2 FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
\r
4 This file is part of the FreeRTOS distribution.
\r
6 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
7 the terms of the GNU General Public License (version 2) as published by the
\r
8 Free Software Foundation and modified by the FreeRTOS exception.
\r
9 **NOTE** The exception to the GPL is included to allow you to distribute a
\r
10 combined work that includes FreeRTOS without being obliged to provide the
\r
11 source code for proprietary components outside of the FreeRTOS kernel.
\r
12 Alternative commercial license and support terms are also available upon
\r
13 request. See the licensing section of http://www.FreeRTOS.org for full
\r
16 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
\r
17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
\r
18 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
\r
21 You should have received a copy of the GNU General Public License along
\r
22 with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
\r
23 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
\r
26 ***************************************************************************
\r
28 * The FreeRTOS eBook and reference manual are available to purchase for a *
\r
29 * small fee. Help yourself get started quickly while also helping the *
\r
30 * FreeRTOS project! See http://www.FreeRTOS.org/Documentation for details *
\r
32 ***************************************************************************
\r
36 Please ensure to read the configuration and relevant port sections of the
\r
37 online documentation.
\r
39 http://www.FreeRTOS.org - Documentation, latest information, license and
\r
42 http://www.SafeRTOS.com - A version that is certified for use in safety
\r
45 http://www.OpenRTOS.com - Commercial support, development, porting,
\r
46 licensing and training services.
\r
50 * Creates all the demo application tasks, then starts the scheduler.
\r
51 * In addition to the standard demo tasks, the following tasks and tests are
\r
52 * defined and/or created within this file:
\r
54 * "Check" task - This only executes every five seconds but has the highest
\r
55 * priority so is guaranteed to get processor time. Its main function is to
\r
56 * check that all the standard demo tasks are still operational. The check
\r
57 * task will write an error message to the console should an error be detected
\r
58 * within any of the demo tasks. The check task also toggles the LED defined
\r
59 * by mainCHECK_LED every 5 seconds while the system is error free, with the
\r
60 * toggle rate increasing to every 500ms should an error occur.
\r
62 * "Reg test" tasks - These fill the registers with known values, then check
\r
63 * that each register still contains its expected value. Each task uses
\r
64 * different values. The tasks run with very low priority so get preempted very
\r
65 * frequently. A register containing an unexpected value is indicative of an
\r
66 * error in the context switching mechanism.
\r
68 * See the online documentation for this demo for more information on interrupt
\r
72 /* Standard includes. */
\r
77 /* Scheduler includes. */
\r
78 #include "FreeRTOS.h"
\r
82 /* Demo application includes. */
\r
83 #include "partest.h"
\r
85 #include "blocktim.h"
\r
86 #include "semtest.h"
\r
88 #include "comtest.h"
\r
89 #include "GenQTest.h"
\r
91 #include "integer.h"
\r
94 #include "dynamic.h"
\r
95 #include "countsem.h"
\r
96 #include "recmutex.h"
\r
99 /*-----------------------------------------------------------*/
\r
101 #error The batch file Demo\NiosII_CycloneIII_DBC3C40_GCC\CreateProjectDirectoryStructure.bat must be executed before the project is imported into the workspace. Failure to do this will result in the include paths stored in the project being deleted. Remove this line after CreateProjectDirectoryStructure.bat has been executed.
\r
103 /*-----------------------------------------------------------*/
\r
105 /* The rate at which the LED controlled by the 'check' task will toggle when no
\r
106 errors have been detected. */
\r
107 #define mainNO_ERROR_PERIOD ( 5000 )
\r
109 /* The rate at which the LED controlled by the 'check' task will toggle when an
\r
110 error has been detected. */
\r
111 #define mainERROR_PERIOD ( 500 )
\r
113 /* The LED toggled by the Check task. */
\r
114 #define mainCHECK_LED ( 7 )
\r
116 /* The first LED used by the ComTest tasks. One LED toggles each time a
\r
117 character is transmitted, and one each time a character is received and
\r
118 verified as being the expected character. */
\r
119 #define mainCOMTEST_LED ( 4 )
\r
121 /* Priority definitions for the tasks in the demo application. */
\r
122 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
123 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
124 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
\r
125 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
126 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
127 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
128 #define mainSEMAPHORE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
129 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
\r
130 #define mainREG_TEST_PRIORITY ( tskIDLE_PRIORITY )
\r
133 #define mainDONT_WAIT ( 0 )
\r
135 /* The parameters passed to the reg test tasks. This is just done to check
\r
136 the parameter passing mechanism is working correctly. */
\r
137 #define mainREG_TEST_1_PARAMETER ( ( void * ) 0x12345678 )
\r
138 #define mainREG_TEST_2_PARAMETER ( ( void * ) 0x87654321 )
\r
140 /*-----------------------------------------------------------*/
\r
143 * Setup the processor ready for the demo.
