void vApplicationTickHook( void )
{
static xOLEDMessage xMessage = { "PASS" };
static unsigned portLONG ulTicksSinceLastDisplay = 0;
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
/* Called from every tick interrupt. Have enough ticks passed to make it
time to perform our health status check again? */
ulTicksSinceLastDisplay++;
if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
{
ulTicksSinceLastDisplay = 0;
/* Has an error been found in any task? */
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
xMessage.pcMessage = "ERROR IN GEN Q";
}
else if( xIsCreateTaskStillRunning() != pdTRUE )
{
xMessage.pcMessage = "ERROR IN CREATE";
}
else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
xMessage.pcMessage = "ERROR IN MATH";
}
else if( xAreIntQueueTasksStillRunning() != pdTRUE )
{
xMessage.pcMessage = "ERROR IN INT QUEUE";
}
else if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
xMessage.pcMessage = "ERROR IN BLOCK Q";
}
else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
xMessage.pcMessage = "ERROR IN BLOCK TIME";
}
else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
xMessage.pcMessage = "ERROR IN SEMAPHORE";
}
else if( xArePollingQueuesStillRunning() != pdTRUE )
{
xMessage.pcMessage = "ERROR IN POLL Q";
}
else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
xMessage.pcMessage = "ERROR IN PEEK Q";
}
else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
{
xMessage.pcMessage = "ERROR IN REC MUTEX";
}
/* Send the message to the OLED gatekeeper for display. */
xHigherPriorityTaskWoken = pdFALSE;
xQueueSendFromISR( xOLEDQueue, &xMessage, &xHigherPriorityTaskWoken );
}
}
void vApplicationTickHook( void )
{
static xOLEDMessage xMessage = { "PASS" };
static unsigned long ulTicksSinceLastDisplay = 0;
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
/* Called from every tick interrupt. Have enough ticks passed to make it
time to perform our health status check again? */
ulTicksSinceLastDisplay++;
if( ulTicksSinceLastDisplay >= mainCHECK_DELAY ) {
ulTicksSinceLastDisplay = 0;
/* Has an error been found in any task? */
if( xAreGenericQueueTasksStillRunning() != pdTRUE ) {
xMessage.pcMessage = "ERROR IN GEN Q";
} else if( xIsCreateTaskStillRunning() != pdTRUE ) {
xMessage.pcMessage = "ERROR IN CREATE";
} else if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) {
xMessage.pcMessage = "ERROR IN MATH";
} else if( xAreIntQueueTasksStillRunning() != pdTRUE ) {
xMessage.pcMessage = "ERROR IN INT QUEUE";
} else if( xAreBlockingQueuesStillRunning() != pdTRUE ) {
xMessage.pcMessage = "ERROR IN BLOCK Q";
} else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) {
xMessage.pcMessage = "ERROR IN BLOCK TIME";
} else if( xAreSemaphoreTasksStillRunning() != pdTRUE ) {
xMessage.pcMessage = "ERROR IN SEMAPHORE";
} else if( xArePollingQueuesStillRunning() != pdTRUE ) {
xMessage.pcMessage = "ERROR IN POLL Q";
} else if( xAreQueuePeekTasksStillRunning() != pdTRUE ) {
xMessage.pcMessage = "ERROR IN PEEK Q";
} else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) {
xMessage.pcMessage = "ERROR IN REC MUTEX";
} else if( xAreQueueSetTasksStillRunning() != pdPASS ) {
xMessage.pcMessage = "ERROR IN Q SET";
} else if( xAreEventGroupTasksStillRunning() != pdTRUE ) {
xMessage.pcMessage = "ERROR IN EVNT GRP";
}
configASSERT( strcmp( ( const char * ) xMessage.pcMessage, "PASS" ) == 0 );
/* Send the message to the OLED gatekeeper for display. */
xHigherPriorityTaskWoken = pdFALSE;
xQueueSendFromISR( xOLEDQueue, &xMessage, &xHigherPriorityTaskWoken );
}
/* Write to a queue that is in use as part of the queue set demo to
demonstrate using queue sets from an ISR. */
vQueueSetAccessQueueSetFromISR();
/* Call the event group ISR tests. */
vPeriodicEventGroupsProcessing();
}
