FreeRTOS-Kernel/FreeRTOS/Demo/PIC32MZ_MPLAB/main_full.c

/*
 * FreeRTOS V202212.00
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

/******************************************************************************
 * NOTE 1:  This project provides two demo applications.  A simple blinky style
 * project, and a more comprehensive test and demo application.  The
 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
 * between the two.  See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
 * in main.c.  This file implements the comprehensive test and demo version.
 *
 * NOTE 2:  This file only contains the source code that is specific to the
 * full demo.  Generic functions, such FreeRTOS hook functions, and functions
 * required to configure the hardware, are defined in main.c.
 ******************************************************************************
 *
 * main_full() creates all the demo application tasks and software timers, then
 * starts the scheduler.  The WEB documentation provides more details of the
 * standard demo application tasks.  In addition to the standard demo tasks, the
 * following tasks and tests are also defined:
 *
 * "Register test" tasks - These tasks are used in part to test the kernel port.
 * They set each processor register to a known value, then check that the
 * register still contains that value.  Each of the tasks sets the registers
 * to different values, and will get swapping in and out between setting and
 * then subsequently checking the register values.  Discovery of an incorrect
 * value would be indicative of an error in the task switching mechanism.
 *
 * "ISR triggered task" - This is provided as an example of how to write a
 * FreeRTOS compatible interrupt service routine.  See the comments in
 * ISRTriggeredTask.c.
 *
 * "High Frequency Timer Test" - The high frequency timer is created to test
 * the interrupt nesting method.  The standard demo interrupt nesting test tasks
 * are created with priorities at or below configMAX_SYSCALL_INTERRUPT_PRIORITY
 * because they use interrupt safe FreeRTOS API functions.  The high frequency
 * time is created with a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY,
 * so cannot us the same API functions.
 *
 * By way of demonstration, the demo application defines
 * configMAX_SYSCALL_INTERRUPT_PRIORITY to be 3, configKERNEL_INTERRUPT_PRIORITY
 * to be 1, and all other interrupts as follows:
 *
 * See the online documentation for this demo for more information on interrupt
 * usage.
 *
 * "Check" timer - The check software timer period is initially set to three
 * seconds.  The callback function associated with the check software timer
 * checks that all the standard demo tasks, and the register check tasks, are
 * not only still executing, but are executing without reporting any errors.  If
 * the check software timer discovers that a task has either stalled, or
 * reported an error, then it changes its own execution period from the initial
 * three seconds, to just 200ms.  The check software timer also toggle LED
 * mainCHECK_LED;  If mainCHECK_LED toggles every 3 seconds, no errors have
 * been detected.  If mainCHECK_LED toggles every 200ms then an error has been
 * detected in at least one task.
 *
 */

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
#include "timers.h"

/* Demo application includes. */
#include "partest.h"
#include "blocktim.h"
#include "flash_timer.h"
#include "semtest.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "IntQueue.h"
#include "countsem.h"
#include "dynamic.h"
#include "QueueOverwrite.h"
#include "QueueSet.h"
#include "recmutex.h"
#include "EventGroupsDemo.h"
#include "flop_mz.h"

/*-----------------------------------------------------------*/

/* The period after which the check timer will expire, in ms, provided no errors
 * have been reported by any of the standard demo tasks.  ms are converted to the
 * equivalent in ticks using the portTICK_PERIOD_MS constant. */
#define mainCHECK_TIMER_PERIOD_MS            ( 3000UL / portTICK_PERIOD_MS )

/* The period at which the check timer will expire, in ms, if an error has been
 * reported in one of the standard demo tasks.  ms are converted to the equivalent
 * in ticks using the portTICK_PERIOD_MS constant. */
#define mainERROR_CHECK_TIMER_PERIOD_MS      ( 200UL / portTICK_PERIOD_MS )

/* The priorities of the various demo application tasks. */
#define mainSEM_TEST_PRIORITY                ( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY                 ( tskIDLE_PRIORITY + 2 )
#define mainCOM_TEST_PRIORITY                ( tskIDLE_PRIORITY + 2 )
#define mainINTEGER_TASK_PRIORITY            ( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY          ( tskIDLE_PRIORITY )
#define mainQUEUE_OVERWRITE_TASK_PRIORITY    ( tskIDLE_PRIORITY )
#define mainFLOP_TASK_PRIORITY               ( tskIDLE_PRIORITY )

/* The LED controlled by the 'check' software timer. */
#define mainCHECK_LED                        ( 2 )

/* The number of LEDs that should be controlled by the flash software timer
 * standard demo.  In this case it is only 1 as the starter kit has three LEDs, one
 * of which is controlled by the check timer and one of which is controlled by the
 * ISR triggered task. */
#define mainNUM_FLASH_TIMER_LEDS             ( 1 )

/* Misc. */
#define mainDONT_BLOCK                       ( 0 )

/* The frequency at which the "high frequency interrupt" interrupt will
 * occur. */
#define mainTEST_INTERRUPT_FREQUENCY         ( 20000 )

