2 FreeRTOS V5.4.2 - 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 * Looking for a quick start? Then check out the FreeRTOS eBook! *
\r
29 * See http://www.FreeRTOS.org/Documentation for details *
\r
31 ***************************************************************************
\r
35 Please ensure to read the configuration and relevant port sections of the
\r
36 online documentation.
\r
38 http://www.FreeRTOS.org - Documentation, latest information, license and
\r
41 http://www.SafeRTOS.com - A version that is certified for use in safety
\r
44 http://www.OpenRTOS.com - Commercial support, development, porting,
\r
45 licensing and training services.
\r
49 * Creates all the demo application tasks, then starts the scheduler.
\r
50 * In addition to the standard demo tasks, the following tasks and tests are
\r
51 * defined and/or created within this file:
\r
53 * "Check" task - This only executes every five seconds but has the highest
\r
54 * priority so is guaranteed to get processor time. Its main function is to
\r
55 * check that all the standard demo tasks are still operational. The check
\r
56 * task will write an error message to the console should an error be detected
\r
57 * within any of the demo tasks. The check task also toggles the LED defined
\r
58 * by mainCHECK_LED every 5 seconds while the system is error free, with the
\r
59 * toggle rate increasing to every 500ms should an error occur.
\r
61 * "Reg test" tasks - These fill the registers with known values, then check
\r
62 * that each register still contains its expected value. Each task uses
\r
63 * different values. The tasks run with very low priority so get preempted very
\r
64 * frequently. A register containing an unexpected value is indicative of an
\r
65 * error in the context switching mechanism.
\r
67 * See the online documentation for this demo for more information on interrupt
\r
71 /* Standard includes. */
\r
76 /* Scheduler includes. */
\r
77 #include "FreeRTOS.h"
\r
81 /* Demo application includes. */
\r
82 #include "partest.h"
\r
84 #include "blocktim.h"
\r
85 #include "semtest.h"
\r
87 #include "comtest.h"
\r
88 #include "GenQTest.h"
\r
90 #include "integer.h"
\r
93 #include "dynamic.h"
\r
94 #include "countsem.h"
\r
95 #include "recmutex.h"
\r
98 /*-----------------------------------------------------------*/
\r
100 #error The batch file Demo\NiosII_CycloneIII_DBC3C40_GCC\CreateProjectDirectoryStructure.bat must be executed before the first build. After executing the batch file hit F5 to refrech the Eclipse project, then delete this line.
\r
102 /*-----------------------------------------------------------*/
\r
104 /* The rate at which the LED controlled by the 'check' task will toggle when no
\r
105 errors have been detected. */
\r
106 #define mainNO_ERROR_PERIOD ( 5000 )
\r
108 /* The rate at which the LED controlled by the 'check' task will toggle when an
\r
109 error has been detected. */
\r
110 #define mainERROR_PERIOD ( 500 )
\r
112 /* The LED toggled by the Check task. */
\r
113 #define mainCHECK_LED ( 7 )
\r
115 /* The first LED used by the ComTest tasks. One LED toggles each time a
\r
116 character is transmitted, and one each time a character is received and
\r
117 verified as being the expected character. */
\r
118 #define mainCOMTEST_LED ( 4 )
\r
120 /* Priority definitions for the tasks in the demo application. */
\r
121 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
122 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
123 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
\r
124 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
125 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
126 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
127 #define mainSEMAPHORE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
128 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
\r
129 #define mainREG_TEST_PRIORITY ( tskIDLE_PRIORITY )
\r
132 #define mainDONT_WAIT ( 0 )
\r
134 /* The parameters passed to the reg test tasks. This is just done to check
\r
135 the parameter passing mechanism is working correctly. */
\r
136 #define mainREG_TEST_1_PARAMETER ( ( void * ) 0x12345678 )
\r
137 #define mainREG_TEST_2_PARAMETER ( ( void * ) 0x87654321 )
\r
139 /*-----------------------------------------------------------*/
\r
142 * Setup the processor ready for the demo.
\r
144 static void prvSetupHardware( void );
\r
147 * Execute all of the check functions to ensure the tests haven't failed.
\r
149 static void prvCheckTask( void *pvParameters );
\r
152 * The register test (or RegTest) tasks as described at the top of this file.
