simple-FreeRTOS-demo/main.c

   1 /*
   2     FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
   3
   4     ***************************************************************************
   5     *                                                                         *
   6     * If you are:                                                             *
   7     *                                                                         *
   8     *    + New to FreeRTOS,                                                   *
   9     *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
  10     *    + Looking for basic training,                                        *
  11     *    + Wanting to improve your FreeRTOS skills and productivity           *
  12     *                                                                         *
  13     * then take a look at the FreeRTOS eBook                                  *
  14     *                                                                         *
  15     *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
  16     *                  http://www.FreeRTOS.org/Documentation                  *
  17     *                                                                         *
  18     * A pdf reference manual is also available.  Both are usually delivered   *
  19     * to your inbox within 20 minutes to two hours when purchased between 8am *
  20     * and 8pm GMT (although please allow up to 24 hours in case of            *
  21     * exceptional circumstances).  Thank you for your support!                *
  22     *                                                                         *
  23     ***************************************************************************
  24
  25     This file is part of the FreeRTOS distribution.
  26
  27     FreeRTOS is free software; you can redistribute it and/or modify it under
  28     the terms of the GNU General Public License (version 2) as published by the
  29     Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
  30     ***NOTE*** The exception to the GPL is included to allow you to distribute
  31     a combined work that includes FreeRTOS without being obliged to provide the
  32     source code for proprietary components outside of the FreeRTOS kernel.
  33     FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
  34     ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
  35     FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
  36     more details. You should have received a copy of the GNU General Public
  37     License and the FreeRTOS license exception along with FreeRTOS; if not it
  38     can be viewed here: http://www.freertos.org/a00114.html and also obtained
  39     by writing to Richard Barry, contact details for whom are available on the
  40     FreeRTOS WEB site.
  41
  42     1 tab == 4 spaces!
  43
  44     http://www.FreeRTOS.org - Documentation, latest information, license and
  45     contact details.
  46
  47     http://www.SafeRTOS.com - A version that is certified for use in safety
  48     critical systems.
  49
  50     http://www.OpenRTOS.com - Commercial support, development, porting,
  51     licensing and training services.
  52 */
  53
  54 /*
  55         NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
  56         The processor MUST be in supervisor mode when vTaskStartScheduler is
  57         called.  The demo applications included in the FreeRTOS.org download switch
  58         to supervisor mode prior to main being called.  If you are not using one of
  59         these demo application projects then ensure Supervisor mode is used.
  60 */
  61
  62
  63 /*
  64  * Creates all the demo application tasks, then starts the scheduler.  The WEB
  65  * documentation provides more details of the demo application tasks.
  66  *
  67  * Main.c also creates a task called "Check".  This only executes every three
  68  * seconds but has the highest priority so is guaranteed to get processor time.
  69  * Its main function is to check that all the other tasks are still operational.
  70  * Each task (other than the "flash" tasks) maintains a unique count that is
  71  * incremented each time the task successfully completes its function.  Should
  72  * any error occur within such a task the count is permanently halted.  The
  73  * check task inspects the count of each task to ensure it has changed since
  74  * the last time the check task executed.  If all the count variables have
  75  * changed all the tasks are still executing error free, and the check task
  76  * toggles the onboard LED.  Should any task contain an error at any time
  77  * the LED toggle rate will change from 3 seconds to 500ms.
  78  *
  79  * To check the operation of the memory allocator the check task also
  80  * dynamically creates a task before delaying, and deletes it again when it
  81  * wakes.  If memory cannot be allocated for the new task the call to xTaskCreate
  82  * will fail and an error is signalled.  The dynamically created task itself
  83  * allocates and frees memory just to give the allocator a bit more exercise.
  84  *
  85  */
  86
  87 /*
  88         Changes from V2.4.2
  89
  90         + The vErrorChecks() task now dynamically creates then deletes a task each
  91           cycle.  This tests the operation of the memory allocator.