/*-----------------------------------------------------------*/

/*
 * The check timer callback function, as described at the top of this file.
 */
static void prvCheckTimerCallback( TimerHandle_t xTimer );

/*
 * It is important to ensure the high frequency timer test does not start before
 * the kernel.  It is therefore started from inside a software timer callback
 * function, which will not execute until the timer service/daemon task is
 * executing.  A one-shot timer is used, so the callback function will only
 * execute once (unless it is manually reset/restarted).
 */
static void prvSetupHighFrequencyTimerTest( TimerHandle_t xTimer );

/*
 * Tasks that test the context switch mechanism by filling the processor
 * registers with known values, then checking that the values contained
 * within the registers is as expected.  The tasks are likely to get swapped
 * in and out between setting the register values and checking the register
 * values.
 */
static void prvRegTestTask1( void * pvParameters );
static void prvRegTestTask2( void * pvParameters );

/*
 * The task that is periodically triggered by an interrupt, as described at the
 * top of this file.
 */
extern void vStartISRTriggeredTask( void );

/*-----------------------------------------------------------*/

/* Variables incremented by prvRegTestTask1() and prvRegTestTask2() respectively
 * on each iteration of their function.  These are used to detect errors in the
 * reg test tasks. */
volatile unsigned long ulRegTest1Cycles = 0, ulRegTest2Cycles = 0;

/*-----------------------------------------------------------*/

/*
 * Create the demo tasks then start the scheduler.
 */
int main_full( void )
{
    TimerHandle_t xTimer = NULL;

    /* Create all the other standard demo tasks. */
    vStartLEDFlashTimers( mainNUM_FLASH_TIMER_LEDS );
    vCreateBlockTimeTasks();
    vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
    vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
    vStartQueuePeekTasks();
    vStartInterruptQueueTasks();
    vStartISRTriggeredTask();
    vStartCountingSemaphoreTasks();
    vStartDynamicPriorityTasks();
    vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_TASK_PRIORITY );
    vStartQueueSetTasks();
    vStartRecursiveMutexTasks();
    vStartEventGroupTasks();
    vStartMathTasks( mainFLOP_TASK_PRIORITY );

    /* Create the tasks defined within this file. */
    xTaskCreate( prvRegTestTask1,          /* The function that implements the task. */
                 "Reg1",                   /* Text name for the task to assist debugger - not used by FreeRTOS itself. */
                 configMINIMAL_STACK_SIZE, /* The stack size to allocate for the task - specified in words not bytes. */
                 NULL,                     /* The parameter to pass into the task - not used in this case so set to NULL. */
                 tskIDLE_PRIORITY,         /* The priority to assign to the task. */
                 NULL );                   /* Used to obtain a handle to the task being created - not used in this case so set to NULL. */

    xTaskCreate( prvRegTestTask2, "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );

    /* Create the software timer that performs the 'check' functionality, as
     * described at the top of this file. */
    xTimer = xTimerCreate( "CheckTimer",                  /* A text name, purely to help debugging. */
                           ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
                           pdTRUE,                        /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
                           ( void * ) 0,                  /* The ID is not used, so can be set to anything. */
                           prvCheckTimerCallback );       /* The callback function that inspects the status of all the other tasks. */

    if( xTimer != NULL )
    {
        xTimerStart( xTimer, mainDONT_BLOCK );
    }

    /* A software timer is also used to start the high frequency timer test.
     * This is to ensure the test does not start before the kernel.  This time a
     * one-shot software timer is used. */
    xTimer = xTimerCreate( "HighHzTimerSetup", 1, pdFALSE, ( void * ) 0, prvSetupHighFrequencyTimerTest );

    if( xTimer != NULL )
    {
        xTimerStart( xTimer, mainDONT_BLOCK );
    }

    /* Finally start the scheduler. */
    vTaskStartScheduler();

    /* If all is well, the scheduler will now be running, and the following line
     * will never be reached.  If the following line does execute, then there was
     * insufficient FreeRTOS heap memory available for the idle and/or timer tasks
     * to be created.  See the memory management section on the FreeRTOS web site
     * for more details.  http://www.freertos.org/a00111.html */
    for( ; ; )
    {
    }
}
/*-----------------------------------------------------------*/

static void prvRegTestTask1( void * pvParameters )
{
    extern void vRegTest1( volatile unsigned long * );

    /* Avoid compiler warnings. */
    ( void ) pvParameters;

    /* Must be called before any hardware floating point operations are
     * performed to let the RTOS portable layer know that this task requires
     * a floating point context. */
    portTASK_USES_FLOATING_POINT();

    /* Pass the address of the RegTest1 loop counter into the test function,
     * which is necessarily implemented in assembler. */
    vRegTest1( &ulRegTest1Cycles );

    /* vRegTest1 should never exit! */
    vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/

static void prvRegTestTask2( void * pvParameters )
{
    extern void vRegTest2( volatile unsigned long * );

