2 FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 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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28 Please ensure to read the configuration and relevant port sections of the
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29 online documentation.
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31 +++ http://www.FreeRTOS.org +++
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32 Documentation, latest information, license and contact details.
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34 +++ http://www.SafeRTOS.com +++
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35 A version that is certified for use in safety critical systems.
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37 +++ http://www.OpenRTOS.com +++
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38 Commercial support, development, porting, licensing and training services.
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40 ***************************************************************************
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44 * Creates all the demo application tasks, then starts the scheduler. The WEB
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45 * documentation provides more details of the demo application tasks.
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47 * In addition to the standard demo tasks, the follow demo specific tasks are
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50 * The "Check" task. This only executes every three seconds but has the highest
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51 * priority so is guaranteed to get processor time. Its main function is to
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52 * check that all the other tasks are still operational. Most tasks maintain
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53 * a unique count that is incremented each time the task successfully completes
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54 * its function. Should any error occur within such a task the count is
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55 * permanently halted. The check task inspects the count of each task to ensure
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56 * it has changed since the last time the check task executed. If all the count
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57 * variables have changed all the tasks are still executing error free, and the
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58 * check task toggles the onboard LED. Should any task contain an error at any time
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59 * the LED toggle rate will change from 3 seconds to 500ms.
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61 * The "Register Check" tasks. These tasks fill the CPU registers with known
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62 * values, then check that each register still contains the expected value, the
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63 * discovery of an unexpected value being indicative of an error in the RTOS
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64 * context switch mechanism. The register check tasks operate at low priority
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65 * so are switched in and out frequently.
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70 /* Scheduler includes. */
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71 #include "FreeRTOS.h"
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74 /* Xilinx library includes. */
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75 #include "xcache_l.h"
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78 /* Demo application includes. */
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80 #include "integer.h"
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81 #include "comtest2.h"
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82 #include "semtest.h"
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84 #include "dynamic.h"
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86 #include "GenQTest.h"
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88 #include "blocktim.h"
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90 #include "partest.h"
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92 /* Priorities assigned to the demo tasks. */
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93 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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94 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
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95 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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96 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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97 #define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
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98 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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99 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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101 /* The first LED used by the COM test and check tasks respectively. */
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102 #define mainCOM_TEST_LED ( 4 )
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103 #define mainCHECK_TEST_LED ( 3 )
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105 /* The baud rate used by the comtest tasks is set by the hardware, so the
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106 baud rate parameters passed into the comtest initialisation has no effect. */
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107 #define mainBAUD_SET_IN_HARDWARE ( 0 )
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109 /* Delay periods used by the check task. If no errors have been found then
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110 the check LED will toggle every mainNO_ERROR_CHECK_DELAY milliseconds. If an
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111 error has been found at any time then the toggle rate will increase to
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112 mainERROR_CHECK_DELAY milliseconds. */
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113 #define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
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114 #define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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118 * The tasks defined within this file - described within the comments at the
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119 * head of this page.
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121 static void prvRegTestTask1( void *pvParameters );
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122 static void prvRegTestTask2( void *pvParameters );
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123 static void prvErrorChecks( void *pvParameters );
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126 * Called by the 'check' task to inspect all the standard demo tasks within
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127 * the system, as described within the comments at the head of this page.
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129 static portSHORT prvCheckOtherTasksAreStillRunning( void );
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132 * Perform any hardware initialisation required by the demo application.