\r
145 static void prvSetupHardware( void );
\r
148 * Execute all of the check functions to ensure the tests haven't failed.
\r
150 static void prvCheckTask( void *pvParameters );
\r
153 * The register test (or RegTest) tasks as described at the top of this file.
\r
155 static void prvFirstRegTestTask( void *pvParameters );
\r
156 static void prvSecondRegTestTask( void *pvParameters );
\r
158 /*-----------------------------------------------------------*/
\r
160 /* Counters that are incremented on each iteration of the RegTest tasks
\r
161 so long as no errors have been detected. */
\r
162 volatile unsigned long ulRegTest1Counter = 0UL, ulRegTest2Counter = 0UL;
\r
164 /*-----------------------------------------------------------*/
\r
167 * Create the demo tasks then start the scheduler.
\r
171 /* Configure any hardware required for this demo. */
\r
172 prvSetupHardware();
\r
174 /* Create all the other standard demo tasks. These serve no purpose other
\r
175 than to test the port and demonstrate the use of the FreeRTOS API. */
\r
176 vStartLEDFlashTasks( tskIDLE_PRIORITY );
\r
177 vStartIntegerMathTasks( mainGENERIC_QUEUE_PRIORITY );
\r
178 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
179 vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
\r
180 vCreateBlockTimeTasks();
\r
181 vStartSemaphoreTasks( mainSEMAPHORE_TASK_PRIORITY );
\r
182 vStartDynamicPriorityTasks();
\r
183 vStartQueuePeekTasks();
\r
184 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
\r
185 vStartCountingSemaphoreTasks();
\r
186 vStartRecursiveMutexTasks();
\r
187 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, 0, mainCOMTEST_LED );
\r
189 /* prvCheckTask uses sprintf so requires more stack. */
\r
190 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
\r
192 /* The RegTest tasks as described at the top of this file. */
\r
193 xTaskCreate( prvFirstRegTestTask, "Rreg1", configMINIMAL_STACK_SIZE, mainREG_TEST_1_PARAMETER, mainREG_TEST_PRIORITY, NULL );
\r
194 xTaskCreate( prvSecondRegTestTask, "Rreg2", configMINIMAL_STACK_SIZE, mainREG_TEST_2_PARAMETER, mainREG_TEST_PRIORITY, NULL );
\r
196 /* This task has to be created last as it keeps account of the number of tasks
\r
197 it expects to see running. */
\r
198 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
\r
200 /* Finally start the scheduler. */
\r
201 vTaskStartScheduler();
\r
203 /* Will only reach here if there is insufficient heap available to start
\r
207 /*-----------------------------------------------------------*/
\r
209 static void prvSetupHardware( void )
\r
211 /* Setup the digital IO for the LED's. */
\r
212 vParTestInitialise();
\r
214 /*-----------------------------------------------------------*/
\r
216 void vApplicationStackOverflowHook( void )
\r
218 /* Look at pxCurrentTCB to see which task overflowed its stack. */
\r
224 /*-----------------------------------------------------------*/
\r
226 void _general_exception_handler( unsigned long ulCause, unsigned long ulStatus )
\r
228 /* This overrides the definition provided by the kernel. Other exceptions
\r
229 should be handled here. */
\r
235 /*-----------------------------------------------------------*/
\r
237 static void prvCheckTask( void *pvParameters )
\r
239 portTickType xLastExecutionTime, ulTicksToWait = mainNO_ERROR_PERIOD;
\r
240 unsigned long ulLastRegTest1 = 0UL, ulLastRegTest2 = 0UL;
\r
241 const char * pcMessage;
\r
243 /* Initialise the variable used to control our iteration rate prior to
\r
245 xLastExecutionTime = xTaskGetTickCount();
\r
249 /* Wait until it is time to run the tests again. */
\r
250 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
\r
252 /* Have any of the standard demo tasks detected an error in their
