main.c

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/*
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    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.
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#include <stdio.h>
#include <stdlib.h>
#include <string.h>

/* Environment header files. */
#include "power_clocks_lib.h"

/* Scheduler header files. */
#include "FreeRTOS.h"
#include "task.h"

/* Demo file headers. */
#include "partest.h"
#include "serial.h"
#include "integer.h"
#include "comtest.h"
#include "flash.h"
#include "PollQ.h"
#include "semtest.h"
#include "dynamic.h"
#include "BlockQ.h"
#include "death.h"
#include "flop.h"


#define mainLED_TASK_PRIORITY     ( tskIDLE_PRIORITY + 1 )
#define mainCOM_TEST_PRIORITY     ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY   ( tskIDLE_PRIORITY + 2 )
#define mainSEM_TEST_PRIORITY     ( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY      ( tskIDLE_PRIORITY + 3 )
#define mainCHECK_TASK_PRIORITY   ( tskIDLE_PRIORITY + 4 )
#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )

#define mainCOM_TEST_BAUD_RATE    ( ( unsigned portLONG ) 57600 )

#define mainCOM_TEST_LED          ( 3 )

#define mainCHECK_TASK_LED        ( 6 )

#define mainERROR_LED             ( 7 )

#define mainCHECK_PERIOD          ( ( portTickType ) 3000 / portTICK_RATE_MS  )

#define mainERROR_FLASH_RATE      ( (portTickType) 500 / portTICK_RATE_MS )


#define mainCOUNT_INITIAL_VALUE   ( ( unsigned portLONG ) 0 )
#define mainNO_TASK               ( 0 )



#define mainMEM_CHECK_SIZE_1      ( ( size_t ) 51 )
#define mainMEM_CHECK_SIZE_2      ( ( size_t ) 52 )
#define mainMEM_CHECK_SIZE_3      ( ( size_t ) 15 )


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

/*
 * 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 );

/*
 * Checks that all the demo application tasks are still executing without error
 * - as described at the top of the file.
 */
static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void );

/*
 * A task that exercises the memory allocator.
 */
static void vMemCheckTask( void *pvParameters );

/*
 * Called by the check task following the detection of an error to set the
 * LEDs into a state that shows an error has beeen found.
 */
static void prvIndicateError( void );

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

int main( void )
{
    // Configure Osc0 in crystal mode (i.e. use of an external crystal source, with
    // frequency FOSC0) with an appropriate startup time then switch the main clock
    // source to Osc0.
    pcl_switch_to_osc(PCL_OSC0, FOSC0, OSC0_STARTUP);

    portDBG_TRACE("Starting the FreeRTOS AVR32 UC3 Demo...");

    /* Setup the LED's for output. */
    vParTestInitialise();

    /* Start the standard demo tasks.  See the WEB documentation for more
    information. */
    vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
    vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
    vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
    vStartIntegerMathTasks( tskIDLE_PRIORITY );
    vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
    vStartDynamicPriorityTasks();
  #if BOARD != EVK1101
    vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
    vStartMathTasks( tskIDLE_PRIORITY );
  #endif

    /* Start the demo tasks defined within this file, specifically the check
    task as described at the top of this file. */
    xTaskCreate(
        vErrorChecks
        ,  (const signed portCHAR *)"ErrCheck"
        ,  configMINIMAL_STACK_SIZE
        ,  NULL
        ,  mainCHECK_TASK_PRIORITY
        ,  NULL );

    /* Start the scheduler. */
    vTaskStartScheduler();

    /* Will only get here if there was insufficient memory to create the idle
    task. */

    return 0;
}
/*-----------------------------------------------------------*/

static void vErrorChecks( void *pvParameters )
{
static volatile unsigned portLONG ulDummyVariable = 3UL;
unsigned portLONG ulMemCheckTaskRunningCount;
xTaskHandle xCreatedTask;
portBASE_TYPE bSuicidalTask = 0;

    /* The parameters are not used.  Prevent compiler warnings. */
    ( void ) pvParameters;

    /* Cycle for ever, delaying then checking all the other tasks are still
    operating without error.

    In addition to the standard tests the memory allocator is tested through
    the dynamic creation and deletion of a task each cycle.  Each time the
    task is created memory must be allocated for its stack.  When the task is
    deleted this memory is returned to the heap.  If the task cannot be created
    then it is likely that the memory allocation failed. */

    for( ;; )
    {
        /* Do this only once. */
        if( bSuicidalTask == 0 )
        {
            bSuicidalTask++;

            /* This task has to be created last as it keeps account of the number of
            tasks it expects to see running. However its implementation expects
            to be called before vTaskStartScheduler(). We're in the case here where
            vTaskStartScheduler() has already been called (thus the hidden IDLE task
            has already been spawned). Since vCreateSuicidalTask() supposes that the
            IDLE task isn't included in the response from uxTaskGetNumberOfTasks(),
            let the MEM_CHECK task play that role. => this is why vCreateSuicidalTasks()
            is not called as the last task. */
            vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
        }

        /* Reset xCreatedTask.  This is modified by the task about to be
        created so we can tell if it is executing correctly or not. */
        xCreatedTask = mainNO_TASK;

        /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
        parameter. */
        ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;

        if( xTaskCreate( vMemCheckTask,
            ( signed portCHAR * ) "MEM_CHECK",
            configMINIMAL_STACK_SIZE,
            ( void * ) &ulMemCheckTaskRunningCount,
            tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
        {
            /* Could not create the task - we have probably run out of heap.
            Don't go any further and flash the LED faster to provide visual
            feedback of the error. */
            prvIndicateError();
        }

