2 FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not itcan be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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77 * ENSURE TO READ THE DOCUMENTATION PAGE FOR THIS PORT AND DEMO APPLICATION ON
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78 * THE http://www.FreeRTOS.org WEB SITE FOR FULL INFORMATION ON USING THIS DEMO
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79 * APPLICATION, AND ITS ASSOCIATE FreeRTOS ARCHITECTURE PORT!
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82 * main() creates the demo application tasks and timers, then starts the
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85 * This demo is configured to run on the RL78/G13 Promotion Board, which is
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86 * fitted with a R5F100LEA microcontroller. The R5F100LEA contains a little
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87 * under 4K bytes of usable internal RAM. The RAM size restricts the number of
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88 * demo tasks that can be created, and the demo creates 13 tasks, 4 queues and
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89 * two timers. The RL78 range does however include parts with up to 32K bytes
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90 * of RAM (at the time of writing). Using FreeRTOS on such a part will allow an
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91 * application to make a more comprehensive use of FreeRTOS tasks, and other
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92 * FreeRTOS features.
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94 * In addition to the standard demo tasks, the following tasks, tests and timers
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95 * are created within this file:
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97 * "Reg test" tasks - These fill the registers with known values, then check
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98 * that each register still contains its expected value. Each task uses a
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99 * different set of values. The reg test tasks execute with a very low priority,
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100 * so get preempted very frequently. A register containing an unexpected value
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101 * is indicative of an error in the context switching mechanism.
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103 * The "Demo" Timer and Callback Function:
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104 * The demo timer callback function does nothing more than increment a variable.
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105 * The period of the demo timer is set relative to the period of the check timer
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106 * (described below). This allows the check timer to know how many times the
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107 * demo timer callback function should execute between each execution of the
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108 * check timer callback function. The variable incremented in the demo timer
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109 * callback function is used to determine how many times the callback function
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112 * The "Check" Timer and Callback Function:
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113 * The check timer period is initially set to three seconds. The check timer
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114 * callback function checks that all the standard demo tasks, the reg test tasks,
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115 * and the demo timer are not only still executing, but are executing without
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116 * reporting any errors. If the check timer discovers that a task or timer has
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117 * stalled, or reported an error, then it changes its own period from the
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118 * initial three seconds, to just 200ms. The check timer callback function also
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119 * toggles the user LED each time it is called. This provides a visual
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120 * indication of the system status: If the LED toggles every three seconds,
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121 * then no issues have been discovered. If the LED toggles every 200ms, then an
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122 * issue has been discovered with at least one task.
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126 /* Scheduler include files. */
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127 #include "FreeRTOS.h"
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129 #include "timers.h"
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131 /* Standard demo includes. */
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132 #include "dynamic.h"
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134 #include "blocktim.h"
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136 /* Hardware includes. */
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137 #include "port_iodefine.h"
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138 #include "port_iodefine_ext.h"
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141 /* The period at which the check timer will expire, in ms, provided no errors
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142 have been reported by any of the standard demo tasks. ms are converted to the
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143 equivalent in ticks using the portTICK_RATE_MS constant. */
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144 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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146 /* The period at which the check timer will expire, in ms, if an error has been
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147 reported in one of the standard demo tasks, the check tasks, or the demo timer.
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148 ms are converted to the equivalent in ticks using the portTICK_RATE_MS
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150 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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152 /* These two definitions are used to set the period of the demo timer. The demo
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153 timer period is always relative to the check timer period, so the check timer
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154 can determine if the demo timer has expired the expected number of times between
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155 its own executions. */
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156 #define mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT ( 100UL )
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157 #define mainDEMO_TIMER_PERIOD_MS ( mainCHECK_TIMER_PERIOD_MS / mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT )
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159 /* A block time of zero simple means "don't block". */
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160 #define mainDONT_BLOCK ( 0U )
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162 /* Values that are passed as parameters into the reg test tasks (purely to
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163 ensure task parameters are passed correctly). */
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164 #define mainREG_TEST_1_PARAMETER ( ( void * ) 0x1234 )
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165 #define mainREG_TEST_2_PARAMETER ( ( void * ) 0x5678 )
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167 /*-----------------------------------------------------------*/
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170 * The 'check' timer callback function, as described at the top of this file.
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172 static void prvCheckTimerCallback( xTimerHandle xTimer );
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175 * The 'demo' timer callback function, as described at the top of this file.
