main.c

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/*
	FreeRTOS.org V5.0.0 - 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.

    ***************************************************************************
    ***************************************************************************
    *                                                                         *
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	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.

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*/

/**
 * Creates all the demo application tasks and co-routines, then starts the 
 * scheduler.
 *
 * Main. c also creates a task called "Print".  This only executes every 
 * five 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.  Nearly all the tasks in the demo application 
 * maintain a unique count that is incremented each time the task successfully 
 * completes its function.  Should any error occur within the task the count is 
 * permanently halted.  The print task checks the count of each task to ensure 
 * it has changed since the last time the print task executed.  If any count is 
 * found not to have changed the print task displays an appropriate message.  
 * If all the tasks are still incrementing their unique counts the print task 
 * displays an "OK" message.
 *
 * The LED flash tasks do not maintain a count as they already provide visual 
 * feedback of their status.
 *
 * The print task blocks on the queue into which messages that require 
 * displaying are posted.  It will therefore only block for the full 5 seconds
 * if no messages are posted onto the queue.
 *
 * Main. c also provides a demonstration of how the trace visualisation utility
 * can be used, and how the scheduler can be stopped.
 *
 * \page MainC main.c
 * \ingroup DemoFiles
 * <HR>
 */

#include <stdlib.h>
#include <conio.h>
#include "FreeRTOS.h"
#include "task.h"
#include "croutine.h"
#include "partest.h"
#include "serial.h"

/* Demo file headers. */
#include "BlockQ.h"
#include "PollQ.h"
#include "death.h"
#include "crflash.h"
#include "flop.h"
#include "print.h"
#include "comtest.h"
#include "fileio.h"
#include "semtest.h"
#include "integer.h"
#include "dynamic.h"
#include "mevents.h"
#include "crhook.h"
#include "blocktim.h"
#include "AltBlock.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "countsem.h"
#include "AltQTest.h"
#include "AltPollQ.h"
#include "AltBlckQ.h"
#include "RecMutex.h"

/* Priority definitions for the tasks in the demo application. */
#define mainLED_TASK_PRIORITY		( tskIDLE_PRIORITY + 1 )
#define mainCREATOR_TASK_PRIORITY	( tskIDLE_PRIORITY + 3 )
#define mainPRINT_TASK_PRIORITY		( tskIDLE_PRIORITY + 4 )
#define mainQUEUE_POLL_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_BLOCK_PRIORITY	( tskIDLE_PRIORITY + 3 )
#define mainCOM_TEST_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainSEMAPHORE_TASK_PRIORITY	( tskIDLE_PRIORITY + 1 )
#define mainGENERIC_QUEUE_PRIORITY	( tskIDLE_PRIORITY )

#define mainPRINT_STACK_SIZE		( ( unsigned portSHORT ) 512 )
#define mainDEBUG_LOG_BUFFER_SIZE	( ( unsigned portSHORT ) 20480 )

/* The number of flash co-routines to create. */
#define mainNUM_FLASH_CO_ROUTINES	( 8 )

/* Task function for the "Print" task as described at the top of the file. */
static void vErrorChecks( void *pvParameters );

/* Function that checks the unique count of all the other tasks as described at
the top of the file. */
static void prvCheckOtherTasksAreStillRunning( void );

/* Key presses can be used to start/stop the trace visualisation utility or stop
the scheduler. */
static void	prvCheckForKeyPresses( void );

/* Buffer used by the trace visualisation utility so only needed if the trace
being used. */
#if configUSE_TRACE_FACILITY == 1
	static portCHAR pcWriteBuffer[ mainDEBUG_LOG_BUFFER_SIZE ];
#endif

/* Constant definition used to turn on/off the pre-emptive scheduler. */
static const portSHORT sUsingPreemption = configUSE_PREEMPTION;

/* Start the math tasks appropriate to the build.  The Borland port does
not yet support floating point so uses the integer equivalent. */
static void prvStartMathTasks( void );

