/* | |
FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd. | |
*************************************************************************** | |
* * | |
* If you are: * | |
* * | |
* + New to FreeRTOS, * | |
* + Wanting to learn FreeRTOS or multitasking in general quickly * | |
* + Looking for basic training, * | |
* + Wanting to improve your FreeRTOS skills and productivity * | |
* * | |
* then take a look at the FreeRTOS books - available as PDF or paperback * | |
* * | |
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" * | |
* http://www.FreeRTOS.org/Documentation * | |
* * | |
* A pdf reference manual is also available. Both are usually delivered * | |
* to your inbox within 20 minutes to two hours when purchased between 8am * | |
* and 8pm GMT (although please allow up to 24 hours in case of * | |
* exceptional circumstances). Thank you for your support! * | |
* * | |
*************************************************************************** | |
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 exception 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. See the GNU General Public License for | |
more details. You should have received a copy of the GNU General Public | |
License and the FreeRTOS license exception along with FreeRTOS; if not it | |
can be viewed here: http://www.freertos.org/a00114.html and also obtained | |
by writing to Richard Barry, contact details for whom are available on the | |
FreeRTOS WEB site. | |
1 tab == 4 spaces! | |
http://www.FreeRTOS.org - Documentation, latest information, license and | |
contact details. | |
http://www.SafeRTOS.com - A version that is certified for use in safety | |
critical systems. | |
http://www.OpenRTOS.com - Commercial support, development, porting, | |
licensing and training services. | |
*/ | |
/* | |
* 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 tasks, main() creates two "Register Check" | |
* tasks. These tasks write known values into every general purpose register, | |
* then check each register to ensure it still contains the expected (written) | |
* value. The register check tasks operate at the idle priority so will get | |
* repeatedly preempted. A register being found to contain an incorrect value | |
* following such a preemption would be indicative of an error in the context | |
* switch mechanism. | |
* | |
* Main.c also creates a task called "Check". This only executes every three | |
* 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. | |
* Each task (other than the "flash" tasks) maintains a unique count that is | |
* incremented each time the task successfully completes its function. Should | |
* any error occur within such a task the count is permanently halted. The | |
* check task inspects the count of each task to ensure it has changed since | |
* the last time the check task executed. If all the count variables have | |
* changed all the tasks are still executing error free, and the check task | |
* toggles the onboard LED. Should any task contain an error at any time | |
* the LED toggle rate will change from 3 seconds to 500ms. | |
* | |
*/ | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Demo application includes. */ | |
#include "partest.h" | |
#include "flash.h" | |
#include "comtest2.h" | |
#include "integer.h" | |
#include "semtest.h" | |
#include "BlockQ.h" | |
#include "dynamic.h" | |
#include "PollQ.h" | |
/* Hardware library includes. */ | |
#include <xintc.h> | |
/* The rate at which the 'check' LED will flash when no errors have been | |
detected. */ | |
#define mainNO_ERROR_CHECK_PERIOD 3000 | |
/* The rate at which the 'check' LED will flash when an error has been | |
detected in one of the demo tasks. */ | |
#define mainERROR_CHECK_PERIOD 500 | |
/* Demo application task priorities. */ | |
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
/* Software cannot influence the BAUD rate used by the simple UART | |
implementation. */ | |
#define mainBAUD_RATE 0 | |
/* The LED flashed by the 'check' task to indicate the system status. */ | |
#define mainCHECK_TASK_LED 3 | |
/* The first LED flashed by the COM port test tasks. LED mainCOM_TEST_LED + 1 | |
will also be used. */ | |
#define mainCOM_TEST_LED 4 | |
/* The register test task does not make any function calls so does not require | |
much stack at all. */ | |
#define mainTINY_STACK 70 | |
/* | |
* The task that executes at the highest priority and calls | |
