mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-09-04 13:23:50 -04:00
Update demos to use timers for the check functionality, and the flash timers. Floating point and Ethernet is not yet included.
This commit is contained in:
Richard Barry
parent
785621ff22
commit
eb38217496
9 changed files with 342 additions and 293 deletions
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@ -54,7 +54,8 @@
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/* ****************************************************************************
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* This project includes a lot of tasks and tests and is therefore complex.
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* If you would prefer a much simpler project to get started with then select
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* the 'Blinky' build configuration within the HEW IDE.
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* the 'Blinky' build configuration within the HEW IDE. The Blinky
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* configuration builds main-blinky.c in place of this file.
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* ****************************************************************************
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*
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* Creates all the demo application tasks, then starts the scheduler. The web
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@ -86,12 +87,17 @@
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* error has occurred. The nature of the reg test tasks necessitates that they
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* are written in assembly code.
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*
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* "Check" task - This only executes every five seconds but has a high priority
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* to ensure it gets processor time. Its main function is to check that all the
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* standard demo tasks are still operational. While no errors have been
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* discovered the check task will toggle LED 5 every 5 seconds - the toggle
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* rate increasing to 200ms being a visual indication that at least one task has
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* reported unexpected behaviour.
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* "Check" timer - The check software timer period is initially set to five
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* seconds. The callback function associated with the check software timer
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* checks that all the standard demo tasks, and the register check tasks, are
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* not only still executing, but are executing without reporting any errors. If
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* the check software timer discovers that a task has either stalled, or
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* reported an error, then it changes its own execution period from the initial
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* five seconds, to just 200ms. The check software timer callback function
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* also toggles LED3 each time it is called. This provides a visual indication
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* of the system status: If LED3 toggles every five seconds, then no issues
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* have been discovered. If the LED toggles every 200ms, then an issue has been
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* discovered with at least one task.
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*
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* "High frequency timer test" - A high frequency periodic interrupt is
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* generated using a timer - the interrupt is assigned a priority above
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@ -103,7 +109,7 @@
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* optimised builds the count of high frequency ticks is used as the time base
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* for the run time stats.
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*
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* *NOTE 1* If LED5 is toggling every 5 seconds then all the demo application
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* *NOTE 1* If LED3 is toggling every 5 seconds then all the demo application
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* tasks are executing as expected and no errors have been reported in any
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* tasks. The toggle rate increasing to 200ms indicates that at least one task
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* has reported unexpected behaviour.
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@ -118,6 +124,8 @@
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*
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* *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use
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* of all the 8bit timers (as two cascaded 16bit units).
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*
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* *
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*/
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#include <string.h>
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@ -128,11 +136,12 @@
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "timers.h"
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#include "semphr.h"
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/* Standard demo includes. */
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#include "partest.h"
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#include "flash.h"
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#include "flash_timer.h"
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#include "IntQueue.h"
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#include "BlockQ.h"
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#include "death.h"
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@ -156,7 +165,6 @@ tasks check that the values are passed in correctly. */
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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@ -166,18 +174,25 @@ tasks check that the values are passed in correctly. */
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stack than most of the other tasks. */
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#define mainuIP_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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/* The LED toggled by the check task. */
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/* The LED toggled by the check timer. */
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#define mainCHECK_LED ( 3 )
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/* The rate at which mainCHECK_LED will toggle when all the tasks are running
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without error. Controlled by the check task as described at the top of this
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without error. Controlled by the check timer as described at the top of this
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file. */
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#define mainNO_ERROR_CYCLE_TIME ( 5000 / portTICK_RATE_MS )
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#define mainNO_ERROR_CHECK_TIMER_PERIOD_MS ( 5000 / portTICK_RATE_MS )
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/* The rate at which mainCHECK_LED will toggle when an error has been reported
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by at least one task. Controlled by the check task as described at the top of
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by at least one task. Controlled by the check timer as described at the top of
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this file. */
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#define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )
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#define mainERROR_CHECK_TIMER_PERIOD_MS ( 200 / portTICK_RATE_MS )
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/* A block time of zero simply means "don't block". */
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#define mainDONT_BLOCK ( 0UL )
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/* A set of timers are created, each of which toggles and LED. This specifies
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the number of timers to create. */
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#define mainNUMBER_OF_LEDS_TO_FLASH ( 3 )
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/*
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* vApplicationMallocFailedHook() will only be called if
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@ -225,9 +240,9 @@ static void prvRegTest1Implementation( void );
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static void prvRegTest2Implementation( void );
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/*
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* The check task as described at the top of this file.
