2 FreeRTOS V8.2.0rc1 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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96 /* ****************************************************************************
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97 * This project includes a lot of tasks and tests and is therefore complex.
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98 * If you would prefer a much simpler project to get started with then select
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99 * the 'Blinky' build configuration within the HEW IDE.
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100 * ****************************************************************************
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102 * Creates all the demo application tasks, then starts the scheduler. The web
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103 * documentation provides more details of the standard demo application tasks,
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104 * which provide no particular functionality but do provide a good example of
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105 * how to use the FreeRTOS API. The tasks defined in flop.c are included in the
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106 * set of standard demo tasks to ensure the floating point unit gets some
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109 * In addition to the standard demo tasks, the following tasks and tests are
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110 * defined and/or created within this file:
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112 * Webserver ("uIP") task - This serves a number of dynamically generated WEB
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113 * pages to a standard WEB browser. The IP and MAC addresses are configured by
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114 * constants defined at the bottom of FreeRTOSConfig.h. Use either a standard
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115 * Ethernet cable to connect through a hug, or a cross over (point to point)
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116 * cable to connect directly. Ensure the IP address used is compatible with the
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117 * IP address of the machine running the browser - the easiest way to achieve
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118 * this is to ensure the first three octets of the IP addresses are the same.
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120 * "Reg test" tasks - These fill the registers with known values, then check
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121 * that each register still contains its expected value. Each task uses
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122 * different values. The tasks run with very low priority so get preempted
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123 * very frequently. A check variable is incremented on each iteration of the
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124 * test loop. A register containing an unexpected value is indicative of an
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125 * error in the context switching mechanism and will result in a branch to a
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126 * null loop - which in turn will prevent the check variable from incrementing
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127 * any further and allow the check task (described below) to determine that an
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128 * error has occurred. The nature of the reg test tasks necessitates that they
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129 * are written in assembly code.
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131 * "Check" task - This only executes every five seconds but has a high priority
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132 * to ensure it gets processor time. Its main function is to check that all the
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133 * standard demo tasks are still operational. While no errors have been
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134 * discovered the check task will toggle LED 5 every 5 seconds - the toggle
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135 * rate increasing to 200ms being a visual indication that at least one task has
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136 * reported unexpected behaviour.
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138 * "High frequency timer test" - A high frequency periodic interrupt is
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139 * generated using a timer - the interrupt is assigned a priority above
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140 * configMAX_SYSCALL_INTERRUPT_PRIORITY so should not be effected by anything
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141 * the kernel is doing. The frequency and priority of the interrupt, in
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142 * combination with other standard tests executed in this demo, should result
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143 * in interrupts nesting at least 3 and probably 4 deep. This test is only
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144 * included in build configurations that have the optimiser switched on. In
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145 * optimised builds the count of high frequency ticks is used as the time base
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146 * for the run time stats.
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148 * *NOTE 1* If LED5 is toggling every 5 seconds then all the demo application
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149 * tasks are executing as expected and no errors have been reported in any
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150 * tasks. The toggle rate increasing to 200ms indicates that at least one task
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151 * has reported unexpected behaviour.
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153 * *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
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154 * the application set up a timer to generate the tick interrupt. In this
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155 * example a compare match timer is used for this purpose.
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157 * *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started.
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158 * The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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159 * Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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161 * *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use
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162 * of all the 8bit timers (as two cascaded 16bit units).