\r
154 static void prvFirstRegTestTask( void *pvParameters );
\r
155 static void prvSecondRegTestTask( void *pvParameters );
\r
157 /*-----------------------------------------------------------*/
\r
159 /* Counters that are incremented on each iteration of the RegTest tasks
\r
160 so long as no errors have been detected. */
\r
161 volatile unsigned long ulRegTest1Counter = 0UL, ulRegTest2Counter = 0UL;
\r
163 /*-----------------------------------------------------------*/
\r
166 * Create the demo tasks then start the scheduler.
\r
170 /* Configure any hardware required for this demo. */
\r
171 prvSetupHardware();
\r
173 /* Create all the other standard demo tasks. These serve no purpose other
\r
174 than to test the port and demonstrate the use of the FreeRTOS API. */
\r
175 vStartLEDFlashTasks( tskIDLE_PRIORITY );
\r
176 vStartIntegerMathTasks( mainGENERIC_QUEUE_PRIORITY );
\r
177 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
178 vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
\r
179 vCreateBlockTimeTasks();
\r
180 vStartSemaphoreTasks( mainSEMAPHORE_TASK_PRIORITY );
\r
181 vStartDynamicPriorityTasks();
\r
182 vStartQueuePeekTasks();
\r
183 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
\r
184 vStartCountingSemaphoreTasks();
\r
185 vStartRecursiveMutexTasks();
\r
186 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, 0, mainCOMTEST_LED );
\r
188 /* prvCheckTask uses sprintf so requires more stack. */
\r
189 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
\r
191 /* The RegTest tasks as described at the top of this file. */
\r
192 xTaskCreate( prvFirstRegTestTask, "Rreg1", configMINIMAL_STACK_SIZE, mainREG_TEST_1_PARAMETER, mainREG_TEST_PRIORITY, NULL );
\r
193 xTaskCreate( prvSecondRegTestTask, "Rreg2", configMINIMAL_STACK_SIZE, mainREG_TEST_2_PARAMETER, mainREG_TEST_PRIORITY, NULL );
\r
195 /* This task has to be created last as it keeps account of the number of tasks
\r
196 it expects to see running. */
\r
197 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
\r
199 /* Finally start the scheduler. */
\r
200 vTaskStartScheduler();
\r
202 /* Will only reach here if there is insufficient heap available to start
\r
206 /*-----------------------------------------------------------*/
\r
208 static void prvSetupHardware( void )
\r
210 /* Setup the digital IO for the LED's. */
\r
211 vParTestInitialise();
\r
213 /*-----------------------------------------------------------*/
\r
215 void vApplicationStackOverflowHook( void )
\r
217 /* Look at pxCurrentTCB to see which task overflowed its stack. */
\r
223 /*-----------------------------------------------------------*/
\r
225 void _general_exception_handler( unsigned portLONG ulCause, unsigned portLONG ulStatus )
\r
227 /* This overrides the definition provided by the kernel. Other exceptions
\r
228 should be handled here. */
\r
234 /*-----------------------------------------------------------*/
\r
236 static void prvCheckTask( void *pvParameters )
\r
238 portTickType xLastExecutionTime, ulTicksToWait = mainNO_ERROR_PERIOD;
\r
239 unsigned long ulLastRegTest1 = 0UL, ulLastRegTest2 = 0UL;
\r
240 const portCHAR * pcMessage;
\r
242 /* Initialise the variable used to control our iteration rate prior to
\r
244 xLastExecutionTime = xTaskGetTickCount();
\r
248 /* Wait until it is time to run the tests again. */
\r
249 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
\r
251 /* Have any of the standard demo tasks detected an error in their
\r
253 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
255 ulTicksToWait = mainERROR_PERIOD;
\r
