2 FreeRTOS V7.5.0 - 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, then
\r
78 * starts the scheduler. The WEB documentation provides more details of the
\r
79 * standard demo application tasks. In addition to the standard demo tasks, the
\r
80 * following tasks and tests are defined and/or created within this file:
\r
82 * "LCD" task - the LCD task is a 'gatekeeper' task. It is the only task that
\r
83 * is permitted to access the display directly. Other tasks wishing to write a
\r
84 * message to the LCD send the message on a queue to the LCD task instead of
\r
85 * accessing the LCD themselves. The LCD task just blocks on the queue waiting
\r
86 * for messages - waking and displaying the messages as they arrive.
\r
88 * "Check" timer - The check software timer period is initially set to three
\r
89 * seconds. The callback function associated with the check software timer
\r
90 * checks that all the standard demo tasks, and the register check tasks, are
\r
91 * not only still executing, but are executing without reporting any errors. If
\r
92 * the check software timer discovers that a task has either stalled, or
\r
93 * reported an error, then it changes its own execution period from the initial
\r
94 * three seconds, to just 200ms. The check software timer callback function
\r
95 * also writes a status message to the LCD (via the LCD task). If all the demo
\r
96 * tasks are executing with their expected behaviour then the check task writes
\r
97 * a count of the number of times the high frequency interrupt has incremented
\r
98 * ulHighFrequencyTimerInterrupts - which is one in every 20,000 interrupts.
\r
100 * "Register test" tasks - These tasks are used in part to test the kernel port.
\r
101 * They set each processor register to a known value, then check that the
\r
102 * register still contains that value. Each of the tasks sets the registers
\r
103 * to different values, and will get swapping in and out between setting and
\r
104 * then subsequently checking the register values. Discovery of an incorrect
\r
105 * value would be indicative of an error in the task switching mechanism.
\r
107 * By way of demonstration, the demo application defines
\r
108 * configMAX_SYSCALL_INTERRUPT_PRIORITY to be 3, configKERNEL_INTERRUPT_PRIORITY
\r
109 * to be 1, and all other interrupts as follows:
\r
111 * + The UART is allocated a priority of 2. This means it can interrupt the
\r
112 * RTOS tick, and can also safely use queues.
\r
113 * + Two timers are configured to generate interrupts just to test the nesting
\r
114 * and queue access mechanisms. These timers are allocated priorities 2 and 3
\r
115 * respectively. Even though they both access the same two queues, the
\r
116 * priority 3 interrupt can safely interrupt the priority 2 interrupt. Both
\r
117 * can interrupt the RTOS tick.
\r
118 * + Finally a high frequency timer interrupt is configured to use priority 4 -
\r
119 * therefore kernel activity will never prevent the high frequency timer from
\r
120 * executing immediately that the interrupt is raised (within the limitations
\r
121 * of the hardware itself). It would not be safe to access a queue from this
\r
122 * interrupt as it is above configMAX_SYSCALL_INTERRUPT_PRIORITY.
\r
124 * See the online documentation for this demo for more information on interrupt
\r
128 /* Standard includes. */
\r
131 /* Scheduler includes. */
\r
132 #include "FreeRTOS.h"
\r
135 #include "timers.h"
\r
137 /* Demo application includes. */
\r
138 #include "partest.h"
\r
139 #include "blocktim.h"
\r
140 #include "flash_timer.h"
\r
141 #include "semtest.h"
\r
142 #include "GenQTest.h"
\r
145 #include "comtest2.h"
\r
146 #include "timertest.h"
\r
147 #include "IntQueue.h"
\r
149 /*-----------------------------------------------------------*/
\r
151 /* The period after which the check timer will expire, in ms, provided no errors
\r
152 have been reported by any of the standard demo tasks. ms are converted to the
\r
153 equivalent in ticks using the portTICK_RATE_MS constant. */
\r
154 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
\r
156 /* The period at which the check timer will expire, in ms, if an error has been
\r
157 reported in one of the standard demo tasks. ms are converted to the equivalent
\r
158 in ticks using the portTICK_RATE_MS constant. */
\r
159 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
\r
161 /* The priorities of the various demo application tasks. */
\r
162 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
163 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
164 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
165 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
166 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
168 /* The LED controlled by the 'check' software timer. */
\r
169 #define mainCHECK_LED ( 7 )
\r
171 /* The LED used by the comtest tasks. mainCOM_TEST_LED + 1 is also used.