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165 /* Hardware specific includes. */
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166 #include "iodefine.h"
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168 /* Kernel includes. */
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169 #include "FreeRTOS.h"
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172 /* Standard demo includes. */
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173 #include "partest.h"
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175 #include "IntQueue.h"
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176 #include "BlockQ.h"
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178 #include "integer.h"
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179 #include "blocktim.h"
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180 #include "semtest.h"
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182 #include "GenQTest.h"
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184 #include "recmutex.h"
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187 /* Values that are passed into the reg test tasks using the task parameter. The
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188 tasks check that the values are passed in correctly. */
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189 #define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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190 #define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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192 /* Priorities at which the tasks are created. */
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193 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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194 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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195 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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196 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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197 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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198 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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199 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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200 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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201 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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202 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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204 /* The WEB server uses string handling functions, which in turn use a bit more
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205 stack than most of the other tasks. */
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206 #define mainuIP_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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208 /* The LED toggled by the check task. */
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209 #define mainCHECK_LED ( 5 )
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211 /* The rate at which mainCHECK_LED will toggle when all the tasks are running
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212 without error. Controlled by the check task as described at the top of this
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214 #define mainNO_ERROR_CYCLE_TIME ( 5000 / portTICK_PERIOD_MS )
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216 /* The rate at which mainCHECK_LED will toggle when an error has been reported
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217 by at least one task. Controlled by the check task as described at the top of
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219 #define mainERROR_CYCLE_TIME ( 200 / portTICK_PERIOD_MS )
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222 * vApplicationMallocFailedHook() will only be called if
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223 * configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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224 * function that will execute if a call to pvPortMalloc() fails.
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225 * pvPortMalloc() is called internally by the kernel whenever a task, queue or
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226 * semaphore is created. It is also called by various parts of the demo
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229 void vApplicationMallocFailedHook( void );
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232 * vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1
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233 * in FreeRTOSConfig.h. It is a hook function that is called on each iteration
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234 * of the idle task. It is essential that code added to this hook function
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235 * never attempts to block in any way (for example, call xQueueReceive() with
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236 * a block time specified). If the application makes use of the vTaskDelete()
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237 * API function (as this demo application does) then it is also important that
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238 * vApplicationIdleHook() is permitted to return to its calling function because
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239 * it is the responsibility of the idle task to clean up memory allocated by the
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240 * kernel to any task that has since been deleted.
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242 void vApplicationIdleHook( void );
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245 * vApplicationStackOverflowHook() will only be called if
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246 * configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and
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247 * name of the offending task should be passed in the function parameters, but
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248 * it is possible that the stack overflow will have corrupted these - in which
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249 * case pxCurrentTCB can be inspected to find the same information.
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251 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
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254 * The reg test tasks as described at the top of this file.
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256 static void prvRegTest1Task( void *pvParameters );
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257 static void prvRegTest2Task( void *pvParameters );
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260 * The actual implementation of the reg test functionality, which, because of
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261 * the direct register access, have to be in assembly.
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263 static void prvRegTest1Implementation( void );
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264 static void prvRegTest2Implementation( void );
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267 * The check task as described at the top of this file.
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269 static void prvCheckTask( void *pvParameters );
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272 * Contains the implementation of the WEB server.
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274 extern void vuIP_Task( void *pvParameters );
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276 /*-----------------------------------------------------------*/
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278 /* Variables that are incremented on each iteration of the reg test tasks -
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279 provided the tasks have not reported any errors. The check task inspects these
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280 variables to ensure they are still incrementing as expected. If a variable
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281 stops incrementing then it is likely that its associate task has stalled. */
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282 unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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284 /* The status message that is displayed at the bottom of the "task stats" web
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285 page, which is served by the uIP task. This will report any errors picked up
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286 by the reg test task. */
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287 const char *pcStatusMessage = "All tasks executing without error.";
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289 /*-----------------------------------------------------------*/
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293 extern void HardwareSetup( void );
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295 /* Renesas provided CPU configuration routine. The clocks are configured in
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299 /* Turn all LEDs off. */
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300 vParTestInitialise();
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302 /* Start the reg test tasks which test the context switching mechanism. */
