mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-04-23 23:11:58 -04:00
352 lines
15 KiB
C
352 lines
15 KiB
C
/*
|
|
FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
|
|
All rights reserved
|
|
|
|
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
|
|
|
This file is part of the FreeRTOS distribution.
|
|
|
|
FreeRTOS is free software; you can redistribute it and/or modify it under
|
|
the terms of the GNU General Public License (version 2) as published by the
|
|
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
|
|
|
|
***************************************************************************
|
|
>>! NOTE: The modification to the GPL is included to allow you to !<<
|
|
>>! distribute a combined work that includes FreeRTOS without being !<<
|
|
>>! obliged to provide the source code for proprietary components !<<
|
|
>>! outside of the FreeRTOS kernel. !<<
|
|
***************************************************************************
|
|
|
|
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
|
|
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
|
FOR A PARTICULAR PURPOSE. Full license text is available on the following
|
|
link: http://www.freertos.org/a00114.html
|
|
|
|
***************************************************************************
|
|
* *
|
|
* FreeRTOS provides completely free yet professionally developed, *
|
|
* robust, strictly quality controlled, supported, and cross *
|
|
* platform software that is more than just the market leader, it *
|
|
* is the industry's de facto standard. *
|
|
* *
|
|
* Help yourself get started quickly while simultaneously helping *
|
|
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
|
* tutorial book, reference manual, or both: *
|
|
* http://www.FreeRTOS.org/Documentation *
|
|
* *
|
|
***************************************************************************
|
|
|
|
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
|
the FAQ page "My application does not run, what could be wrong?". Have you
|
|
defined configASSERT()?
|
|
|
|
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
|
embedded software for free we request you assist our global community by
|
|
participating in the support forum.
|
|
|
|
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
|
be as productive as possible as early as possible. Now you can receive
|
|
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
|
Ltd, and the world's leading authority on the world's leading RTOS.
|
|
|
|
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
|
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
|
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
|
|
|
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
|
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
|
|
|
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
|
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
|
licenses offer ticketed support, indemnification and commercial middleware.
|
|
|
|
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
|
engineered and independently SIL3 certified version for use in safety and
|
|
mission critical applications that require provable dependability.
|
|
|
|
1 tab == 4 spaces!
|
|
*/
|
|
|
|
/******************************************************************************
|
|
* 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 a set of standard demo tasks, some application specific
|
|
* tasks, and four timers. It then starts the scheduler. The web documentation
|
|
* provides more details of the standard demo application tasks, which provide
|
|
* no particular functionality, but do provide a good example of how to use the
|
|
* FreeRTOS API.
|
|
*
|
|
* In addition to the standard demo tasks, the following tasks and timer are
|
|
* defined and/or created within this file:
|
|
*
|
|
* "Reg test" tasks - These fill the registers with known values, then check
|
|
* that each register maintains its expected value for the lifetime of the
|
|
* task. Each task uses a different set of values. The reg test tasks execute
|
|
* with a very low priority, so get preempted very frequently. A register
|
|
* containing an unexpected value is indicative of an error in the context
|
|
* switching mechanism.
|
|
*
|
|
* "Flash timers" - A software timer callback function is defined that does
|
|
* nothing but toggle an LED. Three software timers are created that each
|
|
* use the same callback function, but each toggles a different LED at a
|
|
* different frequency. One software timer uses LED1, another LED2 and the
|
|
* third LED3.
|
|
*
|
|
* "Check" software timer - The check timer period is initially set to three
|
|
* seconds. Its callback function 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 timer callback discovers that a
|
|
* task has either stalled, or reported an error, then it changes the period of
|
|
* the check timer from the initial three seconds, to just 200ms. The callback
|
|
* function also toggles LED 4 each time it is called. This provides a visual
|
|
* indication of the system status: If the LED toggles every three seconds,
|
|
* then no issues have been discovered. If the LED toggles every 200ms, then
|
|
* an issue has been discovered with at least one task.
