| /* | |
| FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd. | |
| All rights reserved | |
| VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
| This file is part of the FreeRTOS distribution. | |
| 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. | |
| *************************************************************************** | |
| >>! NOTE: The modification to the GPL is included to allow you to !<< | |
| >>! distribute a combined work that includes FreeRTOS without being !<< | |
| >>! obliged to provide the source code for proprietary components !<< | |
| >>! outside of the FreeRTOS kernel. !<< | |
| *************************************************************************** | |
| FreeRTOS 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. Full license text is available on the following | |
| link: http://www.freertos.org/a00114.html | |
| *************************************************************************** | |
| * * | |
| * FreeRTOS provides completely free yet professionally developed, * | |
| * robust, strictly quality controlled, supported, and cross * | |
| * platform software that is more than just the market leader, it * | |
| * is the industry's de facto standard. * | |
| * * | |
| * Help yourself get started quickly while simultaneously helping * | |
| * to support the FreeRTOS project by purchasing a FreeRTOS * | |
| * tutorial book, reference manual, or both: * | |
| * http://www.FreeRTOS.org/Documentation * | |
| * * | |
| *************************************************************************** | |
| http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading | |
| the FAQ page "My application does not run, what could be wrong?". Have you | |
| defined configASSERT()? | |
| http://www.FreeRTOS.org/support - In return for receiving this top quality | |
| embedded software for free we request you assist our global community by | |
| participating in the support forum. | |
| http://www.FreeRTOS.org/training - Investing in training allows your team to | |
| be as productive as possible as early as possible. Now you can receive | |
| FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers | |
| Ltd, and the world's leading authority on the world's leading RTOS. | |
| http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
| including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
| compatible FAT file system, and our tiny thread aware UDP/IP stack. | |
| http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. | |
| Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. | |
| http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High | |
| Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS | |
| licenses offer ticketed support, indemnification and commercial middleware. | |
| http://www.SafeRTOS.com - High Integrity Systems also provide a safety | |
| engineered and independently SIL3 certified version for use in safety and | |
| mission critical applications that require provable dependability. | |
| 1 tab == 4 spaces! | |
| */ | |
| /* | |
| * Creates all the demo application tasks, then starts the scheduler. The WEB | |
| * documentation provides more details of the standard demo application tasks. | |
| * In addition to the standard demo tasks, the following tasks and tests are | |
| * defined and/or created within this file: | |
| * | |
| * "Check" task - This only executes every five seconds but has a high priority | |
| * to ensure it gets processor time. Its main function is to check that all the | |
| * standard demo tasks are still operational. While no errors have been | |
| * discovered the check task will toggle an LED every 5 seconds - the toggle | |
| * rate increasing to 500ms being a visual indication that at least one task has | |
| * reported unexpected behaviour. | |
| * | |
| * "Reg test" tasks - These fill the registers with known values, then check | |
| * that each register still contains its expected value. Each task uses | |
| * different values. The tasks run with very low priority so get preempted very | |
| * frequently. A register containing an unexpected value is indicative of an | |
| * error in the context switching mechanism. | |
| * | |
| */ | |
| /* Standard includes. */ | |
| #include <stdio.h> | |
| /* Scheduler includes. */ | |
| #include "FreeRTOS.h" | |
| #include "task.h" | |
| #include "queue.h" | |
| #include "semphr.h" | |
| /* Demo app includes. */ | |
| #include "BlockQ.h" | |
| #include "crflash.h" | |
| #include "partest.h" | |
| #include "semtest.h" | |
| #include "GenQTest.h" | |
| #include "QPeek.h" | |
| #include "comtest2.h" | |
| /*-----------------------------------------------------------*/ | |
| /* The time between cycles of the 'check' functionality - as described at the | |
| top of this file. */ | |
| #define mainNO_ERROR_PERIOD ( ( TickType_t ) 5000 / portTICK_PERIOD_MS ) | |
| /* The rate at which the LED controlled by the 'check' task will flash should an | |
| error have been detected. */ | |
| #define mainERROR_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS ) | |
| /* The LED controlled by the 'check' task. */ | |
| #define mainCHECK_LED ( 3 ) | |
