2 FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 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 See http://www.FreeRTOS.org for documentation, latest information, license
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28 and contact details. Please ensure to read the configuration and relevant
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29 port sections of the online documentation.
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31 Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
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32 with commercial development and support options.
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33 ***************************************************************************
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37 * Creates all the demo application tasks, then starts the scheduler. The WEB
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38 * documentation provides more details of the standard demo application tasks.
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39 * In addition to the standard demo tasks, the following tasks are defined
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42 * "Register test" tasks - These tasks first set all the general purpose
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43 * registers to a known value (with each register containing a different value)
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44 * then test each general purpose register to ensure it still contains the
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45 * set value. There are two register test tasks, with different values being
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46 * used by each. The register test tasks will be preempted frequently due to
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47 * their low priority. Setting then testing the value of each register in this
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48 * manner ensures the context of the tasks is being correctly saved and then
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49 * restored as the preemptive context switches occur. An error is flagged
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50 * should any register be found to contain an unexpected value. In addition
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51 * the register test tasks maintain a count of the number of times they cycle,
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52 * so an error can also be flagged should the cycle count not increment as
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53 * expected (indicating the the tasks are not executing at all).
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55 * "Check" task - This only executes every three seconds but has the highest
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56 * priority so is guaranteed to get processor time. Its main function is to
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57 * check that all the other tasks are still operational. Each task maintains a
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58 * unique count that is incremented each time the task successfully completes
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59 * its function. Should any error occur within such a task the count is
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60 * permanently halted. The check task inspects the count of each task to
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61 * ensure it has changed since the last time the check task executed. If all
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62 * the count variables have changed all the tasks are still executing error
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63 * free, and the check task toggles the onboard LED. Should any task contain
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64 * an error at any time check task cycle frequency is increased to 500ms,
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65 * causing the LED toggle rate to increase from 3 seconds to 500ms and in so
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66 * doing providing visual feedback that an error has occurred.
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70 /* Scheduler includes. */
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71 #include "FreeRTOS.h"
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73 #include "croutine.h"
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75 /* Demo application includes. */
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77 #include "crflash.h"
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78 #include "blocktim.h"
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79 #include "integer.h"
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80 #include "comtest2.h"
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81 #include "partest.h"
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83 /* Demo task priorities. */
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84 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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85 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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86 #define mainCOM_TEST_PRIORITY ( 2 )
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88 /* Delay between check task cycles when an error has/has not been detected. */
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89 #define mainNO_ERROR_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
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90 #define mainERROR_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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92 /* The number of flash co-routines to create. */
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93 #define mainNUM_FLASH_COROUTINES ( 3 )
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95 /* Baud rate used by the comtest tasks. */
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96 #define mainCOM_TEST_BAUD_RATE ( 19200 )
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98 /* The LED used by the comtest tasks. mainCOM_TEST_LED + 1 is also used.
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99 See the comtest.c file for more information. */
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100 #define mainCOM_TEST_LED ( 4 )
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102 /* The LED used by the check task. */
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103 #define mainCHECK_LED ( 7 )
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105 /*-----------------------------------------------------------*/
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108 * The register test tasks as described at the top of this file.
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110 void xRegisterTest1( void *pvParameters );
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111 void xRegisterTest2( void *pvParameters );
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114 * The check task as described at the top of this file.
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116 static void vCheckTask( void *pvParameters );
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119 * Setup the processor ready for the demo.
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121 static void prvSetupHardware( void );
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123 /*-----------------------------------------------------------*/
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125 /* Variables used to detect errors within the register test tasks. */
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126 static volatile unsigned portSHORT usTest1CycleCounter = 0, usTest2CycleCounter = 0;
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127 static unsigned portSHORT usPreviousTest1Count = 0, usPreviousTest2Count = 0;
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129 /* Set to pdTRUE should an error be detected in any of the standard demo tasks
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130 or tasks defined within this file. */
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131 static unsigned portSHORT usErrorDetected = pdFALSE;
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133 /*-----------------------------------------------------------*/
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136 * Create the demo tasks then start the scheduler.
