mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-05-17 02:29:03 -04:00
269 lines
9 KiB
C
269 lines
9 KiB
C
/*
|
|
* FreeRTOS Kernel V10.1.1
|
|
* Copyright (C) 2018 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.
|
|
*
|
|
* http://www.FreeRTOS.org
|
|
* http://aws.amazon.com/freertos
|
|
*
|
|
* 1 tab == 4 spaces!
|
|
*/
|
|
|
|
/*
|
|
* Creates all the demo application tasks, then starts the scheduler.
|
|
*
|
|
* Main.c also creates a task called "Check". This only executes every three
|
|
* seconds but has the highest priority so is guaranteed to get processor time.
|
|
* Its main function is to check that all the other tasks are still operational.
|
|
* Each task (other than the "flash" tasks) maintains a unique count that is
|
|
* incremented each time the task successfully completes its function. Should
|
|
* any error occur within such a task the count is permanently halted. The
|
|
* check task inspects the count of each task to ensure it has changed since
|
|
* the last time the check task executed. If all the count variables have
|
|
* changed all the tasks are still executing error free, and the check task
|
|
* toggles the on board LED. Should any task contain an error at any time
|
|
* the LED toggle rate will change from 3 seconds to 500ms.
|
|
*
|
|
* NOTE: The demo application includes tasks that send and receive characters
|
|
* over the UART. The characters sent by one task are received by another -
|
|
* with an error condition being flagged should any characters be missed or
|
|
* received out of order. A loopback connector is required on the 9way D socket
|
|
* for this mechanism to operation (pins 2 and 3 the socket should be connected
|
|
* together - a paper clip is normally sufficient).
|
|
*
|
|
*/
|
|
|
|
/* Standard includes. */
|
|
#include <stdlib.h>
|
|
#include <string.h>
|
|
|
|
/* Scheduler includes. */
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
|
|
/* Demo application includes. */
|
|
#include "partest.h"
|
|
#include "flash.h"
|
|
#include "integer.h"
|
|
#include "PollQ.h"
|
|
#include "comtest2.h"
|
|
#include "semtest.h"
|
|
#include "flop.h"
|
|
#include "dynamic.h"
|
|
#include "BlockQ.h"
|
|
#include "serial.h"
|
|
#include "demoGpio.h"
|
|
#include "7seg.h"
|
|
#include "RegTest.h"
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Constants for the ComTest tasks. */
|
|
#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
|
|
#define mainCOM_TEST_LED ( 5 )
|
|
|
|
/* Priorities for the demo application tasks. */
|
|
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
|
|
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
|
|
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
|
|
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
|
|
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
|
|
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
|
|
#define main7SEG_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
|
|
|
|
/* The rate at which the on board LED will toggle when there is/is not an
|
|
error. */
|
|
#define mainNO_ERROR_FLASH_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
|
|
#define mainERROR_FLASH_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
|
|
#define mainON_BOARD_LED_BIT ( ( unsigned long ) 7 )
|
|
|
|
/* The size of the memory blocks allocated by the vMemCheckTask() task. */
|
|
#define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
|
|
#define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
|
|
#define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* Checks that all the demo application tasks are still executing without error
|
|
* - as described at the top of the file.
|
|
*/
|
|
static long prvCheckOtherTasksAreStillRunning( void );
|
|
|
|
/*
|
|
* The task that executes at the highest priority and calls
|
|
* prvCheckOtherTasksAreStillRunning(). See the description at the top
|
|
* of the file.
|
|
*/
|
|
static void vErrorChecks( void *pvParameters );
|
|
|
|
/*
|
|
* Configure the processor for use with the Olimex demo board. This includes
|
|
* setup for the I/O, system clock, and access timings.
|
|
*/
|
|
static void prvSetupHardware( void );
|
|
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* Starts all the other tasks, then starts the scheduler.