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* The check timer callback function, as described at the top of this file.
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*/
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static void prvCheckTask( void *pvParameters );
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static void prvCheckTimerCallback( xTimerHandle xTimer );
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/*
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* Contains the implementation of the WEB server.
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@ -251,6 +266,7 @@ const char *pcStatusMessage = "All tasks executing without error.";
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void main(void)
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{
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xTimerHandle xCheckTimer;
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extern void HardwareSetup( void );
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/* Turn all LEDs off. */
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@ -263,22 +279,35 @@ extern void HardwareSetup( void );
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/* The web server task. */
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// xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
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/* Start the check task as described at the top of this file. */
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xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Create the standard demo tasks. */
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vCreateBlockTimeTasks();
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartQueuePeekTasks();
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vStartRecursiveMutexTasks();
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vStartInterruptQueueTasks();
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// vStartMathTasks( mainFLOP_TASK_PRIORITY );
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/* Create the timers used to toggle the LEDs. */
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vStartLEDFlashTimers( mainNUMBER_OF_LEDS_TO_FLASH );
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/* Create the software timer that performs the 'check' functionality,
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as described at the top of this file. */
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xCheckTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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( mainNO_ERROR_CHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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( void * ) 0, /* The ID is not used, so can be set to anything. */
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prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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);
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if( xCheckTimer != NULL )
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{
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xTimerStart( xCheckTimer, mainDONT_BLOCK );
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}
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/* The suicide tasks must be created last as they need to know how many
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tasks were running prior to their creation in order to ascertain whether
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or not the correct/expected number of tasks are running at any given time. */
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@ -287,116 +316,123 @@ extern void HardwareSetup( void );
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/* Start the tasks running. */
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vTaskStartScheduler();
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/* If all is well we will never reach here as the scheduler will now be
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running. If we do reach here then it is likely that there was insufficient
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heap available for the idle task to be created. */
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/* If all is well, the scheduler will now be running, and the following line
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will never be reached. If the following line does execute, then there was
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insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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to be created. See the memory management section on the FreeRTOS web site
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for more details. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTask( void *pvParameters )
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static void prvCheckTimerCallback( xTimerHandle xTimer )
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{
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static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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portTickType xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;
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extern void vSetupHighFrequencyTimer( void );
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static long lChangedTimerPeriodAlready = pdFALSE;
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static unsigned long ulLastRegTest1CycleCount = 0, ulLastRegTest2CycleCount = 0;
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long lErrorFound = pdFALSE;
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/* If this is being executed then the kernel has been started. Start the high
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frequency timer test as described at the top of this file. This is only
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included in the optimised build configuration - otherwise it takes up too much
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CPU time and can disrupt other tests. */
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/* If this is being executed then the kernel has been started. Start the
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high frequency timer test as described at the top of this file. This is
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only included in the optimised build configuration - otherwise it takes up
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too much CPU time and can disrupt other tests. */
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#ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
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vSetupHighFrequencyTimer();
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#endif
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/* Initialise xNextWakeTime - this only needs to be done once. */
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xNextWakeTime = xTaskGetTickCount();
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for( ;; )
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/* Check the standard demo tasks are running without error. */
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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/* Place this task in the blocked state until it is time to run again. */
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vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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/* Check the standard demo tasks are running without error. */
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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/* Increase the rate at which this task cycles, which will increase the
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rate at which mainCHECK_LED flashes to give visual feedback that an error
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has occurred. */
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xCycleFrequency = mainERROR_CYCLE_TIME;
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pcStatusMessage = "Error: GenQueue";
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}
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else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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pcStatusMessage = "Error: QueuePeek";
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}
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else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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pcStatusMessage = "Error: BlockQueue";
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}
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else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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pcStatusMessage = "Error: BlockTime";
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}
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else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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pcStatusMessage = "Error: SemTest";
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}
