main.c

最新的FreeRTOS源代码

	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 );
		}
	}
}
/*-----------------------------------------------------------*/


/*!
 * \brief Checks that all the demo application tasks are still executing without error.
 */
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( xAreBlockingQueuesStillRunning() != pdTRUE )
	{
		xErrorHasOccurred = pdTRUE;
	}

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

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

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

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


/*!
 * \brief Dynamically created and deleted during each cycle of the vErrorChecks()
 * task.  This is done to check the operation of the memory allocator.
 * See the top of vErrorChecks for more details.
 *
 * \param *pvParameters Parameters for the task (can be of any kind)
 */
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);

	for(;;)
	{
		#if( BOARD==EVK1100 )
			vParTestToggleLED( mainCHECK_TASK_LED );
			vTaskDelay( mainERROR_FLASH_RATE );
		#endif
		#if ( BOARD==EVK1101 )
			vParTestSetLED( 0, pdTRUE );
			vParTestSetLED( 1, pdTRUE );
			vParTestSetLED( 2, pdTRUE );
			vParTestSetLED( 3, pdTRUE );
		#endif
	}
}