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177 static void prvDemoTimerCallback( xTimerHandle xTimer );
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180 * Functions that define the RegTest tasks, as described at the top of this
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181 * file. The RegTest tasks are written (necessarily) in assembler. Their
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182 * entry points are written in C to allow for easy checking of the task
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183 * parameter values.
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185 extern void vRegTest1Task( void );
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186 extern void vRegTest2Task( void );
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187 static void prvRegTest1Entry( void *pvParameters );
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188 static void prvRegTest2Entry( void *pvParameters );
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191 * Called if a RegTest task discovers an error as a mechanism to stop the
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192 * tasks loop counter incrementing (so the check task can detect that an
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195 void vRegTestError( void );
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197 /*-----------------------------------------------------------*/
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199 /* Variables that are incremented on each cycle of the two reg tests to allow
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200 the check timer to know that they are still executing. */
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201 unsigned short usRegTest1LoopCounter = 0, usRegTest2LoopCounter;
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203 /* The check timer. This uses prvCheckTimerCallback() as its callback
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205 static xTimerHandle xCheckTimer = NULL;
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207 /* The demo timer. This uses prvDemoTimerCallback() as its callback function. */
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208 static xTimerHandle xDemoTimer = NULL;
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210 /* This variable is incremented each time the demo timer expires. */
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211 static volatile unsigned long ulDemoSoftwareTimerCounter = 0UL;
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213 /*-----------------------------------------------------------*/
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217 /* Creates all the tasks and timers, then starts the scheduler. */
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219 /* First create the 'standard demo' tasks. These are used to demonstrate
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220 API functions being used and also to test the kernel port. More information
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221 is provided on the FreeRTOS.org WEB site. */
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222 vStartDynamicPriorityTasks();
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223 vStartPolledQueueTasks( tskIDLE_PRIORITY );
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224 vCreateBlockTimeTasks();
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226 /* Create the RegTest tasks as described at the top of this file. */
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227 xTaskCreate( prvRegTest1Entry, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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228 xTaskCreate( prvRegTest2Entry, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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230 /* Create the software timer that performs the 'check' functionality,
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231 as described at the top of this file. */
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232 xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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233 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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234 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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235 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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236 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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239 /* Create the software timer that just increments a variable for demo
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241 xDemoTimer = xTimerCreate( ( const signed char * ) "DemoTimer",/* A text name, purely to help debugging. */
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242 ( mainDEMO_TIMER_PERIOD_MS ), /* The timer period, in this case it is always calculated relative to the check timer period (see the definition of mainDEMO_TIMER_PERIOD_MS). */
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243 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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244 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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245 prvDemoTimerCallback /* The callback function that inspects the status of all the other tasks. */
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248 /* Start both the check timer and the demo timer. The timers won't actually
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249 start until the scheduler is started. */
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250 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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251 xTimerStart( xDemoTimer, mainDONT_BLOCK );
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253 /* Finally start the scheduler running. */
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254 vTaskStartScheduler();
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256 /* If all is well execution will never reach here as the scheduler will be
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257 running. If this null loop is reached then it is likely there was
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258 insufficient FreeRTOS heap available for the idle task and/or timer task to
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259 be created. See http://www.freertos.org/a00111.html. */
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262 /*-----------------------------------------------------------*/
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264 static void prvDemoTimerCallback( xTimerHandle xTimer )
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266 /* The demo timer has expired. All it does is increment a variable. The
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267 period of the demo timer is relative to that of the check timer, so the
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268 check timer knows how many times this variable should have been incremented
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269 between each execution of the check timer's own callback. */
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270 ulDemoSoftwareTimerCounter++;
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272 /*-----------------------------------------------------------*/
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274 static void prvCheckTimerCallback( xTimerHandle xTimer )
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276 static portBASE_TYPE xChangedTimerPeriodAlready = pdFALSE, xErrorStatus = pdPASS;
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277 static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
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279 /* Inspect the status of the standard demo tasks. */
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280 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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282 xErrorStatus = pdFAIL;
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285 if( xArePollingQueuesStillRunning() != pdTRUE )
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287 xErrorStatus = pdFAIL;
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290 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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292 xErrorStatus = pdFAIL;
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295 /* Indicate an error if either of the reg test loop counters have not
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296 incremented since the last time this function was called. */
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297 if( usLastRegTest1Counter == usRegTest1LoopCounter )
