You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
409 lines
18 KiB
C
409 lines
18 KiB
C
/*
|
|
FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
|
|
All rights reserved
|
|
|
|
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
|
|
|
***************************************************************************
|
|
* *
|
|
* FreeRTOS provides completely free yet professionally developed, *
|
|
* robust, strictly quality controlled, supported, and cross *
|
|
* platform software that has become a de facto standard. *
|
|
* *
|
|
* Help yourself get started quickly and support the FreeRTOS *
|
|
* project by purchasing a FreeRTOS tutorial book, reference *
|
|
* manual, or both from: http://www.FreeRTOS.org/Documentation *
|
|
* *
|
|
* Thank you! *
|
|
* *
|
|
***************************************************************************
|
|
|
|
This file is part of the FreeRTOS distribution.
|
|
|
|
FreeRTOS is free software; you can redistribute it and/or modify it under
|
|
the terms of the GNU General Public License (version 2) as published by the
|
|
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
|
|
|
|
>>! NOTE: The modification to the GPL is included to allow you to distribute
|
|
>>! a combined work that includes FreeRTOS without being obliged to provide
|
|
>>! the source code for proprietary components outside of the FreeRTOS
|
|
>>! kernel.
|
|
|
|
FreeRTOS 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. Full license text is available from the following
|
|
link: http://www.freertos.org/a00114.html
|
|
|
|
1 tab == 4 spaces!
|
|
|
|
***************************************************************************
|
|
* *
|
|
* Having a problem? Start by reading the FAQ "My application does *
|
|
* not run, what could be wrong?" *
|
|
* *
|
|
* http://www.FreeRTOS.org/FAQHelp.html *
|
|
* *
|
|
***************************************************************************
|
|
|
|
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
|
|
license and Real Time Engineers Ltd. contact details.
|
|
|
|
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
|
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
|
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
|
|
|
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
|
|
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
|
|
licenses offer ticketed support, indemnification and middleware.
|
|
|
|
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
|
engineered and independently SIL3 certified version for use in safety and
|
|
mission critical applications that require provable dependability.
|
|
|
|
1 tab == 4 spaces!
|
|
*/
|
|
|
|
/******************************************************************************
|
|
* NOTE 1: This project provides two demo applications. A simple blinky style
|
|
* project, and a more comprehensive test and demo application. The
|
|
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
|
|
* between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
|
|
* in main.c. This file implements the comprehensive test and demo 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, along with an example of how to write an
|
|
* interrupt service routine, are defined in main.c.
|
|
******************************************************************************
|
|
*
|
|
* main_full() creates all the demo application tasks and two 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, tests and
|
|
* timers are created within this file:
|
|
*
|
|
* "Reg test" tasks - These fill the registers with known values, then check
|
|
* that each register still contains its expected value. 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.
|
|
*
|
|
* The "Demo" Timer and Callback Function:
|
|
* The demo timer callback function does nothing more than increment a variable.
|
|
* The period of the demo timer is set relative to the period of the check timer
|
|
* (described below). This allows the check timer to know how many times the
|
|
* demo timer callback function should execute between each execution of the
|
|
* check timer callback function. The variable incremented in the demo timer
|
|
* callback function is used to determine how many times the callback function
|
|
* has executed.
|
|
*
|
|
* The "Check" Timer and Callback Function:
|
|
* The check timer period is initially set to three seconds. The check timer
|
|
* callback function checks that all the standard demo tasks, the reg test
|
|
* tasks, and the demo timer are not only still executing, but are executing
|
|
* without reporting any errors. If the check timer discovers that a task or
|
|
* timer has stalled, or reported an error, then it changes its own period from
|
|
* the initial three seconds, to just 200ms. The check 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.
|
|
*
|
|
* ENSURE TO READ THE DOCUMENTATION PAGE FOR THIS PORT AND DEMO APPLICATION ON
|
|
* THE http://www.FreeRTOS.org WEB SITE FOR FULL INFORMATION ON USING THIS DEMO
|
|
* APPLICATION, AND ITS ASSOCIATE FreeRTOS ARCHITECTURE PORT!
|
|
*
|
|
*/
|
|
|
|
/* Scheduler include files. */
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
#include "timers.h"
|
|
|
|
/* Standard demo includes. */
|
|
#include "dynamic.h"
|
|
#include "PollQ.h"
|
|
#include "blocktim.h"
|
|
|
|
/* Hardware includes. */
|
|
#include "demo_specific_io.h"
|
|
|
|
/* The period at 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_RATE_MS constant. */
|
|
#define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_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, the check tasks, or the demo timer.