* prvCheckOtherTasksAreStillRunning(). See the description at the top | |
* of the file. | |
*/ | |
static void vErrorChecks( void *pvParameters ); | |
/* | |
* Checks that all the demo application tasks are still executing without error | |
* - as described at the top of the file. | |
*/ | |
static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void ); | |
/* | |
* The register test task as described at the top of this file. | |
*/ | |
static void vRegisterTest( void *pvParameters ); | |
/* | |
* Perform any necessary hardware configuration. | |
*/ | |
static void prvSetupHardware( void ); | |
/* Set to pdFAIL should an error be discovered in the register test tasks. */ | |
static unsigned long ulRegisterTestStatus = pdPASS; | |
const unsigned long *pulStatusAddr = &ulRegisterTestStatus; | |
/*-----------------------------------------------------------*/ | |
/* | |
* Create all the demo tasks - then start the scheduler. | |
*/ | |
int main (void) | |
{ | |
/* When re-starting a debug session (rather than cold booting) we want | |
to ensure the installed interrupt handlers do not execute until after the | |
scheduler has been started. */ | |
portDISABLE_INTERRUPTS(); | |
prvSetupHardware(); | |
/* Start the standard demo application tasks. */ | |
vStartLEDFlashTasks( mainLED_TASK_PRIORITY ); | |
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_TEST_LED ); | |
vStartIntegerMathTasks( tskIDLE_PRIORITY ); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
vStartDynamicPriorityTasks(); | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
/* Create two register check tasks - using a different parameter for each. | |
The parameter is used to generate the known values written to the registers. */ | |
#if configUSE_PREEMPTION == 1 | |
xTaskCreate( vRegisterTest, "Reg1", mainTINY_STACK, ( void * ) 10, tskIDLE_PRIORITY, NULL ); | |
xTaskCreate( vRegisterTest, "Reg2", mainTINY_STACK, ( void * ) 20, tskIDLE_PRIORITY, NULL ); | |
#endif | |
/* Create the 'check' task that is defined in this file. */ | |
xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* Finally start the scheduler. */ | |
vTaskStartScheduler(); | |
/* Should not get here as the processor is now under control of the | |
scheduler! */ | |
return 0; | |
} | |
/*-----------------------------------------------------------*/ | |
static void vErrorChecks( void *pvParameters ) | |
{ | |
portTickType xDelayPeriod = mainNO_ERROR_CHECK_PERIOD; | |
/* The parameters are not used. */ | |
( void ) pvParameters; | |
/* Cycle for ever, delaying then checking all the other tasks are still | |
operating without error. The delay period used will depend on whether | |
or not an error has been discovered in one of the demo tasks. */ | |
for( ;; ) | |
{ | |
vTaskDelay( xDelayPeriod ); | |
if( !prvCheckOtherTasksAreStillRunning() ) | |
{ | |
/* An error has been found. Shorten the delay period to make | |
the LED flash faster. */ | |
xDelayPeriod = mainERROR_CHECK_PERIOD; | |
} | |
vParTestToggleLED( mainCHECK_TASK_LED ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void ) | |
{ | |
static portBASE_TYPE xAllTestsPass = pdTRUE; | |
/* Return pdFALSE if any demo application task set has encountered | |
an error. */ | |
if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
xAllTestsPass = pdFALSE; | |
} | |
if( xAreComTestTasksStillRunning() != pdTRUE ) | |
{ | |
xAllTestsPass = pdFALSE; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
xAllTestsPass = pdFALSE; | |
} | |
if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
xAllTestsPass = pdFAIL; | |
} | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
xAllTestsPass = ( long ) pdFAIL; | |
} | |
if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
xAllTestsPass = ( long ) pdFAIL; | |
} | |
/* Mutual exclusion on this variable is not necessary as we only read it. */ | |
if( ulRegisterTestStatus != pdPASS ) | |
{ | |
xAllTestsPass = pdFALSE; | |
} | |
return xAllTestsPass; | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHardware( void ) | |
{ | |
/* Ensure the interrupt controller is enabled in order that subsequent | |
code can successfully configure the peripherals. */ | |
XIntc_mMasterEnable( XPAR_OPB_INTC_0_BASEADDR ); | |
/* Initialise the GPIO used for the LED's. */ | |
vParTestInitialise(); | |
} | |
/*-----------------------------------------------------------*/ | |
static void vRegisterTest( void *pvParameters ) | |
{ | |
for( ;; ) | |
{ | |
