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/*
FreeRTOS V7.0.0 - 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.
*/
/*
* Creates all the demo application tasks, then starts the scheduler. The WEB
* documentation provides more details of the demo application tasks.
*
* 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 onboard LED. Should any task contain an error at any time
* the LED toggle rate will change from 3 seconds to 500ms.
*
* To check the operation of the memory allocator the check task also
* dynamically creates a task before delaying, and deletes it again when it
* wakes. If memory cannot be allocated for the new task the call to xTaskCreate
* will fail and an error is signalled. The dynamically created task itself
* allocates and frees memory just to give the allocator a bit more exercise.
*
*/
/* Standard includes. */
#include <stdlib.h>
#include <string.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo application file headers. */
#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 "partest.h"
/* Priority definitions for most of the tasks in the demo application. Some
tasks just use the idle priority. */
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
/* Baud rate used by the serial port tasks (ComTest tasks). */
#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
/* LED used by the serial port tasks. This is toggled on each character Tx,
and mainCOM_TEST_LED + 1 is toggles on each character Rx. */
#define mainCOM_TEST_LED ( 3 )
/* LED that is toggled by the check task. The check task periodically checks
that all the other tasks are operating without error. If no errors are found
the LED is toggled with mainCHECK_PERIOD frequency. If an error is found
the the toggle rate increases to mainERROR_CHECK_PERIOD. */
#define mainCHECK_TASK_LED ( 5 )
#define mainCHECK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
#define mainERROR_CHECK_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
/* Constants used by the vMemCheckTask() task. */
#define mainCOUNT_INITIAL_VALUE ( ( unsigned long ) 0 )
#define mainNO_TASK ( 0 )
/* 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 )
/*
* The 'Check' task.
*/
static void vErrorChecks( void *pvParameters );
/*
* Checks the unique counts of other tasks to ensure they are still operational.
*/
static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount );
/*
* Dynamically created and deleted during each cycle of the vErrorChecks()
* task. This is done to check the operation of the memory allocator.
* See the top of vErrorChecks for more details.
*/
static void vMemCheckTask( void *pvParameters );
/*-----------------------------------------------------------*/
/*
* Start all the tasks then start the scheduler.
*/
int main( void )
{
/* Setup the LED's for output. */
vParTestInitialise();
/* Start the various standard demo application tasks. */
vStartIntegerMathTasks( tskIDLE_PRIORITY );
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
vStartMathTasks( tskIDLE_PRIORITY );
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
vStartDynamicPriorityTasks();
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
/* Start the 'Check' task. */
xTaskCreate( vErrorChecks, ( signed char * )"Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* In this port, to use preemptive scheduler define configUSE_PREEMPTION
as 1 in portmacro.h. To use the cooperative scheduler define
configUSE_PREEMPTION as 0. */
vTaskStartScheduler();
/* Should never get here! */
return 0;
}
/*-----------------------------------------------------------*/
/*
* 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 mainCHECK_PERIOD to mainERROR_CHECK_PERIOD so
* the on board LED flash rate will increase.
*
* In addition to the standard tests the memory allocator is tested through
* the dynamic creation and deletion of a task each cycle. Each time the
* task is created memory must be allocated for its stack. When the task is
* deleted this memory is returned to the heap. If the task cannot be created
* then it is likely that the memory allocation failed. In addition the
* dynamically created task allocates and frees memory while it runs.