|
|
ms are converted to the equivalent in ticks using the portTICK_RATE_MS
|
|
constant. */
|
|
#define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
|
|
|
|
/* These two definitions are used to set the period of the demo timer. The demo
|
|
timer period is always relative to the check timer period, so the check timer
|
|
can determine if the demo timer has expired the expected number of times between
|
|
its own executions. */
|
|
#define mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT ( 100UL )
|
|
#define mainDEMO_TIMER_PERIOD_MS ( mainCHECK_TIMER_PERIOD_MS / mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT )
|
|
|
|
/* A block time of zero simply means "don't block". */
|
|
#define mainDONT_BLOCK ( 0U )
|
|
|
|
/* Values that are passed as parameters into the reg test tasks (purely to
|
|
ensure task parameters are passed correctly). */
|
|
#define mainREG_TEST_1_PARAMETER ( ( void * ) 0x1234 )
|
|
#define mainREG_TEST_2_PARAMETER ( ( void * ) 0x5678 )
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* The 'check' timer callback function, as described at the top of this file.
|
|
*/
|
|
static void prvCheckTimerCallback( xTimerHandle xTimer );
|
|
|
|
/*
|
|
* The 'demo' timer callback function, as described at the top of this file.
|
|
*/
|
|
static void prvDemoTimerCallback( xTimerHandle xTimer );
|
|
|
|
/*
|
|
* Functions that define the RegTest tasks, as described at the top of this
|
|
* file. The RegTest tasks are written (necessarily) in assembler. Their
|
|
* entry points are written in C to allow for easy checking of the task
|
|
* parameter values.
|
|
*/
|
|
extern void vRegTest1Task( void );
|
|
extern void vRegTest2Task( void );
|
|
static void prvRegTest1Entry( void *pvParameters );
|
|
static void prvRegTest2Entry( void *pvParameters );
|
|
|
|
/*
|
|
* Called if a RegTest task discovers an error as a mechanism to stop the
|
|
* tasks loop counter incrementing (so the check task can detect that an
|
|
* error exists).
|
|
*/
|
|
void vRegTestError( void );
|
|
|
|
/*
|
|
* Called by main() to create the more comprehensive application if
|
|
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
|
|
*/
|
|
void main_full( void );
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Variables that are incremented on each cycle of the two reg tests to allow
|
|
the check timer to know that they are still executing. */
|
|
unsigned short usRegTest1LoopCounter = 0, usRegTest2LoopCounter;
|
|
|
|
/* The check timer. This uses prvCheckTimerCallback() as its callback
|
|
function. */
|
|
static xTimerHandle xCheckTimer = NULL;
|
|
|
|
/* The demo timer. This uses prvDemoTimerCallback() as its callback function. */
|
|
static xTimerHandle xDemoTimer = NULL;
|
|
|
|
/* This variable is incremented each time the demo timer expires. */
|
|
static volatile unsigned long ulDemoSoftwareTimerCounter = 0UL;
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void main_full( void )
|
|
{
|
|
/* Creates all the tasks and timers, then starts the scheduler. */
|
|
|
|
/* First create the 'standard demo' tasks. These are used to demonstrate
|
|
API functions being used and also to test the kernel port. More information
|
|
is provided on the FreeRTOS.org WEB site. */
|
|
vStartDynamicPriorityTasks();
|
|
vStartPolledQueueTasks( tskIDLE_PRIORITY );
|
|
vCreateBlockTimeTasks();
|
|
|
|
/* Create the RegTest tasks as described at the top of this file. */
|
|
xTaskCreate( prvRegTest1Entry, /* The function that implements the task. */
|
|
( const signed char * ) "Reg1",/* Text name for the task - to assist debugging only, not used by the kernel. */
|
|
configMINIMAL_STACK_SIZE, /* The size of the stack allocated to the task (in words, not bytes). */
|
|
mainREG_TEST_1_PARAMETER, /* The parameter passed into the task. */
|
|
tskIDLE_PRIORITY, /* The priority at which the task will execute. */
|
|
NULL ); /* Used to pass the handle of the created task out to the function caller - not used in this case. */
|
|
|
|
xTaskCreate( prvRegTest2Entry, ( const signed char * ) "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
|
|
|
|
/* Create the software timer that performs the 'check' functionality,
|
|
as described at the top of this file. */
|
|
xCheckTimer = xTimerCreate( ( const signed char * ) "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. */
|
|
);
|
|
|
|
/* Create the software timer that just increments a variable for demo
|
|
purposes. */
|
|
xDemoTimer = xTimerCreate( ( const signed char * ) "DemoTimer",/* A text name, purely to help debugging. */
|
|
( mainDEMO_TIMER_PERIOD_MS ), /* The timer period, in this case it is always calculated relative to the check timer period (see the definition of mainDEMO_TIMER_PERIOD_MS). */
|
|
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. */
|
|
prvDemoTimerCallback /* The callback function that inspects the status of all the other tasks. */
|
|
);
|
|
|
|
/* Start both the check timer and the demo timer. The timers won't actually