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134 static void prvSetupHardware( void );
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136 /*-----------------------------------------------------------*/
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138 /* xRegTestStatus will geet set to pdFAIL by the regtest tasks if they
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139 discover an unexpected value. */
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140 static unsigned portBASE_TYPE xRegTestStatus = pdPASS;
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142 /*-----------------------------------------------------------*/
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146 /* Must be called prior to installing any interrupt handlers! */
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147 vPortSetupInterruptController();
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149 /* In this case prvSetupHardware() just enables the caches and and
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150 configures the IO ports for the LED outputs. */
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151 prvSetupHardware();
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153 /* Start the standard demo application tasks. Note that the baud rate used
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154 by the comtest tasks is set by the hardware, so the baud rate paramter
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155 passed has no effect. */
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156 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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157 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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158 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_SET_IN_HARDWARE, mainCOM_TEST_LED );
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159 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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160 vStartBlockingQueueTasks ( mainQUEUE_BLOCK_PRIORITY );
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161 vStartDynamicPriorityTasks();
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162 vStartMathTasks( tskIDLE_PRIORITY );
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163 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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164 vStartQueuePeekTasks();
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165 vCreateBlockTimeTasks();
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167 /* Create the tasks defined within this file. */
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168 xTaskCreate( prvRegTestTask1, "Regtest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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169 xTaskCreate( prvRegTestTask2, "Regtest2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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170 xTaskCreate( prvErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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172 /* The suicide tasks must be started last as they record the number of other
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173 tasks that exist within the system. The value is then used to ensure at run
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174 time the number of tasks that exists is within expected bounds. */
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175 vCreateSuicidalTasks( mainDEATH_PRIORITY );
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177 /* Now start the scheduler. Following this call the created tasks should
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179 vTaskStartScheduler( );
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181 /* vTaskStartScheduler() will only return if an error occurs while the
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182 idle task is being created. */
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187 /*-----------------------------------------------------------*/
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189 static portSHORT prvCheckOtherTasksAreStillRunning( void )
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191 portBASE_TYPE lReturn = pdPASS;
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193 /* The demo tasks maintain a count that increments every cycle of the task
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194 provided that the task has never encountered an error. This function
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195 checks the counts maintained by the tasks to ensure they are still being
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196 incremented. A count remaining at the same value between calls therefore
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197 indicates that an error has been detected. */
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199 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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204 if( xAreComTestTasksStillRunning() != pdTRUE )
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209 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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214 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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219 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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224 if( xAreMathsTaskStillRunning() != pdTRUE )
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229 if( xIsCreateTaskStillRunning() != pdTRUE )
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234 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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239 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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244 if ( xAreQueuePeekTasksStillRunning() != pdTRUE )
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249 /* Have the register test tasks found any errors? */
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250 if( xRegTestStatus != pdPASS )
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257 /*-----------------------------------------------------------*/
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259 static void prvErrorChecks( void *pvParameters )
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261 portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY, xLastExecutionTime;
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262 volatile unsigned portBASE_TYPE uxFreeStack;
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264 uxFreeStack = uxTaskGetStackHighWaterMark( NULL );
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266 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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267 works correctly. */
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268 xLastExecutionTime = xTaskGetTickCount();
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270 /* Cycle for ever, delaying then checking all the other tasks are still
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271 operating without error. */
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274 uxFreeStack = uxTaskGetStackHighWaterMark( NULL );
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276 /* Wait until it is time to check again. The time we wait here depends
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277 on whether an error has been detected or not. When an error is
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278 detected the time is shortened resulting in a faster LED flash rate. */
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279 /* Perform this check every mainCHECK_DELAY milliseconds. */