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140 /* Configure any hardware required for this demo. */
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141 prvSetupHardware();
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143 /* Create the standard demo tasks. */
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144 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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145 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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146 vStartFlashCoRoutines( mainNUM_FLASH_COROUTINES );
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147 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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148 vCreateBlockTimeTasks();
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150 /* Create the test tasks defined within this file. */
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151 xTaskCreate( xRegisterTest1, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &usTest1CycleCounter, tskIDLE_PRIORITY, NULL );
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152 xTaskCreate( xRegisterTest2, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &usTest2CycleCounter, tskIDLE_PRIORITY, NULL );
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153 xTaskCreate( vCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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155 /* Finally start the scheduler. */
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156 vTaskStartScheduler();
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158 /* Will only reach here if there is insufficient heap available to start
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162 /*-----------------------------------------------------------*/
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164 static void prvSetupHardware( void )
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166 vParTestInitialise();
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168 /*-----------------------------------------------------------*/
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170 static void vCheckTask( void *pvParameters )
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172 portTickType xLastExecutionTime;
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174 /* Start with the no error delay. The long delay will cause the LED to flash
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176 portTickType xDelay = mainNO_ERROR_DELAY;
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178 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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179 works correctly. */
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180 xLastExecutionTime = xTaskGetTickCount();
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184 /* Wait until it is time for the next cycle. */
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185 vTaskDelayUntil( &xLastExecutionTime, xDelay );
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187 /* Has an error been found in any of the standard demo tasks? */
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189 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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191 usErrorDetected = pdTRUE;
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194 if( xAreComTestTasksStillRunning() != pdTRUE )
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196 usErrorDetected = pdTRUE;
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199 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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201 usErrorDetected = pdTRUE;
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204 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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206 usErrorDetected = pdTRUE;
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210 /* Are the register test tasks still cycling? */
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212 if( usTest1CycleCounter == usPreviousTest1Count )
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214 usErrorDetected = pdTRUE;
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217 if( usTest2CycleCounter == usPreviousTest2Count )
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219 usErrorDetected = pdTRUE;
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222 usPreviousTest2Count = usTest2CycleCounter;
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223 usPreviousTest1Count = usTest1CycleCounter;
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226 /* If an error has been detected in any task then the delay will be
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227 reduced to increase the cycle rate of this task. This has the effect
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228 of causing the LED to flash much faster giving a visual indication of
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229 the error condition. */
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230 if( usErrorDetected != pdFALSE )
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232 xDelay = mainERROR_DELAY;
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235 /* Finally, toggle the LED before returning to delay to wait for the
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237 vParTestToggleLED( mainCHECK_LED );
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240 /*-----------------------------------------------------------*/
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242 void xRegisterTest1( void *pvParameters )
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244 /* This static so as not to use the frame pointer. They are volatile
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245 also to avoid it being stored in a register that we clobber during the test. */
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246 static unsigned portSHORT * volatile pusParameter;
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248 /* The variable incremented by this task is passed in as the parameter
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249 even though it is defined within this file. This is just to test the
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250 parameter passing mechanism. */
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251 pusParameter = pvParameters;
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255 /* Increment the variable to show this task is still cycling. */
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256 ( *pusParameter )++;
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258 /* Set the w registers to known values, then check that each register
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259 contains the expected value. See the explanation at the top of this
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260 file for more information. */
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261 asm volatile( "mov.w #0x0101, W0 \n" \
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262 "mov.w #0x0102, W1 \n" \
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263 "mov.w #0x0103, W2 \n" \
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264 "mov.w #0x0104, W3 \n" \
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265 "mov.w #0x0105, W4 \n" \
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266 "mov.w #0x0106, W5 \n" \
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267 "mov.w #0x0107, W6 \n" \
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268 "mov.w #0x0108, W7 \n" \
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269 "mov.w #0x0109, W8 \n" \
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270 "mov.w #0x010a, W9 \n" \
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271 "mov.w #0x010b, W10 \n" \
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272 "mov.w #0x010c, W11 \n" \
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273 "mov.w #0x010d, W12 \n" \
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274 "mov.w #0x010e, W13 \n" \
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275 "mov.w #0x010f, W14 \n" \
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276 "sub #0x0101, W0 \n" \
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278 "bra NZ, ERROR_TEST1 \n" \
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279 "sub #0x0102, W1 \n" \
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281 "bra NZ, ERROR_TEST1 \n" \
