/* FreeRTOS.org V5.1.1 - 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 three 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. If everything is running as * expected then the check task will toggle an LED every 3 seconds. An error * being discovered in any task will cause the toggle rate to increase to 500ms. * * "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 include files. */ #include #include /* Scheduler include files. */ #include "FreeRTOS.h" #include "task.h" /* Demo file headers. */ #include #include "BlockQ.h" #include "death.h" #include "flash.h" #include "partest.h" #include "semtest.h" #include "PollQ.h" #include "GenQTest.h" #include "QPeek.h" #include "recmutex.h" #include "comtest2.h" /* * Priority definitions for most of the tasks in the demo application. Some * tasks just use the idle priority. */ #define mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 1 ) #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 mainCOMTEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) /* Passed into the check task just as a test that the parameter passing mechanism is working correctly. */ #define mainCHECK_PARAMETER ( ( void * ) 0x12345678 ) /* The period between executions of the check task. */ #define mainNO_ERROR_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS ) #define mainERROR_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS ) /* There are no spare LEDs for the comtest tasks, so this is just set to an invalid number. */ #define mainCOMTEST_LED ( 4 ) /* The baud rate used by the comtest task. */ #define mainBAUD_RATE ( 9600 ) /*-----------------------------------------------------------*/ /* The implementation of the 'check' task as described at the top of this file. */ static void prvCheckTask( void *pvParameters ); /* Just sets up the LED outputs. Most generic setup is done in __low_level_init(). */ static void prvSetupHardware( void ); /* The RegTest functions as described at the top of this file. */ extern void vRegTest1( void *pvParameters ); extern void vRegTest2( void *pvParameters ); /* A variable that will get set to fail if a RegTest task finds an error. The variable is inspected by the 'Check' task. */ static volatile portLONG lRegTestStatus = pdPASS; /*-----------------------------------------------------------*/ /* Create all the demo tasks then start the scheduler. */ void main( void ) { /* Just sets up the LED outputs. */ prvSetupHardware(); /* Standard demo tasks. */ vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY ); vStartQueuePeekTasks(); /* Create the check task as described at the top of this file. */ xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, mainCHECK_PARAMETER, mainCHECK_TASK_PRIORITY, NULL ); /* Create the RegTest tasks as described at the top of this file. */ xTaskCreate( vRegTest1, "Reg1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); xTaskCreate( vRegTest2, "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); #ifdef __IAR_V850ES_Fx3__ { /* The extra IO required for the com test and led flashing tasks is only available on the application board, not the target boards. */ vAltStartComTestTasks( mainCOMTEST_PRIORITY, mainBAUD_RATE, mainCOMTEST_LED ); vStartLEDFlashTasks( mainFLASH_PRIORITY ); /* The Fx3 also has enough RAM to run loads more tasks. */ vStartRecursiveMutexTasks(); vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); } #endif /* 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(); /* If this line is reached then vTaskStartScheduler() returned because there was insufficient heap memory remaining for the idle task to be created. */ for( ;; ); } /*-----------------------------------------------------------*/ static void prvCheckTask( void *pvParameters ) { portTickType xDelayPeriod = mainNO_ERROR_DELAY, xLastWakeTime; unsigned portBASE_TYPE uxLEDToUse = 0; /* Ensure parameter is passed in correctly. */ if( pvParameters != mainCHECK_PARAMETER ) { xDelayPeriod = mainERROR_DELAY; } /* Initialise xLastWakeTime before it is used. After this point it is not written to directly. */ xLastWakeTime = xTaskGetTickCount(); /* Cycle for ever, delaying then checking all the other tasks are still operating without error. */ for( ;; ) { vTaskDelayUntil( &xLastWakeTime, xDelayPeriod ); if( lRegTestStatus != pdPASS ) { xDelayPeriod = mainERROR_DELAY; } if( xAreGenericQueueTasksStillRunning() != pdTRUE ) { xDelayPeriod = mainERROR_DELAY; } if( xAreQueuePeekTasksStillRunning() != pdTRUE ) { xDelayPeriod = mainERROR_DELAY; } if( xAreSemaphoreTasksStillRunning() != pdTRUE ) { xDelayPeriod = mainERROR_DELAY; } if( xIsCreateTaskStillRunning() != pdTRUE ) { xDelayPeriod = mainERROR_DELAY; } /* The Fx3 runs more tasks, so more checks are performed. */ #ifdef __IAR_V850ES_Fx3__ { if( xAreComTestTasksStillRunning() != pdTRUE ) { xDelayPeriod = mainERROR_DELAY; } if( xArePollingQueuesStillRunning() != pdTRUE ) { xDelayPeriod = mainERROR_DELAY; } if( xAreBlockingQueuesStillRunning() != pdTRUE ) { xDelayPeriod = mainERROR_DELAY; } if( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) { xDelayPeriod = mainERROR_DELAY; } /* The application board has more LEDs and uses the flash tasks so the check task instead uses LED3 as LED3 is still spare. */ uxLEDToUse = 3; } #endif vParTestToggleLED( uxLEDToUse ); } } /*-----------------------------------------------------------*/ static void prvSetupHardware( void ) { /* Setup the LED outputs. */ vParTestInitialise(); /* Any additional hardware configuration can be added here. */ } /*-----------------------------------------------------------*/ void vApplicationStackOverflowHook( void ) { /* This will be called if a task overflows its stack. pxCurrentTCB can be inspected to see which is the offending task. */ for( ;; ); } /*-----------------------------------------------------------*/ void vRegTestFailed( void ) { /* Called by the RegTest tasks if an error is found. lRegTestStatus is inspected by the check task. */ lRegTestStatus = pdFAIL; /* Do not return from here as the reg test tasks clobber all registers so function calls may not function correctly. */ for( ;; ); }