/* | |
* FreeRTOS Kernel V10.3.0 | |
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. | |
* | |
* Permission is hereby granted, free of charge, to any person obtaining a copy of | |
* this software and associated documentation files (the "Software"), to deal in | |
* the Software without restriction, including without limitation the rights to | |
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of | |
* the Software, and to permit persons to whom the Software is furnished to do so, | |
* subject to the following conditions: | |
* | |
* The above copyright notice and this permission notice shall be included in all | |
* copies or substantial portions of the Software. | |
* | |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS | |
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR | |
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER | |
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN | |
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | |
* | |
* http://www.FreeRTOS.org | |
* http://aws.amazon.com/freertos | |
* | |
* 1 tab == 4 spaces! | |
*/ | |
/* | |
NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode. | |
The processor MUST be in supervisor mode when vTaskStartScheduler is | |
called. The demo applications included in the FreeRTOS.org download switch | |
to supervisor mode prior to main being called. If you are not using one of | |
these demo application projects then ensure Supervisor mode is used. | |
*/ | |
/* | |
* 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. | |
* | |
*/ | |
/* | |
Changes from V2.4.2 | |
+ The vErrorChecks() task now dynamically creates then deletes a task each | |
cycle. This tests the operation of the memory allocator. | |
Changes from V2.5.2 | |
+ vParTestInitialise() is called during initialisation to ensure all the | |
LED's start off. | |
*/ | |
/* Standard includes. */ | |
#include <stdlib.h> | |
#include <string.h> | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Demo application includes. */ | |
#include "partest.h" | |
#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" | |
/*-----------------------------------------------------------*/ | |
/* Constants to setup I/O. */ | |
#define mainTX_ENABLE ( ( unsigned long ) 0x0001 ) | |
#define mainRX_ENABLE ( ( unsigned long ) 0x0004 ) | |
#define mainP0_14 ( ( unsigned long ) 0x4000 ) | |
#define mainJTAG_PORT ( ( unsigned long ) 0x3E0000UL ) | |
/* Constants to setup the PLL. */ | |
#define mainPLL_MUL_4 ( ( unsigned char ) 0x0003 ) | |
#define mainPLL_DIV_1 ( ( unsigned char ) 0x0000 ) | |
#define mainPLL_ENABLE ( ( unsigned char ) 0x0001 ) | |
#define mainPLL_CONNECT ( ( unsigned char ) 0x0003 ) | |
#define mainPLL_FEED_BYTE1 ( ( unsigned char ) 0xaa ) | |
#define mainPLL_FEED_BYTE2 ( ( unsigned char ) 0x55 ) | |
#define mainPLL_LOCK ( ( unsigned long ) 0x0400 ) | |
/* Constants to setup the MAM. */ | |
#define mainMAM_TIM_3 ( ( unsigned char ) 0x03 ) | |
#define mainMAM_MODE_FULL ( ( unsigned char ) 0x02 ) | |
/* Constants to setup the peripheral bus. */ | |
#define mainBUS_CLK_FULL ( ( unsigned char ) 0x01 ) | |
/* Constants for the ComTest tasks. */ | |
#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 ) | |
#define mainCOM_TEST_LED ( 3 ) | |
/* Priorities for the demo application tasks. */ | |
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 0 ) | |
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 ) | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 0 ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
/* The rate at which the on board LED will toggle when there is/is not an | |
error. */ | |
#define mainNO_ERROR_FLASH_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS ) | |
#define mainERROR_FLASH_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS ) | |
#define mainON_BOARD_LED_BIT ( ( unsigned long ) 0x80 ) | |
/* 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 Olimex demo board has a single built in LED. This function simply | |
* toggles its state. | |
*/ | |
void prvToggleOnBoardLED( void ); | |
/* | |
* Checks that all the demo application tasks are still executing without error | |
* - as described at the top of the file. | |
*/ | |
static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount ); | |
/* | |
* The task that executes at the highest priority and calls | |
* prvCheckOtherTasksAreStillRunning(). See the description at the top | |
* of the file. | |
*/ | |
static void vErrorChecks( void *pvParameters ); | |
/* | |
* 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 ); | |
/* | |
* Configure the processor for use with the Olimex demo board. This includes | |
* setup for the I/O, system clock, and access timings. | |
*/ | |
static void prvSetupHardware( void ); | |