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282 "sub #0x0103, W2 \n" \
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284 "bra NZ, ERROR_TEST1 \n" \
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285 "sub #0x0104, W3 \n" \
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287 "bra NZ, ERROR_TEST1 \n" \
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288 "sub #0x0105, W4 \n" \
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290 "bra NZ, ERROR_TEST1 \n" \
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291 "sub #0x0106, W5 \n" \
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293 "bra NZ, ERROR_TEST1 \n" \
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294 "sub #0x0107, W6 \n" \
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296 "bra NZ, ERROR_TEST1 \n" \
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297 "sub #0x0108, W7 \n" \
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299 "bra NZ, ERROR_TEST1 \n" \
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300 "sub #0x0109, W8 \n" \
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302 "bra NZ, ERROR_TEST1 \n" \
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303 "sub #0x010a, W9 \n" \
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305 "bra NZ, ERROR_TEST1 \n" \
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306 "sub #0x010b, W10 \n" \
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308 "bra NZ, ERROR_TEST1 \n" \
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309 "sub #0x010c, W11 \n" \
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311 "bra NZ, ERROR_TEST1 \n" \
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312 "sub #0x010d, W12 \n" \
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314 "bra NZ, ERROR_TEST1 \n" \
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315 "sub #0x010e, W13 \n" \
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317 "bra NZ, ERROR_TEST1 \n" \
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318 "sub #0x010f, W14 \n" \
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320 "bra NZ, ERROR_TEST1 \n" \
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321 "bra NO_ERROR1 \n" \
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322 "ERROR_TEST1: \n" \
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323 "mov.w #1, W0 \n" \
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324 "mov.w W0, _usErrorDetected\n" \
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328 /*-----------------------------------------------------------*/
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330 void xRegisterTest2( void *pvParameters )
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332 /* This static so as not to use the frame pointer. They are volatile
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333 also to avoid it being stored in a register that we clobber during the test. */
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334 static unsigned portSHORT * volatile pusParameter;
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336 /* The variable incremented by this task is passed in as the parameter
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337 even though it is defined within this file. This is just to test the
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338 parameter passing mechanism. */
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339 pusParameter = pvParameters;
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343 /* Increment the variable to show this task is still cycling. */
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344 ( *pusParameter )++;
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346 /* Set the w registers to known values, then check that each register
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347 contains the expected value. See the explanation at the top of this
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348 file for more information. */
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349 asm volatile( "mov.w #0x0100, W0 \n" \
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350 "mov.w #0x0101, W1 \n" \
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351 "mov.w #0x0102, W2 \n" \
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352 "mov.w #0x0103, W3 \n" \
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353 "mov.w #0x0104, W4 \n" \
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354 "mov.w #0x0105, W5 \n" \
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355 "mov.w #0x0106, W6 \n" \
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356 "mov.w #0x0107, W7 \n" \
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357 "mov.w #0x0108, W8 \n" \
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358 "mov.w #0x0109, W9 \n" \
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359 "mov.w #0x010a, W10 \n" \
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360 "mov.w #0x010b, W11 \n" \
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361 "mov.w #0x010c, W12 \n" \
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362 "mov.w #0x010d, W13 \n" \
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363 "mov.w #0x010e, W14 \n" \
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364 "sub #0x0100, W0 \n" \
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366 "bra NZ, ERROR_TEST2 \n" \
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367 "sub #0x0101, W1 \n" \
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369 "bra NZ, ERROR_TEST2 \n" \
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370 "sub #0x0102, W2 \n" \
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372 "bra NZ, ERROR_TEST2 \n" \
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373 "sub #0x0103, W3 \n" \
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375 "bra NZ, ERROR_TEST2 \n" \
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376 "sub #0x0104, W4 \n" \
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378 "bra NZ, ERROR_TEST2 \n" \
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379 "sub #0x0105, W5 \n" \
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381 "bra NZ, ERROR_TEST2 \n" \
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382 "sub #0x0106, W6 \n" \
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384 "bra NZ, ERROR_TEST2 \n" \
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385 "sub #0x0107, W7 \n" \
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387 "bra NZ, ERROR_TEST2 \n" \
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388 "sub #0x0108, W8 \n" \
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390 "bra NZ, ERROR_TEST2 \n" \
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391 "sub #0x0109, W9 \n" \
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393 "bra NZ, ERROR_TEST2 \n" \
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394 "sub #0x010a, W10 \n" \
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396 "bra NZ, ERROR_TEST2 \n" \
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397 "sub #0x010b, W11 \n" \
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399 "bra NZ, ERROR_TEST2 \n" \
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400 "sub #0x010c, W12 \n" \
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402 "bra NZ, ERROR_TEST2 \n" \
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403 "sub #0x010d, W13 \n" \
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405 "bra NZ, ERROR_TEST2 \n" \
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406 "sub #0x010e, W14 \n" \
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408 "bra NZ, ERROR_TEST2 \n" \
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409 "bra NO_ERROR2 \n" \
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410 "ERROR_TEST2: \n" \
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411 "mov.w #1, W0 \n" \
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412 "mov.w W0, _usErrorDetected\n" \
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416 /*-----------------------------------------------------------*/
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418 void vApplicationIdleHook( void )
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420 /* Schedule the co-routines from within the idle task hook. */
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421 vCoRoutineSchedule();
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423 /*-----------------------------------------------------------*/
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projects / freertos / blob