FreeRTOS-Kernel/Demo/ColdFire_MCF5282_Eclipse/RTOSDemo/main.c

/*
	FreeRTOS.org V5.0.3 - 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.

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	Please ensure to read the configuration and relevant port sections of the
	online documentation.

	http://www.FreeRTOS.org - Documentation, latest information, license and
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*/


/*
 * 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 then being a visual indication that at least one
 * task has reported unexpected behaviour.
 *
 */

/* Standard includes. */
#include <stdio.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"

/* Demo app includes. */
#include "BlockQ.h"
#include "death.h"
#include "integer.h"
#include "blocktim.h"
#include "flash.h"
#include "partest.h"
#include "semtest.h"
#include "PollQ.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"
#include "IntQueue.h"

/*-----------------------------------------------------------*/

/* The time between cycles of the 'check' functionality (defined within the
tick hook. */
#define mainNO_ERROR_PERIOD					( ( portTickType ) 5000 / portTICK_RATE_MS )

/* The rate at which the LED controlled by the 'check' task will flash when an
error has been detected. */
#define mainERROR_PERIOD 					( 500 )

/* The LED controlled by the 'check' task. */
#define mainCHECK_LED						( 3 )

/* Task priorities. */
#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 + 3 )
#define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY			( tskIDLE_PRIORITY )


/*
 * 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 );


/*-----------------------------------------------------------*/

int main( void )
{
	prvSetupHardware();

	/* Start the standard demo tasks. */
	vStartLEDFlashTasks( tskIDLE_PRIORITY );
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
	vCreateBlockTimeTasks();
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
	vStartQueuePeekTasks();
	vStartRecursiveMutexTasks();

	/* Create the check task. */
	xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

	/* The suicide tasks must be created last as they need to know how many
	tasks were running prior to their creation in order to ascertain whether
	or not the correct/expected number of tasks are running at any given time. */
    vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );

	/* 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;
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 )
		{
			ulTicksToWait = mainERROR_PERIOD;
		}
		else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
		{
			ulTicksToWait = mainERROR_PERIOD;
		}
		else if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			ulTicksToWait = mainERROR_PERIOD;
		}
		else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
		{
			ulTicksToWait = mainERROR_PERIOD;
		}
	    else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
	    {
	    	ulTicksToWait = mainERROR_PERIOD;
	    }
	    else if( xArePollingQueuesStillRunning() != pdTRUE )
	    {
	    	ulTicksToWait = mainERROR_PERIOD;
	    }
	    else if( xIsCreateTaskStillRunning() != pdTRUE )
	    {
	    	ulTicksToWait = mainERROR_PERIOD;
	    }
	    else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
	    {
	    	ulTicksToWait = mainERROR_PERIOD;
	    }
	    else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
	    {
	    	ulTicksToWait = mainERROR_PERIOD;
	    }

		vParTestToggleLED( mainCHECK_LED );
	}
}
/*-----------------------------------------------------------*/

void prvSetupHardware( void )
{
	vParTestInitialise();
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
{
	( void ) pxTask;
	( void ) pcTaskName;

	for( ;; );
}