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303 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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304 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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306 /* The web server task. */
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307 xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
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309 /* Start the check task as described at the top of this file. */
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310 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY, NULL );
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312 /* Create the standard demo tasks. */
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313 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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314 vCreateBlockTimeTasks();
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315 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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316 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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317 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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318 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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319 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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320 vStartQueuePeekTasks();
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321 vStartRecursiveMutexTasks();
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322 vStartInterruptQueueTasks();
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323 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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325 /* The suicide tasks must be created last as they need to know how many
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326 tasks were running prior to their creation in order to ascertain whether
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327 or not the correct/expected number of tasks are running at any given time. */
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328 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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330 /* Start the tasks running. */
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331 vTaskStartScheduler();
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333 /* If all is well we will never reach here as the scheduler will now be
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334 running. If we do reach here then it is likely that there was insufficient
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335 heap available for the idle task to be created. */
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338 /*-----------------------------------------------------------*/
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340 static void prvCheckTask( void *pvParameters )
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342 static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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343 TickType_t xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;
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344 extern void vSetupHighFrequencyTimer( void );
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346 /* If this is being executed then the kernel has been started. Start the high
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347 frequency timer test as described at the top of this file. This is only
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348 included in the optimised build configuration - otherwise it takes up too much
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349 CPU time and can disrupt other tests. */
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350 #ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
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351 vSetupHighFrequencyTimer();
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354 /* Initialise xNextWakeTime - this only needs to be done once. */
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355 xNextWakeTime = xTaskGetTickCount();
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359 /* Place this task in the blocked state until it is time to run again. */
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360 vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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362 /* Check the standard demo tasks are running without error. */
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363 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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365 /* Increase the rate at which this task cycles, which will increase the
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366 rate at which mainCHECK_LED flashes to give visual feedback that an error
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368 xCycleFrequency = mainERROR_CYCLE_TIME;
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369 pcStatusMessage = "Error: GenQueue";
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371 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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373 xCycleFrequency = mainERROR_CYCLE_TIME;
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374 pcStatusMessage = "Error: QueuePeek";
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376 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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378 xCycleFrequency = mainERROR_CYCLE_TIME;
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379 pcStatusMessage = "Error: BlockQueue";
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381 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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383 xCycleFrequency = mainERROR_CYCLE_TIME;
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384 pcStatusMessage = "Error: BlockTime";
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386 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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388 xCycleFrequency = mainERROR_CYCLE_TIME;
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389 pcStatusMessage = "Error: SemTest";
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391 else if( xArePollingQueuesStillRunning() != pdTRUE )
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393 xCycleFrequency = mainERROR_CYCLE_TIME;
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394 pcStatusMessage = "Error: PollQueue";
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396 else if( xIsCreateTaskStillRunning() != pdTRUE )
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398 xCycleFrequency = mainERROR_CYCLE_TIME;
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399 pcStatusMessage = "Error: Death";
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401 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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403 xCycleFrequency = mainERROR_CYCLE_TIME;
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404 pcStatusMessage = "Error: IntMath";
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406 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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408 xCycleFrequency = mainERROR_CYCLE_TIME;
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409 pcStatusMessage = "Error: RecMutex";
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411 else if( xAreIntQueueTasksStillRunning() != pdPASS )
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413 xCycleFrequency = mainERROR_CYCLE_TIME;
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414 pcStatusMessage = "Error: IntQueue";
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416 else if( xAreMathsTaskStillRunning() != pdPASS )
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418 xCycleFrequency = mainERROR_CYCLE_TIME;
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419 pcStatusMessage = "Error: Flop";
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422 /* Check the reg test tasks are still cycling. They will stop incrementing
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423 their loop counters if they encounter an error. */
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424 if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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426 xCycleFrequency = mainERROR_CYCLE_TIME;
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427 pcStatusMessage = "Error: RegTest1";
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430 if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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432 xCycleFrequency = mainERROR_CYCLE_TIME;
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433 pcStatusMessage = "Error: RegTest2";
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436 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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437 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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439 /* Toggle the check LED to give an indication of the system status. If
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440 the LED toggles every 5 seconds then everything is ok. A faster toggle
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441 indicates an error. */
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442 vParTestToggleLED( mainCHECK_LED );
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445 /*-----------------------------------------------------------*/
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447 /* The RX port uses this callback function to configure its tick interrupt.
