--- /dev/null
+/*\r
+ * FreeRTOS Kernel V10.2.1\r
+ * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.\r
+ *\r
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of\r
+ * this software and associated documentation files (the "Software"), to deal in\r
+ * the Software without restriction, including without limitation the rights to\r
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of\r
+ * the Software, and to permit persons to whom the Software is furnished to do so,\r
+ * subject to the following conditions:\r
+ *\r
+ * The above copyright notice and this permission notice shall be included in all\r
+ * copies or substantial portions of the Software.\r
+ *\r
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\r
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS\r
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR\r
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER\r
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN\r
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.\r
+ *\r
+ * http://www.FreeRTOS.org\r
+ * http://aws.amazon.com/freertos\r
+ *\r
+ * 1 tab == 4 spaces!\r
+ */\r
+\r
+/******************************************************************************\r
+ * NOTE 1: This project provides two demo applications. A simple blinky style\r
+ * project, and a more comprehensive test and demo application. The\r
+ * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select\r
+ * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY\r
+ * in main.c. This file implements the comprehensive test and demo version.\r
+ *\r
+ * NOTE 2: This file only contains the source code that is specific to the\r
+ * full demo. Generic functions, such FreeRTOS hook functions, and functions\r
+ * required to configure the hardware, are defined in main.c.\r
+ *\r
+ ******************************************************************************\r
+ *\r
+ * main_full() creates all the demo application tasks and software timers, then\r
+ * starts the scheduler. The web documentation provides more details of the\r
+ * standard demo application tasks, which provide no particular functionality,\r
+ * but do provide a good example of how to use the FreeRTOS API.\r
+ *\r
+ * In addition to the standard demo tasks, the following tasks and tests are\r
+ * defined and/or created within this file:\r
+ *\r
+ * "Reg test" tasks - These fill both the core registers with known values, then\r
+ * check that each register maintains its expected value for the lifetime of the\r
+ * task. Each task uses a different set of values. The reg test tasks execute\r
+ * with a very low priority, so get preempted very frequently. A register\r
+ * containing an unexpected value is indicative of an error in the context\r
+ * switching mechanism.\r
+ *\r
+ * "Check" task - The check executes every three seconds. It checks that all\r
+ * the standard demo tasks, and the register check tasks, are not only still\r
+ * executing, but are executing without reporting any errors. The check task\r
+ * toggles the LED every three seconds if all the standard demo tasks are\r
+ * executing as expected, or every 500ms if a potential error is discovered in\r
+ * any task.\r
+ */\r
+\r
+/* Standard includes. */\r
+#include <stdio.h>\r
+#include <string.h>\r
+#include <unistd.h>\r
+\r
+/* Kernel includes. */\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+#include "timers.h"\r
+#include "semphr.h"\r
+\r
+/* Standard demo application includes. */\r
+#include "dynamic.h"\r
+#include "blocktim.h"\r
+#include "TimerDemo.h"\r
+#include "TaskNotify.h"\r
+\r
+/* Priorities for the demo application tasks. */\r
+#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )\r
+\r
+/* The period of the check task, in ms, converted to ticks using the\r
+pdMS_TO_TICKS() macro. mainNO_ERROR_CHECK_TASK_PERIOD is used if no errors have\r
+been found, mainERROR_CHECK_TASK_PERIOD is used if an error has been found. */\r
+#define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000UL )\r
+#define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 500UL )\r
+\r
+/* Parameters that are passed into the register check tasks solely for the\r