|
|
*/
|
|
int main( void )
|
|
{
|
|
/* Setup the hardware for use with the Xilinx evaluation board. */
|
|
prvSetupHardware();
|
|
|
|
/* Start the demo/test application tasks. */
|
|
vStartIntegerMathTasks( tskIDLE_PRIORITY );
|
|
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
|
|
vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
|
|
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
|
|
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
|
|
vStartDynamicPriorityTasks();
|
|
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
|
|
vStart7SegTasks( main7SEG_TASK_PRIORITY );
|
|
vStartRegTestTasks();
|
|
|
|
/* Start the check task - which is defined in this file. */
|
|
xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
|
|
|
|
/* Now all the tasks have been started - start the scheduler. */
|
|
vTaskStartScheduler();
|
|
|
|
/* Should never reach here! */
|
|
for( ;; );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void vErrorChecks( void *pvParameters )
|
|
{
|
|
TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
|
|
|
|
/* Just to stop compiler warnings. */
|
|
( void ) pvParameters;
|
|
|
|
/* Cycle for ever, delaying then checking all the other tasks are still
|
|
operating without error. If an error is detected then the delay period
|
|
is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
|
|
the on board LED flash rate will increase. */
|
|
|
|
for( ;; )
|
|
{
|
|
/* Delay until it is time to execute again. */
|
|
vTaskDelay( xDelayPeriod );
|
|
|
|
/* Check all the standard demo application tasks are executing without
|
|
error. */
|
|
if( prvCheckOtherTasksAreStillRunning() != pdPASS )
|
|
{
|
|
/* An error has been detected in one of the tasks - flash faster. */
|
|
xDelayPeriod = mainERROR_FLASH_PERIOD;
|
|
}
|
|
|
|
/* The toggle rate of the LED depends on how long this task delays for.
|
|
An error reduces the delay period and so increases the toggle rate. */
|
|
vParTestToggleLED( mainON_BOARD_LED_BIT );
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvSetupHardware( void )
|
|
{
|
|
/* Initialise LED outputs. */
|
|
vParTestInitialise();
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static long prvCheckOtherTasksAreStillRunning( void )
|
|
{
|
|
long lReturn = pdPASS;
|
|
|
|
/* Check all the demo tasks (other than the flash tasks) to ensure
|
|
that they are all still running, and that none of them have detected
|
|
an error. */
|
|
|
|
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
|
|
{
|
|
lReturn = pdFAIL;
|
|
}
|
|
|
|
if( xAreComTestTasksStillRunning() != pdTRUE )
|
|
{
|
|
lReturn = pdFAIL;
|
|
}
|
|
|
|
if( xArePollingQueuesStillRunning() != pdTRUE )
|
|
{
|
|
lReturn = pdFAIL;
|
|
}
|
|
|
|
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
|
|
{
|
|
lReturn = pdFAIL;
|
|
}
|
|
|
|
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
|
|
{
|
|
lReturn = pdFAIL;
|
|
}
|
|
|
|
if( xAreBlockingQueuesStillRunning() != pdTRUE )
|
|
{
|
|
lReturn = pdFAIL;
|
|
}
|
|
|
|
if( xAreRegTestTasksStillRunning() != pdTRUE )
|
|
{
|
|
lReturn = pdFAIL;
|
|
}
|
|
|
|
return lReturn;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
|
|
{
|
|
/* This function will be called if a task overflows its stack. Inspect
|
|
pxCurrentTCB to find the offending task if the overflow was sever enough
|
|
to corrupt the pcTaskName parameter. */
|
|
vParTestSetLED( 4, 1 );
|
|
for( ;; );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vApplicationMallocFailedHook( void )
|
|
{
|
|
/* This function will be called if a call to pvPortMalloc() fails to return
|
|
the requested memory. pvPortMalloc() is called internally by the scheduler
|
|
whenever a task, queue or semaphore is created. */
|
|
vParTestSetLED( 4, 1 );
|
|
for( ;; );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Provide an exit function to prevent a whole load of standard library functions
|
|
being brought into the build. */
|
|
void exit( int status )
|
|
{
|
|
for( ;; );
|
|
}
|
|
|
|
|