mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
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408 lines
17 KiB
C
408 lines
17 KiB
C
/*
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FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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***************************************************************************
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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***************************************************************************
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available on the following
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link: http://www.freertos.org/a00114.html
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that is more than just the market leader, it *
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* is the industry's de facto standard. *
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* *
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* Help yourself get started quickly while simultaneously helping *
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* to support the FreeRTOS project by purchasing a FreeRTOS *
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* tutorial book, reference manual, or both: *
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* http://www.FreeRTOS.org/Documentation *
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* *
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***************************************************************************
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http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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the FAQ page "My application does not run, what could be wrong?". Have you
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defined configASSERT()?
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http://www.FreeRTOS.org/support - In return for receiving this top quality
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embedded software for free we request you assist our global community by
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participating in the support forum.
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http://www.FreeRTOS.org/training - Investing in training allows your team to
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be as productive as possible as early as possible. Now you can receive
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FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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Ltd, and the world's leading authority on the world's leading RTOS.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and commercial middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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/******************************************************************************
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* NOTE 1: This project provides two demo applications. A simple blinky style
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* project, and a more comprehensive test and demo application. The
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* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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* between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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* in main.c. This file implements the comprehensive test and demo version.
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*
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* NOTE 2: This file only contains the source code that is specific to the
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* full demo. Generic functions, such FreeRTOS hook functions, and functions
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* required to configure the hardware, are defined in main.c.
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*
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******************************************************************************
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*
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* main_full() creates all the demo application tasks and software timers, then
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* starts the scheduler. The web documentation provides more details of the
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* standard demo application tasks, which provide no particular functionality,
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* but do provide a good example of how to use the FreeRTOS API.
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*
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* In addition to the standard demo tasks, the following tasks and tests are
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* defined and/or created within this file:
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*
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* "Reg test" tasks - These fill both the microcontroller registers with known
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* values, then check that each register maintains its expected value for the
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* lifetime of the task. Each task uses a different set of values. The reg
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* test tasks execute with a very low priority, so get preempted very
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* frequently. A register containing an unexpected value is indicative of an
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* error in the context switching mechanism.
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*
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* "Check" task - The check task period is initially set to three seconds. The
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* task checks that all the standard demo tasks, and the register check tasks,
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* are not only still executing, but are executing without reporting any errors.
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* If the check task discovers that a task has either stalled, or reported an
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* error, then it changes its own execution period from the initial three
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* seconds, to just 200ms. The check task also toggles an LED each time it is
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* called. This provides a visual indication of the system status: If the LED
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* toggles every three seconds, then no issues have been discovered. If the LED
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* toggles every 200ms, then an issue has been discovered with at least one
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* task.
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*/
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/* Standard includes. */
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#include <stdio.h>
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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 application includes. */
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#include "dynamic.h"
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#include "blocktim.h"
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#include "countsem.h"
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#include "GenQTest.h"
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#include "recmutex.h"
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#include "partest.h"
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#include "EventGroupsDemo.h"
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#include "TaskNotify.h"
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/* Priorities for the check task, as described at the top of this file. */
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#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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/* Parameters for the task that handles the UART command console. */
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#define mainCOMMAND_CONSOLE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainCOMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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/* The LED used by the check timer as described at the top of this file. */
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#define mainCHECK_LED ( 0 )
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/* The period after which the check timer will expire, in ms, provided no errors
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have been reported by any of the standard demo tasks. ms are converted to the
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equivalent in ticks using the pdMS_TO_TICKS() macro. */
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#define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000 )
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/* The period at which the check timer will expire, in ms, if an error has been
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reported in one of the standard demo tasks. ms are converted to the equivalent
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in ticks using the pdMS_TO_TICKS() macro. */
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#define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 200 )
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/* Parameters that are passed into the register check tasks solely for the
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purpose of ensuring parameters are passed into tasks correctly. */
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#define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x1234 )
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#define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x8765 )
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/*-----------------------------------------------------------*/
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/*
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* Called by main() to run the full demo (as opposed to the blinky demo) when
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* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
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*/
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void main_full( void );
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/*
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* The check task, 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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/*
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* Register check tasks, as described at the top of this file. The nature of
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* these files necessitates that they are written in an assembly file, but the
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* entry points are kept in the C file for the convenience of checking the task
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* parameter.