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280 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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282 /* See if the other tasks are all ok. */
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283 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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285 /* An error occurred in one of the tasks so shorten the delay
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286 period - which has the effect of increasing the frequency of the
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288 xDelayPeriod = mainERROR_CHECK_DELAY;
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292 vParTestToggleLED( mainCHECK_TEST_LED );
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295 /*-----------------------------------------------------------*/
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297 static void prvSetupHardware( void )
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299 XCache_EnableICache( 0x80000000 );
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300 XCache_EnableDCache( 0x80000000 );
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302 vParTestInitialise();
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305 static void prvRegTestTask1( void *pvParameters )
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309 "RegTest1Start: \n\t" \
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320 " li 10, 10 \n\t" \
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321 " li 11, 11 \n\t" \
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322 " li 12, 12 \n\t" \
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323 " li 13, 13 \n\t" \
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324 " li 14, 14 \n\t" \
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325 " li 15, 15 \n\t" \
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326 " li 16, 16 \n\t" \
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327 " li 17, 17 \n\t" \
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328 " li 18, 18 \n\t" \
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329 " li 19, 19 \n\t" \
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330 " li 20, 20 \n\t" \
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331 " li 21, 21 \n\t" \
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332 " li 22, 22 \n\t" \
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333 " li 23, 23 \n\t" \
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334 " li 24, 24 \n\t" \
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335 " li 25, 25 \n\t" \
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336 " li 26, 26 \n\t" \
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337 " li 27, 27 \n\t" \
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338 " li 28, 28 \n\t" \
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339 " li 29, 29 \n\t" \
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340 " li 30, 30 \n\t" \
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341 " li 31, 31 \n\t" \
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346 " cmpwi 0, 1 \n\t" \
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347 " bne RegTest1Fail \n\t" \
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348 " cmpwi 2, 2 \n\t" \
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349 " bne RegTest1Fail \n\t" \
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350 " cmpwi 3, 3 \n\t" \
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351 " bne RegTest1Fail \n\t" \
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352 " cmpwi 4, 4 \n\t" \
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353 " bne RegTest1Fail \n\t" \
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354 " cmpwi 5, 5 \n\t" \
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355 " bne RegTest1Fail \n\t" \
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356 " cmpwi 6, 6 \n\t" \
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357 " bne RegTest1Fail \n\t" \
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358 " cmpwi 7, 7 \n\t" \
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359 " bne RegTest1Fail \n\t" \
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360 " cmpwi 8, 8 \n\t" \
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361 " bne RegTest1Fail \n\t" \
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362 " cmpwi 9, 9 \n\t" \
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363 " bne RegTest1Fail \n\t" \
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364 " cmpwi 10, 10 \n\t" \
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365 " bne RegTest1Fail \n\t" \
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366 " cmpwi 11, 11 \n\t" \
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367 " bne RegTest1Fail \n\t" \
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368 " cmpwi 12, 12 \n\t" \
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369 " bne RegTest1Fail \n\t" \
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370 " cmpwi 13, 13 \n\t" \
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371 " bne RegTest1Fail \n\t" \
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372 " cmpwi 14, 14 \n\t" \
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373 " bne RegTest1Fail \n\t" \
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374 " cmpwi 15, 15 \n\t" \
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375 " bne RegTest1Fail \n\t" \
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376 " cmpwi 16, 16 \n\t" \
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377 " bne RegTest1Fail \n\t" \
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378 " cmpwi 17, 17 \n\t" \
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379 " bne RegTest1Fail \n\t" \
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380 " cmpwi 18, 18 \n\t" \
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381 " bne RegTest1Fail \n\t" \
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382 " cmpwi 19, 19 \n\t" \
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383 " bne RegTest1Fail \n\t" \
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384 " cmpwi 20, 20 \n\t" \
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385 " bne RegTest1Fail \n\t" \
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386 " cmpwi 21, 21 \n\t" \
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387 " bne RegTest1Fail \n\t" \
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388 " cmpwi 22, 22 \n\t" \
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389 " bne RegTest1Fail \n\t" \
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390 " cmpwi 23, 23 \n\t" \
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391 " bne RegTest1Fail \n\t" \
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392 " cmpwi 24, 24 \n\t" \
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393 " bne RegTest1Fail \n\t" \
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394 " cmpwi 25, 25 \n\t" \
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395 " bne RegTest1Fail \n\t" \
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396 " cmpwi 26, 26 \n\t" \
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397 " bne RegTest1Fail \n\t" \
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398 " cmpwi 27, 27 \n\t" \
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399 " bne RegTest1Fail \n\t" \
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400 " cmpwi 28, 28 \n\t" \
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401 " bne RegTest1Fail \n\t" \
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402 " cmpwi 29, 29 \n\t" \
