/* | |
* FreeRTOS Kernel V10.2.1 | |
* Copyright (C) 2019 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: <<<<<< | |
* | |
* main() can be configured to create either a very simple LED flasher demo, or | |
* a more comprehensive test/demo application. | |
* | |
* To create a very simple LED flasher example, set the | |
* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY constant (defined below) to 1. When | |
* this is done, only the standard demo flash tasks are created. The standard | |
* demo flash example creates three tasks, each of which toggle an LED at a | |
* fixed but different frequency. | |
* | |
* To create a more comprehensive test and demo application, set | |
* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY to 0. | |
****************************************************************************** | |
* | |
* main() 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 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 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" | |
/* Demo application includes. */ | |
#include "partest.h" | |
#include "flash.h" | |
#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 "platform_config.h" | |
/* Priorities for the demo application tasks. */ | |
#define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1UL ) | |
#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 ) | |
/* The LED used by the check timer. */ | |
#define mainCHECK_LED ( 3UL ) | |
/* 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_PERIOD_MS constant. */ | |
#define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_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_PERIOD_MS constant. */ | |
#define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS ) | |
/* Set mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY to 1 to create a simple demo. | |
Set mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY to 0 to create a much more | |
comprehensive test application. See the comments at the top of this file, and | |
the documentation page on the http://www.FreeRTOS.org web site for more | |
information. */ | |
#define mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY 0 | |
/*-----------------------------------------------------------*/ | |
/* | |
* 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( TimerHandle_t 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 ); | |
extern void vRegTestClearFlopRegistersToParameterValue( unsigned long ulValue ); | |
extern unsigned long ulRegTestCheckFlopRegistersContainParameterValue( unsigned long ulValue ); | |
/* | |
* This file can be used to create either a simple LED flasher example, or a | |
* comprehensive test/demo application - depending on the setting of the | |
* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY constant defined above. If | |
* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to 1, then the following | |
* function will create a lot of additional tasks and a software timer. If | |
* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to 0, then the following | |
* function will do nothing. | |
*/ | |
static void prvOptionallyCreateComprehensveTestApplication( void ); | |
/*-----------------------------------------------------------*/ | |
/* 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 have 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 ) | |
{ | |
/* Configure the hardware ready to run the test. */ | |
prvSetupHardware(); | |
/* Start standard demo/test application flash tasks. See the comments at | |
the top of this file. The LED flash tasks are always created. The other | |
tasks are only created if mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to | |
0 (at the top of this file). See the comments at the top of this file for | |
more information. */ | |
vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY ); | |
/* The following function will only create more tasks and timers if | |
mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to 0 (at the top of this | |
file). See the comments at the top of this file for more information. */ | |
prvOptionallyCreateComprehensveTestApplication(); | |
/* Start the scheduler. */ | |
vTaskStartScheduler(); | |
/* Infinite loop */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvCheckTimerCallback( TimerHandle_t 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 |= 0x01UL << 0UL; | |
} | |
if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 0x01UL << 1UL; | |
} | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 0x01UL << 2UL; | |
} | |
if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 0x01UL << 3UL; | |
} | |
if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 0x01UL << 4UL; | |
} | |
if ( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 0x01UL << 5UL; | |
} | |
if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 0x01UL << 6UL; | |
} | |
if( xIsCreateTaskStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 0x01UL << 7UL; | |
} | |
if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 0x01UL << 8UL; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 0x01UL << 9UL; | |
} | |
/* Check that the register test 1 task is still running. */ | |
if( ulLastRegTest1Value == ulRegTest1LoopCounter ) | |
{ | |
ulErrorFound |= 0x01UL << 10UL; | |
} | |
ulLastRegTest1Value = ulRegTest1LoopCounter; | |
/* Check that the register test 2 task is still running. */ | |
if( ulLastRegTest2Value == ulRegTest2LoopCounter ) | |
{ | |
ulErrorFound |= 0x01UL << 11UL; | |
} | |
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. */ | |
vParTestToggleLED( mainCHECK_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 Hitex_CGU_Init( void ); | |
/* Setup system (clock, PLL and Flash configuration) */ | |
platformInit(); | |
/* Wind the clock speed up in steps to its maximum. */ | |
Hitex_CGU_Init(); | |
/* Ensure all priority bits are assigned as preemption priority bits. */ | |
NVIC_SetPriorityGrouping( 0 ); | |
/* Setup the LED outputs. */ | |
vParTestInitialise(); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvOptionallyCreateComprehensveTestApplication( void ) | |
{ | |
#if ( mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY == 0 ) | |
{ | |
TimerHandle_t xCheckTimer = NULL; | |
/* Start all the other standard demo/test tasks. */ | |
vStartIntegerMathTasks( tskIDLE_PRIORITY ); | |
vStartDynamicPriorityTasks(); | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
vCreateBlockTimeTasks(); | |
vStartCountingSemaphoreTasks(); | |
vStartGenericQueueTasks( tskIDLE_PRIORITY ); | |
vStartRecursiveMutexTasks(); | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
/* Most importantly, start the tasks that use the FPU. */ | |
vStartMathTasks( mainFLOP_TASK_PRIORITY ); | |
/* Create the register check tasks, as described at the top of this | |
file */ | |
xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL ); | |
xTaskCreate( vRegTest2Task, "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( "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 ); | |
} | |
/* This task has to be created last as it keeps account of the number of | |
tasks it expects to see running. */ | |
vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY ); | |
} | |
#else /* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY */ | |
{ | |
/* Just to prevent compiler warnings when the configuration options are | |
set such that these static functions are not used. */ | |
( void ) vRegTest1Task; | |
( void ) vRegTest2Task; | |
( void ) prvCheckTimerCallback; | |
( void ) prvSetupNestedFPUInterruptsTest; | |
} | |
#endif /* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY */ | |
} | |
/*-----------------------------------------------------------*/ | |
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( TaskHandle_t pxTask, 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()). */ | |
} | |
/*-----------------------------------------------------------*/ |