2 FreeRTOS V9.0.0rc2 - Copyright (C) 2016 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 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /******************************************************************************
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71 * NOTE 1: This project provides two demo applications. A simple blinky style
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72 * project, and a more comprehensive test and demo application. The
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73 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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74 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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75 * in main.c. This file implements the comprehensive test and demo version.
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77 * NOTE 2: This file only contains the source code that is specific to the
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78 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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79 * required to configure the hardware, along with an example of how to write an
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80 * interrupt service routine, are defined in main.c.
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81 ******************************************************************************
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83 * main_full() creates all the demo application tasks and two software timers,
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84 * then starts the scheduler. The web documentation provides more details of
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85 * the standard demo application tasks, which provide no particular
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86 * functionality, but do provide a good example of how to use the FreeRTOS API.
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88 * In addition to the standard demo tasks, the following tasks, tests and
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89 * timers are created within this file:
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91 * "Reg test" tasks - These fill the registers with known values, then check
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92 * that each register still contains its expected value. Each task uses a
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93 * different set of values. The reg test tasks execute with a very low priority,
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94 * so get preempted very frequently. A register containing an unexpected value
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95 * is indicative of an error in the context switching mechanism.
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97 * The "Demo" Timer and Callback Function:
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98 * The demo timer callback function does nothing more than increment a variable.
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99 * The period of the demo timer is set relative to the period of the check timer
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100 * (described below). This allows the check timer to know how many times the
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101 * demo timer callback function should execute between each execution of the
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102 * check timer callback function. The variable incremented in the demo timer
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103 * callback function is used to determine how many times the callback function
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106 * The "Check" Timer and Callback Function:
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107 * The check timer period is initially set to three seconds. The check timer
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108 * callback function checks that all the standard demo tasks, the reg test
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109 * tasks, and the demo timer are not only still executing, but are executing
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110 * without reporting any errors. If the check timer discovers that a task or
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111 * timer has stalled, or reported an error, then it changes its own period from
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112 * the initial three seconds, to just 200ms. The check timer callback function
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113 * also toggles an LED each time it is called. This provides a visual
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114 * indication of the system status: If the LED toggles every three seconds,
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115 * then no issues have been discovered. If the LED toggles every 200ms, then
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116 * an issue has been discovered with at least one task.
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118 * ENSURE TO READ THE DOCUMENTATION PAGE FOR THIS PORT AND DEMO APPLICATION ON
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119 * THE http://www.FreeRTOS.org WEB SITE FOR FULL INFORMATION ON USING THIS DEMO
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120 * APPLICATION, AND ITS ASSOCIATE FreeRTOS ARCHITECTURE PORT!
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124 /* Scheduler include files. */
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125 #include "FreeRTOS.h"
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127 #include "timers.h"
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129 /* Standard demo includes. */
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130 #include "dynamic.h"
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132 #include "blocktim.h"
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134 /* Hardware includes. */
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135 #include "demo_specific_io.h"
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137 /* The period at which the check timer will expire, in ms, provided no errors
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138 have been reported by any of the standard demo tasks. ms are converted to the
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139 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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140 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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142 /* The period at which the check timer will expire, in ms, if an error has been
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143 reported in one of the standard demo tasks, the check tasks, or the demo timer.
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144 ms are converted to the equivalent in ticks using the portTICK_PERIOD_MS
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146 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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148 /* These two definitions are used to set the period of the demo timer. The demo
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149 timer period is always relative to the check timer period, so the check timer
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150 can determine if the demo timer has expired the expected number of times between
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151 its own executions. */
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152 #define mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT ( 100UL )
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153 #define mainDEMO_TIMER_PERIOD_MS ( mainCHECK_TIMER_PERIOD_MS / mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT )
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155 /* A block time of zero simply means "don't block". */
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156 #define mainDONT_BLOCK ( 0U )
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158 /* Values that are passed as parameters into the reg test tasks (purely to
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159 ensure task parameters are passed correctly). */
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160 #define mainREG_TEST_1_PARAMETER ( ( void * ) 0x1234 )
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161 #define mainREG_TEST_2_PARAMETER ( ( void * ) 0x5678 )
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163 /*-----------------------------------------------------------*/
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166 * The 'check' timer callback function, as described at the top of this file.
