/* | |
FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd. | |
*************************************************************************** | |
* * | |
* If you are: * | |
* * | |
* + New to FreeRTOS, * | |
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* * | |
* then take a look at the FreeRTOS eBook * | |
* * | |
* "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 * | |
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* * | |
*************************************************************************** | |
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. | |
*/ | |
/* | |
* This project includes a lot of tasks and tests and is therefore complex. | |
* If you would prefer a much simpler project to get started with then select | |
* the 'Blinky' build configuration within the HEW IDE. | |
* | |
* Creates all the demo application tasks, 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. The tasks defined in flop.c are included in the | |
* set of standard demo tasks to ensure the floating point unit gets some | |
* exercise. | |
* | |
* 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 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 check variable is incremented on each iteration of the | |
* test loop. A register containing an unexpected value is indicative of an | |
* error in the context switching mechanism and will result in a branch to a | |
* null loop - which in turn will prevent the check variable from incrementing | |
* any further and allow the check task (described below) to determine that an | |
* error has occurred. The nature of the reg test tasks necessitates that they | |
* are written in assembly code. | |
* | |
* "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 LED 5 every 5 seconds - the toggle | |
* rate increasing to 200ms being a visual indication that at least one task has | |
* reported unexpected behaviour. | |
* | |
* "High frequency timer test" - A high frequency periodic interrupt is | |
* generated using a timer - the interrupt is assigned a priority above | |
* configMAX_SYSCALL_INTERRUPT_PRIORITY so should not be effected by anything | |
* the kernel is doing. The interrupt service routine measures the number of | |
* counts a separate timer performs between each interrupt to determine the | |
* jitter in the interrupt timing. | |
* | |
* *NOTE 1* If LED5 is toggling every 5 seconds then all the demo application | |
* tasks are executing as expected and no errors have been reported in any | |
* tasks. The toggle rate increasing to 200ms indicates that at least one task | |
* has reported unexpected behaviour. | |
* | |
* *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let | |
* the application set up a timer to generate the tick interrupt. In this | |
* example a compare match timer is used for this purpose. | |
* | |
* *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started. | |
* The PowerON_Reset_PC() supplied in resetprg.c with this demo has | |
* Change_PSW_PM_to_UserMode() commented out to ensure this is the case. | |
* | |
* *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use | |
* of all the 8bit timers (as two cascaded 16bit units). | |
*/ | |
/* Standard includes. */ | |
#include "string.h" | |
/* Hardware specific includes. */ | |
#include <iorx62n.h> | |
/* Kernel includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Standard demo includes. */ | |
#include "partest.h" | |
#include "flash.h" | |
#include "IntQueue.h" | |
#include "BlockQ.h" | |
#include "death.h" | |
#include "integer.h" | |
#include "blocktim.h" | |
#include "semtest.h" | |
#include "PollQ.h" | |
#include "GenQTest.h" | |
#include "QPeek.h" | |
#include "recmutex.h" | |
#include "flop.h" | |
/* Values that are passed into the reg test tasks using the task parameter. The | |
tasks check that the values are passed in correctly. */ | |
#define mainREG_TEST_1_PARAMETER ( 0x12121212UL ) | |
#define mainREG_TEST_2_PARAMETER ( 0x12345678UL ) | |
/* Priorities at which the tasks are created. */ | |
#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 ) | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
#define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
/* The LED toggled by the check task. */ | |
#define mainCHECK_LED ( 5 ) | |
/* The rate at which mainCHECK_LED will toggle when all the tasks are running | |
without error. Controlled by the check task as described at the top of this | |
file. */ | |
#define mainNO_ERROR_CYCLE_TIME ( 5000 / portTICK_RATE_MS ) | |
/* The rate at which mainCHECK_LED will toggle when an error has been reported | |
by at least one task. Controlled by the check task as described at the top of | |
this file. */ | |
#define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS ) | |
/* The period of the peripheral clock in nano seconds. This is used to calculate | |
