------------------------------*/
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384 static void prvCheckOtherTasksAreStillRunning( void )
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386 static short sErrorHasOccurred = pdFALSE;
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387 static unsigned long long uxLastHookCallCount = 0, uxLastQueueSendCount = 0;
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389 if( prvCheckMathTasksAreStillRunning() != pdTRUE )
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391 vDisplayMessage( "Maths task count unchanged!\r\n" );
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392 sErrorHasOccurred = pdTRUE;
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395 if( xAreComTestTasksStillRunning() != pdTRUE )
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397 vDisplayMessage( "Com test count unchanged!\r\n" );
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398 sErrorHasOccurred = pdTRUE;
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401 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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403 vDisplayMessage( "Blocking queues count unchanged!\r\n" );
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404 sErrorHasOccurred = pdTRUE;
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407 if( xAreAltBlockingQueuesStillRunning() != pdTRUE )
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409 vDisplayMessage( "Alt blocking queues count unchanged!\r\n" );
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410 sErrorHasOccurred = pdTRUE;
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413 if( xArePollingQueuesStillRunning() != pdTRUE )
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415 vDisplayMessage( "Polling queue count unchanged!\r\n" );
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416 sErrorHasOccurred = pdTRUE;
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419 if( xAreAltPollingQueuesStillRunning() != pdTRUE )
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421 vDisplayMessage( "Alt polling queue count unchanged!\r\n" );
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422 sErrorHasOccurred = pdTRUE;
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425 if( xIsCreateTaskStillRunning() != pdTRUE )
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427 vDisplayMessage( "Incorrect number of tasks running!\r\n" );
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428 sErrorHasOccurred = pdTRUE;
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431 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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433 vDisplayMessage( "Semaphore take count unchanged!\r\n" );
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434 sErrorHasOccurred = pdTRUE;
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437 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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439 vDisplayMessage( "Dynamic priority count unchanged!\r\n" );
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440 sErrorHasOccurred = pdTRUE;
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443 if( xAreMultiEventTasksStillRunning() != pdTRUE )
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445 vDisplayMessage( "Error in multi events tasks!\r\n" );
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446 sErrorHasOccurred = pdTRUE;
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449 if( xAreFlashCoRoutinesStillRunning() != pdTRUE )
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451 vDisplayMessage( "Error in co-routine flash tasks!\r\n" );
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452 sErrorHasOccurred = pdTRUE;
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455 if( xAreHookCoRoutinesStillRunning() != pdTRUE )
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457 vDisplayMessage( "Error in tick hook to co-routine communications!\r\n" );
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458 sErrorHasOccurred = pdTRUE;
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461 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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463 vDisplayMessage( "Error in block time test tasks!\r\n" );
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464 sErrorHasOccurred = pdTRUE;
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467 if( xAreAltBlockTimeTestTasksStillRunning() != pdTRUE )
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469 vDisplayMessage( "Error in fast block time test tasks!\r\n" );
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470 sErrorHasOccurred = pdTRUE;
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473 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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475 vDisplayMessage( "Error in generic queue test task!\r\n" );
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476 sErrorHasOccurred = pdTRUE;
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479 if( xAreAltGenericQueueTasksStillRunning() != pdTRUE )
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481 vDisplayMessage( "Error in fast generic queue test task!\r\n" );
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482 sErrorHasOccurred = pdTRUE;
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485 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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487 vDisplayMessage( "Error in queue peek test task!\r\n" );
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488 sErrorHasOccurred = pdTRUE;
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491 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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493 vDisplayMessage( "Error in counting semaphore demo task!\r\n" );
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494 sErrorHasOccurred = pdTRUE;
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497 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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499 vDisplayMessage( "Error in recursive mutex tasks!\r\n" );
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500 sErrorHasOccurred = pdTRUE;
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503 /* The hook function associated with this task is called each time the task
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504 is switched in. We therefore expect the number of times the callback
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505 function has been executed to have increrment since the last time this
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506 function executed. */
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507 if( uxCheckTaskHookCallCount <= uxLastHookCallCount )
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509 vDisplayMessage( "Error in task hook call count!\r\n" );
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510 sErrorHasOccurred = pdTRUE;
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514 uxLastHookCallCount = uxCheckTaskHookCallCount;
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517 /* We would expect some queue sending to occur between calls of this
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519 if( uxQueueSendPassedCount <= uxLastQueueSendCount )
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521 vDisplayMessage( "Error in queue send hook call count!\r\n" );
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522 sErrorHasOccurred = pdTRUE;
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526 uxLastQueueSendCount = uxQueueSendPassedCount;
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529 if( sErrorHasOccurred == pdFALSE )
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531 vDisplayMessage( "OK " );
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534 /*-----------------------------------------------------------*/
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536 static void prvStartMathTasks( void )
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538 #ifdef BCC_INDUSTRIAL_PC_PORT
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539 /* The Borland project does not yet support floating point. */
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540 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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542 vStartMathTasks( tskIDLE_PRIORITY );
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545 /*-----------------------------------------------------------*/
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547 static portBASE_TYPE prvCheckMathTasksAreStillRunning( void )
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549 #ifdef BCC_INDUSTRIAL_PC_PORT
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550 /* The Borland project does not yet support floating point. */
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551 return xAreIntegerMathsTaskStillRunning();
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553 return xAreMathsTaskStillRunning();
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556 /*-----------------------------------------------------------*/
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558 void vApplicationIdleHook( void )
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560 /* The co-routines are executed in the idle task using the idle task
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562 vCoRoutineSchedule();
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564 /*-----------------------------------------------------------*/
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