  92
  93         Changes from V2.5.2
  94
  95         + vParTestInitialise() is called during initialisation to ensure all the
  96           LED's start off.
  97 */
  98
  99
 100 /* Standard includes. */
 101 #include <stdlib.h>
 102 #include <string.h>
 103
 104 /* Scheduler includes. */
 105 #include "FreeRTOS.h"
 106 #include "task.h"
 107
 108 /* Demo application includes. */
 109 #include "partest.h"
 110 #include "flash.h"
 111 #include "integer.h"
 112 #include "PollQ.h"
 113 #include "comtest2.h"
 114 #include "semtest.h"
 115 #include "flop.h"
 116 #include "dynamic.h"
 117 #include "BlockQ.h"
 118 #include "serial.h"
 119
 120 /*-----------------------------------------------------------*/
 121
 122 /* Constants to setup I/O. */
 123 #define mainTX_ENABLE   ( ( unsigned long ) 0x0001 )
 124 #define mainRX_ENABLE   ( ( unsigned long ) 0x0004 )
 125 #define mainP0_14               ( ( unsigned long ) 0x4000 )
 126 #define mainJTAG_PORT   ( ( unsigned long ) 0x3E0000UL )
 127
 128 /* Constants to setup the PLL. */
 129 #define mainPLL_MUL_4           ( ( unsigned char ) 0x0003 )
 130 #define mainPLL_DIV_1           ( ( unsigned char ) 0x0000 )
 131 #define mainPLL_ENABLE          ( ( unsigned char ) 0x0001 )
 132 #define mainPLL_CONNECT         ( ( unsigned char ) 0x0003 )
 133 #define mainPLL_FEED_BYTE1      ( ( unsigned char ) 0xaa )
 134 #define mainPLL_FEED_BYTE2      ( ( unsigned char ) 0x55 )
 135 #define mainPLL_LOCK            ( ( unsigned long ) 0x0400 )
 136
 137 /* Constants to setup the MAM. */
 138 #define mainMAM_TIM_3           ( ( unsigned char ) 0x03 )
 139 #define mainMAM_MODE_FULL       ( ( unsigned char ) 0x02 )
 140
 141 /* Constants to setup the peripheral bus. */
 142 #define mainBUS_CLK_FULL        ( ( unsigned char ) 0x01 )
 143
 144 /* Constants for the ComTest tasks. */
 145 #define mainCOM_TEST_BAUD_RATE  ( ( unsigned long ) 115200 )
 146 #define mainCOM_TEST_LED                ( 3 )
 147
 148 /* Priorities for the demo application tasks. */
 149 #define mainLED_TASK_PRIORITY           ( tskIDLE_PRIORITY + 3 )
 150 #define mainCOM_TEST_PRIORITY           ( tskIDLE_PRIORITY + 2 )
 151 #define mainQUEUE_POLL_PRIORITY         ( tskIDLE_PRIORITY + 0 )
 152 #define mainCHECK_TASK_PRIORITY         ( tskIDLE_PRIORITY + 4 )
 153 #define mainSEM_TEST_PRIORITY           ( tskIDLE_PRIORITY + 0 )
 154 #define mainBLOCK_Q_PRIORITY            ( tskIDLE_PRIORITY + 2 )
 155
 156 /* The rate at which the on board LED will toggle when there is/is not an
 157 error. */
 158 #define mainNO_ERROR_FLASH_PERIOD       ( ( portTickType ) 3000 / portTICK_RATE_MS  )
 159 #define mainERROR_FLASH_PERIOD          ( ( portTickType ) 500 / portTICK_RATE_MS  )
 160 #define mainON_BOARD_LED_BIT            ( ( unsigned long ) 0x80 )
 161
 162 /* Constants used by the vMemCheckTask() task. */
 163 #define mainCOUNT_INITIAL_VALUE         ( ( unsigned long ) 0 )
 164 #define mainNO_TASK                                     ( 0 )
 165
 166 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
 167 #define mainMEM_CHECK_SIZE_1            ( ( size_t ) 51 )
 168 #define mainMEM_CHECK_SIZE_2            ( ( size_t ) 52 )
 169 #define mainMEM_CHECK_SIZE_3            ( ( size_t ) 151 )
 170
 171 /*-----------------------------------------------------------*/
 172
 173 /*
 174  * The Olimex demo board has a single built in LED.  This function simply
 175  * toggles its state.