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168 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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171 * The 'demo' timer callback function, as described at the top of this file.
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173 static void prvDemoTimerCallback( TimerHandle_t xTimer );
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176 * Functions that define the RegTest tasks, as described at the top of this
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177 * file. The RegTest tasks are written (necessarily) in assembler. Their
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178 * entry points are written in C to allow for easy checking of the task
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179 * parameter values.
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181 extern void vRegTest1Task( void );
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182 extern void vRegTest2Task( void );
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183 static void prvRegTest1Entry( void *pvParameters );
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184 static void prvRegTest2Entry( void *pvParameters );
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187 * Called if a RegTest task discovers an error as a mechanism to stop the
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188 * tasks loop counter incrementing (so the check task can detect that an
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191 void vRegTestError( void );
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194 * Called by main() to create the more comprehensive application if
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195 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
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197 void main_full( void );
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199 /*-----------------------------------------------------------*/
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201 /* Variables that are incremented on each cycle of the two reg tests to allow
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202 the check timer to know that they are still executing. */
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203 unsigned short usRegTest1LoopCounter = 0, usRegTest2LoopCounter;
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205 /* The check timer. This uses prvCheckTimerCallback() as its callback
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207 static TimerHandle_t xCheckTimer = NULL;
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209 /* The demo timer. This uses prvDemoTimerCallback() as its callback function. */
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210 static TimerHandle_t xDemoTimer = NULL;
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212 /* This variable is incremented each time the demo timer expires. */
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213 static volatile unsigned long ulDemoSoftwareTimerCounter = 0UL;
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215 /*-----------------------------------------------------------*/
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217 void main_full( void )
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219 /* Creates all the tasks and timers, then starts the scheduler. */
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221 /* First create the 'standard demo' tasks. These are used to demonstrate
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222 API functions being used and also to test the kernel port. More information
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223 is provided on the FreeRTOS.org WEB site. */
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224 vStartDynamicPriorityTasks();
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225 vStartPolledQueueTasks( tskIDLE_PRIORITY );
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226 vCreateBlockTimeTasks();
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228 /* Create the RegTest tasks as described at the top of this file. */
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229 xTaskCreate( prvRegTest1Entry, /* The function that implements the task. */
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230 "Reg1", /* Text name for the task - to assist debugging only, not used by the kernel. */
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231 configMINIMAL_STACK_SIZE, /* The size of the stack allocated to the task (in words, not bytes). */
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232 mainREG_TEST_1_PARAMETER, /* The parameter passed into the task. */
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233 tskIDLE_PRIORITY, /* The priority at which the task will execute. */
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234 NULL ); /* Used to pass the handle of the created task out to the function caller - not used in this case. */
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236 xTaskCreate( prvRegTest2Entry, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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238 /* Create the software timer that performs the 'check' functionality,
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239 as described at the top of this file. */
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240 xCheckTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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241 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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242 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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243 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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244 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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247 /* Create the software timer that just increments a variable for demo
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249 xDemoTimer = xTimerCreate( "DemoTimer",/* A text name, purely to help debugging. */
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250 ( 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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251 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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252 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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253 prvDemoTimerCallback /* The callback function that inspects the status of all the other tasks. */
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256 /* Start both the check timer and the demo timer. The timers won't actually
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257 start until the scheduler is started. */
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258 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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259 xTimerStart( xDemoTimer, mainDONT_BLOCK );
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261 /* Finally start the scheduler running. */
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262 vTaskStartScheduler();
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264 /* If all is well execution will never reach here as the scheduler will be
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265 running. If this null loop is reached then it is likely there was
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266 insufficient FreeRTOS heap available for the idle task and/or timer task to
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267 be created. See http://www.freertos.org/a00111.html. */
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270 /*-----------------------------------------------------------*/
