2 FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
\r
4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
\r
5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 ***************************************************************************
\r
9 * FreeRTOS tutorial books are available in pdf and paperback. *
\r
10 * Complete, revised, and edited pdf reference manuals are also *
\r
13 * Purchasing FreeRTOS documentation will not only help you, by *
\r
14 * ensuring you get running as quickly as possible and with an *
\r
15 * in-depth knowledge of how to use FreeRTOS, it will also help *
\r
16 * the FreeRTOS project to continue with its mission of providing *
\r
17 * professional grade, cross platform, de facto standard solutions *
\r
18 * for microcontrollers - completely free of charge! *
\r
20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
\r
22 * Thank you for using FreeRTOS, and thank you for your support! *
\r
24 ***************************************************************************
\r
27 This file is part of the FreeRTOS distribution.
\r
29 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
30 the terms of the GNU General Public License (version 2) as published by the
\r
31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
\r
32 >>>NOTE<<< The modification to the GPL is included to allow you to
\r
33 distribute a combined work that includes FreeRTOS without being obliged to
\r
34 provide the source code for proprietary components outside of the FreeRTOS
\r
35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
\r
36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
\r
37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
\r
38 more details. You should have received a copy of the GNU General Public
\r
39 License and the FreeRTOS license exception along with FreeRTOS; if not it
\r
40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
\r
41 by writing to Richard Barry, contact details for whom are available on the
\r
46 ***************************************************************************
\r
48 * Having a problem? Start by reading the FAQ "My application does *
\r
49 * not run, what could be wrong?" *
\r
51 * http://www.FreeRTOS.org/FAQHelp.html *
\r
53 ***************************************************************************
\r
56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
\r
57 and contact details.
\r
59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
60 including FreeRTOS+Trace - an indispensable productivity tool.
\r
62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
\r
63 the code with commercial support, indemnification, and middleware, under
\r
64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
\r
65 provide a safety engineered and independently SIL3 certified version under
\r
66 the SafeRTOS brand: http://www.SafeRTOS.com.
\r
71 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
72 * documentation provides more details of the demo application tasks.
\r
74 * In addition to the standard demo tasks, the follow demo specific tasks are
\r
77 * The "Check" task. This only executes every three seconds but has the highest
\r
78 * priority so is guaranteed to get processor time. Its main function is to
\r
79 * check that all the other tasks are still operational. Most tasks maintain
\r
80 * a unique count that is incremented each time the task successfully completes
\r
81 * its function. Should any error occur within such a task the count is
\r
82 * permanently halted. The check task inspects the count of each task to ensure
\r
83 * it has changed since the last time the check task executed. If all the count
\r
84 * variables have changed all the tasks are still executing error free, and the
\r
85 * check task toggles the onboard LED. Should any task contain an error at any time
\r
86 * the LED toggle rate will change from 3 seconds to 500ms.
\r
88 * The "Register Check" tasks. These tasks fill the CPU registers with known
\r
89 * values, then check that each register still contains the expected value 0 the
\r
90 * discovery of an unexpected value being indicative of an error in the RTOS
\r
91 * context switch mechanism. The register check tasks operate at low priority
\r
92 * so are switched in and out frequently.
\r
94 * The "Trace Utility" task. This can be used to obtain trace and debug
\r
95 * information via UART5.
\r
99 /* Hardware specific includes. */
\r
100 #include "mb91467d.h"
\r
101 #include "vectors.h"
\r
102 #include "watchdog.h"
\r
104 /* Scheduler includes. */
\r
105 #include "FreeRTOS.h"
\r
108 /* Demo app includes. */
\r
110 #include "integer.h"
\r
111 #include "comtest2.h"
\r
112 #include "semtest.h"
\r
113 #include "BlockQ.h"
\r
114 #include "dynamic.h"
\r
116 #include "GenQTest.h"
\r
118 #include "blocktim.h"
\r
120 #include "taskutility.h"
\r
121 #include "partest.h"
\r
122 #include "crflash.h"
\r
124 /* Demo task priorities. */
\r
125 #define mainWATCHDOG_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )
\r
126 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
\r
127 #define mainUTILITY_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
128 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
129 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
130 #define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
131 #define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
132 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
133 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
\r
135 /* Baud rate used by the COM test tasks. */
\r
136 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
\r
138 /* The frequency at which the 'Check' tasks executes. See the comments at the
\r
139 top of the page. When the system is operating error free the 'Check' task
\r
140 toggles an LED every three seconds. If an error is discovered in any task the
\r
141 rate is increased to 500 milliseconds. [in this case the '*' characters on the
\r
142 LCD represent LEDs]*/
\r
143 #define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
\r
144 #define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
\r
146 /* The total number of LEDs available. */
\r
147 #define mainNO_CO_ROUTINE_LEDs ( 8 )
\r
149 /* The first LED used by the comtest tasks. */
\r
150 #define mainCOM_TEST_LED ( 0x05 )
\r
152 /* The LED used by the check task. */
\r
153 #define mainCHECK_TEST_LED ( 0x07 )
\r
155 /* The number of interrupt levels to use. */
\r
156 #define mainINTERRUPT_LEVELS ( 31 )
\r
158 /* The number of 'flash' co-routines to create - each toggles a different LED. */
\r
159 #define mainNUM_FLASH_CO_ROUTINES ( 8 )
\r
161 /*---------------------------------------------------------------------------*/
\r
164 * The function that implements the Check task. See the comments at the head
\r
165 * of the page for implementation details.