 176  */
 177 void prvToggleOnBoardLED( void );
 178
 179 /*
 180  * Checks that all the demo application tasks are still executing without error
 181  * - as described at the top of the file.
 182  */
 183 static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount );
 184
 185 /*
 186  * The task that executes at the highest priority and calls
 187  * prvCheckOtherTasksAreStillRunning().  See the description at the top
 188  * of the file.
 189  */
 190 static void vErrorChecks( void *pvParameters );
 191
 192 /*
 193  * Dynamically created and deleted during each cycle of the vErrorChecks()
 194  * task.  This is done to check the operation of the memory allocator.
 195  * See the top of vErrorChecks for more details.
 196  */
 197 static void vMemCheckTask( void *pvParameters );
 198
 199 /*
 200  * Configure the processor for use with the Olimex demo board.  This includes
 201  * setup for the I/O, system clock, and access timings.
 202  */
 203 static void prvSetupHardware( void );
 204
 205 /*-----------------------------------------------------------*/
 206
 207 /*
 208  * Starts all the other tasks, then starts the scheduler.
 209  */
 210 int main( void )
 211 {
 212         /* Setup the hardware for use with the Olimex demo board. */
 213         prvSetupHardware();
 214
 215         /* Start the demo/test application tasks. */
 216         vStartIntegerMathTasks( tskIDLE_PRIORITY );
 217         vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
 218         vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
 219         vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
 220         vStartMathTasks( tskIDLE_PRIORITY );
 221         vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
 222         vStartDynamicPriorityTasks();
 223         vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
 224
 225         /* Start the check task - which is defined in this file. */
 226         xTaskCreate( vErrorChecks, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
 227
 228         /* Now all the tasks have been started - start the scheduler.
 229
 230         NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
 231         The processor MUST be in supervisor mode when vTaskStartScheduler is
 232         called.  The demo applications included in the FreeRTOS.org download switch
 233         to supervisor mode prior to main being called.  If you are not using one of
 234         these demo application projects then ensure Supervisor mode is used here. */
 235         vTaskStartScheduler();
 236
 237         /* Should never reach here! */
 238         return 0;
 239 }
 240 /*-----------------------------------------------------------*/
 241
 242 static void vErrorChecks( void *pvParameters )
 243 {
 244 portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
 245 unsigned long ulMemCheckTaskRunningCount;
 246 xTaskHandle xCreatedTask;
 247
 248         /* The parameters are not used in this function. */
 249         ( void ) pvParameters;
 250
 251         /* Cycle for ever, delaying then checking all the other tasks are still
 252         operating without error.  If an error is detected then the delay period
 253         is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
 254         the on board LED flash rate will increase.
