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