\r
172 See the comtest.c file for more information. */
\r
173 #define mainCOM_TEST_LED ( 4 )
\r
175 /* Baud rate used by the comtest tasks. */
\r
176 #define mainCOM_TEST_BAUD_RATE ( 115200 )
\r
179 #define mainDONT_BLOCK ( 0 )
\r
181 /* Dimension the buffer used to hold the value of the high frequency timer
\r
182 count when it is converted to a string. */
\r
183 #define mainMAX_STRING_LENGTH ( 20 )
\r
185 /* The frequency at which the "fast interrupt test" interrupt will occur. */
\r
186 #define mainTEST_INTERRUPT_FREQUENCY ( 20000 )
\r
188 /* The number of timer clocks expected to occur between each "fast interrupt
\r
189 test" interrupt. */
\r
190 #define mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ( ( configCPU_CLOCK_HZ >> 1 ) / mainTEST_INTERRUPT_FREQUENCY )
\r
192 /* The number of nano seconds between each core clock. */
\r
193 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) ( configCPU_CLOCK_HZ >> 1 ) ) * 1000000000.0 ) )
\r
195 /* The number of LEDs that should be controlled by the flash software timer
\r
197 #define mainNUM_FLASH_TIMER_LEDS ( 3 )
\r
199 /*-----------------------------------------------------------*/
\r
202 * The check timer callback function, as described at the top of this file.
\r
204 static void prvCheckTimerCallback( xTimerHandle xTimer );
\r
207 * It is important to ensure the high frequency timer test does not start before
\r
208 * the kernel. It is therefore started from inside a software timer callback
\r
209 * function, which will not execute until the timer service/daemon task is
\r
210 * executing. A one-shot timer is used, so the callback function will only
\r
211 * execute once (unless it is manually reset/restarted).
\r
213 static void prvSetupHighFrequencyTimerTest( xTimerHandle xTimer );
\r
216 * Tasks that test the context switch mechanism by filling the processor
\r
217 * registers with known values, then checking that the values contained
\r
218 * within the registers is as expected. The tasks are likely to get swapped
\r
219 * in and out between setting the register values and checking the register
\r
222 static void prvRegTestTask1( void *pvParameters );
\r
223 static void prvRegTestTask2( void *pvParameters );
\r
225 /*-----------------------------------------------------------*/
\r
227 /* The queue used to send messages to the LCD task. */
\r
228 static xQueueHandle xLCDQueue;
\r
230 /* Flag used by prvRegTestTask1() and prvRegTestTask2() to indicate their status
\r
232 volatile unsigned long ulStatus1 = pdPASS;
\r
234 /* Variables incremented by prvRegTestTask1() and prvRegTestTask2() respectively on
\r
235 each iteration of their function. This is used to detect either task stopping
\r
236 their execution.. */
\r
237 volatile unsigned long ulRegTest1Cycles = 0, ulRegTest2Cycles = 0;
\r
239 /*-----------------------------------------------------------*/
\r
242 * Create the demo tasks then start the scheduler.
\r
244 int main_full( void )
\r
246 xTimerHandle xTimer = NULL;
\r
248 /* Create the LCD task - this returns the queue to use when writing
\r
249 messages to the LCD. */
\r
250 xLCDQueue = xStartLCDTask();
\r
252 /* Create all the other standard demo tasks. */
\r
253 vStartLEDFlashTimers( mainNUM_FLASH_TIMER_LEDS );
\r
254 vCreateBlockTimeTasks();
\r
255 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
256 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
\r
257 vStartQueuePeekTasks();
\r
258 vStartInterruptQueueTasks();
\r
260 /* Create the tasks defined within this file. */
\r
261 xTaskCreate( prvRegTestTask1, ( const signed char * const ) "Reg1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
\r
262 xTaskCreate( prvRegTestTask2, ( const signed char * const ) "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
\r
264 /* The PIC32MX795 uses an 8 deep fifo where TX interrupts are asserted
\r
265 whilst the TX buffer is empty. This causes an issue with the test driver so
\r
266 it is not used in this demo */
\r
267 #if !defined(__32MX795F512L__)
\r
268 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
\r
271 /* Create the software timer that performs the 'check' functionality, as
\r
272 described at the top of this file. */
\r
273 xTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
\r
274 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
\r
275 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
\r
276 ( void * ) 0, /* The ID is not used, so can be set to anything. */
\r
277 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
\r
280 if( xTimer != NULL )
\r
282 xTimerStart( xTimer, mainDONT_BLOCK );
\r
285 /* A software timer is also used to start the high frequency timer test.