static void prvCheckTask( void *pvParameters )
{
static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
TickType_t xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;
extern void vSetupHighFrequencyTimer( void );
/* If this is being executed then the kernel has been started. Start the high
frequency timer test as described at the top of this file. This is only
included in the optimised build configuration - otherwise it takes up too much
CPU time. */
#ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
vSetupHighFrequencyTimer();
#endif
/* Initialise xNextWakeTime - this only needs to be done once. */
xNextWakeTime = xTaskGetTickCount();
for( ;; )
{
/* Place this task in the blocked state until it is time to run again. */
vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
/* Check the standard demo tasks are running without error. */
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
/* Increase the rate at which this task cycles, which will increase the
rate at which mainCHECK_LED flashes to give visual feedback that an error
has occurred. */
pcStatusMessage = "Error: GenQueue";
xPrintf( pcStatusMessage );
}
if( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
pcStatusMessage = "Error: QueuePeek\r\n";
xPrintf( pcStatusMessage );
}
if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
pcStatusMessage = "Error: BlockQueue\r\n";
xPrintf( pcStatusMessage );
}
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
pcStatusMessage = "Error: BlockTime\r\n";
xPrintf( pcStatusMessage );
}
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
pcStatusMessage = "Error: SemTest\r\n";
xPrintf( pcStatusMessage );
}
if( xArePollingQueuesStillRunning() != pdTRUE )
{
pcStatusMessage = "Error: PollQueue\r\n";
xPrintf( pcStatusMessage );
}
if( xIsCreateTaskStillRunning() != pdTRUE )
{
pcStatusMessage = "Error: Death\r\n";
xPrintf( pcStatusMessage );
}
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
pcStatusMessage = "Error: IntMath\r\n";
xPrintf( pcStatusMessage );
}
if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
{
pcStatusMessage = "Error: RecMutex\r\n";
xPrintf( pcStatusMessage );
}
if( xAreIntQueueTasksStillRunning() != pdPASS )
{
pcStatusMessage = "Error: IntQueue\r\n";
xPrintf( pcStatusMessage );
}
if( xAreMathsTaskStillRunning() != pdPASS )
{
pcStatusMessage = "Error: Flop\r\n";
xPrintf( pcStatusMessage );
}
/* Check the reg test tasks are still cycling. They will stop incrementing
their loop counters if they encounter an error. */
if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
{
pcStatusMessage = "Error: RegTest1\r\n";
xPrintf( pcStatusMessage );
}
if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
{
pcStatusMessage = "Error: RegTest2\r\n";
xPrintf( pcStatusMessage );
}
ulLastRegTest1CycleCount = ulRegTest1CycleCount;
ulLastRegTest2CycleCount = ulRegTest2CycleCount;
/* Toggle the check LED to give an indication of the system status. If
the LED toggles every 5 seconds then everything is ok. A faster toggle
indicates an error. */
vParTestToggleLED( mainCHECK_LED );
/* Ensure the LED toggles at a faster rate if an error has occurred. */
if( pcStatusMessage != NULL )
{
xCycleFrequency = mainERROR_CYCLE_TIME;
}
}
}
static void prvCheckTask( void *pvParameters )
{
TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
TickType_t xLastExecutionTime;
static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
unsigned long ulErrorFound = pdFALSE;
/* Just to stop compiler warnings. */
( void ) pvParameters;
/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
works correctly. */
xLastExecutionTime = xTaskGetTickCount();
/* Cycle for ever, delaying then checking all the other tasks are still
operating without error. The onboard LED is toggled on each iteration.
