2 FreeRTOS V7.5.3 - Copyright (C) 2013 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 distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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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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67 * Creates all the demo application tasks and co-routines, then starts the
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70 * Main. c also creates a task called "Print". This only executes every
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71 * five seconds but has the highest priority so is guaranteed to get
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72 * processor time. Its main function is to check that all the other tasks
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73 * are still operational. Nearly all the tasks in the demo application
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74 * maintain a unique count that is incremented each time the task successfully
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75 * completes its function. Should any error occur within the task the count is
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76 * permanently halted. The print task checks the count of each task to ensure
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77 * it has changed since the last time the print task executed. If any count is
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78 * found not to have changed the print task displays an appropriate message.
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79 * If all the tasks are still incrementing their unique counts the print task
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80 * displays an "OK" message.
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82 * The LED flash tasks do not maintain a count as they already provide visual
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83 * feedback of their status.
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85 * The print task blocks on the queue into which messages that require
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86 * displaying are posted. It will therefore only block for the full 5 seconds
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87 * if no messages are posted onto the queue.
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89 * Main. c also provides a demonstration of how the trace visualisation utility
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90 * can be used, and how the scheduler can be stopped.
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92 * \page MainC main.c
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93 * \ingroup DemoFiles
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99 #include "FreeRTOS.h"
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101 #include "croutine.h"
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102 #include "partest.h"
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103 #include "serial.h"
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105 /* Demo file headers. */
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106 #include "BlockQ.h"
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109 #include "crflash.h"
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112 #include "comtest.h"
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113 #include "fileio.h"
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114 #include "semtest.h"
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115 #include "integer.h"
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116 #include "dynamic.h"
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117 #include "mevents.h"
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118 #include "crhook.h"
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119 #include "blocktim.h"
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120 #include "AltBlock.h"
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121 #include "GenQTest.h"
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123 #include "countsem.h"
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124 #include "AltQTest.h"
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125 #include "AltPollQ.h"
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126 #include "AltBlckQ.h"
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127 #include "RecMutex.h"
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129 /* Priority definitions for the tasks in the demo application. */
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130 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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131 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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132 #define mainPRINT_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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133 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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134 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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135 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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136 #define mainSEMAPHORE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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137 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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139 #define mainPRINT_STACK_SIZE ( ( unsigned short ) 512 )
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140 #define mainDEBUG_LOG_BUFFER_SIZE ( ( unsigned short ) 20480 )
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142 /* The number of flash co-routines to create. */
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143 #define mainNUM_FLASH_CO_ROUTINES ( 8 )
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145 /* Task function for the "Print" task as described at the top of the file. */
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146 static void vErrorChecks( void *pvParameters );
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148 /* Function that checks the unique count of all the other tasks as described at
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149 the top of the file. */
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150 static void prvCheckOtherTasksAreStillRunning( void );
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152 /* Key presses can be used to start/stop the trace visualisation utility or stop
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154 static void prvCheckForKeyPresses( void );
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156 /* Buffer used by the trace visualisation utility so only needed if the trace
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158 #if configUSE_TRACE_FACILITY == 1
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159 static char pcWriteBuffer[ mainDEBUG_LOG_BUFFER_SIZE ];
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162 /* Constant definition used to turn on/off the pre-emptive scheduler. */
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163 static const short sUsingPreemption = configUSE_PREEMPTION;
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165 /* Start the math tasks appropriate to the build. The Borland port does