\r
254 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
256 ulTicksToWait = mainERROR_PERIOD;
\r
257 pcMessage = "Error: Integer Maths.\n";
\r
259 else if( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
261 ulTicksToWait = mainERROR_PERIOD;
\r
262 pcMessage = "Error: GenQ.\n";
\r
264 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
266 ulTicksToWait = mainERROR_PERIOD;
\r
267 pcMessage = "Error: BlockQ.\n";
\r
269 else if( xArePollingQueuesStillRunning() != pdTRUE )
\r
271 ulTicksToWait = mainERROR_PERIOD;
\r
272 pcMessage = "Error: PollQ.\n";
\r
274 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
\r
276 ulTicksToWait = mainERROR_PERIOD;
\r
277 pcMessage = "Error: PeekQ.\n";
\r
279 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
281 ulTicksToWait = mainERROR_PERIOD;
\r
282 pcMessage = "Error: Block Time.\n";
\r
284 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
286 ulTicksToWait = mainERROR_PERIOD;
\r
287 pcMessage = "Error: Semaphore Test.\n";
\r
289 else if( xAreComTestTasksStillRunning() != pdTRUE )
\r
291 ulTicksToWait = mainERROR_PERIOD;
\r
292 pcMessage = "Error: Comm Test.\n";
\r
294 else if( xIsCreateTaskStillRunning() != pdTRUE )
\r
296 ulTicksToWait = mainERROR_PERIOD;
\r
297 pcMessage = "Error: Suicidal Tasks.\n";
\r
299 else if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
\r
301 ulTicksToWait = mainERROR_PERIOD;
\r
302 pcMessage = "Error: Dynamic Priority.\n";
\r
304 else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
\r
306 ulTicksToWait = mainERROR_PERIOD;
\r
307 pcMessage = "Error: Count Semaphore.\n";
\r
309 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
\r
311 ulTicksToWait = mainERROR_PERIOD;
\r
312 pcMessage = "Error: Recursive Mutex.\n";
\r
314 else if( ulLastRegTest1 == ulRegTest1Counter )
\r
316 /* ulRegTest1Counter is no longer being incremented, indicating
\r
317 that an error has been discovered in prvFirstRegTestTask(). */
\r
318 ulTicksToWait = mainERROR_PERIOD;
\r
319 pcMessage = "Error: Reg Test1.\n";
\r
321 else if( ulLastRegTest2 == ulRegTest2Counter )
\r
323 /* ulRegTest2Counter is no longer being incremented, indicating
\r
324 that an error has been discovered in prvSecondRegTestTask(). */
\r
325 ulTicksToWait = mainERROR_PERIOD;
\r
326 pcMessage = "Error: Reg Test2.\n";
\r
333 /* Remember the counter values this time around so a counter failing
\r
334 to be incremented correctly can be spotted. */
\r
335 ulLastRegTest1 = ulRegTest1Counter;
\r
336 ulLastRegTest2 = ulRegTest2Counter;
\r
338 /* Print out an error message if there is one. Mutual exclusion is
\r
339 not used as this is the only task accessing stdout. */
\r
340 if( pcMessage != NULL )
\r
342 printf( pcMessage );
\r
345 /* Provide visual feedback of the system status. If the LED is toggled
\r
346 every 5 seconds then no errors have been found. If the LED is toggled
\r
347 every 500ms then at least one error has been found. */
\r
348 vParTestToggleLED( mainCHECK_LED );
\r
351 /*-----------------------------------------------------------*/
\r
353 static void prvFirstRegTestTask( void *pvParameters )
\r
355 /* Check the parameters are passed in as expected. */
\r
356 if( pvParameters != mainREG_TEST_1_PARAMETER )
\r
358 /* Don't execute any further so an error is recognised by the check
\r
360 vTaskDelete( NULL );
\r
363 /* Fill registers with known values, then check that each register still
\r
364 contains its expected value. An incorrect value is indicative of an error
\r
365 in the context switching process.
\r
367 If no errors are found ulRegTest1Counter is incremented. The check task
\r
368 will recognise an error if ulRegTest1Counter stops being incremented.