If an error is detected then the delay period is decreased from
mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
effect of increasing the rate at which the onboard LED toggles, and in so
doing gives visual feedback of the system status. */
for( ;; )
{
/* Delay until it is time to execute again. */
vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
/* Check all the demo tasks (other than the flash tasks) to ensure
that they are all still running, and that none have detected an error. */
if( xAreIntQueueTasksStillRunning() != pdTRUE )
{
ulErrorFound = 1UL << 0UL;
}
if( xAreMathsTaskStillRunning() != pdTRUE )
{
ulErrorFound = 1UL << 1UL;
}
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
{
ulErrorFound = 1UL << 2UL;
}
if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
ulErrorFound = 1UL << 3UL;
}
if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
ulErrorFound = 1UL << 4UL;
}
if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
ulErrorFound = 1UL << 5UL;
}
if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
{
ulErrorFound = 1UL << 6UL;
}
if( xIsCreateTaskStillRunning() != pdTRUE )
{
ulErrorFound = 1UL << 7UL;
}
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
ulErrorFound = 1UL << 8UL;
}
if( xAreTimerDemoTasksStillRunning( ( TickType_t ) xDelayPeriod ) != pdPASS )
{
ulErrorFound = 1UL << 9UL;
}
if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
{
ulErrorFound = 1UL << 10UL;
}
if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
{
ulErrorFound = 1UL << 11UL;
}
if( xAreEventGroupTasksStillRunning() != pdPASS )
{
ulErrorFound = 1UL << 12UL;
}
if( xAreInterruptSemaphoreTasksStillRunning() != pdPASS )
{
ulErrorFound = 1UL << 13UL;
}
if( xAreQueueSetTasksStillRunning() != pdPASS )
{
ulErrorFound = 1UL << 14UL;
}
if( xAreTaskNotificationTasksStillRunning() != pdPASS )
{
ulErrorFound = 1UL << 15UL;
}
/* Check that the register test 1 task is still running. */
if( ulLastRegTest1Value == ulRegTest1LoopCounter )
{
ulErrorFound = 1UL << 16UL;
}
ulLastRegTest1Value = ulRegTest1LoopCounter;
/* Check that the register test 2 task is still running. */
if( ulLastRegTest2Value == ulRegTest2LoopCounter )
{
ulErrorFound = 1UL << 17UL;
}
ulLastRegTest2Value = ulRegTest2LoopCounter;
/* Toggle the check LED to give an indication of the system status. If
the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
everything is ok. A faster toggle indicates an error. */
mainTOGGLE_LED();
if( ulErrorFound != pdFALSE )
{
/* An error has been detected in one of the tasks - flash the LED
at a higher frequency to give visible feedback that something has
gone wrong. */
xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
}
}
}
static void prvCheckTimerCallback( TimerHandle_t xTimer )
{
static long lChangedTimerPeriodAlready = pdFALSE;
static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
unsigned long ulErrorOccurred = pdFALSE;
/* Avoid compiler warnings. */
( void ) xTimer;
/* Have any of the standard demo tasks detected an error in their
operation? */
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 3UL );
}
else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 4UL );
}
else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 5UL );
}
else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 6UL );
}
else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 8UL );
}
else if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 9UL );
}
else if( xIsQueueOverwriteTaskStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 10UL );
}
else if( xAreQueueSetTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 11UL );
}
else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 12UL );
}
else if( xAreEventGroupTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 13UL );
}
else if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 14UL );
}
else if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 15UL );
}
else if( xAreTimerDemoTasksStillRunning( mainCHECK_TIMER_PERIOD_MS ) != pdTRUE )
{
ulErrorOccurred |= 1UL << 16UL;
}
else if( xAreIntQueueTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= 1UL << 17UL;
}
/* Check that the register test 1 task is still running. */
if( ulLastRegTest1Value == ulRegTest1LoopCounter )
{
ulErrorOccurred |= 1UL << 18UL;
}
ulLastRegTest1Value = ulRegTest1LoopCounter;
/* Check that the register test 2 task is still running. */
if( ulLastRegTest2Value == ulRegTest2LoopCounter )
{
ulErrorOccurred |= 1UL << 19UL;
}
ulLastRegTest2Value = ulRegTest2LoopCounter;
if( ulErrorOccurred != pdFALSE )
{
/* An error occurred. Increase the frequency at which the check timer
toggles its LED to give visual feedback of the potential error
condition. */
if( lChangedTimerPeriodAlready == pdFALSE )
{
lChangedTimerPeriodAlready = pdTRUE;
/* This call to xTimerChangePeriod() uses a zero block time.
