/* | |
FreeRTOS V8.2.2 - Copyright (C) 2015 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()? | |
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mission critical applications that require provable dependability. | |
1 tab == 4 spaces! | |
*/ | |
/****************************************************************************** | |
* NOTE 1: This project provides two demo applications. A simple blinky | |
* style project, and a more comprehensive test and demo application. The | |
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to | |
* select between the two. See the notes on using | |
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY in main.c. This file implements the | |
* comprehensive version. | |
* | |
* NOTE 2: This file only contains the source code that is specific to the | |
* full demo. Generic functions, such FreeRTOS hook functions, and functions | |
* required to configure the hardware, are defined in main.c. | |
* | |
****************************************************************************** | |
* | |
* main_full() creates a set of demo application tasks and software timers, then | |
* starts the scheduler. The web documentation provides more details of the | |
* standard demo application tasks, which provide no particular functionality, | |
* but do provide a good example of how to use the FreeRTOS API. | |
* | |
* In addition to the standard demo tasks, the following tasks and tests are | |
* defined and/or created within this file: | |
* | |
* "Reg test" tasks - These fill both the core and floating point registers with | |
* known values, then check that each register maintains its expected value for | |
* the lifetime of the task. Each task uses a different set of values. The reg | |
* test tasks execute with a very low priority, so get preempted very | |
* frequently. A register containing an unexpected value is indicative of an | |
* error in the context switching mechanism. | |
* | |
* "Check" task - The check task period is initially set to three seconds. The | |
* task checks that all the standard demo tasks are not only still executing, | |
* but are executing without reporting any errors. If the check task discovers | |
* that a task has either stalled, or reported an error, then it changes its own | |
* execution period from the initial three seconds, to just 200ms. The check | |
* task also toggles an LED on each iteration of its loop. This provides a | |
* visual indication of the system status: If the LED toggles every three | |
* seconds, then no issues have been discovered. If the LED toggles every | |
* 200ms, then an issue has been discovered with at least one task. | |
*/ | |
/* Standard includes. */ | |
#include <stdio.h> | |
/* Kernel includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "timers.h" | |
#include "semphr.h" | |
/* Standard demo application includes. */ | |
#include "flop.h" | |
#include "semtest.h" | |
#include "dynamic.h" | |
#include "BlockQ.h" | |
#include "blocktim.h" | |
#include "countsem.h" | |
#include "GenQTest.h" | |
#include "recmutex.h" | |
#include "death.h" | |
#include "partest.h" | |
#include "comtest2.h" | |
#include "serial.h" | |
#include "TimerDemo.h" | |
#include "QueueOverwrite.h" | |
#include "IntQueue.h" | |
#include "EventGroupsDemo.h" | |
#include "TaskNotify.h" | |
#include "IntSemTest.h" | |
/* Renesas includes. */ | |
#include "rskrx231def.h" | |
/* Priorities for the demo application tasks. */ | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL ) | |
#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL ) | |
#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainUART_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3UL ) | |
#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 ) | |
#define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY ) | |
/* The period after which the check timer will expire, in ms, provided no errors | |
have been reported by any of the standard demo tasks. ms are converted to the | |
equivalent in ticks using the portTICK_PERIOD_MS constant. */ | |
#define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000UL ) | |