|
|
*/
|
|
|
|
/* Kernel includes. */
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
#include "queue.h"
|
|
#include "timers.h"
|
|
|
|
/* Common demo includes. */
|
|
#include "blocktim.h"
|
|
#include "countsem.h"
|
|
#include "recmutex.h"
|
|
#include "ParTest.h"
|
|
#include "dynamic.h"
|
|
|
|
/* Hardware includes. */
|
|
#include "stm320518_eval.h"
|
|
|
|
/* The period after which the check timer will expire 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 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 )
|
|
|
|
/* A block time of zero simply means "don't block". */
|
|
#define mainDONT_BLOCK ( 0UL )
|
|
|
|
/* The base toggle rate used by the flash timers. Each toggle rate is a
|
|
multiple of this. */
|
|
#define mainFLASH_TIMER_BASE_RATE ( 200UL / portTICK_PERIOD_MS )
|
|
|
|
/* The LED toggle by the check timer. */
|
|
#define mainCHECK_LED ( 3 )
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* Register check tasks, as described at the top of this file. The nature of
|
|
* these files necessitates that they are written in an assembly.
|
|
*/
|
|
extern void vRegTest1Task( void *pvParameters );
|
|
extern void vRegTest2Task( void *pvParameters );
|
|
|
|
/*
|
|
* The hardware only has a single LED. Simply toggle it.
|
|
*/
|
|
extern void vMainToggleLED( void );
|
|
|
|
/*
|
|
* The check timer callback function, as described at the top of this file.
|
|
*/
|
|
static void prvCheckTimerCallback( TimerHandle_t xTimer );
|
|
|
|
/*
|
|
* The flash timer callback function, as described at the top of this file.
|
|
* This callback function is assigned to three separate software timers.
|
|
*/
|
|
static void prvFlashTimerCallback( TimerHandle_t xTimer );
|
|
|
|
/*
|
|
* Called by main() to create the comprehensive test/demo application if
|
|
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is not set to 1.
|
|
*/
|
|
void main_full( void );
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* The following two variables are used to communicate the status of the
|
|
register check tasks to the check software timer. If the variables keep
|
|
incrementing, then the register check tasks have not discovered any errors. If
|
|
a variable stops incrementing, then an error has been found. */
|
|
volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void main_full( void )
|
|
{
|
|
TimerHandle_t xTimer = NULL;
|
|
unsigned long ulTimer;
|
|
const unsigned long ulTimersToCreate = 3L;
|
|
/* The register test tasks are asm functions that don't use a stack. The
|
|
stack allocated just has to be large enough to hold the task context, and
|
|
for the additional required for the stack overflow checking to work (if
|
|
configured). */
|
|
const size_t xRegTestStackSize = 25U;
|
|
|
|
/* Create the standard demo tasks */
|
|
vCreateBlockTimeTasks();
|
|
vStartCountingSemaphoreTasks();
|
|
vStartRecursiveMutexTasks();
|
|
vStartDynamicPriorityTasks();
|
|
|
|
/* Create the register test tasks as described at the top of this file.