Functions called from inside of a timer callback function must
*never* attempt to block as to do so could impact other software
timers. */
xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
}
}
/* Toggle the LED to give visual feedback of the system status. The rate at
which the LED toggles will increase to mainERROR_CHECK_TIMER_PERIOD_MS if a
suspected error has been found in any of the standard demo tasks. */
vParTestToggleLED( mainCHECK_LED );
}
/* See the description at the top of this file. */
static void prvCheckTimerCallback( xTimerHandle xTimer )
{
static long lChangedTimerPeriodAlready = pdFALSE;
static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
unsigned long ulErrorFound = pdFALSE;
/* Check all the demo and test tasks to ensure that they are all still
running, and that none have detected an error. */
if( xAreIntQueueTasksStillRunning() != pdPASS )
{
ulErrorFound |= ( 0x01UL << 0UL );
}
if( xAreBlockTimeTestTasksStillRunning() != pdPASS )
{
ulErrorFound |= ( 0x01UL << 1UL );
}
if( xAreCountingSemaphoreTasksStillRunning() != pdPASS )
{
ulErrorFound |= ( 0x01UL << 2UL );
}
if( xAreRecursiveMutexTasksStillRunning() != pdPASS )
{
ulErrorFound |= ( 0x01UL << 3UL );
}
/* Check that the register test 1 task is still running. */
if( ulLastRegTest1Value == ulRegTest1LoopCounter )
{
ulErrorFound |= ( 0x01UL << 4UL );
}
ulLastRegTest1Value = ulRegTest1LoopCounter;
/* Check that the register test 2 task is still running. */
if( ulLastRegTest2Value == ulRegTest2LoopCounter )
{
ulErrorFound |= ( 0x01UL << 5UL );
}
ulLastRegTest2Value = ulRegTest2LoopCounter;
/* Toggle the check LED to give an indication of the system status. If
the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
everything is ok. A faster toggle indicates an error. */
vMainToggleLED();
/* Have any errors been latched in ulErrorFound? If so, shorten the
period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
This will result in an increase in the rate at which mainCHECK_LED
toggles. */
if( ulErrorFound != pdFALSE )
{
if( lChangedTimerPeriodAlready == pdFALSE )
{
lChangedTimerPeriodAlready = pdTRUE;
/* This call to xTimerChangePeriod() uses a zero block time.