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299 xErrorStatus = pdFAIL;
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303 usLastRegTest1Counter = usRegTest1LoopCounter;
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306 if( usLastRegTest2Counter == usRegTest2LoopCounter )
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308 xErrorStatus = pdFAIL;
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312 usLastRegTest2Counter = usRegTest2LoopCounter;
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315 /* Ensure that the demo software timer has expired
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316 mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT times in between
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317 each call of this function. A critical section is not required to access
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318 ulDemoSoftwareTimerCounter as the variable is only accessed from another
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319 software timer callback, and only one software timer callback can be
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320 executing at any time. */
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321 if( ( ulDemoSoftwareTimerCounter < ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT - 1 ) ) ||
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322 ( ulDemoSoftwareTimerCounter > ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT + 1 ) )
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325 xErrorStatus = pdFAIL;
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329 ulDemoSoftwareTimerCounter = 0UL;
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332 if( ( xErrorStatus == pdFAIL ) && ( xChangedTimerPeriodAlready == pdFALSE ) )
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334 /* An error has occurred, but the timer's period has not yet been changed,
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335 change it now, and remember that it has been changed. Shortening the
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336 timer's period means the LED will toggle at a faster rate, giving a
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337 visible indication that something has gone wrong. */
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338 xChangedTimerPeriodAlready = pdTRUE;
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340 /* This call to xTimerChangePeriod() uses a zero block time. Functions
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341 called from inside of a timer callback function must *never* attempt to
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343 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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346 /* Toggle the LED. The toggle rate will depend on whether or not an error
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347 has been found in any tasks. */
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348 LED_BIT = !LED_BIT;
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350 /*-----------------------------------------------------------*/
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352 void vRegTestError( void )
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354 /* Called by both reg test tasks if an error is found. There is no way out
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355 of this function so the loop counter of the calling task will stop
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356 incrementing, which will result in the check timer signaling an error. */
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359 /*-----------------------------------------------------------*/
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361 void vApplicationMallocFailedHook( void )
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363 /* Called if a call to pvPortMalloc() fails because there is insufficient
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364 free memory available in the FreeRTOS heap. pvPortMalloc() is called
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365 internally by FreeRTOS API functions that create tasks, queues, software
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366 timers, and semaphores. The size of the FreeRTOS heap is set by the
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367 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
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368 taskDISABLE_INTERRUPTS();
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371 /*-----------------------------------------------------------*/
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373 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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375 ( void ) pcTaskName;
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378 /* Run time stack overflow checking is performed if
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379 configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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380 function is called if a stack overflow is detected. */
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381 taskDISABLE_INTERRUPTS();
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384 /*-----------------------------------------------------------*/
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386 void vApplicationIdleHook( void )
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388 volatile size_t xFreeHeapSpace;
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390 /* This is just a trivial example of an idle hook. It is called on each
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391 cycle of the idle task. It must *NOT* attempt to block. In this case the
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392 idle task just queries the amount of FreeRTOS heap that remains. See the
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393 memory management section on the http://www.FreeRTOS.org web site for memory
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394 management options. If there is a lot of heap memory free then the
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395 configTOTAL_HEAP_SIZE value in FreeRTOSConfig.h can be reduced to free up
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397 xFreeHeapSpace = xPortGetFreeHeapSize();
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399 /*-----------------------------------------------------------*/
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401 static void prvRegTest1Entry( void *pvParameters )
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403 /* If the parameter has its expected value then start the first reg test
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404 task (this is only done to test that the RTOS port is correctly handling
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405 task parameters. */
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406 if( pvParameters == mainREG_TEST_1_PARAMETER )
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415 /* It is not possible to get here as neither of the two functions called
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416 above will ever return. */
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418 /*-----------------------------------------------------------*/
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420 static void prvRegTest2Entry( void *pvParameters )
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422 /* If the parameter has its expected value then start the first reg test
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423 task (this is only done to test that the RTOS port is correctly handling
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424 task parameters. */
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425 if( pvParameters == mainREG_TEST_2_PARAMETER )
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434 /* It is not possible to get here as neither of the two functions called
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435 above will ever return. */
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437 /*-----------------------------------------------------------*/
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439 void vAssertCalled( void )
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441 volatile unsigned long ul = 0;
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442 taskENTER_CRITICAL();
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444 /* Set ul to a non-zero value using the debugger to step out of this
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448 __asm volatile( "NOP" );
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451 taskEXIT_CRITICAL();
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