2 FreeRTOS.org V5.1.2 - Copyright (C) 2003-2009 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 ***************************************************************************
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29 * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
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31 * This is a concise, step by step, 'hands on' guide that describes both *
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32 * general multitasking concepts and FreeRTOS specifics. It presents and *
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33 * explains numerous examples that are written using the FreeRTOS API. *
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34 * Full source code for all the examples is provided in an accompanying *
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37 ***************************************************************************
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38 ***************************************************************************
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40 Please ensure to read the configuration and relevant port sections of the
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41 online documentation.
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43 http://www.FreeRTOS.org - Documentation, latest information, license and
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46 http://www.SafeRTOS.com - A version that is certified for use in safety
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49 http://www.OpenRTOS.com - Commercial support, development, porting,
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50 licensing and training services.
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55 * Creates all the demo application tasks, then starts the scheduler. The WEB
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56 * documentation provides more details of the standard demo application tasks.
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57 * In addition to the standard demo tasks, the following tasks and tests are
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58 * defined and/or created within this file:
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60 * "Check" task - This only executes every five seconds but has a high priority
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61 * to ensure it gets processor time. Its main function is to check that all the
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62 * standard demo tasks are still operational. While no errors have been
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63 * discovered the check task will toggle an LED every 5 seconds - the toggle
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64 * rate increasing to 500ms being a visual indication that at least one task has
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65 * reported unexpected behaviour.
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67 * "Reg test" tasks - These fill the registers with known values, then check
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68 * that each register still contains its expected value. Each task uses
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69 * different values. The tasks run with very low priority so get preempted very
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70 * frequently. A register containing an unexpected value is indicative of an
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71 * error in the context switching mechanism.
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75 /* Standard includes. */
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78 /* Scheduler includes. */
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79 #include "FreeRTOS.h"
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84 /* Demo app includes. */
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86 #include "crflash.h"
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87 #include "partest.h"
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88 #include "semtest.h"
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89 #include "GenQTest.h"
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91 #include "comtest2.h"
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93 /*-----------------------------------------------------------*/
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95 /* The time between cycles of the 'check' functionality - as described at the
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96 top of this file. */
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97 #define mainNO_ERROR_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
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99 /* The rate at which the LED controlled by the 'check' task will flash should an
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100 error have been detected. */
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101 #define mainERROR_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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103 /* The LED controlled by the 'check' task. */
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104 #define mainCHECK_LED ( 3 )
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106 /* ComTest constants - there is no free LED for the comtest tasks. */
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107 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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108 #define mainCOM_TEST_LED ( 5 )
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110 /* Task priorities. */
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111 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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112 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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113 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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114 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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115 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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117 /* Co-routines are used to flash the LEDs. */
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118 #define mainNUM_FLASH_CO_ROUTINES ( 3 )
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120 /* The baud rate used by the comtest tasks. */
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121 #define mainBAUD_RATE ( 38400 )
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123 /* There is no spare LED for the comtest tasks, so this is set to an invalid
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125 #define mainCOM_LED ( 4 )
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128 * Configure the hardware for the demo.
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130 static void prvSetupHardware( void );
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133 * Implements the 'check' task functionality as described at the top of this
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136 static void prvCheckTask( void *pvParameters );
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139 * Implement the 'Reg test' functionality as described at the top of this file.