Functions called from inside of a timer callback function must
*never* attempt to block. */
xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
}
}
}
static void prvCheckTimerCallback( TimerHandle_t xTimer )
{
static long lChangedTimerPeriodAlready = pdFALSE;
static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0, ulLastHighFrequencyTimerInterrupts = 0;
static const unsigned long ulExpectedHighFrequencyInterrupts = ( ( mainTEST_INTERRUPT_FREQUENCY / 1000UL ) * mainCHECK_TIMER_PERIOD_MS ) - 10; /* 10 allows for a margin of error. */
unsigned long ulErrorOccurred = pdFALSE;
/* The count of the high frequency timer interrupts. */
extern unsigned long ulHighFrequencyTimerInterrupts;
/* Avoid compiler warnings. */
( void ) xTimer;
/* Check that the register test 1 task is still running. */
if( ulLastRegTest1Value == ulRegTest1Cycles )
{
ulErrorOccurred |= ( 0x01UL << 1UL );
}
ulLastRegTest1Value = ulRegTest1Cycles;
/* Check that the register test 2 task is still running. */
if( ulLastRegTest2Value == ulRegTest2Cycles )
{
ulErrorOccurred |= ( 0x01UL << 2UL );
}
ulLastRegTest2Value = ulRegTest2Cycles;
/* Have any of the standard demo tasks detected an error in their
operation? */
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 3UL );
}
else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 4UL );
}
else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 5UL );
}
else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 6UL );
}
else if( xAreIntQueueTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 7UL );
}
else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 8UL );
}
else if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 9UL );
}
else if( xIsQueueOverwriteTaskStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 10UL );
}
else if( xAreQueueSetTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 11UL );
}
else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 12UL );
}
else if( xAreEventGroupTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 13UL );
}
else if( xAreMathsTaskStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 15UL );
}
/* Ensure the expected number of high frequency interrupts have occurred. */
if( ulLastHighFrequencyTimerInterrupts != 0 )
{
if( ( ulHighFrequencyTimerInterrupts - ulLastHighFrequencyTimerInterrupts ) < ulExpectedHighFrequencyInterrupts )
{
ulErrorOccurred |= ( 0x01UL << 14UL );
}
}
ulLastHighFrequencyTimerInterrupts = ulHighFrequencyTimerInterrupts;
if( ulErrorOccurred != pdFALSE )
{
/* An error occurred. Increase the frequency at which the check timer
toggles its LED to give visual feedback of the potential error
condition. */
if( lChangedTimerPeriodAlready == pdFALSE )
{
lChangedTimerPeriodAlready = pdTRUE;
/* This call to xTimerChangePeriod() uses a zero block time.
Functions called from inside of a timer callback function must
*never* attempt to block as to do so could impact other software
timers. */
xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
}
}
vParTestToggleLED( mainCHECK_LED );
}
void vCheckTask( void *pvParameters )
{
unsigned long ulRow = 0;
portTickType xDelay = 0;
unsigned short usErrorCode = 0;
unsigned long ulIteration = 0;
extern unsigned portSHORT usMaxJitter;
/* Intialise the sleeper. */
xDelay = xTaskGetTickCount();
for( ;; )
{
/* Perform this check every mainCHECK_DELAY milliseconds. */
vTaskDelayUntil( &xDelay, mainCHECK_DELAY );
/* Check that all of the Demo tasks are still running. */
if( pdTRUE != xAreBlockingQueuesStillRunning() )
{
usErrorCode |= 0x1;
}
if( pdTRUE != xAreBlockTimeTestTasksStillRunning() )