/* The period at which the check timer will expire, in ms, if an error has been | |
reported in one of the standard demo tasks. ms are converted to the equivalent | |
in ticks using the portTICK_PERIOD_MS constant. */ | |
#define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 200UL ) | |
/* Parameters that are passed into the register check tasks solely for the | |
purpose of ensuring parameters are passed into tasks correctly. */ | |
#define mainREG_TEST_1_PARAMETER ( ( void * ) 0x12121212UL ) | |
#define mainREG_TEST_2_PARAMETER ( ( void * ) 0x12345678UL ) | |
/* The base period used by the timer test tasks. */ | |
#define mainTIMER_TEST_PERIOD ( 50 ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* Entry point for the comprehensive demo (as opposed to the simple blinky | |
* demo). | |
*/ | |
void main_full( void ); | |
/* | |
* The full demo includes some functionality called from the tick hook. | |
*/ | |
void vFullDemoTickHook( void ); | |
/* | |
* The check task, as described at the top of this file. | |
*/ | |
static void prvCheckTask( void *pvParameters ); | |
/* | |
* Register check tasks, and the tasks used to write over and check the contents | |
* of the registers, as described at the top of this file. The nature of these | |
* files necessitates that they are written in assembly, but the entry points | |
* are kept in the C file for the convenience of checking the task parameter. | |
*/ | |
static void prvRegTest1Task( void *pvParameters ); | |
static void prvRegTest2Task( void *pvParameters ); | |
static void prvRegTest1Implementation( void ); | |
static void prvRegTest2Implementation( void ); | |
/* | |
* A high priority task that does nothing other than execute at a pseudo random | |
* time to ensure the other test tasks don't just execute in a repeating | |
* pattern. | |
*/ | |
static void prvPseudoRandomiser( void *pvParameters ); | |
/*-----------------------------------------------------------*/ | |
/* The following two variables are used to communicate the status of the | |
register check tasks to the check task. If the variables keep incrementing, | |
then the register check tasks have not discovered any errors. If a variable | |
stops incrementing, then an error has been found. */ | |
volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL; | |
/*-----------------------------------------------------------*/ | |
void main_full( void ) | |
{ | |
/* Start all the other standard demo/test tasks. They have no particular | |
functionality, but do demonstrate how to use the FreeRTOS API and test the | |
kernel port. */ | |
vStartInterruptQueueTasks(); | |
vStartDynamicPriorityTasks(); | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
vCreateBlockTimeTasks(); | |
vStartCountingSemaphoreTasks(); | |
vStartGenericQueueTasks( tskIDLE_PRIORITY ); | |
vStartRecursiveMutexTasks(); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartMathTasks( mainFLOP_TASK_PRIORITY ); | |
vStartTimerDemoTask( mainTIMER_TEST_PERIOD ); | |
vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY ); | |
vStartEventGroupTasks(); | |
vStartTaskNotifyTask(); | |
vStartInterruptSemaphoreTasks(); | |
/* Create the register check tasks, as described at the top of this file */ | |
xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL ); | |
xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL ); | |
/* Create the task that just adds a little random behaviour. */ | |
xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL ); | |
/* Create the task that performs the 'check' functionality, as described at | |
the top of this file. */ | |
xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* The set of tasks created by the following function call have to be | |
created last as they keep account of the number of tasks they expect to see | |
running. */ | |
vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY ); | |
/* Start the scheduler. */ | |
vTaskStartScheduler(); | |
/* If all is well, the scheduler will now be running, and the following | |
line will never be reached. If the following line does execute, then | |