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403 " bne RegTest1Fail \n\t" \
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404 " cmpwi 30, 30 \n\t" \
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405 " bne RegTest1Fail \n\t" \
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406 " cmpwi 31, 31 \n\t" \
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407 " bne RegTest1Fail \n\t" \
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409 " b RegTest1Start \n\t" \
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411 "RegTest1Fail: \n\t" \
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413 " xor 0, 0, 0 \n\t" \
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414 " stw 0, xRegTestStatus( 0 ) \n\t" \
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416 " b RegTest1Start \n\t" \
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420 static void prvRegTestTask2( void *pvParameters )
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424 "RegTest2Start: \n\t" \
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435 " li 10, 110 \n\t" \
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436 " li 11, 111 \n\t" \
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437 " li 12, 112 \n\t" \
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438 " li 13, 113 \n\t" \
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439 " li 14, 114 \n\t" \
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440 " li 15, 115 \n\t" \
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441 " li 16, 116 \n\t" \
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442 " li 17, 117 \n\t" \
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443 " li 18, 118 \n\t" \
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444 " li 19, 119 \n\t" \
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445 " li 20, 120 \n\t" \
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446 " li 21, 121 \n\t" \
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447 " li 22, 122 \n\t" \
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448 " li 23, 123 \n\t" \
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449 " li 24, 124 \n\t" \
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450 " li 25, 125 \n\t" \
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451 " li 26, 126 \n\t" \
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452 " li 27, 127 \n\t" \
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453 " li 28, 128 \n\t" \
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454 " li 29, 129 \n\t" \
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455 " li 30, 130 \n\t" \
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456 " li 31, 131 \n\t" \
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461 " cmpwi 0, 11 \n\t" \
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462 " bne RegTest2Fail \n\t" \
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463 " cmpwi 2, 12 \n\t" \
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464 " bne RegTest2Fail \n\t" \
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465 " cmpwi 3, 13 \n\t" \
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466 " bne RegTest2Fail \n\t" \
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467 " cmpwi 4, 14 \n\t" \
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468 " bne RegTest2Fail \n\t" \
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469 " cmpwi 5, 15 \n\t" \
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470 " bne RegTest2Fail \n\t" \
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471 " cmpwi 6, 16 \n\t" \
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472 " bne RegTest2Fail \n\t" \
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473 " cmpwi 7, 17 \n\t" \
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474 " bne RegTest2Fail \n\t" \
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475 " cmpwi 8, 18 \n\t" \
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476 " bne RegTest2Fail \n\t" \
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477 " cmpwi 9, 19 \n\t" \
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478 " bne RegTest2Fail \n\t" \
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479 " cmpwi 10, 110 \n\t" \
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480 " bne RegTest2Fail \n\t" \
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481 " cmpwi 11, 111 \n\t" \
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482 " bne RegTest2Fail \n\t" \
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483 " cmpwi 12, 112 \n\t" \
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484 " bne RegTest2Fail \n\t" \
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485 " cmpwi 13, 113 \n\t" \
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486 " bne RegTest2Fail \n\t" \
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487 " cmpwi 14, 114 \n\t" \
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488 " bne RegTest2Fail \n\t" \
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489 " cmpwi 15, 115 \n\t" \
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490 " bne RegTest2Fail \n\t" \
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491 " cmpwi 16, 116 \n\t" \
\r
492 " bne RegTest2Fail \n\t" \
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493 " cmpwi 17, 117 \n\t" \
\r
494 " bne RegTest2Fail \n\t" \
\r
495 " cmpwi 18, 118 \n\t" \
\r
496 " bne RegTest2Fail \n\t" \
\r
497 " cmpwi 19, 119 \n\t" \
\r
498 " bne RegTest2Fail \n\t" \
\r
499 " cmpwi 20, 120 \n\t" \
\r
500 " bne RegTest2Fail \n\t" \
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501 " cmpwi 21, 121 \n\t" \
\r
502 " bne RegTest2Fail \n\t" \
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503 " cmpwi 22, 122 \n\t" \
\r
504 " bne RegTest2Fail \n\t" \
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505 " cmpwi 23, 123 \n\t" \
\r
506 " bne RegTest2Fail \n\t" \
\r
507 " cmpwi 24, 124 \n\t" \
\r
508 " bne RegTest2Fail \n\t" \
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509 " cmpwi 25, 125 \n\t" \
\r
510 " bne RegTest2Fail \n\t" \
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511 " cmpwi 26, 126 \n\t" \
\r
512 " bne RegTest2Fail \n\t" \
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513 " cmpwi 27, 127 \n\t" \
\r
514 " bne RegTest2Fail \n\t" \
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515 " cmpwi 28, 128 \n\t" \
\r
516 " bne RegTest2Fail \n\t" \
\r
517 " cmpwi 29, 129 \n\t" \
\r
518 " bne RegTest2Fail \n\t" \
\r
519 " cmpwi 30, 130 \n\t" \
\r
520 " bne RegTest2Fail \n\t" \
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521 " cmpwi 31, 131 \n\t" \
\r
522 " bne RegTest2Fail \n\t" \
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524 " b RegTest2Start \n\t" \
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526 "RegTest2Fail: \n\t" \
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528 " xor 0, 0, 0 \n\t" \
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529 " stw 0, xRegTestStatus( 0 ) \n\t" \
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531 " b RegTest2Start \n\t" \
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538 static void prvRegTestTask2( void *pvParameters )
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540 volatile unsigned int i= 0;
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549 static void prvRegTestTask1( void *pvParameters )
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551 volatile unsigned int i= 0;
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562 void vApplicationStackOverflowHook( xTaskHandle xTask, signed portCHAR *pcTaskName );
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563 void vApplicationStackOverflowHook( xTaskHandle xTask, signed portCHAR *pcTaskName )
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projects / freertos / blob