/* Check which ever tasks are relevant to this build. */
static portBASE_TYPE prvCheckMathTasksAreStillRunning( void );

/* Used to demonstrate the "task switched in" callback function. */
static portBASE_TYPE prvExampleTaskHook( void * pvParameter );

/* Just used to count the number of times the example task callback function is
called, and the number of times a queue send passes. */
static unsigned portLONG portLONG uxCheckTaskHookCallCount = 0;
static unsigned portLONG portLONG uxQueueSendPassedCount = 0;

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

portSHORT main( void )
{
	/* Initialise hardware and utilities. */
	vParTestInitialise();
	vPrintInitialise();
	
	/* CREATE ALL THE DEMO APPLICATION TASKS. */
	prvStartMathTasks();
	vStartComTestTasks( mainCOM_TEST_PRIORITY, serCOM1, ser115200 );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
	vCreateBlockTimeTasks();
	vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
	vStartSemaphoreTasks( mainSEMAPHORE_TASK_PRIORITY );
	vStartDynamicPriorityTasks();
	vStartMultiEventTasks();
	vStartQueuePeekTasks();
	vStartCountingSemaphoreTasks();
	vStartAltGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
	vCreateAltBlockTimeTasks();
	vStartAltBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );	
	vStartAltPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartRecursiveMutexTasks();
		
	/* Create the "Print" task as described at the top of the file. */
	xTaskCreate( vErrorChecks, "Print", mainPRINT_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );

	/* This task has to be created last as it keeps account of the number of tasks
	it expects to see running. */
	vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );

	/* Create the co-routines that flash the LED's. */
	vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );

	/* Create the co-routines that communicate with the tick hook. */
	vStartHookCoRoutines();

	/* Set the scheduler running.  This function will not return unless a task
	calls vTaskEndScheduler(). */
	vTaskStartScheduler();

	return 1;
}
/*-----------------------------------------------------------*/

static portBASE_TYPE prvExampleTaskHook( void * pvParameter )
{
	if( pvParameter != ( void * ) 0xabcd )
	{
		/* The parameter did not contain the value we expected, so cause an
		error to be detected by setting the call count back to zero. */
		uxCheckTaskHookCallCount = 0;
	}
	else
	{
		/* Simply increment a number so we know the callback has been executed. */
		uxCheckTaskHookCallCount++;
	}

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

void vMainQueueSendPassed( void )
{
	/* This is just an example implementation of the "queue send" trace hook. */
	uxQueueSendPassedCount++;
}
/*-----------------------------------------------------------*/

static void vErrorChecks( void *pvParameters )
{
portTickType xExpectedWakeTime;
const portTickType xPrintRate = ( portTickType ) 5000 / portTICK_RATE_MS;
const portLONG lMaxAllowableTimeDifference = ( portLONG ) 0;
portTickType xWakeTime;
portLONG lTimeDifference;
const portCHAR *pcReceivedMessage;
const portCHAR * const pcTaskBlockedTooLongMsg = "Print task blocked too long!\r\n";

	( void ) pvParameters;

	/* Register our callback function. */
	vTaskSetApplicationTaskTag( NULL, prvExampleTaskHook );

	/* Loop continuously, blocking, then checking all the other tasks are still
	running, before blocking once again.  This task blocks on the queue of
	messages that require displaying so will wake either by its time out expiring,
	or a message becoming available. */
	for( ;; )
	{
		/* Calculate the time we will unblock if no messages are received
		on the queue.  This is used to check that we have not blocked for too long. */
		xExpectedWakeTime = xTaskGetTickCount();
		xExpectedWakeTime += xPrintRate;

		/* Block waiting for either a time out or a message to be posted that
		required displaying. */
		pcReceivedMessage = pcPrintGetNextMessage( xPrintRate );

		/* Was a message received? */
		if( pcReceivedMessage == NULL )
		{
			/* A message was not received so we timed out, did we unblock at the
			expected time? */