\r
167 static void prvErrorChecks( void *pvParameters );
\r
170 * Called by the Check task. Returns pdPASS if all the other tasks are found
\r
171 * to be operating without error - otherwise returns pdFAIL.
\r
173 static portSHORT prvCheckOtherTasksAreStillRunning( void );
\r
176 * Setup the microcontroller as used by this demo.
\r
178 static void prvSetupHardware( void );
\r
181 * Tasks that test the context switch mechanism by filling the CPU registers
\r
182 * with known values then checking that each register contains the value
\r
183 * expected. Each of the two tasks use different values, and as low priority
\r
184 * tasks, get swapped in and out regularly.
\r
186 static void vFirstRegisterTestTask( void *pvParameters );
\r
187 static void vSecondRegisterTestTask( void *pvParameters );
\r
189 /*---------------------------------------------------------------------------*/
\r
191 /* The variable that is set to true should an error be found in one of the
\r
192 register test tasks. */
\r
193 unsigned portLONG ulRegTestError = pdFALSE;
\r
195 /*---------------------------------------------------------------------------*/
\r
197 /* Start all the demo application tasks, then start the scheduler. */
\r
200 /* Initialise the hardware ready for the demo. */
\r
201 prvSetupHardware();
\r
203 /* Start the standard demo application tasks. */
\r
204 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
\r
205 vStartIntegerMathTasks( tskIDLE_PRIORITY );
\r
206 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
\r
207 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
208 vStartBlockingQueueTasks ( mainQUEUE_BLOCK_PRIORITY );
\r
209 vStartDynamicPriorityTasks();
\r
210 vStartMathTasks( tskIDLE_PRIORITY );
\r
211 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
\r
212 vStartQueuePeekTasks();
\r
213 vCreateBlockTimeTasks();
\r
214 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
\r
216 /* Start the 'Check' task which is defined in this file. */
\r
217 xTaskCreate( prvErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
\r
219 /* Start the 'Register Test' tasks as described at the top of this file. */
\r
220 xTaskCreate( vFirstRegisterTestTask, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
\r
221 xTaskCreate( vSecondRegisterTestTask, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
\r
223 /* Start the task that write trace information to the UART. */
\r
224 vUtilityStartTraceTask( mainUTILITY_TASK_PRIORITY );
\r
226 /* If we are going to service the watchdog from within a task, then create
\r
228 #if WATCHDOG == WTC_IN_TASK
\r
229 vStartWatchdogTask( mainWATCHDOG_TASK_PRIORITY );
\r
232 /* The suicide tasks must be started last as they record the number of other
\r
233 tasks that exist within the system. The value is then used to ensure at run
\r
234 time the number of tasks that exists is within expected bounds. */
\r
235 vCreateSuicidalTasks( mainDEATH_PRIORITY );
\r
237 /* Now start the scheduler. Following this call the created tasks should
\r
239 vTaskStartScheduler( );
\r
241 /* vTaskStartScheduler() will only return if an error occurs while the
\r
242 idle task is being created. */
\r
245 /*-----------------------------------------------------------*/
\r
247 static void prvErrorChecks( void *pvParameters )
\r
249 portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY, xLastExecutionTime;
\r
251 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
\r
252 works correctly. */
\r
253 xLastExecutionTime = xTaskGetTickCount();
\r
255 /* Cycle for ever, delaying then checking all the other tasks are still
\r
256 operating without error. */
\r
259 /* Wait until it is time to check again. The time we wait here depends
\r
260 on whether an error has been detected or not. When an error is
\r
261 detected the time is shortened resulting in a faster LED flash rate. */