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*/
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static void prvRegTestTaskEntry1( void *pvParameters );
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extern void vRegTest1Implementation( void );
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static void prvRegTestTaskEntry2( void *pvParameters );
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extern void vRegTest2Implementation( void );
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/* Starts the 'standard' UART command console task. UART 0 is used at 19200
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baud. */
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extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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/* Registers a set of example commands that can be used in the command
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console. */
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void vRegisterSampleCLICommands( void );
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/*-----------------------------------------------------------*/
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/* The following two variables are used to communicate the status of the
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register check tasks to the check task. If the variables keep incrementing,
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then the register check tasks have not discovered any errors. If a variable
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stops incrementing, then an error has been found. */
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volatile uint16_t usRegTest1LoopCounter = 0UL, usRegTest2LoopCounter = 0UL;
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/* cOutputBuffer is used by FreeRTOS+CLI. It is declared here so the
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__persistent qualifier can be used. For the buffer to be declared here, rather
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than in FreeRTOS_CLI.c, configAPPLICATION_PROVIDES_cOutputBuffer must be set to
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1 in FreeRTOSConfig.h. */
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__persistent char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ];
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/* Used for maintaining a 32-bit run time stats counter from a 16-bit timer. */
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volatile uint32_t ulRunTimeCounterOverflows = 0;
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/*-----------------------------------------------------------*/
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void main_full( void )
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{
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/* Start all the standard demo/test tasks. They have no particular
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functionality, but do demonstrate how to use the FreeRTOS API and test the
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kernel port. */
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vStartDynamicPriorityTasks();
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vCreateBlockTimeTasks();
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vStartCountingSemaphoreTasks();
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vStartGenericQueueTasks( tskIDLE_PRIORITY );
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vStartRecursiveMutexTasks();
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vStartEventGroupTasks();
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vStartTaskNotifyTask();
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/* Create the register check tasks, as described at the top of this file */
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xTaskCreate( prvRegTestTaskEntry1, /* Task entry point. */
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"Reg1", /* Text name for the task - not used by the kernel. */
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configMINIMAL_STACK_SIZE, /* Stack to allocate to the task - in words not bytes! */
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mainREG_TEST_TASK_1_PARAMETER, /* The parameter passed into the task. */
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tskIDLE_PRIORITY, /* The task's priority. */
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NULL ); /* Task handle is not needed, so NULL is passed. */
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xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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/* Create the task that performs the 'check' functionality, as described at
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the top of this file. */
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xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Register an example set of CLI commands, then start the task that manages
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the CLI using a UART for input and output. */
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vRegisterSampleCLICommands();
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vUARTCommandConsoleStart( mainCOMMAND_CONSOLE_STACK_SIZE, mainCOMMAND_CONSOLE_TASK_PRIORITY );
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/* Start the scheduler. */
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vTaskStartScheduler();
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/* If all is well, the scheduler will now be running, and the following
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line will never be reached. If the following line does execute, then
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there was either insufficient FreeRTOS heap memory available for the idle
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and/or timer tasks to be created. See the memory management section on the
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FreeRTOS web site for more details on the FreeRTOS heap
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http://www.freertos.org/a00111.html. */
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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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{
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TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
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TickType_t xLastExecutionTime;
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static uint16_t usLastRegTest1Value = 0, usLastRegTest2Value = 0;
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uint16_t usErrorFound = pdFALSE;
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/* Just to stop compiler warnings. */
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( void ) pvParameters;
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/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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works correctly. */
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xLastExecutionTime = xTaskGetTickCount();
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/* Cycle for ever, delaying then checking all the other tasks are still
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operating without error. An on-board LED is toggled on each iteration.