|
|
start until the scheduler is started. */
|
|
xTimerStart( xCheckTimer, mainDONT_BLOCK );
|
|
xTimerStart( xDemoTimer, mainDONT_BLOCK );
|
|
|
|
/* Finally start the scheduler running. */
|
|
vTaskStartScheduler();
|
|
|
|
/* If all is well execution will never reach here as the scheduler will be
|
|
running. If this null loop is reached then it is likely there was
|
|
insufficient FreeRTOS heap available for the idle task and/or timer task to
|
|
be created. See http://www.freertos.org/a00111.html. */
|
|
for( ;; );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvDemoTimerCallback( xTimerHandle xTimer )
|
|
{
|
|
/* Remove compiler warning about unused parameter. */
|
|
( void ) xTimer;
|
|
|
|
/* The demo timer has expired. All it does is increment a variable. The
|
|
period of the demo timer is relative to that of the check timer, so the
|
|
check timer knows how many times this variable should have been incremented
|
|
between each execution of the check timer's own callback. */
|
|
ulDemoSoftwareTimerCounter++;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvCheckTimerCallback( xTimerHandle xTimer )
|
|
{
|
|
static portBASE_TYPE xChangedTimerPeriodAlready = pdFALSE, xErrorStatus = pdPASS;
|
|
static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
|
|
|
|
/* Remove compiler warning about unused parameter. */
|
|
( void ) xTimer;
|
|
|
|
/* Inspect the status of the standard demo tasks. */
|
|
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
|
|
{
|
|
xErrorStatus = pdFAIL;
|
|
}
|
|
|
|
if( xArePollingQueuesStillRunning() != pdTRUE )
|
|
{
|
|
xErrorStatus = pdFAIL;
|
|
}
|
|
|
|
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
|
|
{
|
|
xErrorStatus = pdFAIL;
|
|
}
|
|
|
|
/* Indicate an error if either of the reg test loop counters have not
|
|
incremented since the last time this function was called. */
|
|
if( usLastRegTest1Counter == usRegTest1LoopCounter )
|
|
{
|
|
xErrorStatus = pdFAIL;
|
|
}
|
|
else
|
|
{
|
|
usLastRegTest1Counter = usRegTest1LoopCounter;
|
|
}
|
|
|
|
if( usLastRegTest2Counter == usRegTest2LoopCounter )
|
|
{
|
|
xErrorStatus = pdFAIL;
|
|
}
|
|
else
|
|
{
|
|
usLastRegTest2Counter = usRegTest2LoopCounter;
|
|
}
|
|
|
|
/* Ensure that the demo software timer has expired
|
|
mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT times in between
|
|
each call of this function. A critical section is not required to access
|
|
ulDemoSoftwareTimerCounter as the variable is only accessed from another
|
|
software timer callback, and only one software timer callback can be
|
|
executing at any time. */
|
|
if( ( ulDemoSoftwareTimerCounter < ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT - 1 ) ) ||
|
|
( ulDemoSoftwareTimerCounter > ( mainDEMO_TIMER_INCREMENTS_PER_CHECK_TIMER_TIMEOUT + 1 ) )
|
|
)
|
|
{
|
|
xErrorStatus = pdFAIL;
|
|
}
|
|
else
|
|
{
|
|
ulDemoSoftwareTimerCounter = 0UL;
|
|
}
|
|
|
|
if( ( xErrorStatus == pdFAIL ) && ( xChangedTimerPeriodAlready == pdFALSE ) )
|
|
{
|
|
/* An error has occurred, but the timer's period has not yet been changed,
|
|
change it now, and remember that it has been changed. Shortening the
|
|
timer's period means the LED will toggle at a faster rate, giving a
|
|
visible indication that something has gone wrong. */
|
|
xChangedTimerPeriodAlready = 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( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
|
|
}
|
|
|
|
/* Toggle the LED. The toggle rate will depend on whether or not an error
|
|
has been found in any tasks. */
|
|
LED_BIT = !LED_BIT;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vRegTestError( void )
|
|
{
|
|
/* Called by both reg test tasks if an error is found. There is no way out
|
|
of this function so the loop counter of the calling task will stop
|
|
incrementing, which will result in the check timer signaling an error. */
|
|
for( ;; );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvRegTest1Entry( void *pvParameters )
|
|
{
|
|
/* If the parameter has its expected value then start the first reg test
|
|
task (this is only done to test that the RTOS port is correctly handling
|
|
task parameters. */
|
|
if( pvParameters == mainREG_TEST_1_PARAMETER )
|
|
{
|
|
vRegTest1Task();
|
|
}
|
|
else
|
|
{
|
|
vRegTestError();
|
|
}
|
|
|
|
/* It is not possible to get here as neither of the two functions called
|
|
above will ever return. */
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvRegTest2Entry( void *pvParameters )
|
|
{
|
|
/* If the parameter has its expected value then start the first reg test
|
|
task (this is only done to test that the RTOS port is correctly handling
|
|
task parameters. */
|
|
if( pvParameters == mainREG_TEST_2_PARAMETER )
|
|
{
|
|
vRegTest2Task();
|
|
}
|
|
else
|
|
{
|
|
vRegTestError();
|
|
}
|
|
|
|
/* It is not possible to get here as neither of the two functions called
|
|
above will ever return. */
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|