mirror of
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311 lines
12 KiB
C
311 lines
12 KiB
C
/*
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FreeRTOS V8.2.2 - 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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* Creates all the demo application tasks, then starts the scheduler.
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*
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* Main.c also creates a task called "Check". This only executes every three
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* seconds but has the highest priority so is guaranteed to get processor time.
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* Its main function is to check that all the other tasks are still operational.
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* Each task (other than the "flash" tasks) maintains a unique count that is
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* incremented each time the task successfully completes its function. Should
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* any error occur within such a task the count is permanently halted. The
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* check task inspects the count of each task to ensure it has changed since
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* the last time the check task executed. If all the count variables have
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* changed all the tasks are still executing error free, and the check task
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* toggles the on board LED. Should any task contain an error at any time
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* the LED toggle rate will change from 3 seconds to 500ms.
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*
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* NOTE: The demo application includes tasks that send and receive characters
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* over the UART. The characters sent by one task are received by another -
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* with an error condition being flagged should any characters be missed or
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* received out of order. A loopback connector is required on the 9way D socket
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* for this mechanism to operation (pins 2 and 3 the socket should be connected
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* together - a paper clip is normally sufficient).
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*
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*/
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/* Standard includes. */
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#include <stdlib.h>
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#include <string.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo application includes. */
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#include "partest.h"
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#include "flash.h"
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#include "integer.h"
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#include "PollQ.h"
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#include "comtest2.h"
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#include "semtest.h"
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#include "flop.h"
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#include "dynamic.h"
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#include "BlockQ.h"
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#include "serial.h"
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#include "demoGpio.h"
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#include "7seg.h"
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#include "RegTest.h"
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/*-----------------------------------------------------------*/
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/* Constants for the ComTest tasks. */
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#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
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#define mainCOM_TEST_LED ( 5 )
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/* Priorities for the demo application tasks. */
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#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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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 main7SEG_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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/* The rate at which the on board LED will toggle when there is/is not an
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error. */
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#define mainNO_ERROR_FLASH_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
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#define mainERROR_FLASH_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
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#define mainON_BOARD_LED_BIT ( ( unsigned long ) 7 )
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/* The size of the memory blocks allocated by the vMemCheckTask() task. */
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#define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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#define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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#define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
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/*-----------------------------------------------------------*/
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/*
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* Checks that all the demo application tasks are still executing without error
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* - as described at the top of the file.
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*/
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static long prvCheckOtherTasksAreStillRunning( void );
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/*
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* The task that executes at the highest priority and calls
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* prvCheckOtherTasksAreStillRunning(). See the description at the top
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* of the file.
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*/
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static void vErrorChecks( void *pvParameters );
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/*
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* Configure the processor for use with the Olimex demo board. This includes
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* setup for the I/O, system clock, and access timings.
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*/
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static void prvSetupHardware( void );
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/*-----------------------------------------------------------*/
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/*
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* Starts all the other tasks, then starts the scheduler.
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*/
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int main( void )
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{
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/* Setup the hardware for use with the Xilinx evaluation board. */
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prvSetupHardware();
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/* Start the demo/test application tasks. */
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartDynamicPriorityTasks();
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vStart7SegTasks( main7SEG_TASK_PRIORITY );
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vStartRegTestTasks();
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/* Start the check task - which is defined in this file. */
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xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Now all the tasks have been started - start the scheduler. */
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vTaskStartScheduler();
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/* Should never reach here! */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void vErrorChecks( void *pvParameters )
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{
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TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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/* Just to stop compiler warnings. */
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( void ) pvParameters;
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/* Cycle for ever, delaying then checking all the other tasks are still
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operating without error. If an error is detected then the delay period
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is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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the on board LED flash rate will increase. */
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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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vTaskDelay( xDelayPeriod );
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/* Check all the standard demo application tasks are executing without
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error. */
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if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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{
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/* An error has been detected in one of the tasks - flash faster. */
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xDelayPeriod = mainERROR_FLASH_PERIOD;
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}
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/* The toggle rate of the LED depends on how long this task delays for.
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An error reduces the delay period and so increases the toggle rate. */
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vParTestToggleLED( mainON_BOARD_LED_BIT );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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/* Initialise LED outputs. */
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vParTestInitialise();
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}
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/*-----------------------------------------------------------*/
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static long prvCheckOtherTasksAreStillRunning( void )
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{
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long lReturn = pdPASS;
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/* Check all the demo tasks (other than the flash tasks) to ensure
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that they are all still running, and that none of them have detected
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an error. */
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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lReturn = pdFAIL;
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}
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if( xAreComTestTasksStillRunning() != pdTRUE )
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{
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lReturn = pdFAIL;
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}
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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lReturn = pdFAIL;
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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lReturn = pdFAIL;
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}
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if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
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lReturn = pdFAIL;
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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lReturn = pdFAIL;
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}
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if( xAreRegTestTasksStillRunning() != pdTRUE )
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{
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lReturn = pdFAIL;
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}
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return lReturn;
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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{
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/* This function will be called if a task overflows its stack. Inspect
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pxCurrentTCB to find the offending task if the overflow was sever enough
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to corrupt the pcTaskName parameter. */
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vParTestSetLED( 4, 1 );
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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void vApplicationMallocFailedHook( void )
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{
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/* This function will be called if a call to pvPortMalloc() fails to return
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the requested memory. pvPortMalloc() is called internally by the scheduler
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whenever a task, queue or semaphore is created. */
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vParTestSetLED( 4, 1 );
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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/* Provide an exit function to prevent a whole load of standard library functions
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being brought into the build. */
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void exit( int status )
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{
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for( ;; );
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}
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