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166 not yet support floating point so uses the integer equivalent. */
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167 static void prvStartMathTasks( void );
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169 /* Check which ever tasks are relevant to this build. */
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170 static portBASE_TYPE prvCheckMathTasksAreStillRunning( void );
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172 /* Used to demonstrate the "task switched in" callback function. */
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173 static portBASE_TYPE prvExampleTaskHook( void * pvParameter );
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175 /* Just used to count the number of times the example task callback function is
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176 called, and the number of times a queue send passes. */
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177 static unsigned long long uxCheckTaskHookCallCount = 0;
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178 static unsigned long long uxQueueSendPassedCount = 0;
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180 /*-----------------------------------------------------------*/
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184 /* Initialise hardware and utilities. */
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185 vParTestInitialise();
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186 vPrintInitialise();
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188 /* CREATE ALL THE DEMO APPLICATION TASKS. */
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189 prvStartMathTasks();
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190 vStartComTestTasks( mainCOM_TEST_PRIORITY, serCOM1, ser115200 );
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191 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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192 vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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193 vCreateBlockTimeTasks();
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194 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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195 vStartSemaphoreTasks( mainSEMAPHORE_TASK_PRIORITY );
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196 vStartDynamicPriorityTasks();
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197 vStartMultiEventTasks();
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198 vStartQueuePeekTasks();
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199 vStartCountingSemaphoreTasks();
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200 vStartAltGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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201 vCreateAltBlockTimeTasks();
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202 vStartAltBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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203 vStartAltPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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204 vStartRecursiveMutexTasks();
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206 /* Create the "Print" task as described at the top of the file. */
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207 xTaskCreate( vErrorChecks, "Print", mainPRINT_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );
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209 /* This task has to be created last as it keeps account of the number of tasks
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210 it expects to see running. */
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211 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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213 /* Create the co-routines that flash the LED's. */
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214 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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216 /* Create the co-routines that communicate with the tick hook. */
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217 vStartHookCoRoutines();
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219 /* Set the scheduler running. This function will not return unless a task
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220 calls vTaskEndScheduler(). */
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221 vTaskStartScheduler();
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225 /*-----------------------------------------------------------*/
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227 static portBASE_TYPE prvExampleTaskHook( void * pvParameter )
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229 if( pvParameter != ( void * ) 0xabcd )
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231 /* The parameter did not contain the value we expected, so cause an
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232 error to be detected by setting the call count back to zero. */
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233 uxCheckTaskHookCallCount = 0;
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237 /* Simply increment a number so we know the callback has been executed. */
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238 uxCheckTaskHookCallCount++;
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243 /*-----------------------------------------------------------*/
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245 void vMainQueueSendPassed( void )
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247 /* This is just an example implementation of the "queue send" trace hook. */
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248 uxQueueSendPassedCount++;
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250 /*-----------------------------------------------------------*/
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252 static void vErrorChecks( void *pvParameters )
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254 portTickType xExpectedWakeTime;
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255 const portTickType xPrintRate = ( portTickType ) 5000 / portTICK_RATE_MS;
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256 const long lMaxAllowableTimeDifference = ( long ) 0;
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257 portTickType xWakeTime;
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258 long lTimeDifference;
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259 const char *pcReceivedMessage;
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260 const char * const pcTaskBlockedTooLongMsg = "Print task blocked too long!\r\n";
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261 const char * const pcUnexpectedHookValueMsg = "Task hook has unexpected value!\r\n";
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263 ( void ) pvParameters;
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265 /* Register our callback function. */
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266 vTaskSetApplicationTaskTag( NULL, prvExampleTaskHook );
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268 /* Just for test purposes. */
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269 if( xTaskGetApplicationTaskTag( NULL ) != prvExampleTaskHook )
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271 vPrintDisplayMessage( &pcUnexpectedHookValueMsg );
