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/*
* FreeRTOS Kernel V10.3.0
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
/*
* Creates all the demo application tasks, then starts the scheduler.
*
* Main.c also creates a task called "Check". This only executes every three
* seconds but has the highest priority so is guaranteed to get processor time.
* Its main function is to check that all the other tasks are still operational.
* Each task (other than the "flash" tasks) maintains a unique count that is
* incremented each time the task successfully completes its function. Should
* any error occur within such a task the count is permanently halted. The
* check task inspects the count of each task to ensure it has changed since
* the last time the check task executed. If all the count variables have
* changed all the tasks are still executing error free, and the check task
* toggles the on board LED. Should any task contain an error at any time
* the LED toggle rate will change from 3 seconds to 500ms.
*
* NOTE: The demo application includes tasks that send and receive characters
* over the UART. The characters sent by one task are received by another -
* with an error condition being flagged should any characters be missed or
* received out of order. A loopback connector is required on the 9way D socket
* for this mechanism to operation (pins 2 and 3 the socket should be connected
* together - a paper clip is normally sufficient).
*
*/
/* Standard includes. */
#include <stdlib.h>
#include <string.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo application includes. */
#include "partest.h"
#include "flash.h"
#include "integer.h"
#include "PollQ.h"
#include "comtest2.h"
#include "semtest.h"
#include "flop.h"
#include "dynamic.h"
#include "BlockQ.h"
#include "serial.h"
#include "demoGpio.h"
#include "7seg.h"
#include "RegTest.h"
/*-----------------------------------------------------------*/
/* Constants for the ComTest tasks. */
#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
#define mainCOM_TEST_LED ( 5 )
/* Priorities for the demo application tasks. */
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define main7SEG_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
/* The rate at which the on board LED will toggle when there is/is not an
error. */
#define mainNO_ERROR_FLASH_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
#define mainERROR_FLASH_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
#define mainON_BOARD_LED_BIT ( ( unsigned long ) 7 )
/* The size of the memory blocks allocated by the vMemCheckTask() task. */
#define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
#define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
#define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
/*-----------------------------------------------------------*/
/*
* Checks that all the demo application tasks are still executing without error
* - as described at the top of the file.
*/
static long prvCheckOtherTasksAreStillRunning( void );
/*
* The task that executes at the highest priority and calls
* prvCheckOtherTasksAreStillRunning(). See the description at the top
* of the file.
*/
static void vErrorChecks( void *pvParameters );
/*
* Configure the processor for use with the Olimex demo board. This includes
* setup for the I/O, system clock, and access timings.
*/
static void prvSetupHardware( void );
/*-----------------------------------------------------------*/
/*
* Starts all the other tasks, then starts the scheduler.
*/
int main( void )
{
/* Setup the hardware for use with the Xilinx evaluation board. */
prvSetupHardware();
/* Start the demo/test application tasks. */
vStartIntegerMathTasks( tskIDLE_PRIORITY );
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
vStartDynamicPriorityTasks();
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
vStart7SegTasks( main7SEG_TASK_PRIORITY );
vStartRegTestTasks();
/* Start the check task - which is defined in this file. */
xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Now all the tasks have been started - start the scheduler. */
vTaskStartScheduler();
/* Should never reach here! */
for( ;; );
}
/*-----------------------------------------------------------*/
static void vErrorChecks( void *pvParameters )
{
TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
/* Just to stop compiler warnings. */
( void ) pvParameters;
/* Cycle for ever, delaying then checking all the other tasks are still
operating without error. If an error is detected then the delay period
is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
the on board LED flash rate will increase. */
for( ;; )
{
/* Delay until it is time to execute again. */
vTaskDelay( xDelayPeriod );
/* Check all the standard demo application tasks are executing without
error. */
if( prvCheckOtherTasksAreStillRunning() != pdPASS )
{
/* An error has been detected in one of the tasks - flash faster. */
xDelayPeriod = mainERROR_FLASH_PERIOD;
}
/* The toggle rate of the LED depends on how long this task delays for.
An error reduces the delay period and so increases the toggle rate. */
vParTestToggleLED( mainON_BOARD_LED_BIT );
}
}
/*-----------------------------------------------------------*/
static void prvSetupHardware( void )
{
/* Initialise LED outputs. */
vParTestInitialise();
}
/*-----------------------------------------------------------*/
static long prvCheckOtherTasksAreStillRunning( void )
{
long lReturn = pdPASS;
/* Check all the demo tasks (other than the flash tasks) to ensure
that they are all still running, and that none of them have detected
an error. */
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xAreComTestTasksStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xArePollingQueuesStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xAreRegTestTasksStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
return lReturn;
}
/*-----------------------------------------------------------*/
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
{
/* This function will be called if a task overflows its stack. Inspect
pxCurrentTCB to find the offending task if the overflow was sever enough
to corrupt the pcTaskName parameter. */
vParTestSetLED( 4, 1 );
for( ;; );
}
/*-----------------------------------------------------------*/
void vApplicationMallocFailedHook( void )
{
/* This function will be called if a call to pvPortMalloc() fails to return
the requested memory. pvPortMalloc() is called internally by the scheduler
whenever a task, queue or semaphore is created. */
vParTestSetLED( 4, 1 );
for( ;; );
}
/*-----------------------------------------------------------*/
/* Provide an exit function to prevent a whole load of standard library functions
being brought into the build. */
void exit( int status )
{
for( ;; );
}
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