260 lines
8.7 KiB
C
260 lines
8.7 KiB
C
/*
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FreeRTOS.org V5.0.4 - Copyright (C) 2003-2008 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS.org is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS.org; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS.org, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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***************************************************************************
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* *
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* SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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* and even write all or part of your application on your behalf. *
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* See http://www.OpenRTOS.com for details of the services we provide to *
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* expedite your project. *
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* *
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***************************************************************************
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***************************************************************************
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Please ensure to read the configuration and relevant port sections of the
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online documentation.
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/*
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* Creates all the demo application tasks, then starts the scheduler. The WEB
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* documentation provides more details of the standard demo application tasks.
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* In addition to the standard demo tasks, the following tasks and tests are
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* defined and/or created within this file:
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*
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* "Check" task - This only executes every five seconds but has a high priority
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* to ensure it gets processor time. Its main function is to check that all the
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* standard demo tasks are still operational. While no errors have been
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* discovered the check task will toggle an LED every 5 seconds - the toggle
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* rate increasing to 500ms being a visual indication that at least one task has
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* reported unexpected behaviour.
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*
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* "Reg test" tasks - These fill the registers with known values, then check
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* that each register still contains its expected value. Each task uses
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* different values. The tasks run with very low priority so get preempted very
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* frequently. A register containing an unexpected value is indicative of an
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* error in the context switching mechanism.
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*
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*/
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/* Standard includes. */
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#include <stdio.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "semphr.h"
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/* Demo app includes. */
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#include "BlockQ.h"
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#include "death.h"
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#include "crflash.h"
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#include "partest.h"
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#include "semtest.h"
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#include "PollQ.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "recmutex.h"
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/*-----------------------------------------------------------*/
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/* The time between cycles of the 'check' functionality - as described at the
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top of this file. */
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#define mainNO_ERROR_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
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/* The rate at which the LED controlled by the 'check' task will flash should an
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error have been detected. */
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#define mainERROR_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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/* The LED controlled by the 'check' task. */
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#define mainCHECK_LED ( 3 )
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/* ComTest constants - there is no free LED for the comtest tasks. */
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#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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#define mainCOM_TEST_LED ( 5 )
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/* Task priorities. */
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#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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/* Co-routines are used to flash the LEDs. */
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#define mainNUM_FLASH_CO_ROUTINES ( 3 )
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/*
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* Configure the hardware for the demo.
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*/
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static void prvSetupHardware( void );
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/*
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* Implements the 'check' task functionality as described at the top of this
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* file.
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*/
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static void prvCheckTask( void *pvParameters );
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/*-----------------------------------------------------------*/
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/* Counters used to detect errors within the reg test tasks. */
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static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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/*-----------------------------------------------------------*/
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int main( void )
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{
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/* Setup the hardware ready for this demo. */
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prvSetupHardware();
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/* Start the standard demo tasks. */
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartQueuePeekTasks();
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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/* For demo purposes use some co-routines to flash the LEDs. */
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vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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/* Create the check task. */
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xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Start the scheduler. */
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vTaskStartScheduler();
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/* Will only get here if there was insufficient memory to create the idle
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task. */
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for( ;; )
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{
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}
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTask( void *pvParameters )
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{
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unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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portTickType xLastExecutionTime;
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( void ) pvParameters;
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/* Initialise the variable used to control our iteration rate prior to
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its first use. */
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xLastExecutionTime = xTaskGetTickCount();
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for( ;; )
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{
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/* Wait until it is time to run the tests again. */
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vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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/* Has an error been found in any task? */
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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ulError |= 0x01UL;
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}
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if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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ulError |= 0x02UL;
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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ulError |= 0x04UL;
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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ulError |= 0x20UL;
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}
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/* If an error has been found then increase our cycle rate, and in so
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doing increase the rate at which the check task LED toggles. */
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if( ulError != 0 )
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{
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ulTicksToWait = mainERROR_PERIOD;
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}
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/* Toggle the LED each itteration. */
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vParTestToggleLED( mainCHECK_LED );
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}
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}
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/*-----------------------------------------------------------*/
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void prvSetupHardware( void )
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{
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portDISABLE_INTERRUPTS();
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/* Setup the port used to toggle LEDs. */
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vParTestInitialise();
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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{
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/* This will get called if a stack overflow is detected during the context
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switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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problems within nested interrupts, but only do this for debug purposes as
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it will increase the context switch time. */
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( void ) pxTask;
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( void ) pcTaskName;
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for( ;; )
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{
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}
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}
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/*-----------------------------------------------------------*/
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void vApplicationIdleHook( void );
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void vApplicationIdleHook( void )
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{
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/* The co-routines run in the idle task. */
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vCoRoutineSchedule();
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}
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/*-----------------------------------------------------------*/
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void exit( int n )
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{
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/* To keep the linker happy only as the libraries have been removed from
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the build. */
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( void ) n;
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for( ;; ) {}
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}
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