/*-----------------------------------------------------------*/ | |
/* | |
* Starts all the other tasks, then starts the scheduler. | |
*/ | |
int main( void ) | |
{ | |
/* Setup the hardware for use with the Olimex demo board. */ | |
prvSetupHardware(); | |
/* Start the demo/test 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 - which is defined in this file. */ | |
xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* Now all the tasks have been started - start the scheduler. | |
NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode. | |
The processor MUST be in supervisor mode when vTaskStartScheduler is | |
called. The demo applications included in the FreeRTOS.org download switch | |
to supervisor mode prior to main being called. If you are not using one of | |
these demo application projects then ensure Supervisor mode is used here. */ | |
vTaskStartScheduler(); | |
/* Should never reach here! */ | |
return 0; | |
} | |
/*-----------------------------------------------------------*/ | |
static void vErrorChecks( void *pvParameters ) | |
{ | |
TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD; | |
unsigned long ulMemCheckTaskRunningCount; | |
TaskHandle_t xCreatedTask; | |
/* The parameters are not used in this function. */ | |
( void ) pvParameters; | |
/* 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 mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_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. */ | |
for( ;; ) | |
{ | |
/* Dynamically create a task - passing ulMemCheckTaskRunningCount as a | |
parameter. */ | |
ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE; | |
xCreatedTask = mainNO_TASK; | |
if( xTaskCreate( vMemCheckTask, "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_FLASH_PERIOD; | |
} | |
/* Delay until it is time to execute again. */ | |
vTaskDelay( 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_FLASH_PERIOD; | |
} | |
prvToggleOnBoardLED(); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHardware( void ) | |
{ | |
#ifdef RUN_FROM_RAM | |
/* Remap the interrupt vectors to RAM if we are are running from RAM. */ | |
SCB_MEMMAP = 2; | |
#endif | |
/* Configure the RS2332 pins. All other pins remain at their default of 0. */ | |
PCB_PINSEL0 |= mainTX_ENABLE; | |
PCB_PINSEL0 |= mainRX_ENABLE; | |
/* Set all GPIO to output other than the P0.14 (BSL), and the JTAG pins. | |
The JTAG pins are left as input as I'm not sure what will happen if the | |
Wiggler is connected after powerup - not that it would be a good idea to | |
do that anyway. */ | |
GPIO_IODIR = ~( mainP0_14 + mainJTAG_PORT ); | |
/* Setup the PLL to multiply the XTAL input by 4. */ | |
SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 ); | |
/* Activate the PLL by turning it on then feeding the correct sequence of | |
bytes. */ | |
SCB_PLLCON = mainPLL_ENABLE; | |
SCB_PLLFEED = mainPLL_FEED_BYTE1; | |
SCB_PLLFEED = mainPLL_FEED_BYTE2; | |
/* Wait for the PLL to lock... */ | |
while( !( SCB_PLLSTAT & mainPLL_LOCK ) ); | |
/* ...before connecting it using the feed sequence again. */ | |
SCB_PLLCON = mainPLL_CONNECT; | |
SCB_PLLFEED = mainPLL_FEED_BYTE1; | |
SCB_PLLFEED = mainPLL_FEED_BYTE2; | |
/* Setup and turn on the MAM. Three cycle access is used due to the fast | |
PLL used. It is possible faster overall performance could be obtained by | |
tuning the MAM and PLL settings. */ | |
MAM_TIM = mainMAM_TIM_3; | |
MAM_CR = mainMAM_MODE_FULL; | |
/* Setup the peripheral bus to be the same as the PLL output. */ | |
SCB_VPBDIV = mainBUS_CLK_FULL; | |
/* Initialise LED outputs. */ | |
vParTestInitialise(); | |
} | |
/*-----------------------------------------------------------*/ | |
void prvToggleOnBoardLED( void ) | |
{ | |
unsigned long ulState; | |
ulState = GPIO0_IOPIN; | |
if( ulState & mainON_BOARD_LED_BIT ) | |
{ | |
GPIO_IOCLR = mainON_BOARD_LED_BIT; | |
} | |
else | |
{ | |
GPIO_IOSET = mainON_BOARD_LED_BIT; | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount ) | |
{ | |
long lReturn = ( long ) pdPASS; | |
/* Check all the demo tasks (other than the flash tasks) to ensure | |
that they are all still running, and that none of them have detected | |
an error. */ | |
if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xAreComTestTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xAreMathsTaskStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE ) | |
{ | |
/* The vMemCheckTask did not increment the counter - it must | |
have failed. */ | |
lReturn = ( long ) pdFAIL; | |
} | |
return lReturn; | |
} | |
/*-----------------------------------------------------------*/ | |
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 )++; | |
} | |
/* 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(); | |
} | |
} | |