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141 static void vRegTest1Task( void *pvParameters );
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142 static void vRegTest2Task( void *pvParameters );
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144 /*-----------------------------------------------------------*/
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146 /* Counters used to detect errors within the reg test tasks. */
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147 static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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149 /*-----------------------------------------------------------*/
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153 /* Setup the hardware ready for this demo. */
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154 prvSetupHardware();
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156 /* Start the standard demo tasks. */
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157 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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158 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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159 vStartQueuePeekTasks();
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160 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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161 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_LED );
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163 /* For demo purposes use some co-routines to flash the LEDs. */
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164 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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166 /* Create the check task. */
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167 xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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170 /* Start the reg test tasks - defined in this file. */
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171 xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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172 xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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174 /* Start the scheduler. */
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175 vTaskStartScheduler();
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177 /* Will only get here if there was insufficient memory to create the idle
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183 /*-----------------------------------------------------------*/
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185 static void prvCheckTask( void *pvParameters )
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187 unsigned portLONG ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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188 portTickType xLastExecutionTime;
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189 volatile unsigned portBASE_TYPE uxUnusedStack;
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191 ( void ) pvParameters;
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193 /* Initialise the variable used to control our iteration rate prior to
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195 xLastExecutionTime = xTaskGetTickCount();
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199 /* Wait until it is time to run the tests again. */
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200 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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202 /* Has an error been found in any task? */
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203 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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208 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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213 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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218 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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223 if( xAreComTestTasksStillRunning() != pdTRUE )
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228 if( ulLastRegTest1Count == ulRegTest1Counter )
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230 ulError |= 0x1000UL;
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233 if( ulLastRegTest2Count == ulRegTest2Counter )
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235 ulError |= 0x1000UL;
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238 ulLastRegTest1Count = ulRegTest1Counter;
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239 ulLastRegTest2Count = ulRegTest2Counter;
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241 /* If an error has been found then increase our cycle rate, and in so
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242 doing increase the rate at which the check task LED toggles. */
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245 ulTicksToWait = mainERROR_PERIOD;
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248 /* Toggle the LED each itteration. */
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249 vParTestToggleLED( mainCHECK_LED );
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251 /* For demo only - how much unused stack does this task have? */
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252 uxUnusedStack = uxTaskGetStackHighWaterMark( NULL );
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255 /*-----------------------------------------------------------*/
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257 void prvSetupHardware( void )
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259 portDISABLE_INTERRUPTS();
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261 /* Setup the port used to toggle LEDs. */
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262 vParTestInitialise();
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264 /*-----------------------------------------------------------*/
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266 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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268 /* This will get called if a stack overflow is detected during the context
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269 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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270 problems within nested interrupts, but only do this for debug purposes as
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271 it will increase the context switch time. */
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274 ( void ) pcTaskName;
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280 /*-----------------------------------------------------------*/
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282 void vApplicationIdleHook( void );
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283 void vApplicationIdleHook( void )
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285 /* The co-routines run in the idle task. */
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286 vCoRoutineSchedule();
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288 /*-----------------------------------------------------------*/
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292 /* To keep the linker happy only as the libraries have been removed from
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297 /*-----------------------------------------------------------*/
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299 static void vRegTest1Task( void *pvParameters )
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301 /* Sanity check - did we receive the parameter expected? */
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302 if( pvParameters != &ulRegTest1Counter )
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304 /* Change here so the check task can detect that an error occurred. */
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310 /* Set all the registers to known values, then check that each retains its
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311 expected value - as described at the top of this file. If an error is
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312 found then the loop counter will no longer be incremented allowing the check
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313 task to recognise the error. */
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314 asm volatile ( "reg_test_1_start: \n\t"
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315 " moveq #1, d0 \n\t"
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316 " moveq #2, d1 \n\t"
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317 " moveq #3, d2 \n\t"
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318 " moveq #4, d3 \n\t"
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319 " moveq #5, d4 \n\t"
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320 " moveq #6, d5 \n\t"
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321 " moveq #7, d6 \n\t"
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322 " moveq #8, d7 \n\t"
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323 " move #9, a0 \n\t"
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324 " move #10, a1 \n\t"
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325 " move #11, a2 \n\t"
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326 " move #12, a3 \n\t"
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327 " move #13, a4 \n\t"
