/* | |
* 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 1: This project provides two demo applications. A simple blinky style | |
* project, and a more comprehensive test and demo application. The | |
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select | |
* between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY | |
* in main.c. This file implements the comprehensive test and demo version. | |
* | |
* NOTE 2: This file only contains the source code that is specific to the | |
* full demo. Generic functions, such FreeRTOS hook functions, and functions | |
* required to configure the hardware, are defined in main.c. | |
* | |
****************************************************************************** | |
* | |
* main_full() creates all the demo application tasks and software timers, 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 microcontroller 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" task - The check task period is initially set to three seconds. The | |
* task 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 task 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 task also toggles an 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. | |
*/ | |
/* Standard includes. */ | |
#include <stdio.h> | |
/* Kernel includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "timers.h" | |
#include "semphr.h" | |
/* Standard demo application includes. */ | |
#include "dynamic.h" | |
#include "blocktim.h" | |
#include "countsem.h" | |
#include "GenQTest.h" | |
#include "recmutex.h" | |
#include "partest.h" | |
#include "EventGroupsDemo.h" | |
#include "TaskNotify.h" | |
/* Priorities for the check task, as described at the top of this file. */ | |
#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 ) | |
/* Parameters for the task that handles the UART command console. */ | |
#define mainCOMMAND_CONSOLE_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainCOMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 ) | |
/* The LED used by the check timer as described at the top of this file. */ | |
#define mainCHECK_LED ( 0 ) | |
/* 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 pdMS_TO_TICKS() macro. */ | |
#define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000 ) | |
/* 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 pdMS_TO_TICKS() macro. */ | |
#define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 200 ) | |
/* Parameters that are passed into the register check tasks solely for the | |
purpose of ensuring parameters are passed into tasks correctly. */ | |
#define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x1234 ) | |
#define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x8765 ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* Called by main() to run the full demo (as opposed to the blinky demo) when | |
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0. | |
*/ | |
void main_full( void ); | |
/* | |
* The check task, as described at the top of this file. | |
*/ | |
static void prvCheckTask( void *pvParameters ); | |
/* | |
* Register check tasks, as described at the top of this file. The nature of | |
* these files necessitates that they are written in an assembly file, but the | |
* entry points are kept in the C file for the convenience of checking the task | |
* parameter. | |
*/ | |
static void prvRegTestTaskEntry1( void *pvParameters ); | |
extern void vRegTest1Implementation( void ); | |
static void prvRegTestTaskEntry2( void *pvParameters ); | |
extern void vRegTest2Implementation( void ); | |
/* Starts the 'standard' UART command console task. UART 0 is used at 19200 | |
baud. */ | |
extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority ); | |
/* Registers a set of example commands that can be used in the command | |
console. */ | |
void vRegisterSampleCLICommands( void ); | |
/*-----------------------------------------------------------*/ | |
/* The following two variables are used to communicate the status of the | |
register check tasks to the check task. If the variables keep incrementing, | |
then the register check tasks have not discovered any errors. If a variable | |
stops incrementing, then an error has been found. */ | |
volatile uint16_t usRegTest1LoopCounter = 0UL, usRegTest2LoopCounter = 0UL; | |
/* cOutputBuffer is used by FreeRTOS+CLI. It is declared here so the | |
persistent qualifier can be used. For the buffer to be declared here, rather | |
than in FreeRTOS_CLI.c, configAPPLICATION_PROVIDES_cOutputBuffer must be set to | |
1 in FreeRTOSConfig.h. */ | |
#ifdef __ICC430__ | |
__persistent /* IAR version. */ | |
#else | |
#pragma PERSISTENT( cOutputBuffer ) /* CCS version. */ | |
#endif | |
char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ] = { 0 }; | |
/* Used for maintaining a 32-bit run time stats counter from a 16-bit timer. */ | |
volatile uint32_t ulRunTimeCounterOverflows = 0; | |
/*-----------------------------------------------------------*/ | |
void main_full( void ) | |
{ | |
/* Start all the standard demo/test tasks. They have no particular | |
functionality, but do demonstrate how to use the FreeRTOS API and test the | |
kernel port. */ | |
vStartDynamicPriorityTasks(); | |
vCreateBlockTimeTasks(); | |
vStartCountingSemaphoreTasks(); | |
vStartGenericQueueTasks( tskIDLE_PRIORITY ); | |
vStartRecursiveMutexTasks(); | |
vStartEventGroupTasks(); | |
vStartTaskNotifyTask(); | |
/* Create the register check tasks, as described at the top of this file */ | |
xTaskCreate( prvRegTestTaskEntry1, /* Task entry point. */ | |
"Reg1", /* Text name for the task - not used by the kernel. */ | |
configMINIMAL_STACK_SIZE, /* Stack to allocate to the task - in words not bytes! */ | |
mainREG_TEST_TASK_1_PARAMETER, /* The parameter passed into the task. */ | |
