| /* | |
| FreeRTOS V8.2.2 - 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! | |
| */ | |
| /* | |
| * Creates all the demo application tasks, then starts the scheduler. The WEB | |
| * documentation provides more details of the demo application tasks. | |
| * | |
| * In addition to the standard demo tasks, the follow demo specific tasks are | |
| * create: | |
| * | |
| * The "Check" task. 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. Most tasks maintain | |
| * 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. | |
| * | |
| * The "Trace Utility" task. This can be used to obtain trace and debug | |
| * information via UART1. | |
| */ | |
| /* Scheduler includes. */ | |
| #include "FreeRTOS.h" | |
| #include "task.h" | |
| #include "semphr.h" | |
| /* Demo application includes. */ | |
| #include "flash.h" | |
| #include "integer.h" | |
| #include "comtest2.h" | |
| #include "PollQ.h" | |
| #include "semtest.h" | |
| #include "BlockQ.h" | |
| #include "dynamic.h" | |
| #include "flop.h" | |
| #include "GenQTest.h" | |
| #include "QPeek.h" | |
| #include "blocktim.h" | |
| #include "death.h" | |
| #include "taskutility.h" | |
| #include "partest.h" | |
| #include "crflash.h" | |
| #include "watchdog.h" | |
| /* Library includes. */ | |
| #include <watchdog.h> | |
| /*-----------------------------------------------------------*/ | |
| /* Demo task priorities. */ | |
| #define WTC_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 ) | |
| #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 ) | |
| #define TASK_UTILITY_PRIORITY ( tskIDLE_PRIORITY ) | |
| #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
| #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
| #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
| #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
| #define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
| #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
| #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY ) | |
| /* Baud rate used by the COM test tasks. */ | |
| #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 ) | |
| /* The frequency at which the 'Check' tasks executes. See the comments at the | |
| top of the page. When the system is operating error free the 'Check' task | |
| toggles an LED every three seconds. If an error is discovered in any task the | |
| rate is increased to 500 milliseconds. [in this case the '*' characters on the | |
| LCD represent LED's] */ | |
| #define mainNO_ERROR_CHECK_DELAY ( (TickType_t) 3000 / portTICK_PERIOD_MS ) | |
| #define mainERROR_CHECK_DELAY ( (TickType_t) 500 / portTICK_PERIOD_MS ) | |
| /* LED assignments for the demo tasks. */ | |
| #define mainNUM_FLASH_CO_ROUTINES 8 | |
| #define mainCOM_TEST_LED 0x05 | |
| #define mainCHECK_TEST_LED 0x07 | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * The function that implements the Check task. See the comments at the head | |
| * of the page for implementation details. | |
| */ | |
| static void vErrorChecks( void *pvParameters ); | |
| /* | |
| * Called by the Check task. Returns pdPASS if all the other tasks are found | |
| * to be operating without error - otherwise returns pdFAIL. | |
| */ | |
| static short prvCheckOtherTasksAreStillRunning( void ); | |
| /* | |
| * Perform any hardware setup necessary for the demo. | |
| */ | |
| static void prvSetupHardware( void ); | |
| /*-----------------------------------------------------------*/ | |
| void main( void ) | |
| { | |
| InitIrqLevels(); /* Initialize interrupts */ | |
| __set_il( 7 ); /* Allow all levels */ | |
| prvSetupHardware(); | |
| #if WATCHDOG == WTC_IN_TASK | |
| vStartWatchdogTask( WTC_TASK_PRIORITY ); | |
| #endif | |
| /* Start the standard demo application tasks. */ | |
| vStartLEDFlashTasks( mainLED_TASK_PRIORITY ); | |
| vStartIntegerMathTasks( tskIDLE_PRIORITY ); | |
| vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
| vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
| vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY ); | |
| vStartDynamicPriorityTasks(); | |
| vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES ); | |
| vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY ); | |
| vCreateBlockTimeTasks(); | |
| /* The definition INCLUDE_TraceListTasks is set within FreeRTOSConfig.h. */ | |
| #if INCLUDE_TraceListTasks == 1 | |
| vUtilityStartTraceTask( TASK_UTILITY_PRIORITY ); | |
| #else | |
| vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 ); | |
| #endif | |
| /* Start the 'Check' task which is defined in this file. */ | |
| xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
| /* The suicide tasks must be started last as they record the number of other | |
| tasks that exist within the system. The value is then used to ensure at run | |
