mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-06-04 03:19:04 -04:00
422 lines
17 KiB
C
422 lines
17 KiB
C
/*
|
|
FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd.
|
|
|
|
|
|
***************************************************************************
|
|
* *
|
|
* FreeRTOS tutorial books are available in pdf and paperback. *
|
|
* Complete, revised, and edited pdf reference manuals are also *
|
|
* available. *
|
|
* *
|
|
* Purchasing FreeRTOS documentation will not only help you, by *
|
|
* ensuring you get running as quickly as possible and with an *
|
|
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
|
* the FreeRTOS project to continue with its mission of providing *
|
|
* professional grade, cross platform, de facto standard solutions *
|
|
* for microcontrollers - completely free of charge! *
|
|
* *
|
|
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
|
* *
|
|
* Thank you for using FreeRTOS, and thank you for your support! *
|
|
* *
|
|
***************************************************************************
|
|
|
|
|
|
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. See the GNU General Public License for
|
|
more details. You should have received a copy of the GNU General Public
|
|
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
|
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
|
by writing to Richard Barry, contact details for whom are available on the
|
|
FreeRTOS WEB site.
|
|
|
|
1 tab == 4 spaces!
|
|
|
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
|
contact details.
|
|
|
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
|
critical systems.
|
|
|
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
|
licensing and training services.
|
|
*/
|
|
|
|
/*
|
|
* main() creates all the demo application tasks and a software timer, 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 tests are
|
|
* defined and/or created within this file:
|
|
*
|
|
* "Reg test" tasks - These fill both the core and floating point 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.
|
|
*
|
|
* "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 callback function
|
|
* also toggles the single LED 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.
|
|
*
|
|
*
|
|
* Additional code:
|
|
*
|
|
* This demo does not contain a non-kernel interrupt service routine that
|
|
* can be used as an example for application writers to use as a reference.
|
|
* Therefore, the framework of a dummy (not installed) handler is provided
|
|
* in this file. The dummy function is called Dummy_IRQHandler(). Please
|
|
* ensure to read the comments in the function itself, but more importantly,
|
|
* the notes on the function contained on the documentation page for this demo
|
|
* that is found on the FreeRTOS.org web site.
|
|
*/
|
|
|
|
/* Standard includes. */
|
|
#include <stdio.h>
|
|
|
|
/* Kernel includes. */
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
#include "timers.h"
|
|
#include "semphr.h"
|
|
|
|
/* Standard demo application includes. */
|
|
#include "flop.h"
|
|
#include "integer.h"
|
|
#include "PollQ.h"
|
|
#include "semtest.h"
|
|
#include "dynamic.h"
|
|
#include "BlockQ.h"
|
|
#include "blocktim.h"
|
|
#include "countsem.h"
|
|
#include "GenQTest.h"
|
|
#include "recmutex.h"
|
|
#include "death.h"
|
|
|
|
/* Hardware includes. */
|
|
#include "XMC4500.h"
|
|
#include "System_XMC4500.h"
|
|
|
|
/* Priorities for the demo application tasks. */
|
|
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
|
|
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
|
|
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
|
|
#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
|
|
#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
|
|
|
|
/* To toggle the single LED */
|
|
#define mainTOGGLE_LED() ( PORT3->OMR = 0x02000200 )
|
|
|
|
/* A block time of zero simply means "don't block". */
|
|
#define mainDONT_BLOCK ( 0UL )
|
|
|
|
/* 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_RATE_MS constant. */
|
|
#define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_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_RATE_MS constant. */
|
|
#define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* Set up the hardware ready to run this demo.
|
|
*/
|
|
static void prvSetupHardware( void );
|
|
|
|
/*
|
|
* The check timer callback function, as described at the top of this file.
|
|
*/
|
|
static void prvCheckTimerCallback( xTimerHandle xTimer );
|
|
|
|
/*
|
|
* Register check tasks, and the tasks used to write over and check the contents
|
|
* of the FPU registers, as described at the top of this file. The nature of
|
|
* these files necessitates that they are written in an assembly file.