\r
286 This is to ensure the test does not start before the kernel. This time a
\r
287 one shot software timer is used. */
\r
288 xTimer = xTimerCreate( ( const signed char * ) "HighHzTimerSetup", 1, pdFALSE, ( void * ) 0, prvSetupHighFrequencyTimerTest );
\r
289 if( xTimer != NULL )
\r
291 xTimerStart( xTimer, mainDONT_BLOCK );
\r
294 /* Finally start the scheduler. */
\r
295 vTaskStartScheduler();
\r
297 /* If all is well, the scheduler will now be running, and the following line
\r
298 will never be reached. If the following line does execute, then there was
\r
299 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
\r
300 to be created. See the memory management section on the FreeRTOS web site
\r
301 for more details. */
\r
304 /*-----------------------------------------------------------*/
\r
306 static void prvRegTestTask1( void *pvParameters )
\r
308 extern void vRegTest1( volatile unsigned long * );
\r
312 /* Perform the register test function. */
\r
313 vRegTest1( &ulStatus1 );
\r
315 /* Increment the counter so the check task knows we are still
\r
317 ulRegTest1Cycles++;
\r
320 /*-----------------------------------------------------------*/
\r
322 static void prvRegTestTask2( void *pvParameters )
\r
324 extern void vRegTest2( volatile unsigned long * );
\r
328 /* Perform the register test function. */
\r
329 vRegTest2( &ulStatus1 );
\r
331 /* Increment the counter so the check task knows we are still
\r
333 ulRegTest2Cycles++;
\r
336 /*-----------------------------------------------------------*/
\r
338 static void prvCheckTimerCallback( xTimerHandle xTimer )
\r
340 static long lChangedTimerPeriodAlready = pdFALSE;
\r
341 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
\r
343 /* Buffer into which the high frequency timer count is written as a string. */
\r
344 static char cStringBuffer[ mainMAX_STRING_LENGTH ];
\r
346 /* The count of the high frequency timer interrupts. */
\r
347 extern unsigned long ulHighFrequencyTimerInterrupts;
\r
348 static xLCDMessage xMessage = { ( 200 / portTICK_RATE_MS ), cStringBuffer };
\r
350 /* Has either register check 1 or 2 task discovered an error? */
\r
351 if( ulStatus1 != pdPASS )
\r
353 xMessage.pcMessage = "Error: Reg test1";
\r
356 /* Check that the register test 1 task is still running. */
\r
357 if( ulLastRegTest1Value == ulRegTest1Cycles )
\r
359 xMessage.pcMessage = "Error: Reg test2";
\r
361 ulLastRegTest1Value = ulRegTest1Cycles;
\r
364 /* Check that the register test 2 task is still running. */
\r
365 if( ulLastRegTest2Value == ulRegTest2Cycles )
\r
367 xMessage.pcMessage = "Error: Reg test3";
\r
369 ulLastRegTest2Value = ulRegTest2Cycles;
\r
372 /* Have any of the standard demo tasks detected an error in their
\r
374 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
376 xMessage.pcMessage = "Error: Gen Q";
\r
378 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
\r
380 xMessage.pcMessage = "Error: Q Peek";
\r
382 else if( xAreComTestTasksStillRunning() != pdTRUE )
\r
384 xMessage.pcMessage = "Error: COM test";
\r
386 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
388 xMessage.pcMessage = "Error: Blck time";
\r
390 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
392 xMessage.pcMessage = "Error: Sem test";
\r
394 else if( xAreIntQueueTasksStillRunning() != pdTRUE )
\r
396 xMessage.pcMessage = "Error: Int queue";
\r
399 if( xMessage.pcMessage != cStringBuffer )
\r
401 /* An error string has been logged. If the timer period has not yet
\r
402 been changed it should be changed now. Increasing the frequency of the
\r
403 LED gives visual feedback of the error status (although it is written
\r
404 to the LCD too!). */
\r
405 if( lChangedTimerPeriodAlready == pdFALSE )
\r
407 lChangedTimerPeriodAlready = pdTRUE;
\r
409 /* This call to xTimerChangePeriod() uses a zero block time.
\r
410 Functions called from inside of a timer callback function must
\r
411 *never* attempt to block as to do so could impact other software
\r
413 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
\r
418 /* Write the ulHighFrequencyTimerInterrupts value to the string
\r
419 buffer. It will only be displayed if no errors have been detected. */
\r
420 sprintf( cStringBuffer, "Pass %u", ( unsigned int ) ulHighFrequencyTimerInterrupts );
\r
423 /* Send the status message to the LCD task for display on the LCD. This is
\r
424 a timer callback function, so the queue send function *must not* block. */
\r
425 xQueueSend( xLCDQueue, &xMessage, mainDONT_BLOCK );
\r
426 vParTestToggleLED( mainCHECK_LED );
\r
428 /*-----------------------------------------------------------*/
\r
430 static void prvSetupHighFrequencyTimerTest( xTimerHandle xTimer )
\r
432 /* Setup the high frequency, high priority, timer test. It is setup in this
\r
433 software timer callback to ensure it does not start before the kernel does.
\r
434 This is a one shot timer - so the setup routine will only be executed once. */
\r
435 vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );
\r