| time the number of tasks that exists is within expected bounds. */ | |
| vCreateSuicidalTasks( mainDEATH_PRIORITY ); | |
| /* Now start the scheduler. Following this call the created tasks should | |
| be executing. */ | |
| vTaskStartScheduler( ); | |
| /* vTaskStartScheduler() will only return if an error occurs while the | |
| idle task is being created. */ | |
| for( ;; ); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static void prvSetupHardware( void ) | |
| { | |
| /* Initialise the port used by the LEDs. */ | |
| vParTestInitialise(); | |
| /* See watchdog.h for definitions relating to the watchdog use. */ | |
| #if WATCHDOG != WTC_NONE | |
| InitWatchdog(); | |
| #endif | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static void vErrorChecks( void *pvParameters ) | |
| { | |
| TickType_t xDelayPeriod = mainNO_ERROR_CHECK_DELAY; | |
| /* Just to remove compiler warnings. */ | |
| ( void ) pvParameters; | |
| /* Cycle for ever, delaying then checking all the other tasks are still | |
| operating without error. */ | |
| for( ;; ) | |
| { | |
| /* Wait until it is time to check again. The time we wait here depends | |
| on whether an error has been detected or not. When an error is | |
| detected the time is shortened resulting in a faster LED flash rate. */ | |
| vTaskDelay( xDelayPeriod ); | |
| /* See if the other tasks are all ok. */ | |
| if( prvCheckOtherTasksAreStillRunning() != pdPASS ) | |
| { | |
| /* An error occurred in one of the tasks so shorten the delay | |
| period - which has the effect of increasing the frequency of the | |
| LED toggle. */ | |
| xDelayPeriod = mainERROR_CHECK_DELAY; | |
| } | |
| /* Flash! */ | |
| vParTestToggleLED( mainCHECK_TEST_LED ); | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static short prvCheckOtherTasksAreStillRunning( void ) | |
| { | |
| static short sNoErrorFound = pdTRUE; | |
| /* The demo tasks maintain a count that increments every cycle of the task | |
| provided that the task has never encountered an error. This function | |
| checks the counts maintained by the tasks to ensure they are still being | |
| incremented. A count remaining at the same value between calls therefore | |
| indicates that an error has been detected. Only tasks that do not flash | |
| an LED are checked. */ | |
| if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
| { | |
| sNoErrorFound = pdFALSE; | |
| } | |
| if( xArePollingQueuesStillRunning() != pdTRUE ) | |
| { | |
| sNoErrorFound = pdFALSE; | |
| } | |
| if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
| { | |
| sNoErrorFound = pdFALSE; | |
| } | |
| if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
| { | |
| sNoErrorFound = pdFALSE; | |
| } | |
| if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
| { | |
| sNoErrorFound = pdFALSE; | |
| } | |
| if( xAreFlashCoRoutinesStillRunning() != pdTRUE ) | |
| { | |
| sNoErrorFound = pdFALSE; | |
| } | |
| if( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
| { | |
| sNoErrorFound = pdFALSE; | |
| } | |
| if( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) | |
| { | |
| sNoErrorFound = pdFALSE; | |
| } | |
| if( xIsCreateTaskStillRunning() != pdTRUE ) | |
| { | |
| sNoErrorFound = pdFALSE; | |
| } | |
| #if INCLUDE_TraceListTasks == 0 | |
| { | |
| if( xAreComTestTasksStillRunning() != pdTRUE ) | |
| { | |
| sNoErrorFound = pdFALSE; | |
| } | |
| } | |
| #endif | |
| return sNoErrorFound; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* Idle hook function. */ | |
| #if configUSE_IDLE_HOOK == 1 | |
| void vApplicationIdleHook( void ) | |
| { | |
| /* Are we using the idle task to kick the watchdog? See watchdog.h | |
| for watchdog kicking options. Note this is for demonstration only | |
| and is not a suggested method of servicing the watchdog in a real | |
| application. */ | |
| #if WATCHDOG == WTC_IN_IDLE | |
| Kick_Watchdog(); | |
| #endif | |
| vCoRoutineSchedule(); | |
| } | |
| #else | |
| #if WATCHDOG == WTC_IN_IDLE | |
| #error configUSE_IDLE_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the idle task hook. | |
| #endif | |
| #endif | |
| /*-----------------------------------------------------------*/ | |
| /* Tick hook function. */ | |
| #if configUSE_TICK_HOOK == 1 | |
| void vApplicationTickHook( void ) | |
| { | |
| /* Are we using the tick to kick the watchdog? See watchdog.h | |
| for watchdog kicking options. Note this is for demonstration | |
| only and is not a suggested method of servicing the watchdog in | |
| a real application. */ | |
| #if WATCHDOG == WTC_IN_TICK | |
| Kick_Watchdog(); | |
| #endif | |
| } | |
| #else | |
| #if WATCHDOG == WTC_IN_TICK | |
| #error configUSE_TICK_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the tick hook. | |
| #endif | |
| #endif | |
| /*-----------------------------------------------------------*/ |