{
usErrorCode |= 0x2;
}
if( pdTRUE != xAreCountingSemaphoreTasksStillRunning() )
{
usErrorCode |= 0x4;
}
if( pdTRUE != xIsCreateTaskStillRunning() )
{
usErrorCode |= 0x8;
}
if( pdTRUE != xAreDynamicPriorityTasksStillRunning() )
{
usErrorCode |= 0x10;
}
if( pdTRUE != xAreMathsTaskStillRunning() )
{
usErrorCode |= 0x20;
}
if( pdTRUE != xAreGenericQueueTasksStillRunning() )
{
usErrorCode |= 0x40;
}
if( pdTRUE != xAreIntegerMathsTaskStillRunning() )
{
usErrorCode |= 0x80;
}
if( pdTRUE != xArePollingQueuesStillRunning() )
{
usErrorCode |= 0x100;
}
if( pdTRUE != xAreQueuePeekTasksStillRunning() )
{
usErrorCode |= 0x200;
}
if( pdTRUE != xAreSemaphoreTasksStillRunning() )
{
usErrorCode |= 0x400;
}
if( pdTRUE != xAreComTestTasksStillRunning() )
{
usErrorCode |= 0x800;
}
if( pdTRUE != xAreIntQueueTasksStillRunning() )
{
usErrorCode |= 0x1000;
}
/* Clear the display. */
LCD_Character_Display_ClearDisplay();
if( 0 == usErrorCode )
{
LCD_Character_Display_Position( ( ulRow ) & 0x1, 0);
LCD_Character_Display_PrintString( "Pass: "******"Jitter(ns):" );
LCD_Character_Display_PrintNumber( ( usMaxJitter * mainNS_PER_CLOCK ) );
}
else
{
/* Do something to indicate the failure. */
LCD_Character_Display_Position( ( ulRow ) & 0x1, 0 );
LCD_Character_Display_PrintString( "Fail at: " );
LCD_Character_Display_PrintNumber( ulIteration );
LCD_Character_Display_Position( ( ++ulRow ) & 0x1, 0 );
LCD_Character_Display_PrintString( "Error: 0x" );
LCD_Character_Display_PrintHexUint16( usErrorCode );
}
}
}
static void prvCheckTimerCallback( TimerHandle_t xTimer )
{
static long lChangedTimerPeriodAlready = pdFALSE;
unsigned long ulErrorFound = pdFALSE;
/* Check all the demo tasks (other than the flash tasks) to ensure
they are all still running, and that none have detected an error. */
if( xAreIntQueueTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 0UL;
}
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 1UL;
}
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 2UL;
}
if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 3UL;
}
if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 4UL;
}
if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 5UL;
}
if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 6UL;
}
if( xIsCreateTaskStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 7UL;
}
if( xArePollingQueuesStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 8UL;
}
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 9UL;
}
if( xAreComTestTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 10UL;
}
if( xAreQueueSetTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 11UL;
}
if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 12UL;
}
if( xAreTimerDemoTasksStillRunning( mainCHECK_TIMER_PERIOD_MS ) != pdTRUE )
{
ulErrorFound |= 1UL << 13UL;
}
if( xAreEventGroupTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 14UL;
}
if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
{
ulErrorFound |= 1UL << 15UL;
}
/* Toggle the check LED to give an indication of the system status. If
the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
everything is ok. A faster toggle indicates an error. */
vParTestToggleLED( mainCHECK_LED );
/* Have any errors been latch in ulErrorFound? If so, shorten the
period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
This will result in an increase in the rate at which mainCHECK_LED
toggles. */
if( ulErrorFound != pdFALSE )
{
if( lChangedTimerPeriodAlready == pdFALSE )
{
lChangedTimerPeriodAlready = pdTRUE;
/* This call to xTimerChangePeriod() uses a zero block time.