|
|
These are naked functions that don't use any stack. A stack still has
|
|
to be allocated to hold the task context. */
|
|
xTaskCreate( vRegTest1Task, /* Function that implements the task. */
|
|
"Reg1", /* Text name of the task. */
|
|
xRegTestStackSize, /* Stack allocated to the task. */
|
|
NULL, /* The task parameter is not used. */
|
|
tskIDLE_PRIORITY, /* The priority to assign to the task. */
|
|
NULL ); /* Don't receive a handle back, it is not needed. */
|
|
|
|
xTaskCreate( vRegTest2Task, /* Function that implements the task. */
|
|
"Reg2", /* Text name of the task. */
|
|
xRegTestStackSize, /* Stack allocated to the task. */
|
|
NULL, /* The task parameter is not used. */
|
|
tskIDLE_PRIORITY, /* The priority to assign to the task. */
|
|
NULL ); /* Don't receive a handle back, it is not needed. */
|
|
|
|
/* Create the three flash timers. */
|
|
for( ulTimer = 0UL; ulTimer < ulTimersToCreate; ulTimer++ )
|
|
{
|
|
xTimer = xTimerCreate( "FlashTimer", /* A text name, purely to help debugging. */
|
|
( mainFLASH_TIMER_BASE_RATE * ( ulTimer + 1UL ) ), /* The timer period, in this case 3000ms (3s). */
|
|
pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
|
|
( void * ) ulTimer, /* The ID is used to hold the number of the LED that will be flashed. */
|
|
prvFlashTimerCallback /* The callback function that inspects the status of all the other tasks. */
|
|
);
|
|
|
|
if( xTimer != NULL )
|
|
{
|
|
xTimerStart( xTimer, mainDONT_BLOCK );
|
|
}
|
|
}
|
|
|
|
/* 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 the software timer was created successfully, start it. It won't
|
|
actually start running until the scheduler starts. A block time of
|
|
zero is used in this call, although any value could be used as the block
|
|
time will be ignored because the scheduler has not started yet. */
|
|
if( xTimer != NULL )
|
|
{
|
|
xTimerStart( xTimer, mainDONT_BLOCK );
|
|
}
|
|
|
|
/* Start the kernel. From here on, only tasks and interrupts will run. */
|
|
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, or the FreeRTOS tutorial books for more details. */
|
|
for( ;; );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* See the description at the top of this file. */
|
|
static void prvCheckTimerCallback( TimerHandle_t xTimer )
|
|
{
|
|
static long lChangedTimerPeriodAlready = pdFALSE;
|
|
static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
|
|
unsigned long ulErrorFound = pdFALSE;
|
|
|
|
/* Check all the demo and test tasks to ensure that they are all still
|
|
running, and that none have detected an error. */
|
|
if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
|
|
{
|
|
ulErrorFound |= ( 0x01UL << 0UL );
|
|
}
|
|
|
|
if( xAreBlockTimeTestTasksStillRunning() != pdPASS )
|
|
{
|
|
ulErrorFound |= ( 0x01UL << 1UL );
|
|
}
|
|
|
|
if( xAreCountingSemaphoreTasksStillRunning() != pdPASS )
|
|
{
|
|
ulErrorFound |= ( 0x01UL << 2UL );
|
|
}
|
|
|
|
if( xAreRecursiveMutexTasksStillRunning() != pdPASS )
|
|
{
|
|
ulErrorFound |= ( 0x01UL << 3UL );
|
|
}
|
|
|
|
/* Check that the register test 1 task is still running. */
|
|
if( ulLastRegTest1Value == ulRegTest1LoopCounter )
|
|
{
|
|
ulErrorFound |= ( 0x01UL << 4UL );
|
|
}
|
|
ulLastRegTest1Value = ulRegTest1LoopCounter;
|
|
|
|
/* Check that the register test 2 task is still running. */
|
|
if( ulLastRegTest2Value == ulRegTest2LoopCounter )
|
|
{
|
|
ulErrorFound |= ( 0x01UL << 5UL );
|
|
}
|
|
ulLastRegTest2Value = ulRegTest2LoopCounter;
|
|
|
|
/* Toggle the check LED to give an indication of the system status. If
|
|
the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
|
|
everything is ok. A faster toggle indicates an error. */
|
|
vParTestToggleLED( mainCHECK_LED );
|
|
|
|
/* Have any errors been latched in ulErrorFound? If so, shorten the
|
|
period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
|
|
This will result in an increase in the rate at which mainCHECK_LED
|
|
toggles. */
|
|
if( ulErrorFound != pdFALSE )
|
|
{
|
|
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. */
|
|
xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
|
|
}
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvFlashTimerCallback( TimerHandle_t xTimer )
|
|
{
|
|
unsigned long ulLED;
|
|
|
|
/* This callback function is assigned to three separate software timers.
|
|
Each timer toggles a different LED. Obtain the number of the LED that
|
|
this timer is toggling. */
|
|
ulLED = ( unsigned long ) pvTimerGetTimerID( xTimer );
|
|
|
|
/* Toggle the LED. */
|
|
vParTestToggleLED( ulLED );
|
|
}
|
|
|