+purpose of ensuring parameters are passed into tasks correctly. */\r
+#define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )\r
+#define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )\r
+\r
+/* The base period used by the timer test tasks. */\r
+#define mainTIMER_TEST_PERIOD ( 50 )\r
+\r
+/* The size of the stack allocated to the check task (as described in the\r
+comments at the top of this file. */\r
+#define mainCHECK_TASK_STACK_SIZE_WORDS 160\r
+\r
+/* Size of the stacks to allocated for the register check tasks. */\r
+#define mainREG_TEST_STACK_SIZE_WORDS 90\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * Called by main() to run the full demo (as opposed to the blinky demo) when\r
+ * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.\r
+ */\r
+void main_full( void );\r
+\r
+/*\r
+ * The check task, as described at the top of this file.\r
+ */\r
+static void prvCheckTask( void *pvParameters );\r
+\r
+/*\r
+ * Register check tasks as described at the top of this file. The nature of\r
+ * these files necessitates that they are written in an assembly file, but the\r
+ * entry points are kept in the C file for the convenience of checking the task\r
+ * parameter.\r
+ */\r
+static void prvRegTestTaskEntry1( void *pvParameters );\r
+extern void vRegTest1Implementation( void );\r
+static void prvRegTestTaskEntry2( void *pvParameters );\r
+extern void vRegTest2Implementation( void );\r
+\r
+/*\r
+ * Tick hook used by the full demo, which includes code that interacts with\r
+ * some of the tests.\r
+ */\r
+void vFullDemoTickHook( void );\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/* The following two variables are used to communicate the status of the\r
+register check tasks to the check task. If the variables keep incrementing,\r
+then the register check tasks have not discovered any errors. If a variable\r
+stops incrementing, then an error has been found. */\r
+uint32_t ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;\r
+volatile uint32_t *pulRegTest1LoopCounter = &ulRegTest1LoopCounter;\r
+volatile uint32_t *pulRegTest2LoopCounter = &ulRegTest2LoopCounter;\r
+/*-----------------------------------------------------------*/\r
+\r
+void main_full( void )\r
+{\r
+ /* Start all the other standard demo/test tasks. They have no particular\r
+ functionality, but do demonstrate how to use the FreeRTOS API and test the\r
+ kernel port. */\r
+ vCreateBlockTimeTasks();\r
+ vStartTimerDemoTask( mainTIMER_TEST_PERIOD );\r
+ vStartDynamicPriorityTasks();\r
+ vStartTaskNotifyTask();\r
+\r
+ /* Create the register check tasks, as described at the top of this file.\r
+ Use xTaskCreateStatic() to create a task using only statically allocated\r
+ memory. */\r
+ xTaskCreate( prvRegTestTaskEntry1, /* The function that implements the task. */\r
+ "Reg1", /* The name of the task. */\r
+ mainREG_TEST_STACK_SIZE_WORDS, /* Size of stack to allocate for the task - in words not bytes!. */\r
+ mainREG_TEST_TASK_1_PARAMETER, /* Parameter passed into the task. */\r
+ tskIDLE_PRIORITY, /* Priority of the task. */\r
+ NULL ); /* Can be used to pass out a handle to the created task. */\r
+ xTaskCreate( prvRegTestTaskEntry2, "Reg2", mainREG_TEST_STACK_SIZE_WORDS, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );\r
+\r
+ /* Create the task that performs the 'check' functionality, as described at\r
+ the top of this file. */\r
+ xTaskCreate( prvCheckTask, "Check", mainCHECK_TASK_STACK_SIZE_WORDS, NULL, mainCHECK_TASK_PRIORITY, NULL );\r
+\r
+ /* Start the scheduler. */\r
+ vTaskStartScheduler();\r
+\r
+ /* If all is well, the scheduler will now be running, and the following\r
+ line will never be reached. If the following line does execute, then\r
+ there was insufficient FreeRTOS heap memory available for the Idle and/or\r
+ timer tasks to be created. See the memory management section on the\r
+ FreeRTOS web site for more details on the FreeRTOS heap\r
+ http://www.freertos.org/a00111.html. */\r
+ for( ;; );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvCheckTask( void *pvParameters )\r
+{\r
+TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;\r
+TickType_t xLastExecutionTime;\r
+uint32_t ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;\r