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274 /* Loop continuously, blocking, then checking all the other tasks are still
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275 running, before blocking once again. This task blocks on the queue of
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276 messages that require displaying so will wake either by its time out expiring,
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277 or a message becoming available. */
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280 /* Calculate the time we will unblock if no messages are received
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281 on the queue. This is used to check that we have not blocked for too long. */
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282 xExpectedWakeTime = xTaskGetTickCount();
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283 xExpectedWakeTime += xPrintRate;
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285 /* Block waiting for either a time out or a message to be posted that
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286 required displaying. */
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287 pcReceivedMessage = pcPrintGetNextMessage( xPrintRate );
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289 /* Was a message received? */
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290 if( pcReceivedMessage == NULL )
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292 /* A message was not received so we timed out, did we unblock at the
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294 xWakeTime = xTaskGetTickCount();
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296 /* Calculate the difference between the time we unblocked and the
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297 time we should have unblocked. */
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298 if( xWakeTime > xExpectedWakeTime )
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300 lTimeDifference = ( long ) ( xWakeTime - xExpectedWakeTime );
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304 lTimeDifference = ( long ) ( xExpectedWakeTime - xWakeTime );
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307 if( lTimeDifference > lMaxAllowableTimeDifference )
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309 /* We blocked too long - create a message that will get
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310 printed out the next time around. If we are not using
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311 preemption then we won't expect the timing to be so
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313 if( sUsingPreemption == pdTRUE )
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315 vPrintDisplayMessage( &pcTaskBlockedTooLongMsg );
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319 /* Check the other tasks are still running, just in case. */
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320 prvCheckOtherTasksAreStillRunning();
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324 /* We unblocked due to a message becoming available. Send the message
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326 vDisplayMessage( pcReceivedMessage );
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329 /* Key presses are used to invoke the trace visualisation utility, or end
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331 prvCheckForKeyPresses();
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334 /*-----------------------------------------------------------*/
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336 static void prvCheckForKeyPresses( void )
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340 taskENTER_CRITICAL();
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342 /* kbhit can be used in .exe's that are executed from the command
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343 line, but not if executed through the debugger. */
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348 taskEXIT_CRITICAL();
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352 /* Key presses can be used to start/stop the trace utility, or end the
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357 /* Only define keys for turning on and off the trace if the trace
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359 #if configUSE_TRACE_FACILITY == 1
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360 case 't' : vTaskList( pcWriteBuffer );
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361 vWriteMessageToDisk( pcWriteBuffer );
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363 /* The legacy trace is no longer supported. Use FreeRTOS+Trace instead
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364 case 's' : vTaskStartTrace( pcWriteBuffer, mainDEBUG_LOG_BUFFER_SIZE );
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368 unsigned long ulBufferLength;
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369 ulBufferLength = ulTaskEndTrace();
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370 vWriteBufferToDisk( pcWriteBuffer, ulBufferLength );
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376 default : vTaskEndScheduler();
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381 /*-----------------------------------------------------------*/
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383 static void prvCheckOtherTasksAreStillRunning( void )
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385 static short sErrorHasOccurred = pdFALSE;
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386 static unsigned long long uxLastHookCallCount = 0, uxLastQueueSendCount = 0;
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388 if( prvCheckMathTasksAreStillRunning() != pdTRUE )
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390 vDisplayMessage( "Maths task count unchanged!\r\n" );
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391 sErrorHasOccurred = pdTRUE;
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394 if( xAreComTestTasksStillRunning() != pdTRUE )
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396 vDisplayMessage( "Com test count unchanged!\r\n" );
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397 sErrorHasOccurred = pdTRUE;
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400 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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402 vDisplayMessage( "Blocking queues count unchanged!\r\n" );
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403 sErrorHasOccurred = pdTRUE;
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406 if( xAreAltBlockingQueuesStillRunning() != pdTRUE )
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408 vDisplayMessage( "Alt blocking queues count unchanged!\r\n" );
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409 sErrorHasOccurred = pdTRUE;
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412 if( xArePollingQueuesStillRunning() != pdTRUE )
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414 vDisplayMessage( "Polling queue count unchanged!\r\n" );
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415 sErrorHasOccurred = pdTRUE;
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418 if( xAreAltPollingQueuesStillRunning() != pdTRUE )
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420 vDisplayMessage( "Alt polling queue count unchanged!\r\n" );
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421 sErrorHasOccurred = pdTRUE;