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If an error is detected then the delay period is decreased from
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mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
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effect of increasing the rate at which the on-board LED toggles, and in so
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doing gives visual feedback of the system status. */
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for( ;; )
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{
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/* Delay until it is time to execute again. */
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vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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/* Check all the demo tasks to ensure they are all still running, and
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that none have detected an error. */
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if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
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usErrorFound = 1UL << 0UL;
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}
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if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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usErrorFound = 1UL << 1UL;
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}
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if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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usErrorFound = 1UL << 2UL;
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}
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if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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usErrorFound = 1UL << 3UL;
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}
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if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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{
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usErrorFound = 1UL << 4UL;
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}
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if( xAreEventGroupTasksStillRunning() != pdPASS )
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{
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usErrorFound = 1UL << 5UL;
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}
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if( xAreTaskNotificationTasksStillRunning() != pdPASS )
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{
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usErrorFound = 1UL << 6UL;
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}
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/* Check that the register test 1 task is still running. */
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if( usLastRegTest1Value == usRegTest1LoopCounter )
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{
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usErrorFound = 1UL << 7UL;
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}
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usLastRegTest1Value = usRegTest1LoopCounter;
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/* Check that the register test 2 task is still running. */
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if( usLastRegTest2Value == usRegTest2LoopCounter )
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{
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usErrorFound = 1UL << 8UL;
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}
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usLastRegTest2Value = usRegTest2LoopCounter;
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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_TASK_PERIOD 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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if( usErrorFound != pdFALSE )
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{
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/* An error has been detected in one of the tasks - flash the LED
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at a higher frequency to give visible feedback that something has
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gone wrong (it might just be that the loop back connector required
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by the comtest tasks has not been fitted). */
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xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
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}
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}
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}
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/*-----------------------------------------------------------*/
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static void prvRegTestTaskEntry1( void *pvParameters )
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{
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/* Although the regtest task is written in assembler, its entry point is
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written in C for convenience of checking the task parameter is being passed
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in correctly. */
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if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
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{
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/* Start the part of the test that is written in assembler. */
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vRegTest1Implementation();
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}
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/* The following line will only execute if the task parameter is found to
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be incorrect. The check task will detect that the regtest loop counter is
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not being incremented and flag an error. */
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vTaskDelete( NULL );
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}
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/*-----------------------------------------------------------*/
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static void prvRegTestTaskEntry2( void *pvParameters )
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{
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/* Although the regtest task is written in assembler, its entry point is
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written in C for convenience of checking the task parameter is being passed
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in correctly. */
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if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
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{
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/* Start the part of the test that is written in assembler. */
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vRegTest2Implementation();
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}
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/* The following line will only execute if the task parameter is found to
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be incorrect. The check task will detect that the regtest loop counter is
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not being incremented and flag an error. */
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vTaskDelete( NULL );
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}
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/*-----------------------------------------------------------*/
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void vConfigureTimerForRunTimeStats( void )
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{
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/* Configure a timer that is used as the time base for run time stats. See
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http://www.freertos.org/rtos-run-time-stats.html */
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/* Ensure the timer is stopped. */
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TA1CTL = 0;
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/* Start up clean. */
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TA1CTL |= TACLR;
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/* Run the timer from the ACLK/8, continuous mode, interrupt enable. */
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TA1CTL = TASSEL_1 | ID__8 | MC__CONTINUOUS | TAIE;
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}
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/*-----------------------------------------------------------*/
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#pragma vector=TIMER1_A1_VECTOR
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__interrupt void v4RunTimeStatsTimerOverflow( void )
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{
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TA1CTL &= ~TAIFG;
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/* 16-bit overflow, so add 17th bit. */
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ulRunTimeCounterOverflows += 0x10000;
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__bic_SR_register_on_exit( SCG1 + SCG0 + OSCOFF + CPUOFF );
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}
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