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448 This allows the application to choose the tick interrupt source. */
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449 void vApplicationSetupTimerInterrupt( void )
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451 /* Enable compare match timer 0. */
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454 /* Interrupt on compare match. */
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455 CMT0.CMCR.BIT.CMIE = 1;
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457 /* Set the compare match value. */
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458 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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460 /* Divide the PCLK by 8. */
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461 CMT0.CMCR.BIT.CKS = 0;
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463 /* Enable the interrupt... */
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464 _IEN( _CMT0_CMI0 ) = 1;
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466 /* ...and set its priority to the application defined kernel priority. */
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467 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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469 /* Start the timer. */
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470 CMT.CMSTR0.BIT.STR0 = 1;
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472 /*-----------------------------------------------------------*/
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474 /* This function is explained by the comments above its prototype at the top
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476 void vApplicationMallocFailedHook( void )
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480 /*-----------------------------------------------------------*/
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482 /* This function is explained by the comments above its prototype at the top
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484 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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488 /*-----------------------------------------------------------*/
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490 /* This function is explained by the comments above its prototype at the top
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492 void vApplicationIdleHook( void )
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495 /*-----------------------------------------------------------*/
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497 /* This function is explained in the comments at the top of this file. */
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498 static void prvRegTest1Task( void *pvParameters )
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500 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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502 /* The parameter did not contain the expected value. */
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505 /* Stop the tick interrupt so its obvious something has gone wrong. */
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506 taskDISABLE_INTERRUPTS();
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510 /* This is an inline asm function that never returns. */
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511 prvRegTest1Implementation();
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513 /*-----------------------------------------------------------*/
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515 /* This function is explained in the comments at the top of this file. */
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516 static void prvRegTest2Task( void *pvParameters )
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518 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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520 /* The parameter did not contain the expected value. */
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523 /* Stop the tick interrupt so its obvious something has gone wrong. */
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524 taskDISABLE_INTERRUPTS();
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528 /* This is an inline asm function that never returns. */
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529 prvRegTest2Implementation();
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531 /*-----------------------------------------------------------*/
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533 /* This function is explained in the comments at the top of this file. */
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534 #pragma inline_asm prvRegTest1Implementation
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535 static void prvRegTest1Implementation( void )
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537 ; Put a known value in each register.
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554 ; Loop, checking each itteration that each register still contains the
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558 ; Push the registers that are going to get clobbered.
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561 ; Increment the loop counter to show this task is still getting CPU time.
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562 MOV.L #_ulRegTest1CycleCount, R14
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567 ; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
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569 MOV.L #0872E0H, R15
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574 ; Restore the clobbered registers.
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577 ; Now compare each register to ensure it still contains the value that was
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578 ; set before this loop was entered.
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610 ; All comparisons passed, start a new itteratio of this loop.
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614 ; A compare failed, just loop here so the loop counter stops incrementing
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615 ; causing the check task to indicate the error.
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618 /*-----------------------------------------------------------*/
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620 /* This function is explained in the comments at the top of this file. */
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621 #pragma inline_asm prvRegTest2Implementation
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622 static void prvRegTest2Implementation( void )
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624 ; Put a known value in each register.
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641 ; Loop, checking on each itteration that each register still contains the
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645 ; Push the registers that are going to get clobbered.
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648 ; Increment the loop counter to show this task is still getting CPU time.
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649 MOV.L #_ulRegTest2CycleCount, R14
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654 ; Restore the clobbered registers.
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688 ; All comparisons passed, start a new itteratio of this loop.
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692 ; A compare failed, just loop here so the loop counter stops incrementing
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693 ; - causing the check task to indicate the error.
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696 /*-----------------------------------------------------------*/
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698 char *pcGetTaskStatusMessage( void )
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700 /* Not bothered about a critical section here although technically because of
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701 the task priorities the pointer could change it will be atomic if not near
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702 atomic and its not critical. */
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703 return ( char * ) pcStatusMessage;
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705 /*-----------------------------------------------------------*/
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projects / freertos / blob