\r
262 /* Perform this check every mainCHECK_DELAY milliseconds. */
\r
263 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
\r
265 /* See if the other tasks are all ok. */
\r
266 if( prvCheckOtherTasksAreStillRunning() != pdPASS )
\r
268 /* An error occurred in one of the tasks so shorten the delay
\r
269 period - which has the effect of increasing the frequency of the
\r
271 xDelayPeriod = mainERROR_CHECK_DELAY;
\r
275 vParTestToggleLED( mainCHECK_TEST_LED );
\r
278 /*-----------------------------------------------------------*/
\r
280 static portSHORT prvCheckOtherTasksAreStillRunning( void )
\r
282 portBASE_TYPE lReturn = pdPASS;
\r
284 /* The demo tasks maintain a count that increments every cycle of the task
\r
285 provided that the task has never encountered an error. This function
\r
286 checks the counts maintained by the tasks to ensure they are still being
\r
287 incremented. A count remaining at the same value between calls therefore
\r
288 indicates that an error has been detected. */
\r
290 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
295 if( xAreComTestTasksStillRunning() != pdTRUE )
\r
300 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
305 if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
310 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
\r
315 if( xAreMathsTaskStillRunning() != pdTRUE )
\r
320 if( xIsCreateTaskStillRunning() != pdTRUE )
\r
325 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
330 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
335 if ( xAreQueuePeekTasksStillRunning() != pdTRUE )
\r
340 /* Have the register test tasks found any errors? */
\r
341 if( ulRegTestError != pdFALSE )
\r
348 /*-----------------------------------------------------------*/
\r
350 static void prvSetupHardware( void )
\r
352 /* Allow all interrupt levels. */
\r
353 __set_il( mainINTERRUPT_LEVELS );
\r
355 /* Initialise interrupts. */
\r
358 /* Initialise the ports used by the LEDs. */
\r
359 vParTestInitialise();
\r
361 /* If we are going to use the watchdog, then initialise it now. */
\r
362 #if WATCHDOG != WTC_NONE
\r
366 /*-----------------------------------------------------------*/
\r
368 /* Idle hook function. */
\r
369 #if configUSE_IDLE_HOOK == 1
\r
370 void vApplicationIdleHook( void )
\r
372 /* Are we using the idle task to kick the watchdog? See watchdog.h
\r
373 for watchdog kicking options. Note this is for demonstration only
\r
374 and is not a suggested method of servicing the watchdog in a real
\r
376 #if WATCHDOG == WTC_IN_IDLE
\r
380 vCoRoutineSchedule();
\r
383 #if WATCHDOG == WTC_IN_IDLE
\r
384 #error configUSE_IDLE_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the idle task hook.
\r
388 /*-----------------------------------------------------------*/
\r
390 /* Tick hook function. */
\r
391 #if configUSE_TICK_HOOK == 1
\r
392 void vApplicationTickHook( void )
\r
394 /* Are we using the tick to kick the watchdog? See watchdog.h
\r
395 for watchdog kicking options. Note this is for demonstration
\r
396 only and is not a suggested method of servicing the watchdog in
\r
397 a real application. */
\r
398 #if WATCHDOG == WTC_IN_TICK
\r
403 #if WATCHDOG == WTC_IN_TICK
\r
404 #error configUSE_TICK_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the tick hook.
\r
407 /*-----------------------------------------------------------*/
\r
409 static void vFirstRegisterTestTask( void *pvParameters )
\r
411 extern volatile unsigned portLONG ulCriticalNesting;
\r
413 /* Fills the registers with known values (different to the values
\r
414 used in vSecondRegisterTestTask()), then checks that the registers still
\r
415 all contain the expected value. This is done to test the context save
\r
416 and restore mechanism as this task is swapped onto and off of the CPU. */
\r
421 ;Load known values into each register.