*/
static void vErrorChecks( void *pvParameters )
{
portTickType xDelayPeriod = mainCHECK_PERIOD;
volatile unsigned long ulMemCheckTaskRunningCount;
xTaskHandle xCreatedTask;
portTickType xLastWakeTime;
/* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
functions correctly. */
xLastWakeTime = xTaskGetTickCount();
for( ;; )
{
/* Set ulMemCheckTaskRunningCount to a known value so we can check
later that it has changed. */
ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
/* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
parameter. */
xCreatedTask = mainNO_TASK;
if( xTaskCreate( vMemCheckTask, ( signed char * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
{
/* Could not create the task - we have probably run out of heap. */
xDelayPeriod = mainERROR_CHECK_PERIOD;
}
/* Delay until it is time to execute again. The delay period is
shorter following an error. */
vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
/* Delete the dynamically created task. */
if( xCreatedTask != mainNO_TASK )
{
vTaskDelete( xCreatedTask );
}
/* Check all the standard demo application tasks are executing without
error. ulMemCheckTaskRunningCount is checked to ensure it was
modified by the task just deleted. */
if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
{
/* An error has been detected in one of the tasks - flash faster. */
xDelayPeriod = mainERROR_CHECK_PERIOD;
}
vParTestToggleLED( mainCHECK_TASK_LED );
}
}
/*-----------------------------------------------------------*/
/*
* Check each set of tasks in turn to see if they have experienced any
* error conditions.
*/
static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount )
{
long lNoErrorsDiscovered = ( long ) pdTRUE;
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
lNoErrorsDiscovered = pdFALSE;
}
if( xAreComTestTasksStillRunning() != pdTRUE )
{
lNoErrorsDiscovered = pdFALSE;
}
if( xArePollingQueuesStillRunning() != pdTRUE )
{
lNoErrorsDiscovered = pdFALSE;
}
if( xAreMathsTaskStillRunning() != pdTRUE )
{
lNoErrorsDiscovered = pdFALSE;
}
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
lNoErrorsDiscovered = pdFALSE;
}
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
{
lNoErrorsDiscovered = pdFALSE;
}
if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
lNoErrorsDiscovered = pdFALSE;
}
if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
{
/* The vMemCheckTask task did not increment the counter - it must
have failed. */
lNoErrorsDiscovered = pdFALSE;
}
return lNoErrorsDiscovered;
}
/*-----------------------------------------------------------*/
static void vMemCheckTask( void *pvParameters )
{
unsigned long *pulMemCheckTaskRunningCounter;
void *pvMem1, *pvMem2, *pvMem3;
static long lErrorOccurred = pdFALSE;
/* This task is dynamically created then deleted during each cycle of the
vErrorChecks task to check the operation of the memory allocator. Each time
the task is created memory is allocated for the stack and TCB. Each time
the task is deleted this memory is returned to the heap. This task itself
exercises the allocator by allocating and freeing blocks.
The task executes at the idle priority so does not require a delay.
pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
vErrorChecks() task that this task is still executing without error. */
pulMemCheckTaskRunningCounter = ( unsigned long * ) pvParameters;
for( ;; )
{
if( lErrorOccurred == pdFALSE )
{
/* We have never seen an error so increment the counter. */
( *pulMemCheckTaskRunningCounter )++;
}
else
{
/* Reset the count so an error is detected by the
prvCheckOtherTasksAreStillRunning() function. */
*pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
}
/* Allocate some memory - just to give the allocator some extra
exercise. This has to be in a critical section to ensure the
task does not get deleted while it has memory allocated. */
vTaskSuspendAll();
{
pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
if( pvMem1 == NULL )
{
lErrorOccurred = pdTRUE;
}
else
{
memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
vPortFree( pvMem1 );
}
}
xTaskResumeAll();
/* Again - with a different size block. */
vTaskSuspendAll();
{
pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
if( pvMem2 == NULL )
{
lErrorOccurred = pdTRUE;
}
else
{
memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
vPortFree( pvMem2 );
}
}
xTaskResumeAll();
/* Again - with a different size block. */
vTaskSuspendAll();
{
pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
if( pvMem3 == NULL )
{
lErrorOccurred = pdTRUE;
}
else
{
memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
vPortFree( pvMem3 );
}
}
xTaskResumeAll();
}
}
/*-----------------------------------------------------------*/
/*
* Called by the startup code. Initial processor setup can be placed in this
* function.
*/
void hw_initialise (void)
{
}