    /* Avoid compiler warnings. */
    ( void ) pvParameters;

    /* Must be called before any hardware floating point operations are
     * performed to let the RTOS portable layer know that this task requires
     * a floating point context. */
    portTASK_USES_FLOATING_POINT();

    /* Pass the address of the RegTest2 loop counter into the test function,
     * which is necessarily implemented in assembler. */
    vRegTest2( &ulRegTest2Cycles );

    /* vRegTest1 should never exit! */
    vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/

static void prvCheckTimerCallback( TimerHandle_t xTimer )
{
    static long lChangedTimerPeriodAlready = pdFALSE;
    static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0, ulLastHighFrequencyTimerInterrupts = 0;
    static const unsigned long ulExpectedHighFrequencyInterrupts = ( ( mainTEST_INTERRUPT_FREQUENCY / 1000UL ) * mainCHECK_TIMER_PERIOD_MS ) - 10; /* 10 allows for a margin of error. */
    unsigned long ulErrorOccurred = pdFALSE;

/* The count of the high frequency timer interrupts. */
    extern unsigned long ulHighFrequencyTimerInterrupts;

    /* Avoid compiler warnings. */
    ( void ) xTimer;

    /* Check that the register test 1 task is still running. */
    if( ulLastRegTest1Value == ulRegTest1Cycles )
    {
        ulErrorOccurred |= ( 0x01UL << 1UL );
    }

    ulLastRegTest1Value = ulRegTest1Cycles;

    /* Check that the register test 2 task is still running. */
    if( ulLastRegTest2Value == ulRegTest2Cycles )
    {
        ulErrorOccurred |= ( 0x01UL << 2UL );
    }

    ulLastRegTest2Value = ulRegTest2Cycles;

    /* Have any of the standard demo tasks detected an error in their
     * operation? */
    if( xAreGenericQueueTasksStillRunning() != pdTRUE )
    {
        ulErrorOccurred |= ( 0x01UL << 3UL );
    }
    else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
    {
        ulErrorOccurred |= ( 0x01UL << 4UL );
    }
    else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
    {
        ulErrorOccurred |= ( 0x01UL << 5UL );
    }
    else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
    {
        ulErrorOccurred |= ( 0x01UL << 6UL );
    }
    else if( xAreIntQueueTasksStillRunning() != pdTRUE )
    {
        ulErrorOccurred |= ( 0x01UL << 7UL );
    }
    else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
    {
        ulErrorOccurred |= ( 0x01UL << 8UL );
    }
    else if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
    {
        ulErrorOccurred |= ( 0x01UL << 9UL );
    }
    else if( xIsQueueOverwriteTaskStillRunning() != pdTRUE )
    {
        ulErrorOccurred |= ( 0x01UL << 10UL );
    }
    else if( xAreQueueSetTasksStillRunning() != pdTRUE )
    {
        ulErrorOccurred |= ( 0x01UL << 11UL );
    }
    else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
    {
        ulErrorOccurred |= ( 0x01UL << 12UL );
    }
    else if( xAreEventGroupTasksStillRunning() != pdTRUE )
    {
        ulErrorOccurred |= ( 0x01UL << 13UL );
    }
    else if( xAreMathsTaskStillRunning() != pdTRUE )
    {
        ulErrorOccurred |= ( 0x01UL << 15UL );
    }

    /* Ensure the expected number of high frequency interrupts have occurred. */
    if( ulLastHighFrequencyTimerInterrupts != 0 )
    {
        if( ( ulHighFrequencyTimerInterrupts - ulLastHighFrequencyTimerInterrupts ) < ulExpectedHighFrequencyInterrupts )
        {
            ulErrorOccurred |= ( 0x01UL << 14UL );
        }
    }

    ulLastHighFrequencyTimerInterrupts = ulHighFrequencyTimerInterrupts;

    if( ulErrorOccurred != pdFALSE )
    {
        /* An error occurred.  Increase the frequency at which the check timer
         * toggles its LED to give visual feedback of the potential error
         * condition. */
        if( lChangedTimerPeriodAlready == pdFALSE )
        {
            lChangedTimerPeriodAlready = pdTRUE;

            /* This call to xTimerChangePeriod() uses a zero block time.
             * Functions called from inside of a timer callback function must
             * never* attempt	to block as to do so could impact other software
             * timers. */
            xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
        }
    }

    vParTestToggleLED( mainCHECK_LED );
}
/*-----------------------------------------------------------*/

static void prvSetupHighFrequencyTimerTest( TimerHandle_t xTimer )
{
    void vSetupTimerTest( unsigned short usFrequencyHz );

    /* Avoid compiler warnings. */
    ( void ) xTimer;

    /* Setup the high frequency, high priority, timer test.  It is setup in this
     * software timer callback to ensure it does not start before the kernel does.
     * This is a one-shot timer - so the setup routine will only be executed once. */
    vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );
}
/*-----------------------------------------------------------*/