the jitter time in nano seconds as part of the high frequency timer test. The | |
clock driving the timer is divided by 8. */ | |
#define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( ( double ) configPERIPHERAL_CLOCK_HZ ) / 8.0 ) * 1000000000.0 ) ) | |
/* | |
* vApplicationMallocFailedHook() will only be called if | |
* configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook | |
* function that will execute if a call to pvPortMalloc() fails. | |
* pvPortMalloc() is called internally by the kernel whenever a task, queue or | |
* semaphore is created. It is also called by various parts of the demo | |
* application. | |
*/ | |
void vApplicationMallocFailedHook( void ); | |
/* | |
* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1 | |
* in FreeRTOSConfig.h. It is a hook function that is called on each iteration | |
* of the idle task. It is essential that code added to this hook function | |
* never attempts to block in any way (for example, call xQueueReceive() with | |
* a block time specified). If the application makes use of the vTaskDelete() | |
* API function (as this demo application does) then it is also important that | |
* vApplicationIdleHook() is permitted to return to its calling function because | |
* it is the responsibility of the idle task to clean up memory allocated by the | |
* kernel to any task that has since been deleted. | |
*/ | |
void vApplicationIdleHook( void ); | |
/* | |
* vApplicationStackOverflowHook() will only be called if | |
* configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and | |
* name of the offending task should be passed in the function parameters, but | |
* it is possible that the stack overflow will have corrupted these - in which | |
* case pxCurrentTCB can be inspected to find the same information. | |
*/ | |
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); | |
/* | |
* The reg test tasks as described at the top of this file. | |
*/ | |
static void prvRegTest1Task( void *pvParameters ); | |
static void prvRegTest2Task( void *pvParameters ); | |
/* | |
* The actual implementation of the reg test functionality, which, because of | |
* the direct register access, have to be in assembly. | |
*/ | |
extern void prvRegTest1Implementation( void ); | |
extern void prvRegTest2Implementation( void ); | |
/* | |
* The check task as described at the top of this file. | |
*/ | |
static void prvCheckTask( void *pvParameters ); | |
/* Variables that are incremented on each iteration of the reg test tasks - | |
provided the tasks have not reported any errors. The check task inspects these | |
variables to ensure they are still incrementing as expected. If a variable | |
stops incrementing then it is likely that its associate task has stalled. */ | |
unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL; | |
/*-----------------------------------------------------------*/ | |
void main(void) | |
{ | |
extern void HardwareSetup( void ); | |
/* Renesas provided CPU configuration routine. The clocks are configured in | |
here. */ | |
//_RB_reSetup(); | |
/* Turn all LEDs off. */ | |
vParTestInitialise(); | |
/* Start the reg test tasks which test the context switching mechanism. */ | |
xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL ); | |
xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL ); | |
/* Start the check task as described at the top of this file. */ | |
xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* Create the standard demo tasks. */ | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
vCreateBlockTimeTasks(); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY ); | |
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY ); | |
vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY ); | |
vStartQueuePeekTasks(); | |
vStartRecursiveMutexTasks(); | |
vStartInterruptQueueTasks(); | |
vStartMathTasks( mainFLOP_TASK_PRIORITY ); | |
/* The suicide tasks must be created last as they need to know how many | |
tasks were running prior to their creation in order to ascertain whether | |
or not the correct/expected number of tasks are running at any given time. */ | |
vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY ); | |
/* Start the tasks running. */ | |
vTaskStartScheduler(); | |
/* If all is well we will never reach here as the scheduler will now be | |
running. If we do reach here then it is likely that there was insufficient | |
heap available for the idle task to be created. */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvCheckTask( void *pvParameters ) | |
{ | |
static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL; | |
portTickType xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME; | |
extern void vSetupHighFrequencyTimer( void ); | |
extern volatile unsigned short usMaxJitter; | |
//volatile unsigned long ulActualJitter = 0; | |
//static char cErrorText[ 100 ]; | |