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else if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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pcStatusMessage = "Error: PollQueue";
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}
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else if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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pcStatusMessage = "Error: Death";
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}
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else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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pcStatusMessage = "Error: IntMath";
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}
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else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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pcStatusMessage = "Error: RecMutex";
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}
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else if( xAreIntQueueTasksStillRunning() != pdPASS )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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pcStatusMessage = "Error: IntQueue";
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}
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lErrorFound = pdTRUE;
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pcStatusMessage = "Error: GenQueue";
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}
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else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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lErrorFound = pdTRUE;
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pcStatusMessage = "Error: QueuePeek";
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}
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else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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lErrorFound = pdTRUE;
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pcStatusMessage = "Error: BlockQueue";
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}
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else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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lErrorFound = pdTRUE;
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pcStatusMessage = "Error: BlockTime";
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}
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else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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lErrorFound = pdTRUE;
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pcStatusMessage = "Error: SemTest";
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}
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else if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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lErrorFound = pdTRUE;
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pcStatusMessage = "Error: PollQueue";
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}
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else if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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lErrorFound = pdTRUE;
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pcStatusMessage = "Error: Death";
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}
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else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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lErrorFound = pdTRUE;
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pcStatusMessage = "Error: IntMath";
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}
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else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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lErrorFound = pdTRUE;
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pcStatusMessage = "Error: RecMutex";
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}
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else if( xAreIntQueueTasksStillRunning() != pdPASS )
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{
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lErrorFound = pdTRUE;
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pcStatusMessage = "Error: IntQueue";
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}
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if( 0 )// else if( xAreMathsTaskStillRunning() != pdPASS )
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{
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lErrorFound = pdTRUE;
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pcStatusMessage = "Error: Flop";
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}
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/* Check the reg test tasks are still cycling. They will stop incrementing
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their loop counters if they encounter an error. */
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if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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{
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lErrorFound = pdTRUE;
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pcStatusMessage = "Error: RegTest1";
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}
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if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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{
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lErrorFound = pdTRUE;
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pcStatusMessage = "Error: RegTest2";
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}
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ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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/* Toggle the check LED to give an indication of the system status. If
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the LED toggles every mainNO_ERROR_CHECK_TIMER_PERIOD_MS milliseconds then
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everything is ok. A faster toggle indicates an error. */
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vParTestToggleLED( mainCHECK_LED );
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/* Have any errors been latch in lErrorFound? If so, shorten the
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period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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This will result in an increase in the rate at which mainCHECK_LED
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toggles. */
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if( lErrorFound != pdFALSE )
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{
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if( lChangedTimerPeriodAlready == pdFALSE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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pcStatusMessage = "Error: Flop";
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lChangedTimerPeriodAlready = pdTRUE;
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/* This call to xTimerChangePeriod() uses a zero block time.
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Functions called from inside of a timer callback function must
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*never* attempt to block. */
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xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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}
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/* Check the reg test tasks are still cycling. They will stop incrementing
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their loop counters if they encounter an error. */
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if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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pcStatusMessage = "Error: RegTest1";
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}
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if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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pcStatusMessage = "Error: RegTest2";
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}
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ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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/* Toggle the check LED to give an indication of the system status. If
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the LED toggles every 5 seconds then everything is ok. A faster toggle
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indicates an error. */
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vParTestToggleLED( mainCHECK_LED );
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}
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}
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/*-----------------------------------------------------------*/
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