2 FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS eBook *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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55 * This project includes a lot of tasks and tests and is therefore complex.
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56 * If you would prefer a much simpler project to get started with then select
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57 * the 'Blinky' build configuration within the HEW IDE.
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59 * Creates all the demo application tasks, then starts the scheduler. The web
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60 * documentation provides more details of the standard demo application tasks,
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61 * which provide no particular functionality but do provide a good example of
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62 * how to use the FreeRTOS API. The tasks defined in flop.c are included in the
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63 * set of standard demo tasks to ensure the floating point unit gets some
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66 * In addition to the standard demo tasks, the following tasks and tests are
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67 * defined and/or created within this file:
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69 * "Reg test" tasks - These fill the registers with known values, then check
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70 * that each register still contains its expected value. Each task uses
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71 * different values. The tasks run with very low priority so get preempted
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72 * very frequently. A check variable is incremented on each iteration of the
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73 * test loop. A register containing an unexpected value is indicative of an
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74 * error in the context switching mechanism and will result in a branch to a
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75 * null loop - which in turn will prevent the check variable from incrementing
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76 * any further and allow the check task (described below) to determine that an
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77 * error has occurred. The nature of the reg test tasks necessitates that they
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78 * are written in assembly code.
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80 * "Check" task - This only executes every five seconds but has a high priority
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81 * to ensure it gets processor time. Its main function is to check that all the
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82 * standard demo tasks are still operational. While no errors have been
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83 * discovered the check task will toggle LED 5 every 5 seconds - the toggle
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84 * rate increasing to 200ms being a visual indication that at least one task has
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85 * reported unexpected behaviour.
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87 * "High frequency timer test" - A high frequency periodic interrupt is
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88 * generated using a timer - the interrupt is assigned a priority above
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89 * configMAX_SYSCALL_INTERRUPT_PRIORITY so should not be effected by anything
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90 * the kernel is doing. The interrupt service routine measures the number of
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91 * counts a separate timer performs between each interrupt to determine the
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92 * jitter in the interrupt timing.
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94 * *NOTE 1* If LED5 is toggling every 5 seconds then all the demo application
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95 * tasks are executing as expected and no errors have been reported in any
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96 * tasks. The toggle rate increasing to 200ms indicates that at least one task
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97 * has reported unexpected behaviour.
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99 * *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
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100 * the application set up a timer to generate the tick interrupt. In this
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101 * example a compare match timer is used for this purpose.
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103 * *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started.
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104 * The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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105 * Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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107 * *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use
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108 * of all the 8bit timers (as two cascaded 16bit units).
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111 /* Hardware specific includes. */
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112 #include "iodefine.h"
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114 /* Kernel includes. */
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115 #include "FreeRTOS.h"
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118 /* Standard demo includes. */
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119 #include "partest.h"
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121 #include "IntQueue.h"
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122 #include "BlockQ.h"
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124 #include "integer.h"
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125 #include "blocktim.h"
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126 #include "semtest.h"
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128 #include "GenQTest.h"
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130 #include "recmutex.h"
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133 /* Values that are passed into the reg test tasks using the task parameter. The
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134 tasks check that the values are passed in correctly. */
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135 #define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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136 #define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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138 /* Priorities at which the tasks are created. */
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139 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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140 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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141 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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142 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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143 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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144 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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145 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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146 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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147 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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148 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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150 /* The LED toggled by the check task. */
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151 #define mainCHECK_LED ( 5 )
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153 /* The rate at which mainCHECK_LED will toggle when all the tasks are running
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154 without error. Controlled by the check task as described at the top of this
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156 #define mainNO_ERROR_CYCLE_TIME ( 5000 / portTICK_RATE_MS )
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158 /* The rate at which mainCHECK_LED will toggle when an error has been reported
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159 by at least one task. Controlled by the check task as described at the top of
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161 #define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )
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163 /* The period of the peripheral clock in nano seconds. This is used to calculate
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164 the jitter time in nano seconds as part of the high frequency timer test. The
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165 clock driving the timer is divided by 8. */
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166 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( ( double ) configPERIPHERAL_CLOCK_HZ ) / 8.0 ) * 1000000000.0 ) )
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169 * vApplicationMallocFailedHook() will only be called if
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170 * configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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171 * function that will execute if a call to pvPortMalloc() fails.
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172 * pvPortMalloc() is called internally by the kernel whenever a task, queue or
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173 * semaphore is created. It is also called by various parts of the demo
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176 void vApplicationMallocFailedHook( void );
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179 * vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1
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180 * in FreeRTOSConfig.h. It is a hook function that is called on each iteration
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181 * of the idle task. It is essential that code added to this hook function
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182 * never attempts to block in any way (for example, call xQueueReceive() with
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183 * a block time specified). If the application makes use of the vTaskDelete()
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184 * API function (as this demo application does) then it is also important that
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185 * vApplicationIdleHook() is permitted to return to its calling function because
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186 * it is the responsibility of the idle task to clean up memory allocated by the
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187 * kernel to any task that has since been deleted.