/* 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. */ | |
xCycleFrequency = mainERROR_CYCLE_TIME; | |
// strcpy( cErrorText, "Error: GenQueue" ); | |
} | |
else if( xAreQueuePeekTasksStillRunning() != pdTRUE ) | |
{ | |
xCycleFrequency = mainERROR_CYCLE_TIME; | |
// strcpy( cErrorText, "Error: QueuePeek" ); | |
} | |
else if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
xCycleFrequency = mainERROR_CYCLE_TIME; | |
// strcpy( cErrorText, "Error: BlockQueue" ); | |
} | |
else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) | |
{ | |
xCycleFrequency = mainERROR_CYCLE_TIME; | |
// strcpy( cErrorText, "Error: BlockTime" ); | |
} | |
else if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
xCycleFrequency = mainERROR_CYCLE_TIME; | |
// strcpy( cErrorText, "Error: SemTest" ); | |
} | |
else if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
xCycleFrequency = mainERROR_CYCLE_TIME; | |
// strcpy( cErrorText, "Error: PollQueue" ); | |
} | |
else if( xIsCreateTaskStillRunning() != pdTRUE ) | |
{ | |
xCycleFrequency = mainERROR_CYCLE_TIME; | |
// strcpy( cErrorText, "Error: Death" ); | |
} | |
else if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
xCycleFrequency = mainERROR_CYCLE_TIME; | |
// strcpy( cErrorText, "Error: IntMath" ); | |
} | |
else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) | |
{ | |
xCycleFrequency = mainERROR_CYCLE_TIME; | |
// strcpy( cErrorText, "Error: RecMutex" ); | |
} | |
else if( xAreIntQueueTasksStillRunning() != pdPASS ) | |
{ | |
xCycleFrequency = mainERROR_CYCLE_TIME; | |
// strcpy( cErrorText, "Error: IntQueue" ); | |
} | |
else if( xAreMathsTaskStillRunning() != pdPASS ) | |
{ | |
xCycleFrequency = mainERROR_CYCLE_TIME; | |
// strcpy( cErrorText, "Error: Flop" ); | |
} | |
/* Check the reg test tasks are still cycling. They will stop incrementing | |
their loop counters if they encounter an error. */ | |
if( ulRegTest1CycleCount == ulLastRegTest1CycleCount ) | |
{ | |
xCycleFrequency = mainERROR_CYCLE_TIME; | |
// strcpy( cErrorText, "Error: RegTest1" ); | |
} | |
if( ulRegTest2CycleCount == ulLastRegTest2CycleCount ) | |
{ | |
xCycleFrequency = mainERROR_CYCLE_TIME; | |
// strcpy( cErrorText, "Error: RegTest2" ); | |
} | |
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 ); | |
/* Calculate the maximum jitter experienced by the high frequency timer | |
test and print it out. It is ok to use printf without worrying about | |
mutual exclusion as it is not used anywhere else in this demo. */ | |
//sprintf( cTempBuf, "%s [%fns]\n", "Max Jitter = ", ( ( float ) usMaxJitter ) * mainNS_PER_CLOCK ); | |
//ulActualJitter = ( ( unsigned long ) usMaxJitter ) * mainNS_PER_CLOCK; | |
if( xCycleFrequency == mainERROR_CYCLE_TIME ) | |
{ | |
/* Just for break point. */ | |
portNOP(); | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
/* The RX port uses this callback function to configure its tick interrupt. | |
This allows the application to choose the tick interrupt source. */ | |
void vApplicationSetupTimerInterrupt( void ) | |
{ | |
/* Enable compare match timer 0. */ | |
MSTP( CMT0 ) = 0; | |
/* Interrupt on compare match. */ | |
CMT0.CMCR.BIT.CMIE = 1; | |
/* Set the compare match value. */ | |
CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 ); | |
/* Divide the PCLK by 8. */ | |
CMT0.CMCR.BIT.CKS = 0; | |
/* Enable the interrupt... */ | |
_IEN( _CMT0_CMI0 ) = 1; | |
/* ...and set its priority to the application defined kernel priority. */ | |
_IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY; | |
/* Start the timer. */ | |
CMT.CMSTR0.BIT.STR0 = 1; | |
} | |
/*-----------------------------------------------------------*/ | |
/* This function is explained by the comments above its prototype at the top | |
of this file. */ | |
void vApplicationMallocFailedHook( void ) | |
{ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
/* This function is explained by the comments above its prototype at the top | |
of this file. */ | |
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ) | |
{ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
/* This function is explained by the comments above its prototype at the top | |
of this file. */ | |
void vApplicationIdleHook( void ) | |
{ | |
static volatile unsigned long ulIdleLoopCount = 0UL; | |
ulIdleLoopCount++; | |
} | |
/*-----------------------------------------------------------*/ | |
/* This function is explained in the comments at the top of this file. */ | |
static void prvRegTest1Task( void *pvParameters ) | |
{ | |
if( ( ( unsigned long ) 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 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( ( ( unsigned long ) 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 asm function that never returns. */ | |
prvRegTest2Implementation(); | |
} | |
/*-----------------------------------------------------------*/ | |