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272 static void prvDemoTimerCallback( TimerHandle_t xTimer )
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274 /* Remove compiler warning about unused parameter. */
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277 /* The demo timer has expired. All it does is increment a variable. The
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278 period of the demo timer is relative to that of the check timer, so the
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279 check timer knows how many times this variable should have been incremented
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280 between each execution of the check timer's own callback. */
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281 ulDemoSoftwareTimerCounter++;
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283 /*-----------------------------------------------------------*/
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285 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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287 static portBASE_TYPE xChangedTimerPeriodAlready = pdFALSE, xErrorStatus = pdPASS;
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288 static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
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290 /* Remove compiler warning about unused parameter. */
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293 /* Inspect the status of the standard demo tasks. */
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294 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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296 xErrorStatus = pdFAIL;
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299 if( xArePollingQueuesStillRunning() != pdTRUE )
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301 xErrorStatus = pdFAIL;
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304 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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306 xErrorStatus = pdFAIL;
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309 /* Indicate an error if either of the reg test loop counters have not
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310 incremented since the last time this function was called. */
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311 if( usLastRegTest1Counter == usRegTest1LoopCounter )
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313 xErrorStatus = pdFAIL;
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317 usLastRegTest1Counter = usRegTest1LoopCounter;
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320 if( usLastRegTest2Counter == usRegTest2LoopCounter )
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322 xErrorStatus = pdFAIL;
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326 usLastRegTest2Counter = usRegTest2LoopCounter;
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329 /* Ensure that the demo software timer has expired
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330 mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT times in between
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331 each call of this function. A critical section is not required to access
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332 ulDemoSoftwareTimerCounter as the variable is only accessed from another
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333 software timer callback, and only one software timer callback can be
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334 executing at any time. */
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335 if( ( ulDemoSoftwareTimerCounter < ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT - 1 ) ) ||
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336 ( ulDemoSoftwareTimerCounter > ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT + 1 ) )
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339 xErrorStatus = pdFAIL;
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343 ulDemoSoftwareTimerCounter = 0UL;
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346 if( ( xErrorStatus == pdFAIL ) && ( xChangedTimerPeriodAlready == pdFALSE ) )
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348 /* An error has occurred, but the timer's period has not yet been changed,
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349 change it now, and remember that it has been changed. Shortening the
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350 timer's period means the LED will toggle at a faster rate, giving a
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351 visible indication that something has gone wrong. */
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352 xChangedTimerPeriodAlready = pdTRUE;
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354 /* This call to xTimerChangePeriod() uses a zero block time. Functions
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355 called from inside of a timer callback function must *never* attempt to
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357 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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360 /* Toggle the LED. The toggle rate will depend on whether or not an error
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361 has been found in any tasks. */
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362 LED_BIT = !LED_BIT;
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364 /*-----------------------------------------------------------*/
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366 void vRegTestError( void )
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368 /* Called by both reg test tasks if an error is found. There is no way out
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369 of this function so the loop counter of the calling task will stop
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370 incrementing, which will result in the check timer signaling an error. */
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373 /*-----------------------------------------------------------*/
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375 static void prvRegTest1Entry( void *pvParameters )
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377 /* If the parameter has its expected value then start the first reg test
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378 task (this is only done to test that the RTOS port is correctly handling
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379 task parameters. */
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380 if( pvParameters == mainREG_TEST_1_PARAMETER )
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389 /* It is not possible to get here as neither of the two functions called
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390 above will ever return. */
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392 /*-----------------------------------------------------------*/
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394 static void prvRegTest2Entry( void *pvParameters )
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396 /* If the parameter has its expected value then start the first reg test
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397 task (this is only done to test that the RTOS port is correctly handling
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398 task parameters. */
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399 if( pvParameters == mainREG_TEST_2_PARAMETER )
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408 /* It is not possible to get here as neither of the two functions called
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409 above will ever return. */
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411 /*-----------------------------------------------------------*/
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