\r
369 This task also performs a manual yield in the middle of its execution, just
\r
370 to increase the test coverage. */
\r
372 " .extern ulRegTest1Counter \n" \
\r
374 " addi r3, r0, 3 \n" \
\r
375 " addi r4, r0, 4 \n" \
\r
376 " addi r5, r0, 5 \n" \
\r
377 " addi r6, r0, 6 \n" \
\r
378 " addi r7, r0, 7 \n" \
\r
379 " addi r8, r0, 8 \n" \
\r
380 " addi r9, r0, 9 \n" \
\r
381 " addi r10, r0, 10 \n" \
\r
382 " addi r11, r0, 11 \n" \
\r
383 " addi r12, r0, 12 \n" \
\r
384 " addi r13, r0, 13 \n" \
\r
385 " addi r14, r0, 14 \n" \
\r
386 " addi r15, r0, 15 \n" \
\r
387 " addi r16, r0, 16 \n" \
\r
388 " addi r17, r0, 17 \n" \
\r
389 " addi r18, r0, 18 \n" \
\r
390 " addi r19, r0, 19 \n" \
\r
391 " addi r20, r0, 20 \n" \
\r
392 " addi r21, r0, 21 \n" \
\r
393 " addi r22, r0, 22 \n" \
\r
394 " addi r23, r0, 23 \n" \
\r
395 " addi r28, r0, 28 \n" \
\r
396 " addi r31, r0, 31 \n" \
\r
398 " addi r2, r0, 0 \n" \
\r
400 " bne r2, r0, RegTest1Error \n" \
\r
401 " addi r2, r0, 3 \n" \
\r
402 " bne r2, r3, RegTest1Error \n" \
\r
403 " addi r2, r0, 4 \n" \
\r
404 " bne r2, r4, RegTest1Error \n" \
\r
405 " addi r2, r0, 5 \n" \
\r
406 " bne r2, r5, RegTest1Error \n" \
\r
407 " addi r2, r0, 6 \n" \
\r
408 " bne r2, r6, RegTest1Error \n" \
\r
409 " addi r2, r0, 7 \n" \
\r
410 " bne r2, r7, RegTest1Error \n" \
\r
411 " addi r2, r0, 8 \n" \
\r
412 " bne r2, r8, RegTest1Error \n" \
\r
413 " addi r2, r0, 9 \n" \
\r
414 " bne r2, r9, RegTest1Error \n" \
\r
415 " addi r2, r0, 10 \n" \
\r
416 " bne r2, r10, RegTest1Error \n" \
\r
417 " addi r2, r0, 11 \n" \
\r
418 " bne r2, r11, RegTest1Error \n" \
\r
419 " addi r2, r0, 12 \n" \
\r
420 " bne r2, r12, RegTest1Error \n" \
\r
421 " addi r2, r0, 13 \n" \
\r
422 " bne r2, r13, RegTest1Error \n" \
\r
423 " addi r2, r0, 14 \n" \
\r
424 " bne r2, r14, RegTest1Error \n" \
\r
425 " addi r2, r0, 15 \n" \
\r
426 " bne r2, r15, RegTest1Error \n" \
\r
427 " addi r2, r0, 16 \n" \
\r
428 " bne r2, r16, RegTest1Error \n" \
\r
429 " addi r2, r0, 17 \n" \
\r
430 " bne r2, r17, RegTest1Error \n" \
\r
431 " addi r2, r0, 18 \n" \
\r
432 " bne r2, r18, RegTest1Error \n" \
\r
433 " addi r2, r0, 19 \n" \
\r
434 " bne r2, r19, RegTest1Error \n" \
\r
435 " addi r2, r0, 20 \n" \
\r
436 " bne r2, r20, RegTest1Error \n" \
\r
437 " addi r2, r0, 21 \n" \
\r
438 " bne r2, r21, RegTest1Error \n" \
\r
439 " addi r2, r0, 22 \n" \
\r
440 " bne r2, r22, RegTest1Error \n" \
\r
441 " addi r2, r0, 23 \n" \
\r
442 " bne r2, r23, RegTest1Error \n" \
\r
443 " addi r2, r0, 28 \n" \
\r
444 " bne r2, r28, RegTest1Error \n" \
\r
445 " addi r2, r0, 31 \n" \
\r
446 " bne r2, r31, RegTest1Error \n" \
\r
447 " ldw r2, %gprel(ulRegTest1Counter)(gp) \n" \
\r
448 " addi r2, r2, 1 \n" \
\r
449 " stw r2, %gprel(ulRegTest1Counter)(gp) \n" \
\r
450 " br RegTest1 \n" \
\r
451 "RegTest1Error: \n" \
\r
452 " br RegTest1Error \n"
\r
455 /*-----------------------------------------------------------*/
\r
457 static void prvSecondRegTestTask( void *pvParameters )
\r
459 /* Check the parameters are passed in as expected. */
\r
460 if( pvParameters != mainREG_TEST_2_PARAMETER )
\r
462 /* Don't execute any further so an error is recognised by the check
\r
464 vTaskDelete( NULL );
\r
467 /* Fill registers with known values, then check that each register still
\r
468 contains its expected value. An incorrect value is indicative of an error
\r
469 in the context switching process.