there was either insufficient FreeRTOS heap memory available for the idle | |
and/or timer tasks to be created, or vTaskStartScheduler() was called from | |
User mode. See the memory management section on the FreeRTOS web site for | |
more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The | |
mode from which main() is called is set in the C start up code and must be | |
a privileged mode (not user mode). */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
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 ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS ) | |
{ | |
ulErrorFound |= 1UL << 9UL; | |
} | |
if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 1UL << 10UL; | |
} | |
if( xIsQueueOverwriteTaskStillRunning() != pdPASS ) | |
{ | |
ulErrorFound |= 1UL << 11UL; | |
} | |
if( xAreEventGroupTasksStillRunning() != pdPASS ) | |
{ | |
ulErrorFound |= 1UL << 12UL; | |
} | |
if( xAreTaskNotificationTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 1UL << 13UL; | |
} | |
if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
ulErrorFound |= 1UL << 14UL; | |
} | |
/* Check that the register test 1 task is still running. */ | |
if( ulLastRegTest1Value == ulRegTest1LoopCounter ) | |
{ | |
ulErrorFound |= 1UL << 15UL; | |
} | |
ulLastRegTest1Value = ulRegTest1LoopCounter; | |
/* Check that the register test 2 task is still running. */ | |
if( ulLastRegTest2Value == ulRegTest2LoopCounter ) | |
{ | |
ulErrorFound |= 1UL << 16UL; | |
} | |
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. */ | |
LED0 = !LED0; | |
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 (it might just be that the loop back connector required | |
by the comtest tasks has not been fitted). */ | |
xDelayPeriod = mainERROR_CHECK_TASK_PERIOD; | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvPseudoRandomiser( void *pvParameters ) | |
{ | |
const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = pdMS_TO_TICKS( 35 ); | |
volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue; | |
/* This task does nothing other than ensure there is a little bit of | |
disruption in the scheduling pattern of the other tasks. Normally this is | |
done by generating interrupts at pseudo random times. */ | |
for( ;; ) | |
{ | |
ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement; | |
ulValue = ( ulNextRand >> 16UL ) & 0xffUL; | |
if( ulValue < ulMinDelay ) | |
{ | |
ulValue = ulMinDelay; | |
} | |
vTaskDelay( ulValue ); | |
while( ulValue > 0 ) | |
{ | |
nop(); | |
nop(); | |
nop(); | |
nop(); | |
nop(); | |
nop(); | |
nop(); | |
nop(); | |
ulValue--; | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
void vFullDemoTickHook( void ) | |
{ | |
/* The full demo includes a software timer demo/test that requires | |
prodding periodically from the tick interrupt. */ | |
vTimerPeriodicISRTests(); | |
/* Call the periodic queue overwrite from ISR demo. */ | |
vQueueOverwritePeriodicISRDemo(); | |
/* Call the periodic event group from ISR demo. */ | |
vPeriodicEventGroupsProcessing(); | |
/* Use task notifications from an interrupt. */ | |
xNotifyTaskFromISR(); | |
/* Use mutexes from interrupts. */ | |
vInterruptSemaphorePeriodicTest(); | |
} | |
/*-----------------------------------------------------------*/ | |
/* This function is explained in the comments at the top of this file. */ | |
static void prvRegTest1Task( void *pvParameters ) | |
{ | |
if( pvParameters != mainREG_TEST_1_PARAMETER ) | |
{ | |
/* The parameter did not contain the expected value. */ | |
for( ;; ) | |
{ | |
/* Stop the tick interrupt so its obvious something has gone wrong. */ | |
taskDISABLE_INTERRUPTS(); | |
} | |
} | |
/* This is an inline asm function that never returns. */ | |
prvRegTest1Implementation(); | |
} | |
/*-----------------------------------------------------------*/ | |
/* This function is explained in the comments at the top of this file. */ | |
static void prvRegTest2Task( void *pvParameters ) | |
{ | |
if( pvParameters != mainREG_TEST_2_PARAMETER ) | |
{ | |
/* The parameter did not contain the expected value. */ | |
for( ;; ) | |
{ | |
/* Stop the tick interrupt so its obvious something has gone wrong. */ | |