 255
 256         In addition to the standard tests the memory allocator is tested through
 257         the dynamic creation and deletion of a task each cycle.  Each time the
 258         task is created memory must be allocated for its stack.  When the task is
 259         deleted this memory is returned to the heap.  If the task cannot be created
 260         then it is likely that the memory allocation failed. */
 261
 262         for( ;; )
 263         {
 264                 /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
 265                 parameter. */
 266                 ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
 267                 xCreatedTask = mainNO_TASK;
 268
 269                 if( xTaskCreate( vMemCheckTask, ( signed char * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
 270                 {
 271                         /* Could not create the task - we have probably run out of heap. */
 272                         xDelayPeriod = mainERROR_FLASH_PERIOD;
 273                 }
 274
 275                 /* Delay until it is time to execute again. */
 276                 vTaskDelay( xDelayPeriod );
 277
 278                 /* Delete the dynamically created task. */
 279                 if( xCreatedTask != mainNO_TASK )
 280                 {
 281                         vTaskDelete( xCreatedTask );
 282                 }
 283
 284                 /* Check all the standard demo application tasks are executing without
 285                 error.  ulMemCheckTaskRunningCount is checked to ensure it was
 286                 modified by the task just deleted. */
 287                 if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
 288                 {
 289                         /* An error has been detected in one of the tasks - flash faster. */
 290                         xDelayPeriod = mainERROR_FLASH_PERIOD;
 291                 }
 292
 293                 prvToggleOnBoardLED();
 294         }
 295 }
 296 /*-----------------------------------------------------------*/
 297
 298 static void prvSetupHardware( void )
 299 {
 300         #ifdef RUN_FROM_RAM
 301                 /* Remap the interrupt vectors to RAM if we are are running from RAM. */
 302                 SCB_MEMMAP = 2;
 303         #endif
 304
 305         /* Configure the RS2332 pins.  All other pins remain at their default of 0. */
 306         PCB_PINSEL0 |= mainTX_ENABLE;
 307         PCB_PINSEL0 |= mainRX_ENABLE;
 308
 309         /* Set all GPIO to output other than the P0.14 (BSL), and the JTAG pins.
 310         The JTAG pins are left as input as I'm not sure what will happen if the
 311         Wiggler is connected after powerup - not that it would be a good idea to
 312         do that anyway. */
 313         GPIO_IODIR = ~( mainP0_14 + mainJTAG_PORT );
 314
 315         /* Setup the PLL to multiply the XTAL input by 4. */
 316         SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );
 317
 318         /* Activate the PLL by turning it on then feeding the correct sequence of
 319         bytes. */
 320         SCB_PLLCON = mainPLL_ENABLE;
 321         SCB_PLLFEED = mainPLL_FEED_BYTE1;
 322         SCB_PLLFEED = mainPLL_FEED_BYTE2;
 323
 324         /* Wait for the PLL to lock... */
 325         while( !( SCB_PLLSTAT & mainPLL_LOCK ) );
 326
 327         /* ...before connecting it using the feed sequence again. */
 328         SCB_PLLCON = mainPLL_CONNECT;
 329         SCB_PLLFEED = mainPLL_FEED_BYTE1;
 330         SCB_PLLFEED = mainPLL_FEED_BYTE2;
 331
 332         /* Setup and turn on the MAM.  Three cycle access is used due to the fast
 333         PLL used.  It is possible faster overall performance could be obtained by
 334         tuning the MAM and PLL settings. */
 335         MAM_TIM = mainMAM_TIM_3;
 336         MAM_CR = mainMAM_MODE_FULL;
 337
 338         /* Setup the peripheral bus to be the same as the PLL output. */
 339         SCB_VPBDIV = mainBUS_CLK_FULL;
 340
 341         /* Initialise LED outputs. */
 342         vParTestInitialise();
 343 }
 344 /*-----------------------------------------------------------*/
 345
 346 void prvToggleOnBoardLED( void )
 347 {
 348 unsigned long ulState;
 349
 350         ulState = GPIO0_IOPIN;
 351         if( ulState & mainON_BOARD_LED_BIT )
 352         {
 353                 GPIO_IOCLR = mainON_BOARD_LED_BIT;
 354         }
 355         else
 356         {
 357                 GPIO_IOSET = mainON_BOARD_LED_BIT;
 358         }
 359 }
 360 /*-----------------------------------------------------------*/
 361
 362 static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount )
 363 {
 364 long lReturn = ( long ) pdPASS;
 365
 366         /* Check all the demo tasks (other than the flash tasks) to ensure
 367         that they are all still running, and that none of them have detected
 368         an error. */
 369
 370         if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