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328 " move #14, a5 \n\t"
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329 " move #15, a6 \n\t"
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331 " cmpi.l #1, d0 \n\t"
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332 " bne reg_test_1_error \n\t"
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333 " cmpi.l #2, d1 \n\t"
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334 " bne reg_test_1_error \n\t"
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335 " cmpi.l #3, d2 \n\t"
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336 " bne reg_test_1_error \n\t"
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337 " cmpi.l #4, d3 \n\t"
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338 " bne reg_test_1_error \n\t"
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339 " cmpi.l #5, d4 \n\t"
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340 " bne reg_test_1_error \n\t"
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341 " cmpi.l #6, d5 \n\t"
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342 " bne reg_test_1_error \n\t"
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343 " cmpi.l #7, d6 \n\t"
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344 " bne reg_test_1_error \n\t"
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345 " cmpi.l #8, d7 \n\t"
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346 " bne reg_test_1_error \n\t"
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347 " move a0, d0 \n\t"
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348 " cmpi.l #9, d0 \n\t"
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349 " bne reg_test_1_error \n\t"
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350 " move a1, d0 \n\t"
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351 " cmpi.l #10, d0 \n\t"
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352 " bne reg_test_1_error \n\t"
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353 " move a2, d0 \n\t"
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354 " cmpi.l #11, d0 \n\t"
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355 " bne reg_test_1_error \n\t"
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356 " move a3, d0 \n\t"
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357 " cmpi.l #12, d0 \n\t"
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358 " bne reg_test_1_error \n\t"
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359 " move a4, d0 \n\t"
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360 " cmpi.l #13, d0 \n\t"
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361 " bne reg_test_1_error \n\t"
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362 " move a5, d0 \n\t"
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363 " cmpi.l #14, d0 \n\t"
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364 " bne reg_test_1_error \n\t"
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365 " move a6, d0 \n\t"
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366 " cmpi.l #15, d0 \n\t"
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367 " bne reg_test_1_error \n\t"
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368 " move ulRegTest1Counter, d0 \n\t"
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369 " addq #1, d0 \n\t"
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370 " move d0, ulRegTest1Counter \n\t"
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371 " bra reg_test_1_start \n\t"
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372 "reg_test_1_error: \n\t"
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373 " bra reg_test_1_error \n\t"
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376 /*-----------------------------------------------------------*/
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378 static void vRegTest2Task( void *pvParameters )
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380 /* Sanity check - did we receive the parameter expected? */
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381 if( pvParameters != &ulRegTest2Counter )
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383 /* Change here so the check task can detect that an error occurred. */
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389 /* Set all the registers to known values, then check that each retains its
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390 expected value - as described at the top of this file. If an error is
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391 found then the loop counter will no longer be incremented allowing the check
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392 task to recognise the error. */
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393 asm volatile ( "reg_test_2_start: \n\t"
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394 " moveq #10, d0 \n\t"
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395 " moveq #20, d1 \n\t"
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396 " moveq #30, d2 \n\t"
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397 " moveq #40, d3 \n\t"
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398 " moveq #50, d4 \n\t"
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399 " moveq #60, d5 \n\t"
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400 " moveq #70, d6 \n\t"
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401 " moveq #80, d7 \n\t"
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402 " move #90, a0 \n\t"
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403 " move #100, a1 \n\t"
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404 " move #110, a2 \n\t"
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405 " move #120, a3 \n\t"
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406 " move #130, a4 \n\t"
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407 " move #140, a5 \n\t"
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408 " move #150, a6 \n\t"
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410 " cmpi.l #10, d0 \n\t"
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411 " bne reg_test_2_error \n\t"
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412 " cmpi.l #20, d1 \n\t"
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413 " bne reg_test_2_error \n\t"
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414 " cmpi.l #30, d2 \n\t"
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415 " bne reg_test_2_error \n\t"
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416 " cmpi.l #40, d3 \n\t"
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417 " bne reg_test_2_error \n\t"
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418 " cmpi.l #50, d4 \n\t"
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419 " bne reg_test_2_error \n\t"
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420 " cmpi.l #60, d5 \n\t"
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421 " bne reg_test_2_error \n\t"
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422 " cmpi.l #70, d6 \n\t"
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423 " bne reg_test_2_error \n\t"
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424 " cmpi.l #80, d7 \n\t"
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425 " bne reg_test_2_error \n\t"
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426 " move a0, d0 \n\t"
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427 " cmpi.l #90, d0 \n\t"
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428 " bne reg_test_2_error \n\t"
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429 " move a1, d0 \n\t"
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430 " cmpi.l #100, d0 \n\t"
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431 " bne reg_test_2_error \n\t"
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432 " move a2, d0 \n\t"
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433 " cmpi.l #110, d0 \n\t"
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434 " bne reg_test_2_error \n\t"
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435 " move a3, d0 \n\t"
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436 " cmpi.l #120, d0 \n\t"
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437 " bne reg_test_2_error \n\t"
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438 " move a4, d0 \n\t"
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439 " cmpi.l #130, d0 \n\t"
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440 " bne reg_test_2_error \n\t"
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441 " move a5, d0 \n\t"
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442 " cmpi.l #140, d0 \n\t"
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443 " bne reg_test_2_error \n\t"
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444 " move a6, d0 \n\t"
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445 " cmpi.l #150, d0 \n\t"
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446 " bne reg_test_2_error \n\t"
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447 " move ulRegTest1Counter, d0 \n\t"
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448 " addq #1, d0 \n\t"
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449 " move d0, ulRegTest2Counter \n\t"
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450 " bra reg_test_2_start \n\t"
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451 "reg_test_2_error: \n\t"
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452 " bra reg_test_2_error \n\t"
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455 /*-----------------------------------------------------------*/
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projects / freertos / blob