        /* Delay until it is time to execute again. */
        vTaskDelay( mainCHECK_PERIOD );

        /* Delete the dynamically created task. */
        if( xCreatedTask != mainNO_TASK )
        {
            vTaskDelete( xCreatedTask );
        }

        /* Perform a bit of 32bit maths to ensure the registers used by the
        integer tasks get some exercise. The result here is not important -
        see the demo application documentation for more info. */
        ulDummyVariable *= 3;

        /* Check all other tasks are still operating without error.
        Check that vMemCheckTask did increment the counter. */
        if( ( prvCheckOtherTasksAreStillRunning() != pdFALSE )
         || ( ulMemCheckTaskRunningCount == mainCOUNT_INITIAL_VALUE ) )
        {
            /* An error has occurred in one of the tasks.
            Don't go any further and flash the LED faster to give visual
            feedback of the error. */
            prvIndicateError();
        }
        else
        {
            /* Toggle the LED if everything is okay. */
            vParTestToggleLED( mainCHECK_TASK_LED );
        }
    }
}
/*-----------------------------------------------------------*/


static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
{
static portBASE_TYPE xErrorHasOccurred = pdFALSE;

    if( xAreComTestTasksStillRunning() != pdTRUE )
    {
        xErrorHasOccurred = pdTRUE;
    }

    if( xArePollingQueuesStillRunning() != pdTRUE )
    {
        xErrorHasOccurred = pdTRUE;
    }

    if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
    {
        xErrorHasOccurred = pdTRUE;
    }

    if( xAreSemaphoreTasksStillRunning() != pdTRUE )
    {
        xErrorHasOccurred = pdTRUE;
    }

    #if BOARD != EVK1101
    if( xAreBlockingQueuesStillRunning() != pdTRUE )
    {
        xErrorHasOccurred = pdTRUE;
    }
    #endif

    if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
    {
        xErrorHasOccurred = pdTRUE;
    }

    #if BOARD != EVK1101
    if( xAreMathsTaskStillRunning() != pdTRUE )
    {
        xErrorHasOccurred = pdTRUE;
    }
    #endif

    if( xIsCreateTaskStillRunning() != pdTRUE )
    {
        xErrorHasOccurred = pdTRUE;
    }

    return ( xErrorHasOccurred );
}
/*-----------------------------------------------------------*/


static void vMemCheckTask( void *pvParameters )
{
unsigned portLONG *pulMemCheckTaskRunningCounter;
void *pvMem1, *pvMem2, *pvMem3;
static portLONG lErrorOccurred = pdFALSE;

    /* This task is dynamically created then deleted during each cycle of the
    vErrorChecks task to check the operation of the memory allocator.  Each time
    the task is created memory is allocated for the stack and TCB.  Each time
    the task is deleted this memory is returned to the heap.  This task itself
    exercises the allocator by allocating and freeing blocks.

    The task executes at the idle priority so does not require a delay.

    pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
    vErrorChecks() task that this task is still executing without error. */

    pulMemCheckTaskRunningCounter = ( unsigned portLONG * ) pvParameters;

    for( ;; )
    {
        if( lErrorOccurred == pdFALSE )
        {
            /* We have never seen an error so increment the counter. */
            ( *pulMemCheckTaskRunningCounter )++;
        }
        else
        {
            /* There has been an error so reset the counter so the check task
            can tell that an error occurred. */
            *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
        }

        /* Allocate some memory - just to give the allocator some extra
        exercise.  This has to be in a critical section to ensure the
        task does not get deleted while it has memory allocated. */

        vTaskSuspendAll();
        {
            pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );

            if( pvMem1 == NULL )
            {
                lErrorOccurred = pdTRUE;
            }
            else
            {
                memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
                vPortFree( pvMem1 );
            }
        }
        xTaskResumeAll();

        /* Again - with a different size block. */
        vTaskSuspendAll();
        {
            pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );

            if( pvMem2 == NULL )
            {
                lErrorOccurred = pdTRUE;
            }
            else
            {
                memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
                vPortFree( pvMem2 );
            }
        }
        xTaskResumeAll();

        /* Again - with a different size block. */
        vTaskSuspendAll();
        {
            pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
            if( pvMem3 == NULL )
            {
                lErrorOccurred = pdTRUE;
            }
            else
            {
                memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
                vPortFree( pvMem3 );
            }
        }
        xTaskResumeAll();
    }
}
/*-----------------------------------------------------------*/

static void prvIndicateError( void )
{
    /* The check task has found an error in one of the other tasks.
    Set the LEDs to a state that indicates this. */
    vParTestSetLED(mainERROR_LED,pdTRUE);

    #if BOARD == EVK1101 || BOARD == EVK1104 || BOARD == EVK1105
      /* Set all LEDs to the same initial state before toggling them. */
        vParTestSetLED( 0, pdTRUE );
        vParTestSetLED( 1, pdTRUE );
        vParTestSetLED( 2, pdTRUE );
        vParTestSetLED( 3, pdTRUE );
    #endif

    for(;;)
    {
        #if BOARD == EVK1100
            vParTestToggleLED( mainCHECK_TASK_LED );
            vTaskDelay( mainERROR_FLASH_RATE );
        #elif BOARD == EVK1101 || BOARD == EVK1104 || BOARD == EVK1105 || BOARD == UC3C_EK
            vParTestToggleLED( 0 );
            vParTestToggleLED( 1 );
            vParTestToggleLED( 2 );
            vParTestToggleLED( 3 );
            vTaskDelay( mainERROR_FLASH_RATE );
        #else
            #error You should define here the way of indicating an error on your board
        #endif
    }
}

---