taskDISABLE_INTERRUPTS(); | |
} | |
} | |
/* This is an inline asm function that never returns. */ | |
prvRegTest2Implementation(); | |
} | |
/*-----------------------------------------------------------*/ | |
/* This function is explained in the comments at the top of this file. */ | |
#pragma inline_asm prvRegTest1Implementation | |
static void prvRegTest1Implementation( void ) | |
{ | |
; Put a known value in each register. | |
MOV.L #1, R1 | |
MOV.L #2, R2 | |
MOV.L #3, R3 | |
MOV.L #4, R4 | |
MOV.L #5, R5 | |
MOV.L #6, R6 | |
MOV.L #7, R7 | |
MOV.L #8, R8 | |
MOV.L #9, R9 | |
MOV.L #10, R10 | |
MOV.L #11, R11 | |
MOV.L #12, R12 | |
MOV.L #13, R13 | |
MOV.L #14, R14 | |
MOV.L #15, R15 | |
; Loop, checking each iteration that each register still contains the | |
; expected value. | |
TestLoop1: | |
; Push the registers that are going to get clobbered. | |
PUSHM R14-R15 | |
; Increment the loop counter to show this task is still getting CPU time. | |
MOV.L #_ulRegTest1LoopCounter, R14 | |
MOV.L [ R14 ], R15 | |
ADD #1, R15 | |
MOV.L R15, [ R14 ] | |
; Yield to extend the text coverage. Set the bit in the ITU SWINTR register. | |
MOV.L #1, R14 | |
MOV.L #0872E0H, R15 | |
MOV.B R14, [R15] | |
NOP | |
NOP | |
; Restore the clobbered registers. | |
POPM R14-R15 | |
; Now compare each register to ensure it still contains the value that was | |
; set before this loop was entered. | |
CMP #1, R1 | |
BNE RegTest1Error | |
CMP #2, R2 | |
BNE RegTest1Error | |
CMP #3, R3 | |
BNE RegTest1Error | |
CMP #4, R4 | |
BNE RegTest1Error | |
CMP #5, R5 | |
BNE RegTest1Error | |
CMP #6, R6 | |
BNE RegTest1Error | |
CMP #7, R7 | |
BNE RegTest1Error | |
CMP #8, R8 | |
BNE RegTest1Error | |
CMP #9, R9 | |
BNE RegTest1Error | |
CMP #10, R10 | |
BNE RegTest1Error | |
CMP #11, R11 | |
BNE RegTest1Error | |
CMP #12, R12 | |
BNE RegTest1Error | |
CMP #13, R13 | |
BNE RegTest1Error | |
CMP #14, R14 | |
BNE RegTest1Error | |
CMP #15, R15 | |
BNE RegTest1Error | |
; All comparisons passed, start a new itteratio of this loop. | |
BRA TestLoop1 | |
RegTest1Error: | |
; A compare failed, just loop here so the loop counter stops incrementing | |
; causing the check task to indicate the error. | |
BRA RegTest1Error | |
} | |
/*-----------------------------------------------------------*/ | |
/* This function is explained in the comments at the top of this file. */ | |
#pragma inline_asm prvRegTest2Implementation | |
static void prvRegTest2Implementation( void ) | |
{ | |
; Put a known value in each register. | |
MOV.L #10, R1 | |
MOV.L #20, R2 | |
MOV.L #30, R3 | |
MOV.L #40, R4 | |
MOV.L #50, R5 | |
MOV.L #60, R6 | |
MOV.L #70, R7 | |
MOV.L #80, R8 | |
MOV.L #90, R9 | |
MOV.L #100, R10 | |
MOV.L #110, R11 | |
MOV.L #120, R12 | |
MOV.L #130, R13 | |
MOV.L #140, R14 | |
MOV.L #150, R15 | |
; Loop, checking on each iteration that each register still contains the | |
; expected value. | |
TestLoop2: | |
; Push the registers that are going to get clobbered. | |
PUSHM R14-R15 | |
; Increment the loop counter to show this task is still getting CPU time. | |
MOV.L #_ulRegTest2LoopCounter, R14 | |
MOV.L [ R14 ], R15 | |
ADD #1, R15 | |
MOV.L R15, [ R14 ] | |
; Restore the clobbered registers. | |
POPM R14-R15 | |
CMP #10, R1 | |
BNE RegTest2Error | |
CMP #20, R2 | |
BNE RegTest2Error | |
CMP #30, R3 | |
BNE RegTest2Error | |
CMP #40, R4 | |
BNE RegTest2Error | |
CMP #50, R5 | |
BNE RegTest2Error | |
CMP #60, R6 | |
BNE RegTest2Error | |
CMP #70, R7 | |
BNE RegTest2Error | |
CMP #80, R8 | |
BNE RegTest2Error | |
CMP #90, R9 | |
BNE RegTest2Error | |
CMP #100, R10 | |
BNE RegTest2Error | |
CMP #110, R11 | |
BNE RegTest2Error | |
CMP #120, R12 | |
BNE RegTest2Error | |
CMP #130, R13 | |
BNE RegTest2Error | |
CMP #140, R14 | |
BNE RegTest2Error | |
CMP #150, R15 | |
BNE RegTest2Error | |
; All comparisons passed, start a new itteratio of this loop. | |
BRA TestLoop2 | |
RegTest2Error: | |
; A compare failed, just loop here so the loop counter stops incrementing | |
; - causing the check task to indicate the error. | |
BRA RegTest2Error | |
} | |
/*-----------------------------------------------------------*/ | |