/* | |
* FreeRTOS Kernel V10.0.0 | |
* Copyright (C) 2017 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. If you wish to use our Amazon | |
* FreeRTOS name, please do so in a fair use way that does not cause confusion. | |
* | |
* 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 three demo applications. A simple blinky | |
* style project, a more comprehensive test and demo application, and an | |
* lwIP example. The mainSELECTED_APPLICATION setting in main.c is used to | |
* select between the three. See the notes on using mainSELECTED_APPLICATION | |
* in main.c. This file implements the comprehensive 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: | |
* | |
* FreeRTOS+CLI command console. The command console is access through the | |
* UART to USB connector on the ZC702 Zynq development board (marked J2). For | |
* reasons of robustness testing the UART driver is deliberately written to be | |
* inefficient and should not be used as a template for a production driver. | |
* Type "help" to see a list of registered commands. The FreeRTOS+CLI license | |
* is different to the FreeRTOS license, see http://www.FreeRTOS.org/cli for | |
* license and usage details. The default baud rate is 115200. | |
* | |
* "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" 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 "flash_timer.h" | |
#include "flop.h" | |
#include "semtest.h" | |
#include "dynamic.h" | |
#include "blocktim.h" | |
#include "countsem.h" | |
#include "GenQTest.h" | |
#include "recmutex.h" | |
#include "partest.h" | |
#include "serial.h" | |
#include "TimerDemo.h" | |
#include "EventGroupsDemo.h" | |
#include "TaskNotify.h" | |
#include "IntSemTest.h" | |
#include "AbortDelay.h" | |
/* Priorities for the demo application tasks. */ | |
#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 ) | |
#define mainUART_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2UL ) | |
#define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 ) | |
#define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainFLASH_PRIORITY ( tskIDLE_PRIORITY ) | |
/* The priority used by the UART command console task. */ | |
#define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( configMAX_PRIORITIES - 2 ) | |
/* The LED used by the check task. */ | |
#define mainCHECK_LED ( 7 ) | |
/* A block time of zero simply means "don't block". */ | |
#define mainDONT_BLOCK ( 0UL ) | |
/* The period of the check task, 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 constant. */ | |
#define mainNO_ERROR_CHECK_TASK_PERIOD ( pdMS_TO_TICKS( 3000UL ) ) | |
/* The period of the check task, 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( 200UL ) ) | |
/* 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 * ) 0x12345678 ) | |
#define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 ) | |
/* The base period used by the timer test tasks. */ | |
#define mainTIMER_TEST_PERIOD ( 50 ) | |
/* The number of timers to create that just flash LEDs. */ | |
#define mainNUM_FLASH_TIMERS ( 3 ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* The check task, as described at the top of this file. | |
*/ | |
static void prvCheckTask( void *pvParameters ); | |
/* | |
* 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, 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 ); | |
/* | |
* Register commands that can be used with FreeRTOS+CLI. The commands are | |
* defined in CLI-Commands.c and File-Related-CLI-Command.c respectively. | |
*/ | |
extern void vRegisterSampleCLICommands( void ); | |
/* | |
* The task that manages the FreeRTOS+CLI input and output. | |
*/ | |
extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority ); | |
/* | |
* When the full demo is build the tick hook it used to demonstrate API | |
* functions being called from an interrupt and to perform some tests. | |
*/ | |
void vFullDemoTickHook( void ); | |
/* | |
* When the full demo is build the idle hook is used to create some timers that | |
* cannot be created in main() because the timer demo tasks need the entire | |
* command queue. | |
*/ | |
void vFullDemoIdleHook( 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 unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL; | |
/*-----------------------------------------------------------*/ | |
void main_full( void ) | |
{ | |
/* Start all the other 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(); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartTimerDemoTask( mainTIMER_TEST_PERIOD ); | |
vStartEventGroupTasks(); | |
vStartTaskNotifyTask(); | |
vStartInterruptSemaphoreTasks(); | |
vCreateAbortDelayTasks(); | |
/* Note - the set of standard demo tasks contains two versions of | |
vStartMathTasks.c. One is defined in flop.c, and uses double precision | |
floating point numbers and variables. The other is defined in sp_flop.c, | |
and uses single precision floating point numbers and variables. The | |
MicroBlaze floating point unit only handles single precision floating. | |
Therefore, to test the floating point hardware, sp_flop.c should be included | |
in this project. */ | |
vStartMathTasks( mainFLOP_TASK_PRIORITY ); | |
/* Start the tasks that implements the command console on the UART, as | |
described above. */ | |
vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY ); | |
/* Register the standard CLI commands. */ | |
vRegisterSampleCLICommands(); | |
/* Create the register check tasks, as described at the top of this file */ | |
xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL ); | |
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 ); | |
/* 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 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 unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0; | |
unsigned long ulErrorFound = 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. The onboard 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 onboard 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 (other than the flash tasks) to ensure | |
that they are all still running, and that none have detected an error. */ | |
if( xAreMathsTaskStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 1UL << 1UL; | |
} | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 1UL << 2UL; | |
} | |
if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 1UL << 4UL; | |
} | |
if ( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 1UL << 5UL; | |
} | |
if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 1UL << 6UL; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 1UL << 8UL; | |
} | |
if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS ) | |
{ | |
ulErrorFound |= 1UL << 9UL; | |
} | |
if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 1UL << 10UL; | |
} | |
if( xAreEventGroupTasksStillRunning() != pdPASS ) | |
{ | |
ulErrorFound |= 1UL << 12UL; | |
} | |
if( xAreTaskNotificationTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 1UL << 13UL; | |
} | |
if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 1UL << 14UL; | |
} | |
if( xAreAbortDelayTestTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 1UL << 15UL; | |
} | |
/* Check that the register test 1 task is still running. */ | |
if( ulLastRegTest1Value == ulRegTest1LoopCounter ) | |
{ | |
ulErrorFound |= 1UL << 16UL; | |
} | |
ulLastRegTest1Value = ulRegTest1LoopCounter; | |
/* Check that the register test 2 task is still running. */ | |
if( ulLastRegTest2Value == ulRegTest2LoopCounter ) | |
{ | |
ulErrorFound |= 1UL << 17UL; | |
} | |
ulLastRegTest2Value = ulRegTest2LoopCounter; | |
/* 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( ulErrorFound != 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. */ | |
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 vFullDemoTickHook( void ) | |
{ | |
/* The full demo includes a software timer demo/test that requires | |
prodding periodically from the tick interrupt. */ | |
vTimerPeriodicISRTests(); | |
/* Call the periodic event group from ISR demo. */ | |
vPeriodicEventGroupsProcessing(); | |
/* Use task notifications from an interrupt. */ | |
xNotifyTaskFromISR(); | |
/* Use mutexes from interrupts. */ | |
vInterruptSemaphorePeriodicTest(); | |
} | |
/*-----------------------------------------------------------*/ | |
void vFullDemoIdleHook( void ) | |
{ | |
static uint32_t ulStartedTimers = pdFALSE; | |
if( ulStartedTimers == pdFALSE ) | |
{ | |
/* The flash timers are not created from main() as the timer demo needs | |
the entire timer command queue in order to perform some tests. */ | |
vStartLEDFlashTimers( mainNUM_FLASH_TIMERS ); | |
ulStartedTimers = pdTRUE; | |
} | |
} | |