\r
471 If no errors are found ulRegTest2Counter is incremented. The check task
\r
472 will recognise an error if ulRegTest2Counter stops being incremented. */
\r
474 " .extern ulRegTest2Counter \n" \
\r
476 " addi r3, r0, 3 \n" \
\r
477 " addi r4, r0, 4 \n" \
\r
478 " addi r5, r0, 5 \n" \
\r
479 " addi r6, r0, 6 \n" \
\r
480 " addi r7, r0, 7 \n" \
\r
481 " addi r8, r0, 8 \n" \
\r
482 " addi r9, r0, 9 \n" \
\r
483 " addi r10, r0, 10 \n" \
\r
484 " addi r11, r0, 11 \n" \
\r
485 " addi r12, r0, 12 \n" \
\r
486 " addi r13, r0, 13 \n" \
\r
487 " addi r14, r0, 14 \n" \
\r
488 " addi r15, r0, 15 \n" \
\r
489 " addi r16, r0, 16 \n" \
\r
490 " addi r17, r0, 17 \n" \
\r
491 " addi r18, r0, 18 \n" \
\r
492 " addi r19, r0, 19 \n" \
\r
493 " addi r20, r0, 20 \n" \
\r
494 " addi r21, r0, 21 \n" \
\r
495 " addi r22, r0, 22 \n" \
\r
496 " addi r23, r0, 23 \n" \
\r
497 " addi r28, r0, 28 \n" \
\r
498 " addi r31, r0, 31 \n" \
\r
500 " addi r2, r0, 0 \n" \
\r
501 " bne r2, r0, RegTest2Error \n" \
\r
502 " addi r2, r0, 3 \n" \
\r
503 " bne r2, r3, RegTest2Error \n" \
\r
504 " addi r2, r0, 4 \n" \
\r
505 " bne r2, r4, RegTest2Error \n" \
\r
506 " addi r2, r0, 5 \n" \
\r
507 " bne r2, r5, RegTest2Error \n" \
\r
508 " addi r2, r0, 6 \n" \
\r
509 " bne r2, r6, RegTest2Error \n" \
\r
510 " addi r2, r0, 7 \n" \
\r
511 " bne r2, r7, RegTest2Error \n" \
\r
512 " addi r2, r0, 8 \n" \
\r
513 " bne r2, r8, RegTest2Error \n" \
\r
514 " addi r2, r0, 9 \n" \
\r
515 " bne r2, r9, RegTest2Error \n" \
\r
516 " addi r2, r0, 10 \n" \
\r
517 " bne r2, r10, RegTest2Error \n" \
\r
518 " addi r2, r0, 11 \n" \
\r
519 " bne r2, r11, RegTest2Error \n" \
\r
520 " addi r2, r0, 12 \n" \
\r
521 " bne r2, r12, RegTest2Error \n" \
\r
522 " addi r2, r0, 13 \n" \
\r
523 " bne r2, r13, RegTest2Error \n" \
\r
524 " addi r2, r0, 14 \n" \
\r
525 " bne r2, r14, RegTest2Error \n" \
\r
526 " addi r2, r0, 15 \n" \
\r
527 " bne r2, r15, RegTest2Error \n" \
\r
528 " addi r2, r0, 16 \n" \
\r
529 " bne r2, r16, RegTest2Error \n" \
\r
530 " addi r2, r0, 17 \n" \
\r
531 " bne r2, r17, RegTest2Error \n" \
\r
532 " addi r2, r0, 18 \n" \
\r
533 " bne r2, r18, RegTest2Error \n" \
\r
534 " addi r2, r0, 19 \n" \
\r
535 " bne r2, r19, RegTest2Error \n" \
\r
536 " addi r2, r0, 20 \n" \
\r
537 " bne r2, r20, RegTest2Error \n" \
\r
538 " addi r2, r0, 21 \n" \
\r
539 " bne r2, r21, RegTest2Error \n" \
\r
540 " addi r2, r0, 22 \n" \
\r
541 " bne r2, r22, RegTest2Error \n" \
\r
542 " addi r2, r0, 23 \n" \
\r
543 " bne r2, r23, RegTest2Error \n" \
\r
544 " addi r2, r0, 28 \n" \
\r
545 " bne r2, r28, RegTest2Error \n" \
\r
546 " addi r2, r0, 31 \n" \
\r
547 " bne r2, r31, RegTest2Error \n" \
\r
548 " ldw r2, %gprel(ulRegTest2Counter)(gp) \n" \
\r
549 " addi r2, r2, 1 \n" \
\r
550 " stw r2, %gprel(ulRegTest2Counter)(gp) \n" \
\r
551 " br RegTest2 \n" \
\r
552 "RegTest2Error: \n" \
\r
553 " br RegTest2Error \n"
\r
556 /*-----------------------------------------------------------*/
\r