/* Fill the registers with their register number plus the offset | |
(added) value. The added value is passed in as a parameter so | |
is contained in r5. */ | |
asm volatile ( "addi r3, r5, 3 \n\t" \ | |
"addi r4, r5, 4 \n\t" \ | |
"addi r6, r5, 6 \n\t" \ | |
"addi r7, r5, 7 \n\t" \ | |
"addi r8, r5, 8 \n\t" \ | |
"addi r9, r5, 9 \n\t" \ | |
"addi r10, r5, 10 \n\t" \ | |
"addi r11, r5, 11 \n\t" \ | |
"addi r12, r5, 12 \n\t" \ | |
"addi r16, r5, 16 \n\t" \ | |
"addi r17, r5, 17 \n\t" \ | |
"addi r18, r5, 18 \n\t" \ | |
"addi r19, r5, 19 \n\t" \ | |
"addi r20, r5, 20 \n\t" \ | |
"addi r21, r5, 21 \n\t" \ | |
"addi r22, r5, 22 \n\t" \ | |
"addi r23, r5, 23 \n\t" \ | |
"addi r24, r5, 24 \n\t" \ | |
"addi r25, r5, 25 \n\t" \ | |
"addi r26, r5, 26 \n\t" \ | |
"addi r27, r5, 27 \n\t" \ | |
"addi r28, r5, 28 \n\t" \ | |
"addi r29, r5, 29 \n\t" \ | |
"addi r30, r5, 30 \n\t" \ | |
"addi r31, r5, 31 \n\t" | |
); | |
/* Now read back the register values to ensure they are as we expect. | |
This task will get preempted frequently so other tasks are likely to | |
have executed since the register values were written. */ | |
/* r3 should contain r5 + 3. Subtract 3 to leave r3 equal to r5. */ | |
asm volatile ( "addi r3, r3, -3 " ); | |
/* Compare r3 and r5. If they are not equal then either r3 or r5 | |
contains the wrong value and *pulStatusAddr is to pdFAIL. */ | |
asm volatile ( "cmp r3, r3, r5 \n\t" \ | |
"beqi r3, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" | |
); | |
/* Repeat for all the other registers. */ | |
asm volatile ( "addi r4, r4, -4 \n\t" \ | |
"cmp r4, r4, r5 \n\t" \ | |
"beqi r4, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r6, r6, -6 \n\t" \ | |
"cmp r6, r6, r5 \n\t" \ | |
"beqi r6, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r7, r7, -7 \n\t" \ | |
"cmp r7, r7, r5 \n\t" \ | |
"beqi r7, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r8, r8, -8 \n\t" \ | |
"cmp r8, r8, r5 \n\t" \ | |
"beqi r8, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r9, r9, -9 \n\t" \ | |
"cmp r9, r9, r5 \n\t" \ | |
"beqi r9, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r10, r10, -10 \n\t" \ | |
"cmp r10, r10, r5 \n\t" \ | |
"beqi r10, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r11, r11, -11 \n\t" \ | |
"cmp r11, r11, r5 \n\t" \ | |
"beqi r11, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r12, r12, -12 \n\t" \ | |
"cmp r12, r12, r5 \n\t" \ | |
"beqi r12, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r16, r16, -16 \n\t" \ | |
"cmp r16, r16, r5 \n\t" \ | |
"beqi r16, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r17, r17, -17 \n\t" \ | |
"cmp r17, r17, r5 \n\t" \ | |
"beqi r17, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r18, r18, -18 \n\t" \ | |
"cmp r18, r18, r5 \n\t" \ | |
"beqi r18, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r19, r19, -19 \n\t" \ | |
"cmp r19, r19, r5 \n\t" \ | |
"beqi r19, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r20, r20, -20 \n\t" \ | |
"cmp r20, r20, r5 \n\t" \ | |
"beqi r20, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r21, r21, -21 \n\t" \ | |
"cmp r21, r21, r5 \n\t" \ | |
"beqi r21, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r22, r22, -22 \n\t" \ | |
"cmp r22, r22, r5 \n\t" \ | |
"beqi r22, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r23, r23, -23 \n\t" \ | |
"cmp r23, r23, r5 \n\t" \ | |
"beqi r23, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r24, r24, -24 \n\t" \ | |
"cmp r24, r24, r5 \n\t" \ | |
"beqi r24, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r25, r25, -25 \n\t" \ | |
"cmp r25, r25, r5 \n\t" \ | |
"beqi r25, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r26, r26, -26 \n\t" \ | |
"cmp r26, r26, r5 \n\t" \ | |
"beqi r26, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r27, r27, -27 \n\t" \ | |
"cmp r27, r27, r5 \n\t" \ | |
"beqi r27, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r28, r28, -28 \n\t" \ | |
"cmp r28, r28, r5 \n\t" \ | |
"beqi r28, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r29, r29, -29 \n\t" \ | |
"cmp r29, r29, r5 \n\t" \ | |
"beqi r29, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r30, r30, -30 \n\t" \ | |
"cmp r30, r30, r5 \n\t" \ | |
"beqi r30, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" \ | |
"addi r31, r31, -31 \n\t" \ | |
"cmp r31, r31, r5 \n\t" \ | |
"beqi r31, 12 \n\t" \ | |
"lwi r3, r0, pulStatusAddr \n\t" \ | |
"sw r0, r0, r3 \n\t" | |
); | |
} | |
} | |