Functions called from inside of a timer callback function must
*never* attempt to block. */
xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
}
}
}
static void prvCheckTask( void *pvParameters )
{
unsigned portLONG ulLastRegTest1Value = 0, ulLastRegTest2Value = 0, ulTicksToWait = mainNO_ERROR_PERIOD;
portTickType xLastExecutionTime;
/* Buffer into which the high frequency timer count is written as a string. */
static portCHAR cStringBuffer[ mainMAX_STRING_LENGTH ];
/* The count of the high frequency timer interrupts. */
extern unsigned portLONG ulHighFrequencyTimerInterrupts;
xLCDMessage xMessage = { ( 200 / portTICK_RATE_MS ), cStringBuffer };
/* Setup the high frequency, high priority, timer test. It is setup here
to ensure it does not fire before the scheduler is started. */
vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );
/* Initialise the variable used to control our iteration rate prior to
its first use. */
xLastExecutionTime = xTaskGetTickCount();
for( ;; )
{
/* Wait until it is time to run the tests again. */
vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
/* Has either register check 1 or 2 task discovered an error? */
if( ulStatus1 != pdPASS )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: Reg test1";
}
/* Check that the register test 1 task is still running. */
if( ulLastRegTest1Value == ulRegTest1Cycles )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: Reg test2";
}
ulLastRegTest1Value = ulRegTest1Cycles;
/* Check that the register test 2 task is still running. */
if( ulLastRegTest2Value == ulRegTest2Cycles )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: Reg test3";
}
ulLastRegTest2Value = ulRegTest2Cycles;
/* Have any of the standard demo tasks detected an error in their
operation? */
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: Gen Q";
}
else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: Q Peek";
}
else if( xAreComTestTasksStillRunning() != pdTRUE )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: COM test";
}
else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: Blck time";
}
else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: Sem test";
}
else if( xAreIntQueueTasksStillRunning() != pdTRUE )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: Int queue";
}
/* Write the ulHighFrequencyTimerInterrupts value to the string
buffer. It will only be displayed if no errors have been detected. */
sprintf( cStringBuffer, "Pass %u", ( unsigned int ) ulHighFrequencyTimerInterrupts );
xQueueSend( xLCDQueue, &xMessage, mainDONT_WAIT );
vParTestToggleLED( mainCHECK_LED );
}
}
static void prvCheckTimerCallback( TimerHandle_t xTimer )
{
static long lChangedTimerPeriodAlready = pdFALSE;
static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
/* Buffer into which the high frequency timer count is written as a string. */
static char cStringBuffer[ mainMAX_STRING_LENGTH ];
/* The count of the high frequency timer interrupts. */
extern unsigned long ulHighFrequencyTimerInterrupts;
static xLCDMessage xMessage = { ( 200 / portTICK_PERIOD_MS ), cStringBuffer };
/* Check that the register test 1 task is still running. */
if( ulLastRegTest1Value == ulRegTest1Cycles )
{
xMessage.pcMessage = "Error: Reg test2";
}
ulLastRegTest1Value = ulRegTest1Cycles;
/* Check that the register test 2 task is still running. */
if( ulLastRegTest2Value == ulRegTest2Cycles )
{
xMessage.pcMessage = "Error: Reg test3";
}
ulLastRegTest2Value = ulRegTest2Cycles;
/* Have any of the standard demo tasks detected an error in their
operation? */
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
xMessage.pcMessage = "Error: Gen Q";
}
else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
xMessage.pcMessage = "Error: Q Peek";
}
else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
xMessage.pcMessage = "Error: Blck time";
}
else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
xMessage.pcMessage = "Error: Sem test";
}
else if( xAreIntQueueTasksStillRunning() != pdTRUE )
{
xMessage.pcMessage = "Error: Int queue";
}
#if !defined(__32MX795F512L__)
else if( xAreComTestTasksStillRunning() != pdTRUE )
{
xMessage.pcMessage = "Error: COM test";
}
#endif
if( xMessage.pcMessage != cStringBuffer )
{
/* An error string has been logged. If the timer period has not yet
been changed it should be changed now. Increasing the frequency of the
LED gives visual feedback of the error status (although it is written
to the LCD too!). */
if( lChangedTimerPeriodAlready == pdFALSE )
{
lChangedTimerPeriodAlready = pdTRUE;
/* This call to xTimerChangePeriod() uses a zero block time.
Functions called from inside of a timer callback function must
*never* attempt to block as to do so could impact other software
timers. */
xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
}
}
else
{
/* Write the ulHighFrequencyTimerInterrupts value to the string
buffer. It will only be displayed if no errors have been detected. */
sprintf( cStringBuffer, "Pass %u", ( unsigned int ) ulHighFrequencyTimerInterrupts );
}
/* Send the status message to the LCD task for display on the LCD. This is
a timer callback function, so the queue send function *must not* block. */
xQueueSend( xLCDQueue, &xMessage, mainDONT_BLOCK );
vParTestToggleLED( mainCHECK_LED );
}