| /* ComTest constants - there is no free LED for the comtest tasks. */ | |
| #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 ) | |
| #define mainCOM_TEST_LED ( 5 ) | |
| /* Task priorities. */ | |
| #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
| #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
| #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
| #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
| #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
| /* Co-routines are used to flash the LEDs. */ | |
| #define mainNUM_FLASH_CO_ROUTINES ( 3 ) | |
| /* The baud rate used by the comtest tasks. */ | |
| #define mainBAUD_RATE ( 38400 ) | |
| /* There is no spare LED for the comtest tasks, so this is set to an invalid | |
| number. */ | |
| #define mainCOM_LED ( 4 ) | |
| /* | |
| * Configure the hardware for the demo. | |
| */ | |
| static void prvSetupHardware( void ); | |
| /* | |
| * Implements the 'check' task functionality as described at the top of this | |
| * file. | |
| */ | |
| static void prvCheckTask( void *pvParameters ); | |
| /* | |
| * Implement the 'Reg test' functionality as described at the top of this file. | |
| */ | |
| static void vRegTest1Task( void *pvParameters ); | |
| static void vRegTest2Task( void *pvParameters ); | |
| /*-----------------------------------------------------------*/ | |
| /* Counters used to detect errors within the reg test tasks. */ | |
| static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222; | |
| /*-----------------------------------------------------------*/ | |
| int main( void ) | |
| { | |
| /* Setup the hardware ready for this demo. */ | |
| prvSetupHardware(); | |
| /* Start the standard demo tasks. */ | |
| vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
| vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY ); | |
| vStartQueuePeekTasks(); | |
| vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
| vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_LED ); | |
| /* For demo purposes use some co-routines to flash the LEDs. */ | |
| vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES ); | |
| /* Create the check task. */ | |
| xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
| /* Start the reg test tasks - defined in this file. */ | |
| xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL ); | |
| xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL ); | |
| /* Start the scheduler. */ | |
| vTaskStartScheduler(); | |
| /* Will only get here if there was insufficient memory to create the idle | |
| task. */ | |
| for( ;; ) | |
| { | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static void prvCheckTask( void *pvParameters ) | |
| { | |
| unsigned long ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0; | |
| TickType_t xLastExecutionTime; | |
| volatile unsigned portBASE_TYPE uxUnusedStack; | |
| ( void ) pvParameters; | |
| /* 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 an error been found in any task? */ | |
| if( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
| { | |
| ulError |= 0x01UL; | |
| } | |
| if( xAreQueuePeekTasksStillRunning() != pdTRUE ) | |
| { | |
| ulError |= 0x02UL; | |
| } | |
| if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
| { | |
| ulError |= 0x04UL; | |
| } | |
| if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
| { | |
| ulError |= 0x20UL; | |
| } | |
| if( xAreComTestTasksStillRunning() != pdTRUE ) | |
| { | |
| ulError |= 0x40UL; | |
| } | |
| if( ulLastRegTest1Count == ulRegTest1Counter ) | |
| { | |
| ulError |= 0x1000UL; | |
| } | |
| if( ulLastRegTest2Count == ulRegTest2Counter ) | |
| { | |
| ulError |= 0x1000UL; | |
| } | |
| ulLastRegTest1Count = ulRegTest1Counter; | |
| ulLastRegTest2Count = ulRegTest2Counter; | |
| /* If an error has been found then increase our cycle rate, and in so | |
| doing increase the rate at which the check task LED toggles. */ | |
| if( ulError != 0 ) | |
| { | |
| ulTicksToWait = mainERROR_PERIOD; | |
| } | |
| /* Toggle the LED each iteration. */ | |
| vParTestToggleLED( mainCHECK_LED ); | |
| /* For demo only - how much unused stack does this task have? */ | |
| uxUnusedStack = uxTaskGetStackHighWaterMark( NULL ); | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void prvSetupHardware( void ) | |
| { | |
| portDISABLE_INTERRUPTS(); | |
| /* Setup the port used to toggle LEDs. */ | |
| vParTestInitialise(); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *pcTaskName ) | |
| { | |
| /* This will get called if a stack overflow is detected during the context | |
| switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack | |
| problems within nested interrupts, but only do this for debug purposes as | |
| it will increase the context switch time. */ | |
| ( void ) pxTask; | |
| ( void ) pcTaskName; | |
| for( ;; ) | |
| { | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void vApplicationIdleHook( void ); | |
| void vApplicationIdleHook( void ) | |
| { | |
| /* The co-routines run in the idle task. */ | |
| vCoRoutineSchedule(); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void exit( int n ) | |
| { | |
| /* To keep the linker happy only as the libraries have been removed from | |