\r
422 LDI #0x11111111, R0
\r
423 LDI #0x22222222, R1
\r
424 LDI #0x33333333, R2
\r
425 LDI #0x44444444, R3
\r
426 LDI #0x55555555, R4
\r
427 LDI #0x66666666, R5
\r
428 LDI #0x77777777, R6
\r
429 LDI #0x88888888, R7
\r
430 LDI #0x99999999, R8
\r
431 LDI #0xaaaaaaaa, R9
\r
432 LDI #0xbbbbbbbb, R10
\r
433 LDI #0xcccccccc, R11
\r
434 LDI #0xdddddddd, R12
\r
436 ;Check each register still contains the expected value.
\r
437 LDI #0x11111111, R13
\r
439 BNE First_Set_Error
\r
441 LDI #0x22222222, R13
\r
443 BNE First_Set_Error
\r
445 LDI #0x33333333, R13
\r
447 BNE First_Set_Error
\r
449 LDI #0x44444444, R13
\r
451 BNE First_Set_Error
\r
453 LDI #0x55555555, R13
\r
455 BNE First_Set_Error
\r
457 LDI #0x66666666, R13
\r
459 BNE First_Set_Error
\r
461 LDI #0x77777777, R13
\r
463 BNE First_Set_Error
\r
465 LDI #0x88888888, R13
\r
467 BNE First_Set_Error
\r
469 LDI #0x99999999, R13
\r
471 BNE First_Set_Error
\r
473 LDI #0xaaaaaaaa, R13
\r
475 BNE First_Set_Error
\r
477 LDI #0xbbbbbbbb, R13
\r
479 BNE First_Set_Error
\r
481 LDI #0xcccccccc, R13
\r
483 BNE First_Set_Error
\r
485 LDI #0xdddddddd, R13
\r
487 BNE First_Set_Error
\r
489 BRA First_Start_Next_Loop
\r
493 ; Latch that an error has occurred.
\r
494 LDI #_ulRegTestError, R0
\r
495 LDI #0x00000001, R1
\r
499 First_Start_Next_Loop:
\r
505 /*-----------------------------------------------------------*/
\r
507 static void vSecondRegisterTestTask( void *pvParameters )
\r
509 extern volatile unsigned portLONG ulCriticalNesting;
\r
511 /* Fills the registers with known values (different to the values
\r
512 used in vFirstRegisterTestTask()), then checks that the registers still
\r
513 all contain the expected value. This is done to test the context save
\r
514 and restore mechanism as this task is swapped onto and off of the CPU. */
\r
519 ;Load known values into each register.
\r
520 LDI #0x11111111, R1
\r
521 LDI #0x22222222, R2
\r
523 LDI #0x33333333, R3
\r
524 LDI #0x44444444, R4
\r
525 LDI #0x55555555, R5
\r
526 LDI #0x66666666, R6
\r
527 LDI #0x77777777, R7
\r
528 LDI #0x88888888, R8
\r
529 LDI #0x99999999, R9
\r
531 LDI #0xaaaaaaaa, R10
\r
532 LDI #0xbbbbbbbb, R11
\r
533 LDI #0xcccccccc, R12
\r
534 LDI #0xdddddddd, R0
\r
536 ;Check each register still contains the expected value.
\r
537 LDI #0x11111111, R13
\r
539 BNE Second_Set_Error
\r
541 LDI #0x22222222, R13
\r
543 BNE Second_Set_Error
\r
545 LDI #0x33333333, R13
\r
547 BNE Second_Set_Error
\r
549 LDI #0x44444444, R13
\r
551 BNE Second_Set_Error
\r
553 LDI #0x55555555, R13
\r
555 BNE Second_Set_Error
\r
559 LDI #0x66666666, R13
\r
561 BNE Second_Set_Error
\r
563 LDI #0x77777777, R13
\r
565 BNE Second_Set_Error
\r
567 LDI #0x88888888, R13
\r
569 BNE Second_Set_Error
\r
571 LDI #0x99999999, R13
\r
573 BNE Second_Set_Error
\r
577 LDI #0xaaaaaaaa, R13
\r
579 BNE Second_Set_Error
\r
581 LDI #0xbbbbbbbb, R13
\r
583 BNE Second_Set_Error
\r
585 LDI #0xcccccccc, R13
\r
587 BNE Second_Set_Error
\r
589 LDI #0xdddddddd, R13
\r
591 BNE Second_Set_Error
\r
593 BRA Second_Start_Next_Loop
\r
597 ; Latch that an error has occurred.
\r
598 LDI #_ulRegTestError, R0
\r
599 LDI #0x00000001, R1
\r
603 Second_Start_Next_Loop:
\r
609 /*-----------------------------------------------------------*/
\r