/* | |
* FreeRTOS Kernel V10.3.0 | |
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. | |
* | |
* Permission is hereby granted, free of charge, to any person obtaining a copy of | |
* this software and associated documentation files (the "Software"), to deal in | |
* the Software without restriction, including without limitation the rights to | |
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of | |
* the Software, and to permit persons to whom the Software is furnished to do so, | |
* subject to the following conditions: | |
* | |
* The above copyright notice and this permission notice shall be included in all | |
* copies or substantial portions of the Software. | |
* | |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS | |
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR | |
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER | |
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN | |
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | |
* | |
* http://www.FreeRTOS.org | |
* http://aws.amazon.com/freertos | |
* | |
* 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" | |
); | |
} | |
/*-----------------------------------------------------------*/ | |