256 pcMessage = "Error: Integer Maths.\n";
\r
258 else if( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
260 ulTicksToWait = mainERROR_PERIOD;
\r
261 pcMessage = "Error: GenQ.\n";
\r
263 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
265 ulTicksToWait = mainERROR_PERIOD;
\r
266 pcMessage = "Error: BlockQ.\n";
\r
268 else if( xArePollingQueuesStillRunning() != pdTRUE )
\r
270 ulTicksToWait = mainERROR_PERIOD;
\r
271 pcMessage = "Error: PollQ.\n";
\r
273 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
\r
275 ulTicksToWait = mainERROR_PERIOD;
\r
276 pcMessage = "Error: PeekQ.\n";
\r
278 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
280 ulTicksToWait = mainERROR_PERIOD;
\r
281 pcMessage = "Error: Block Time.\n";
\r
283 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
285 ulTicksToWait = mainERROR_PERIOD;
\r
286 pcMessage = "Error: Semaphore Test.\n";
\r
288 else if( xAreComTestTasksStillRunning() != pdTRUE )
\r
290 ulTicksToWait = mainERROR_PERIOD;
\r
291 pcMessage = "Error: Comm Test.\n";
\r
293 else if( xIsCreateTaskStillRunning() != pdTRUE )
\r
295 ulTicksToWait = mainERROR_PERIOD;
\r
296 pcMessage = "Error: Suicidal Tasks.\n";
\r
298 else if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
\r
300 ulTicksToWait = mainERROR_PERIOD;
\r
301 pcMessage = "Error: Dynamic Priority.\n";
\r
303 else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
\r
305 ulTicksToWait = mainERROR_PERIOD;
\r
306 pcMessage = "Error: Count Semaphore.\n";
\r
308 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
\r
310 ulTicksToWait = mainERROR_PERIOD;
\r
311 pcMessage = "Error: Recursive Mutex.\n";
\r
313 else if( ulLastRegTest1 == ulRegTest1Counter )
\r
315 /* ulRegTest1Counter is no longer being incremented, indicating
\r
316 that an error has been discovered in prvFirstRegTestTask(). */
\r
317 ulTicksToWait = mainERROR_PERIOD;
\r
318 pcMessage = "Error: Reg Test1.\n";
\r
320 else if( ulLastRegTest2 == ulRegTest2Counter )
\r
322 /* ulRegTest2Counter is no longer being incremented, indicating
\r
323 that an error has been discovered in prvSecondRegTestTask(). */
\r
324 ulTicksToWait = mainERROR_PERIOD;
\r
325 pcMessage = "Error: Reg Test2.\n";
\r
332 /* Remember the counter values this time around so a counter failing
\r
333 to be incremented correctly can be spotted. */
\r
334 ulLastRegTest1 = ulRegTest1Counter;
\r
335 ulLastRegTest2 = ulRegTest2Counter;
\r
337 /* Print out an error message if there is one. Mutual exclusion is
\r
338 not used as this is the only task accessing stdout. */
\r
339 if( pcMessage != NULL )
\r
341 printf( pcMessage );
\r
344 /* Provide visual feedback of the system status. If the LED is toggled
\r
345 every 5 seconds then no errors have been found. If the LED is toggled
\r
346 every 500ms then at least one error has been found. */
\r
347 vParTestToggleLED( mainCHECK_LED );
\r
350 /*-----------------------------------------------------------*/
\r
352 static void prvFirstRegTestTask( void *pvParameters )
\r
354 /* Check the parameters are passed in as expected. */
\r
355 if( pvParameters != mainREG_TEST_1_PARAMETER )
\r
357 /* Don't execute any further so an error is recognised by the check
\r
359 vTaskDelete( NULL );
\r
362 /* Fill registers with known values, then check that each register still
\r
363 contains its expected value. An incorrect value is indicative of an error
\r
364 in the context switching process.
\r
366 If no errors are found ulRegTest1Counter is incremented. The check task
\r
367 will recognise an error if ulRegTest1Counter stops being incremented.