 371         {
 372                 lReturn = ( long ) pdFAIL;
 373         }
 374
 375         if( xAreComTestTasksStillRunning() != pdTRUE )
 376         {
 377                 lReturn = ( long ) pdFAIL;
 378         }
 379
 380         if( xArePollingQueuesStillRunning() != pdTRUE )
 381         {
 382                 lReturn = ( long ) pdFAIL;
 383         }
 384
 385         if( xAreMathsTaskStillRunning() != pdTRUE )
 386         {
 387                 lReturn = ( long ) pdFAIL;
 388         }
 389
 390         if( xAreSemaphoreTasksStillRunning() != pdTRUE )
 391         {
 392                 lReturn = ( long ) pdFAIL;
 393         }
 394
 395         if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
 396         {
 397                 lReturn = ( long ) pdFAIL;
 398         }
 399
 400         if( xAreBlockingQueuesStillRunning() != pdTRUE )
 401         {
 402                 lReturn = ( long ) pdFAIL;
 403         }
 404
 405         if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
 406         {
 407                 /* The vMemCheckTask did not increment the counter - it must
 408                 have failed. */
 409                 lReturn = ( long ) pdFAIL;
 410         }
 411
 412         return lReturn;
 413 }
 414 /*-----------------------------------------------------------*/
 415
 416 static void vMemCheckTask( void *pvParameters )
 417 {
 418 unsigned long *pulMemCheckTaskRunningCounter;
 419 void *pvMem1, *pvMem2, *pvMem3;
 420 static long lErrorOccurred = pdFALSE;
 421
 422         /* This task is dynamically created then deleted during each cycle of the
 423         vErrorChecks task to check the operation of the memory allocator.  Each time
 424         the task is created memory is allocated for the stack and TCB.  Each time
 425         the task is deleted this memory is returned to the heap.  This task itself
 426         exercises the allocator by allocating and freeing blocks.
 427
 428         The task executes at the idle priority so does not require a delay.
 429
 430         pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
 431         vErrorChecks() task that this task is still executing without error. */
 432
 433         pulMemCheckTaskRunningCounter = ( unsigned long * ) pvParameters;
 434
 435         for( ;; )
 436         {
 437                 if( lErrorOccurred == pdFALSE )
 438                 {
 439                         /* We have never seen an error so increment the counter. */
 440                         ( *pulMemCheckTaskRunningCounter )++;
 441                 }
 442
 443                 /* Allocate some memory - just to give the allocator some extra
 444                 exercise.  This has to be in a critical section to ensure the
 445                 task does not get deleted while it has memory allocated. */
 446                 vTaskSuspendAll();
 447                 {
 448                         pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
 449                         if( pvMem1 == NULL )
 450                         {
 451                                 lErrorOccurred = pdTRUE;
 452                         }
 453                         else
 454                         {
 455                                 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
 456                                 vPortFree( pvMem1 );
 457                         }
 458                 }
 459                 xTaskResumeAll();
 460
 461                 /* Again - with a different size block. */
 462                 vTaskSuspendAll();
 463                 {
 464                         pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
 465                         if( pvMem2 == NULL )
 466                         {
 467                                 lErrorOccurred = pdTRUE;
 468                         }
 469                         else
 470                         {
 471                                 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
 472                                 vPortFree( pvMem2 );
 473                         }
 474                 }
 475                 xTaskResumeAll();
 476
 477                 /* Again - with a different size block. */
 478                 vTaskSuspendAll();
 479                 {
 480                         pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
 481                         if( pvMem3 == NULL )
 482                         {
 483                                 lErrorOccurred = pdTRUE;
 484                         }
 485                         else
 486                         {
 487                                 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
 488                                 vPortFree( pvMem3 );
 489                         }
 490                 }
 491                 xTaskResumeAll();
 492         }
 493 }
 494
 495
 496