+char * const pcPassMessage = ".";\r
+char * pcStatusMessage = pcPassMessage;\r
+extern void vToggleLED( void );\r
+\r
+ /* Just to stop compiler warnings. */\r
+ ( void ) pvParameters;\r
+\r
+ /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()\r
+ works correctly. */\r
+ xLastExecutionTime = xTaskGetTickCount();\r
+\r
+ /* Cycle for ever, delaying then checking all the other tasks are still\r
+ operating without error. The onboard LED is toggled on each iteration.\r
+ If an error is detected then the delay period is decreased from\r
+ mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the\r
+ effect of increasing the rate at which the onboard LED toggles, and in so\r
+ doing gives visual feedback of the system status. */\r
+ for( ;; )\r
+ {\r
+ /* Delay until it is time to execute again. */\r
+ vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );\r
+\r
+ /* Check all the demo tasks (other than the flash tasks) to ensure\r
+ that they are all still running, and that none have detected an error. */\r
+ if( xAreDynamicPriorityTasksStillRunning() == pdFALSE )\r
+ {\r
+ pcStatusMessage = "ERROR: Dynamic priority demo/tests.\r\n";\r
+ }\r
+\r
+ if( xAreBlockTimeTestTasksStillRunning() == pdFALSE )\r
+ {\r
+ pcStatusMessage = "ERROR: Block time demo/tests.\r\n";\r
+ }\r
+\r
+ if( xAreTimerDemoTasksStillRunning( ( TickType_t ) xDelayPeriod ) == pdFALSE )\r
+ {\r
+ pcStatusMessage = "ERROR: Timer demo/tests.\r\n";\r
+ }\r
+\r
+ if( xAreTaskNotificationTasksStillRunning() == pdFALSE )\r
+ {\r
+ pcStatusMessage = "ERROR: Task notification demo/tests.\r\n";\r
+ }\r
+\r
+ /* Check that the register test 1 task is still running. */\r
+ if( ulLastRegTest1Value == ulRegTest1LoopCounter )\r
+ {\r
+ pcStatusMessage = "ERROR: Register test 1.\r\n";\r
+ }\r
+ ulLastRegTest1Value = ulRegTest1LoopCounter;\r
+\r
+ /* Check that the register test 2 task is still running. */\r
+ if( ulLastRegTest2Value == ulRegTest2LoopCounter )\r
+ {\r
+ pcStatusMessage = "ERROR: Register test 2.\r\n";\r
+ }\r
+ ulLastRegTest2Value = ulRegTest2LoopCounter;\r
+\r
+ /* Write the status message to the UART and toggle the LED to show the\r
+ system status if the UART is not connected. */\r
+ vToggleLED();\r
+\r
+ /* If an error has been found then increase the LED toggle rate by\r
+ increasing the cycle frequency. */\r
+ if( pcStatusMessage != pcPassMessage )\r
+ {\r
+ xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;\r
+ }\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvRegTestTaskEntry1( void *pvParameters )\r
+{\r
+ /* Although the regtest task is written in assembler, its entry point is\r
+ written in C for convenience of checking the task parameter is being passed\r
+ in correctly. */\r
+ if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )\r
+ {\r
+ /* Start the part of the test that is written in assembler. */\r
+ vRegTest1Implementation();\r
+ }\r
+\r
+ /* The following line will only execute if the task parameter is found to\r
+ be incorrect. The check task will detect that the regtest loop counter is\r
+ not being incremented and flag an error. */\r
+ vTaskDelete( NULL );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvRegTestTaskEntry2( void *pvParameters )\r
+{\r
+ /* Although the regtest task is written in assembler, its entry point is\r
+ written in C for convenience of checking the task parameter is being passed\r
+ in correctly. */\r
+ if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )\r
+ {\r
+ /* Start the part of the test that is written in assembler. */\r
+ vRegTest2Implementation();\r
+ }\r
+\r
+ /* The following line will only execute if the task parameter is found to\r
+ be incorrect. The check task will detect that the regtest loop counter is\r
+ not being incremented and flag an error. */\r
+ vTaskDelete( NULL );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vFullDemoTickHook( void )\r
+{\r
+ /* Called from vApplicationTickHook() when the project is configured to\r
+ build the full test/demo applications. */\r
+\r
+ /* Use task notifications from an interrupt. */\r
+ xNotifyTaskFromISR();\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
projects / freertos / blobdiff