\r
368 This task also performs a manual yield in the middle of its execution, just
\r
369 to increase the test coverage. */
\r
371 " .extern ulRegTest1Counter \n" \
\r
373 " addi r3, r0, 3 \n" \
\r
374 " addi r4, r0, 4 \n" \
\r
375 " addi r5, r0, 5 \n" \
\r
376 " addi r6, r0, 6 \n" \
\r
377 " addi r7, r0, 7 \n" \
\r
378 " addi r8, r0, 8 \n" \
\r
379 " addi r9, r0, 9 \n" \
\r
380 " addi r10, r0, 10 \n" \
\r
381 " addi r11, r0, 11 \n" \
\r
382 " addi r12, r0, 12 \n" \
\r
383 " addi r13, r0, 13 \n" \
\r
384 " addi r14, r0, 14 \n" \
\r
385 " addi r15, r0, 15 \n" \
\r
386 " addi r16, r0, 16 \n" \
\r
387 " addi r17, r0, 17 \n" \
\r
388 " addi r18, r0, 18 \n" \
\r
389 " addi r19, r0, 19 \n" \
\r
390 " addi r20, r0, 20 \n" \
\r
391 " addi r21, r0, 21 \n" \
\r
392 " addi r22, r0, 22 \n" \
\r
393 " addi r23, r0, 23 \n" \
\r
394 " addi r28, r0, 28 \n" \
\r
395 " addi r31, r0, 31 \n" \
\r
397 " addi r2, r0, 0 \n" \
\r
399 " bne r2, r0, RegTest1Error \n" \
\r
400 " addi r2, r0, 3 \n" \
\r
401 " bne r2, r3, RegTest1Error \n" \
\r
402 " addi r2, r0, 4 \n" \
\r
403 " bne r2, r4, RegTest1Error \n" \
\r
404 " addi r2, r0, 5 \n" \
\r
405 " bne r2, r5, RegTest1Error \n" \
\r
406 " addi r2, r0, 6 \n" \
\r
407 " bne r2, r6, RegTest1Error \n" \
\r
408 " addi r2, r0, 7 \n" \
\r
409 " bne r2, r7, RegTest1Error \n" \
\r
410 " addi r2, r0, 8 \n" \
\r
411 " bne r2, r8, RegTest1Error \n" \
\r
412 " addi r2, r0, 9 \n" \
\r
413 " bne r2, r9, RegTest1Error \n" \
\r
414 " addi r2, r0, 10 \n" \
\r
415 " bne r2, r10, RegTest1Error \n" \
\r
416 " addi r2, r0, 11 \n" \
\r
417 " bne r2, r11, RegTest1Error \n" \
\r
418 " addi r2, r0, 12 \n" \
\r
419 " bne r2, r12, RegTest1Error \n" \
\r
420 " addi r2, r0, 13 \n" \
\r
421 " bne r2, r13, RegTest1Error \n" \
\r
422 " addi r2, r0, 14 \n" \
\r
423 " bne r2, r14, RegTest1Error \n" \
\r
424 " addi r2, r0, 15 \n" \
\r
425 " bne r2, r15, RegTest1Error \n" \
\r
426 " addi r2, r0, 16 \n" \
\r
427 " bne r2, r16, RegTest1Error \n" \
\r
428 " addi r2, r0, 17 \n" \
\r
429 " bne r2, r17, RegTest1Error \n" \
\r
430 " addi r2, r0, 18 \n" \
\r
431 " bne r2, r18, RegTest1Error \n" \
\r
432 " addi r2, r0, 19 \n" \
\r
433 " bne r2, r19, RegTest1Error \n" \
\r
434 " addi r2, r0, 20 \n" \
\r
435 " bne r2, r20, RegTest1Error \n" \
\r
436 " addi r2, r0, 21 \n" \
\r
437 " bne r2, r21, RegTest1Error \n" \
\r
438 " addi r2, r0, 22 \n" \
\r
439 " bne r2, r22, RegTest1Error \n" \
\r
440 " addi r2, r0, 23 \n" \
\r
441 " bne r2, r23, RegTest1Error \n" \
\r
442 " addi r2, r0, 28 \n" \
\r
443 " bne r2, r28, RegTest1Error \n" \
\r
444 " addi r2, r0, 31 \n" \
\r
445 " bne r2, r31, RegTest1Error \n" \
\r
446 " ldw r2, %gprel(ulRegTest1Counter)(gp) \n" \
\r
447 " addi r2, r2, 1 \n" \
\r
448 " stw r2, %gprel(ulRegTest1Counter)(gp) \n" \
\r
449 " br RegTest1 \n" \
\r
450 "RegTest1Error: \n" \
\r
451 " br RegTest1Error \n"
\r
454 /*-----------------------------------------------------------*/
\r
456 static void prvSecondRegTestTask( void *pvParameters )
\r
458 /* Check the parameters are passed in as expected. */
\r
459 if( pvParameters != mainREG_TEST_2_PARAMETER )
\r
461 /* Don't execute any further so an error is recognised by the check
\r
463 vTaskDelete( NULL );
\r
466 /* Fill registers with known values, then check that each register still
\r
467 contains its expected value. An incorrect value is indicative of an error
\r
468 in the context switching process.