|
|
*/
|
|
extern void vRegTest1Task( void *pvParameters );
|
|
extern void vRegTest2Task( void *pvParameters );
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* 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 has not discovered any errors. If
|
|
a variable stops incrementing, then an error has been found. */
|
|
volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
int main( void )
|
|
{
|
|
xTimerHandle xCheckTimer = NULL;
|
|
|
|
/* Configure the hardware ready to run the test. */
|
|
prvSetupHardware();
|
|
|
|
/* Start all the other standard demo/test tasks. The have not particular
|
|
functionality, but do demonstrate how to use the FreeRTOS API and test the
|
|
kernel port. */
|
|
vStartIntegerMathTasks( tskIDLE_PRIORITY );
|
|
vStartDynamicPriorityTasks();
|
|
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
|
|
vCreateBlockTimeTasks();
|
|
vStartCountingSemaphoreTasks();
|
|
vStartGenericQueueTasks( tskIDLE_PRIORITY );
|
|
vStartRecursiveMutexTasks();
|
|
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
|
|
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
|
|
vStartMathTasks( mainFLOP_TASK_PRIORITY );
|
|
|
|
/* Create the register check tasks, as described at the top of this
|
|
file */
|
|
xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
|
|
xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
|
|
|
|
/* Create the software timer that performs the 'check' functionality,
|
|
as described at the top of this file. */
|
|
xCheckTimer = xTimerCreate( ( const signed char * ) "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( xCheckTimer != NULL )
|
|
{
|
|
xTimerStart( xCheckTimer, mainDONT_BLOCK );
|
|
}
|
|
|
|
/* The set of tasks created by the following function call have to be
|
|
created last as they keep account of the number of tasks they expect to see
|
|
running. */
|
|
vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
|
|
|
|
/* 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. */
|
|
for( ;; );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvCheckTimerCallback( xTimerHandle xTimer )
|
|
{
|
|
static long lChangedTimerPeriodAlready = pdFALSE;
|
|
static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
|
|
unsigned long ulErrorFound = pdFALSE;
|
|
|
|
/* Check all the demo tasks (other than the flash tasks) to ensure
|
|
that they are all still running, and that none have detected an error. */
|
|
|
|
if( xAreMathsTaskStillRunning() != pdTRUE )
|
|
{
|
|
ulErrorFound = pdTRUE;
|
|
}
|
|
|
|
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
|
|
{
|
|
ulErrorFound = pdTRUE;
|
|
}
|
|
|
|
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
|
|
{
|
|
ulErrorFound = pdTRUE;
|
|
}
|
|
|
|
if( xAreBlockingQueuesStillRunning() != pdTRUE )
|
|
{
|
|
ulErrorFound = pdTRUE;
|
|
}
|
|
|
|
if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
|
|
{
|
|
ulErrorFound = pdTRUE;
|
|
}
|
|
|
|
if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
|
|
{
|
|
ulErrorFound = pdTRUE;
|
|
}
|
|
|
|
if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
|
|
{
|
|
ulErrorFound = pdTRUE;
|
|
}
|
|
|
|
if( xIsCreateTaskStillRunning() != pdTRUE )
|
|
{
|
|
ulErrorFound = pdTRUE;
|
|
}
|
|
|
|
if( xArePollingQueuesStillRunning() != pdTRUE )
|
|
{
|
|
ulErrorFound = pdTRUE;
|
|
}
|
|
|
|
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
|
|
{
|
|
ulErrorFound = pdTRUE;
|
|
}
|
|
|
|
/* Check that the register test 1 task is still running. */
|
|
if( ulLastRegTest1Value == ulRegTest1LoopCounter )
|
|
{
|
|
ulErrorFound = pdTRUE;
|
|
}
|
|
ulLastRegTest1Value = ulRegTest1LoopCounter;
|
|
|
|
/* Check that the register test 2 task is still running. */
|
|
if( ulLastRegTest2Value == ulRegTest2LoopCounter )
|
|
{
|
|
ulErrorFound = pdTRUE;
|
|
}
|
|
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. */
|
|
mainTOGGLE_LED();
|
|
|
|
/* Have any errors been latch 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 prvSetupHardware( void )
|
|
{
|
|
extern void SystemCoreClockUpdate( void );
|
|
|
|
/* Ensure SystemCoreClock variable is set. */
|
|
SystemCoreClockUpdate();
|
|
|
|
/* Configure pin P3.9 for the LED. */
|
|
PORT3->IOCR8 = 0x00008000;
|
|
|
|
/* Ensure all priority bits are assigned as preemption priority bits. */
|
|
NVIC_SetPriorityGrouping( 0 );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vApplicationMallocFailedHook( void )
|
|
{
|
|
/* vApplicationMallocFailedHook() will only be called if
|
|
configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
|
|
function that will get called if a call to pvPortMalloc() fails.