tskIDLE_PRIORITY, /* The task's priority. */ | |
NULL ); /* Task handle is not needed, so NULL is passed. */ | |
xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL ); | |
/* Create the task that performs the 'check' functionality, as described at | |
the top of this file. */ | |
xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* Register an example set of CLI commands, then start the task that manages | |
the CLI using a UART for input and output. */ | |
vRegisterSampleCLICommands(); | |
vUARTCommandConsoleStart( mainCOMMAND_CONSOLE_STACK_SIZE, mainCOMMAND_CONSOLE_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 either 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 on the FreeRTOS heap | |
http://www.freertos.org/a00111.html. */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvCheckTask( void *pvParameters ) | |
{ | |
TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD; | |
TickType_t xLastExecutionTime; | |
static uint16_t usLastRegTest1Value = 0, usLastRegTest2Value = 0; | |
uint16_t usErrorFound = pdFALSE; | |
/* Just to stop compiler warnings. */ | |
( void ) pvParameters; | |
/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil() | |
works correctly. */ | |
xLastExecutionTime = xTaskGetTickCount(); | |
/* Cycle for ever, delaying then checking all the other tasks are still | |
operating without error. An on-board LED is toggled on each iteration. | |
If an error is detected then the delay period is decreased from | |
mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the | |
effect of increasing the rate at which the on-board LED toggles, and in so | |
doing gives visual feedback of the system status. */ | |
for( ;; ) | |
{ | |
/* Delay until it is time to execute again. */ | |
vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod ); | |
/* Check all the demo tasks to ensure they are all still running, and | |
that none have detected an error. */ | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
usErrorFound = 1UL << 0UL; | |
} | |
if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) | |
{ | |
usErrorFound = 1UL << 1UL; | |
} | |
if ( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
{ | |
usErrorFound = 1UL << 2UL; | |
} | |
if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) | |
{ | |
usErrorFound = 1UL << 3UL; | |
} | |
if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
usErrorFound = 1UL << 4UL; | |
} | |
if( xAreEventGroupTasksStillRunning() != pdPASS ) | |
{ | |
usErrorFound = 1UL << 5UL; | |
} | |
if( xAreTaskNotificationTasksStillRunning() != pdPASS ) | |
{ | |
usErrorFound = 1UL << 6UL; | |
} | |
/* Check that the register test 1 task is still running. */ | |
if( usLastRegTest1Value == usRegTest1LoopCounter ) | |
{ | |
usErrorFound = 1UL << 7UL; | |
} | |
usLastRegTest1Value = usRegTest1LoopCounter; | |
/* Check that the register test 2 task is still running. */ | |
if( usLastRegTest2Value == usRegTest2LoopCounter ) | |
{ | |
usErrorFound = 1UL << 8UL; | |
} | |
usLastRegTest2Value = usRegTest2LoopCounter; | |
/* Toggle the check LED to give an indication of the system status. If | |
the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then | |
everything is ok. A faster toggle indicates an error. */ | |
vParTestToggleLED( mainCHECK_LED ); | |
if( usErrorFound != pdFALSE ) | |
{ | |
/* An error has been detected in one of the tasks - flash the LED | |
at a higher frequency to give visible feedback that something has | |
gone wrong (it might just be that the loop back connector required | |
by the comtest tasks has not been fitted). */ | |
xDelayPeriod = mainERROR_CHECK_TASK_PERIOD; | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvRegTestTaskEntry1( void *pvParameters ) | |
{ | |
/* Although the regtest task is written in assembler, its entry point is | |
written in C for convenience of checking the task parameter is being passed | |
in correctly. */ | |
if( pvParameters == mainREG_TEST_TASK_1_PARAMETER ) | |
{ | |
/* Start the part of the test that is written in assembler. */ | |
vRegTest1Implementation(); | |
} | |
/* The following line will only execute if the task parameter is found to | |
be incorrect. The check task will detect that the regtest loop counter is | |
not being incremented and flag an error. */ | |
vTaskDelete( NULL ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvRegTestTaskEntry2( void *pvParameters ) | |
{ | |
/* Although the regtest task is written in assembler, its entry point is | |
written in C for convenience of checking the task parameter is being passed | |
in correctly. */ | |
if( pvParameters == mainREG_TEST_TASK_2_PARAMETER ) | |
{ | |
/* Start the part of the test that is written in assembler. */ | |
vRegTest2Implementation(); | |
} | |
/* The following line will only execute if the task parameter is found to | |
be incorrect. The check task will detect that the regtest loop counter is | |
not being incremented and flag an error. */ | |
vTaskDelete( NULL ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vConfigureTimerForRunTimeStats( void ) | |
{ | |
/* Configure a timer that is used as the time base for run time stats. See | |
http://www.freertos.org/rtos-run-time-stats.html */ | |
/* Ensure the timer is stopped. */ | |
TA1CTL = 0; | |
/* Start up clean. */ | |
TA1CTL |= TACLR; | |
/* Run the timer from the ACLK/8, continuous mode, interrupt enable. */ | |
TA1CTL = TASSEL_1 | ID__8 | MC__CONTINUOUS | TAIE; | |
} | |
/*-----------------------------------------------------------*/ | |
#pragma vector=TIMER1_A1_VECTOR | |
__interrupt void v4RunTimeStatsTimerOverflow( void ) | |
{ | |
TA1CTL &= ~TAIFG; | |
/* 16-bit overflow, so add 17th bit. */ | |
ulRunTimeCounterOverflows += 0x10000; | |
__bic_SR_register_on_exit( SCG1 + SCG0 + OSCOFF + CPUOFF ); | |
} | |