| the build. */ | |
| ( void ) n; | |
| for( ;; ) {} | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static void vRegTest1Task( void *pvParameters ) | |
| { | |
| /* Sanity check - did we receive the parameter expected? */ | |
| if( pvParameters != &ulRegTest1Counter ) | |
| { | |
| /* Change here so the check task can detect that an error occurred. */ | |
| for( ;; ) | |
| { | |
| } | |
| } | |
| /* Set all the registers to known values, then check that each retains its | |
| expected value - as described at the top of this file. If an error is | |
| found then the loop counter will no longer be incremented allowing the check | |
| task to recognise the error. */ | |
| asm volatile ( "reg_test_1_start: \n\t" | |
| " moveq #1, d0 \n\t" | |
| " moveq #2, d1 \n\t" | |
| " moveq #3, d2 \n\t" | |
| " moveq #4, d3 \n\t" | |
| " moveq #5, d4 \n\t" | |
| " moveq #6, d5 \n\t" | |
| " moveq #7, d6 \n\t" | |
| " moveq #8, d7 \n\t" | |
| " move #9, a0 \n\t" | |
| " move #10, a1 \n\t" | |
| " move #11, a2 \n\t" | |
| " move #12, a3 \n\t" | |
| " move #13, a4 \n\t" | |
| " move #14, a5 \n\t" | |
| " move #15, a6 \n\t" | |
| " \n\t" | |
| " cmpi.l #1, d0 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " cmpi.l #2, d1 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " cmpi.l #3, d2 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " cmpi.l #4, d3 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " cmpi.l #5, d4 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " cmpi.l #6, d5 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " cmpi.l #7, d6 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " cmpi.l #8, d7 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " move a0, d0 \n\t" | |
| " cmpi.l #9, d0 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " move a1, d0 \n\t" | |
| " cmpi.l #10, d0 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " move a2, d0 \n\t" | |
| " cmpi.l #11, d0 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " move a3, d0 \n\t" | |
| " cmpi.l #12, d0 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " move a4, d0 \n\t" | |
| " cmpi.l #13, d0 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " move a5, d0 \n\t" | |
| " cmpi.l #14, d0 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " move a6, d0 \n\t" | |
| " cmpi.l #15, d0 \n\t" | |
| " bne reg_test_1_error \n\t" | |
| " move ulRegTest1Counter, d0 \n\t" | |
| " addq #1, d0 \n\t" | |
| " move d0, ulRegTest1Counter \n\t" | |
| " bra reg_test_1_start \n\t" | |
| "reg_test_1_error: \n\t" | |
| " bra reg_test_1_error \n\t" | |
| ); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static void vRegTest2Task( void *pvParameters ) | |
| { | |
| /* Sanity check - did we receive the parameter expected? */ | |
| if( pvParameters != &ulRegTest2Counter ) | |
| { | |
| /* Change here so the check task can detect that an error occurred. */ | |
| for( ;; ) | |
| { | |
| } | |
| } | |
| /* Set all the registers to known values, then check that each retains its | |
| expected value - as described at the top of this file. If an error is | |
| found then the loop counter will no longer be incremented allowing the check | |
| task to recognise the error. */ | |
| asm volatile ( "reg_test_2_start: \n\t" | |
| " moveq #10, d0 \n\t" | |
| " moveq #20, d1 \n\t" | |
| " moveq #30, d2 \n\t" | |
| " moveq #40, d3 \n\t" | |
| " moveq #50, d4 \n\t" | |
| " moveq #60, d5 \n\t" | |
| " moveq #70, d6 \n\t" | |
| " moveq #80, d7 \n\t" | |
| " move #90, a0 \n\t" | |
| " move #100, a1 \n\t" | |
| " move #110, a2 \n\t" | |
| " move #120, a3 \n\t" | |
| " move #130, a4 \n\t" | |
| " move #140, a5 \n\t" | |
| " move #150, a6 \n\t" | |
| " \n\t" | |
| " cmpi.l #10, d0 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " cmpi.l #20, d1 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " cmpi.l #30, d2 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " cmpi.l #40, d3 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " cmpi.l #50, d4 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " cmpi.l #60, d5 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " cmpi.l #70, d6 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " cmpi.l #80, d7 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " move a0, d0 \n\t" | |
| " cmpi.l #90, d0 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " move a1, d0 \n\t" | |
| " cmpi.l #100, d0 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " move a2, d0 \n\t" | |
| " cmpi.l #110, d0 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " move a3, d0 \n\t" | |
| " cmpi.l #120, d0 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " move a4, d0 \n\t" | |
| " cmpi.l #130, d0 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " move a5, d0 \n\t" | |
| " cmpi.l #140, d0 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " move a6, d0 \n\t" | |
| " cmpi.l #150, d0 \n\t" | |
| " bne reg_test_2_error \n\t" | |
| " move ulRegTest1Counter, d0 \n\t" | |
| " addq #1, d0 \n\t" | |
| " move d0, ulRegTest2Counter \n\t" | |
| " bra reg_test_2_start \n\t" | |
| "reg_test_2_error: \n\t" | |
| " bra reg_test_2_error \n\t" | |
| ); | |
| } | |
| /*-----------------------------------------------------------*/ | |