|
|
pvPortMalloc() is called internally by the kernel whenever a task, queue,
|
|
timer or semaphore is created. It is also called by various parts of the
|
|
demo application. If heap_1.c or heap_2.c are used, then the size of the
|
|
heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
|
|
FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
|
|
to query the size of free heap space that remains (although it does not
|
|
provide information on how the remaining heap might be fragmented). */
|
|
taskDISABLE_INTERRUPTS();
|
|
for( ;; );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vApplicationIdleHook( void )
|
|
{
|
|
/* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
|
|
to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
|
|
task. It is essential that code added to this hook function never attempts
|
|
to block in any way (for example, call xQueueReceive() with a block time
|
|
specified, or call vTaskDelay()). If the application makes use of the
|
|
vTaskDelete() API function (as this demo application does) then it is also
|
|
important that vApplicationIdleHook() is permitted to return to its calling
|
|
function, because it is the responsibility of the idle task to clean up
|
|
memory allocated by the kernel to any task that has since been deleted. */
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
|
|
{
|
|
( void ) pcTaskName;
|
|
( void ) pxTask;
|
|
|
|
/* Run time stack overflow checking is performed if
|
|
configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
|
|
function is called if a stack overflow is detected. */
|
|
taskDISABLE_INTERRUPTS();
|
|
for( ;; );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vApplicationTickHook( void )
|
|
{
|
|
/* This function will be called by each tick interrupt if
|
|
configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h. User code can be
|
|
added here, but the tick hook is called from an interrupt context, so
|
|
code must not attempt to block, and only the interrupt safe FreeRTOS API
|
|
functions can be used (those that end in FromISR()). */
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#ifdef JUST_AN_EXAMPLE_ISR
|
|
|
|
void Dummy_IRQHandler(void)
|
|
{
|
|
long lHigherPriorityTaskWoken = pdFALSE;
|
|
|
|
/* Clear the interrupt if necessary. */
|
|
Dummy_ClearITPendingBit();
|
|
|
|
/* This interrupt does nothing more than demonstrate how to synchronise a
|
|
task with an interrupt. A semaphore is used for this purpose. Note
|
|
lHigherPriorityTaskWoken is initialised to zero. */
|
|
xSemaphoreGiveFromISR( xTestSemaphore, &lHigherPriorityTaskWoken );
|
|
|
|
/* If there was a task that was blocked on the semaphore, and giving the
|
|
semaphore caused the task to unblock, and the unblocked task has a priority
|
|
higher than the current Running state task (the task that this interrupt
|
|
interrupted), then lHigherPriorityTaskWoken will have been set to pdTRUE
|
|
internally within xSemaphoreGiveFromISR(). Passing pdTRUE into the
|
|
portEND_SWITCHING_ISR() macro will result in a context switch being pended to
|
|
ensure this interrupt returns directly to the unblocked, higher priority,
|
|
task. Passing pdFALSE into portEND_SWITCHING_ISR() has no effect. */
|
|
portEND_SWITCHING_ISR( lHigherPriorityTaskWoken );
|
|
}
|
|
|
|
#endif /* JUST_AN_EXAMPLE_ISR */
|