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424 if( xIsCreateTaskStillRunning() != pdTRUE )
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426 vDisplayMessage( "Incorrect number of tasks running!\r\n" );
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427 sErrorHasOccurred = pdTRUE;
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430 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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432 vDisplayMessage( "Semaphore take count unchanged!\r\n" );
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433 sErrorHasOccurred = pdTRUE;
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436 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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438 vDisplayMessage( "Dynamic priority count unchanged!\r\n" );
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439 sErrorHasOccurred = pdTRUE;
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442 if( xAreMultiEventTasksStillRunning() != pdTRUE )
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444 vDisplayMessage( "Error in multi events tasks!\r\n" );
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445 sErrorHasOccurred = pdTRUE;
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448 if( xAreFlashCoRoutinesStillRunning() != pdTRUE )
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450 vDisplayMessage( "Error in co-routine flash tasks!\r\n" );
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451 sErrorHasOccurred = pdTRUE;
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454 if( xAreHookCoRoutinesStillRunning() != pdTRUE )
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456 vDisplayMessage( "Error in tick hook to co-routine communications!\r\n" );
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457 sErrorHasOccurred = pdTRUE;
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460 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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462 vDisplayMessage( "Error in block time test tasks!\r\n" );
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463 sErrorHasOccurred = pdTRUE;
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466 if( xAreAltBlockTimeTestTasksStillRunning() != pdTRUE )
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468 vDisplayMessage( "Error in fast block time test tasks!\r\n" );
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469 sErrorHasOccurred = pdTRUE;
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472 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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474 vDisplayMessage( "Error in generic queue test task!\r\n" );
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475 sErrorHasOccurred = pdTRUE;
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478 if( xAreAltGenericQueueTasksStillRunning() != pdTRUE )
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480 vDisplayMessage( "Error in fast generic queue test task!\r\n" );
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481 sErrorHasOccurred = pdTRUE;
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484 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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486 vDisplayMessage( "Error in queue peek test task!\r\n" );
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487 sErrorHasOccurred = pdTRUE;
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490 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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492 vDisplayMessage( "Error in counting semaphore demo task!\r\n" );
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493 sErrorHasOccurred = pdTRUE;
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496 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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498 vDisplayMessage( "Error in recursive mutex tasks!\r\n" );
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499 sErrorHasOccurred = pdTRUE;
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502 /* The hook function associated with this task is called each time the task
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503 is switched in. We therefore expect the number of times the callback
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504 function has been executed to have increrment since the last time this
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505 function executed. */
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506 if( uxCheckTaskHookCallCount <= uxLastHookCallCount )
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508 vDisplayMessage( "Error in task hook call count!\r\n" );
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509 sErrorHasOccurred = pdTRUE;
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513 uxLastHookCallCount = uxCheckTaskHookCallCount;
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516 /* We would expect some queue sending to occur between calls of this
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518 if( uxQueueSendPassedCount <= uxLastQueueSendCount )
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520 vDisplayMessage( "Error in queue send hook call count!\r\n" );
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521 sErrorHasOccurred = pdTRUE;
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525 uxLastQueueSendCount = uxQueueSendPassedCount;
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528 if( sErrorHasOccurred == pdFALSE )
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530 vDisplayMessage( "OK " );
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533 /*-----------------------------------------------------------*/
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535 static void prvStartMathTasks( void )
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537 #ifdef BCC_INDUSTRIAL_PC_PORT
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538 /* The Borland project does not yet support floating point. */
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539 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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541 vStartMathTasks( tskIDLE_PRIORITY );
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544 /*-----------------------------------------------------------*/
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546 static portBASE_TYPE prvCheckMathTasksAreStillRunning( void )
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548 #ifdef BCC_INDUSTRIAL_PC_PORT
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549 /* The Borland project does not yet support floating point. */
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550 return xAreIntegerMathsTaskStillRunning();
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552 return xAreMathsTaskStillRunning();
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555 /*-----------------------------------------------------------*/
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557 void vApplicationIdleHook( void )
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559 /* The co-routines are executed in the idle task using the idle task
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561 vCoRoutineSchedule();
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563 /*-----------------------------------------------------------*/
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