\r
470 If no errors are found ulRegTest2Counter is incremented. The check task
\r
471 will recognise an error if ulRegTest2Counter stops being incremented. */
\r
473 " .extern ulRegTest2Counter \n" \
\r
475 " addi r3, r0, 3 \n" \
\r
476 " addi r4, r0, 4 \n" \
\r
477 " addi r5, r0, 5 \n" \
\r
478 " addi r6, r0, 6 \n" \
\r
479 " addi r7, r0, 7 \n" \
\r
480 " addi r8, r0, 8 \n" \
\r
481 " addi r9, r0, 9 \n" \
\r
482 " addi r10, r0, 10 \n" \
\r
483 " addi r11, r0, 11 \n" \
\r
484 " addi r12, r0, 12 \n" \
\r
485 " addi r13, r0, 13 \n" \
\r
486 " addi r14, r0, 14 \n" \
\r
487 " addi r15, r0, 15 \n" \
\r
488 " addi r16, r0, 16 \n" \
\r
489 " addi r17, r0, 17 \n" \
\r
490 " addi r18, r0, 18 \n" \
\r
491 " addi r19, r0, 19 \n" \
\r
492 " addi r20, r0, 20 \n" \
\r
493 " addi r21, r0, 21 \n" \
\r
494 " addi r22, r0, 22 \n" \
\r
495 " addi r23, r0, 23 \n" \
\r
496 " addi r28, r0, 28 \n" \
\r
497 " addi r31, r0, 31 \n" \
\r
499 " addi r2, r0, 0 \n" \
\r
500 " bne r2, r0, RegTest2Error \n" \
\r
501 " addi r2, r0, 3 \n" \
\r
502 " bne r2, r3, RegTest2Error \n" \
\r
503 " addi r2, r0, 4 \n" \
\r
504 " bne r2, r4, RegTest2Error \n" \
\r
505 " addi r2, r0, 5 \n" \
\r
506 " bne r2, r5, RegTest2Error \n" \
\r
507 " addi r2, r0, 6 \n" \
\r
508 " bne r2, r6, RegTest2Error \n" \
\r
509 " addi r2, r0, 7 \n" \
\r
510 " bne r2, r7, RegTest2Error \n" \
\r
511 " addi r2, r0, 8 \n" \
\r
512 " bne r2, r8, RegTest2Error \n" \
\r
513 " addi r2, r0, 9 \n" \
\r
514 " bne r2, r9, RegTest2Error \n" \
\r
515 " addi r2, r0, 10 \n" \
\r
516 " bne r2, r10, RegTest2Error \n" \
\r
517 " addi r2, r0, 11 \n" \
\r
518 " bne r2, r11, RegTest2Error \n" \
\r
519 " addi r2, r0, 12 \n" \
\r
520 " bne r2, r12, RegTest2Error \n" \
\r
521 " addi r2, r0, 13 \n" \
\r
522 " bne r2, r13, RegTest2Error \n" \
\r
523 " addi r2, r0, 14 \n" \
\r
524 " bne r2, r14, RegTest2Error \n" \
\r
525 " addi r2, r0, 15 \n" \
\r
526 " bne r2, r15, RegTest2Error \n" \
\r
527 " addi r2, r0, 16 \n" \
\r
528 " bne r2, r16, RegTest2Error \n" \
\r
529 " addi r2, r0, 17 \n" \
\r
530 " bne r2, r17, RegTest2Error \n" \
\r
531 " addi r2, r0, 18 \n" \
\r
532 " bne r2, r18, RegTest2Error \n" \
\r
533 " addi r2, r0, 19 \n" \
\r
534 " bne r2, r19, RegTest2Error \n" \
\r
535 " addi r2, r0, 20 \n" \
\r
536 " bne r2, r20, RegTest2Error \n" \
\r
537 " addi r2, r0, 21 \n" \
\r
538 " bne r2, r21, RegTest2Error \n" \
\r
539 " addi r2, r0, 22 \n" \
\r
540 " bne r2, r22, RegTest2Error \n" \
\r
541 " addi r2, r0, 23 \n" \
\r
542 " bne r2, r23, RegTest2Error \n" \
\r
543 " addi r2, r0, 28 \n" \
\r
544 " bne r2, r28, RegTest2Error \n" \
\r
545 " addi r2, r0, 31 \n" \
\r
546 " bne r2, r31, RegTest2Error \n" \
\r
547 " ldw r2, %gprel(ulRegTest2Counter)(gp) \n" \
\r
548 " addi r2, r2, 1 \n" \
\r
549 " stw r2, %gprel(ulRegTest2Counter)(gp) \n" \
\r
550 " br RegTest2 \n" \
\r
551 "RegTest2Error: \n" \
\r
552 " br RegTest2Error \n"
\r
555 /*-----------------------------------------------------------*/
\r