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189 void vApplicationIdleHook( void );
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192 * vApplicationStackOverflowHook() will only be called if
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193 * configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and
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194 * name of the offending task should be passed in the function parameters, but
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195 * it is possible that the stack overflow will have corrupted these - in which
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196 * case pxCurrentTCB can be inspected to find the same information.
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198 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
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201 * The reg test tasks as described at the top of this file.
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203 static void prvRegTest1Task( void *pvParameters );
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204 static void prvRegTest2Task( void *pvParameters );
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207 * The actual implementation of the reg test functionality, which, because of
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208 * the direct register access, have to be in assembly.
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210 static void prvRegTest1Implementation( void );
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211 static void prvRegTest2Implementation( void );
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214 * The check task as described at the top of this file.
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216 static void prvCheckTask( void *pvParameters );
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218 /* Variables that are incremented on each iteration of the reg test tasks -
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219 provided the tasks have not reported any errors. The check task inspects these
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220 variables to ensure they are still incrementing as expected. If a variable
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221 stops incrementing then it is likely that its associate task has stalled. */
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222 unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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224 /*-----------------------------------------------------------*/
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228 extern void HardwareSetup( void );
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230 /* Renesas provided CPU configuration routine. The clocks are configured in
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234 /* Turn all LEDs off. */
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235 vParTestInitialise();
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237 /* Start the reg test tasks which test the context switching mechanism. */
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238 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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239 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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241 /* Start the check task as described at the top of this file. */
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242 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY, NULL );
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244 /* Create the standard demo tasks. */
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245 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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246 vCreateBlockTimeTasks();
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247 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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248 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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249 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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250 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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251 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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252 vStartQueuePeekTasks();
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253 vStartRecursiveMutexTasks();
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254 vStartInterruptQueueTasks();
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255 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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257 /* The suicide tasks must be created last as they need to know how many
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258 tasks were running prior to their creation in order to ascertain whether
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259 or not the correct/expected number of tasks are running at any given time. */
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260 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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262 /* Start the tasks running. */
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263 vTaskStartScheduler();
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265 /* If all is well we will never reach here as the scheduler will now be
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266 running. If we do reach here then it is likely that there was insufficient
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267 heap available for the idle task to be created. */
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270 /*-----------------------------------------------------------*/
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272 static void prvCheckTask( void *pvParameters )
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274 static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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275 portTickType xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;
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276 extern void vSetupHighFrequencyTimer( void );
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277 extern volatile unsigned short usMaxJitter;
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278 volatile unsigned long ulActualJitter = 0;
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279 static char cErrorText[ 100 ];
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281 /* If this is being executed then the kernel has been started. Start the high
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282 frequency timer test as described at the top of this file. This is only
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283 included in the optimised build configuration - otherwise it takes up too much
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285 #ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
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286 vSetupHighFrequencyTimer();
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289 /* Initialise xNextWakeTime - this only needs to be done once. */
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290 xNextWakeTime = xTaskGetTickCount();
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294 /* Place this task in the blocked state until it is time to run again. */
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295 vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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297 /* Check the standard demo tasks are running without error. */
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298 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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300 /* Increase the rate at which this task cycles, which will increase the
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301 rate at which mainCHECK_LED flashes to give visual feedback that an error
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303 xCycleFrequency = mainERROR_CYCLE_TIME;
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304 strcpy( cErrorText, "Error: GenQueue" );
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306 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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308 xCycleFrequency = mainERROR_CYCLE_TIME;
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309 strcpy( cErrorText, "Error: QueuePeek" );
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311 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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313 xCycleFrequency = mainERROR_CYCLE_TIME;
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314 strcpy( cErrorText, "Error: BlockQueue" );
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316 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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318 xCycleFrequency = mainERROR_CYCLE_TIME;
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319 strcpy( cErrorText, "Error: BlockTime" );
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321 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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323 xCycleFrequency = mainERROR_CYCLE_TIME;
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324 strcpy( cErrorText, "Error: SemTest" );
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326 else if( xArePollingQueuesStillRunning() != pdTRUE )
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328 xCycleFrequency = mainERROR_CYCLE_TIME;
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329 strcpy( cErrorText, "Error: PollQueue" );
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331 else if( xIsCreateTaskStillRunning() != pdTRUE )
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333 xCycleFrequency = mainERROR_CYCLE_TIME;
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334 strcpy( cErrorText, "Error: Death" );
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336 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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338 xCycleFrequency = mainERROR_CYCLE_TIME;
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339 strcpy( cErrorText, "Error: IntMath" );
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341 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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343 xCycleFrequency = mainERROR_CYCLE_TIME;
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344 strcpy( cErrorText, "Error: RecMutex" );
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346 else if( xAreIntQueueTasksStillRunning() != pdPASS )
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348 xCycleFrequency = mainERROR_CYCLE_TIME;
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349 strcpy( cErrorText, "Error: IntQueue" );
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351 else if( xAreMathsTaskStillRunning() != pdPASS )
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353 xCycleFrequency = mainERROR_CYCLE_TIME;
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354 strcpy( cErrorText, "Error: Flop" );
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357 /* Check the reg test tasks are still cycling. They will stop incrementing
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358 their loop counters if they encounter an error. */
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359 if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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361 xCycleFrequency = mainERROR_CYCLE_TIME;
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362 strcpy( cErrorText, "Error: RegTest1" );
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365 if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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367 xCycleFrequency = mainERROR_CYCLE_TIME;
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368 strcpy( cErrorText, "Error: RegTest2" );
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371 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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372 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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374 /* Toggle the check LED to give an indication of the system status. If
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375 the LED toggles every 5 seconds then everything is ok. A faster toggle
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376 indicates an error. */
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377 vParTestToggleLED( mainCHECK_LED );
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379 /* Calculate the maximum jitter experienced by the high frequency timer
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380 test and print it out. It is ok to use printf without worrying about
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381 mutual exclusion as it is not used anywhere else in this demo. */
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382 //sprintf( cTempBuf, "%s [%fns]\n", "Max Jitter = ", ( ( float ) usMaxJitter ) * mainNS_PER_CLOCK );
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383 ulActualJitter = ( ( unsigned long ) usMaxJitter ) * mainNS_PER_CLOCK;
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386 /*-----------------------------------------------------------*/
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388 /* The RX port uses this callback function to configure its tick interrupt.
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389 This allows the application to choose the tick interrupt source. */
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390 void vApplicationSetupTimerInterrupt( void )
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392 /* Enable compare match timer 0. */
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395 /* Interrupt on compare match. */
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396 CMT0.CMCR.BIT.CMIE = 1;
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398 /* Set the compare match value. */
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399 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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401 /* Divide the PCLK by 8. */
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402 CMT0.CMCR.BIT.CKS = 0;
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404 /* Enable the interrupt... */
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405 _IEN( _CMT0_CMI0 ) = 1;
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407 /* ...and set its priority to the application defined kernel priority. */
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408 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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410 /* Start the timer. */
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411 CMT.CMSTR0.BIT.STR0 = 1;
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413 /*-----------------------------------------------------------*/
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415 /* This function is explained by the comments above its prototype at the top
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417 void vApplicationMallocFailedHook( void )
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421 /*-----------------------------------------------------------*/
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423 /* This function is explained by the comments above its prototype at the top
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425 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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429 /*-----------------------------------------------------------*/
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431 /* This function is explained by the comments above its prototype at the top
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433 void vApplicationIdleHook( void )
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436 /*-----------------------------------------------------------*/
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438 /* This function is explained in the comments at the top of this file. */
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439 static void prvRegTest1Task( void *pvParameters )
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441 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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443 /* The parameter did not contain the expected value. */
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446 /* Stop the tick interrupt so its obvious something has gone wrong. */
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447 taskDISABLE_INTERRUPTS();
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451 /* This is an inline asm function that never returns. */
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452 prvRegTest1Implementation();
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454 /*-----------------------------------------------------------*/
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456 /* This function is explained in the comments at the top of this file. */
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457 static void prvRegTest2Task( void *pvParameters )
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459 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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461 /* The parameter did not contain the expected value. */
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464 /* Stop the tick interrupt so its obvious something has gone wrong. */
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465 taskDISABLE_INTERRUPTS();
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469 /* This is an inline asm function that never returns. */
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470 prvRegTest2Implementation();
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472 /*-----------------------------------------------------------*/
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474 /* This function is explained in the comments at the top of this file. */
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475 #pragma inline_asm prvRegTest1Implementation
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476 static void prvRegTest1Implementation( void )
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478 ; Put a known value in each register.
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495 ; Loop, checking each itteration that each register still contains the
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499 ; Push the registers that are going to get clobbered.
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502 ; Increment the loop counter to show this task is still getting CPU time.
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503 MOV.L #_ulRegTest1CycleCount, R14
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508 ; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
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510 MOV.L #0872E0H, R15
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515 ; Restore the clobbered registers.
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518 ; Now compare each register to ensure it still contains the value that was
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519 ; set before this loop was entered.
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551 ; All comparisons passed, start a new itteratio of this loop.
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555 ; A compare failed, just loop here so the loop counter stops incrementing
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556 ; causing the check task to indicate the error.
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559 /*-----------------------------------------------------------*/
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561 /* This function is explained in the comments at the top of this file. */
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562 #pragma inline_asm prvRegTest2Implementation
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563 static void prvRegTest2Implementation( void )
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565 ; Put a known value in each register.
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582 ; Loop, checking on each itteration that each register still contains the
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586 ; Push the registers that are going to get clobbered.
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589 ; Increment the loop counter to show this task is still getting CPU time.
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590 MOV.L #_ulRegTest2CycleCount, R14
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595 ; Restore the clobbered registers.
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629 ; All comparisons passed, start a new itteratio of this loop.
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633 ; A compare failed, just loop here so the loop counter stops incrementing
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634 ; - causing the check task to indicate the error.
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projects / freertos / blob