2 FreeRTOS V8.2.1 - Copyright (C) 2015 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 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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71 * It is intended that the tasks and timers in this file cause interrupts to
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72 * nest at least one level deeper than they would otherwise.
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74 * A timer is configured to create an interrupt at moderately high frequency,
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75 * as defined by the tmrtestHIGH_FREQUENCY_TIMER_TEST_HZ constant. The
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76 * interrupt priority is by configHIGH_FREQUENCY_TIMER_PRIORITY, which is set
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77 * to ( configMAX_SYSCALL_INTERRUPT_PRIORITY - 1UL ), the second highest
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78 * priority from which interrupt safe FreeRTOS API calls can be made.
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80 * The timer interrupt handler counts the number of times it is called. When
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81 * it has determined that the number of calls means that 10ms has passed, it
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82 * 'gives' a semaphore, and resets it call count.
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84 * A high priority task is used to receive the data posted to the queue by the
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85 * interrupt service routine. The task should, then, leave the blocked state
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86 * and 'take' the available semaphore every 10ms. The frequency at which it
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87 * actually leaves the blocked state is verified by the demo's check task (see
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88 * the the documentation for the entire demo on the FreeRTOS.org web site),
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89 * which then flags an error if the frequency lower than expected.
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92 /* Standard includes. */
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96 /* Scheduler includes. */
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97 #include "FreeRTOS.h"
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101 /* Demo application includes. */
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102 #include "InterruptNestTest.h"
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104 /* TriCore specific includes. */
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105 #include <tc1782.h>
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106 #include <machine/intrinsics.h>
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107 #include <machine/cint.h>
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108 #include <machine/wdtcon.h>
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110 /* This constant is specific to this test application. It allows the high
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111 frequency (interrupt nesting test) timer to know how often to trigger, and the
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112 check task to know how many iterations to expect at any given time. */
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113 #define tmrtestHIGH_FREQUENCY_TIMER_TEST_HZ ( 8931UL )
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116 * The handler for the high priority timer interrupt.
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118 static void prvPortHighFrequencyTimerHandler( int iArg ) __attribute__((longcall));
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121 * The task that receives messages posted to a queue by the higher priority
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124 static void prvHighFrequencyTimerTask( void *pvParameters );
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126 /* Constants used to configure the timer and determine how often the task
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127 should receive data. */
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128 static const unsigned long ulCompareMatchValue = configPERIPHERAL_CLOCK_HZ / tmrtestHIGH_FREQUENCY_TIMER_TEST_HZ;
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129 static const unsigned long ulInterruptsPer10ms = tmrtestHIGH_FREQUENCY_TIMER_TEST_HZ / 100UL;
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130 static const unsigned long ulSemaphoreGiveRate_ms = 10UL;
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132 /* The semaphore used to synchronise the interrupt with the task. */
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133 static SemaphoreHandle_t xHighFrequencyTimerSemaphore = NULL;
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135 /* Holds the count of the number of times the task is unblocked by the timer. */
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136 static volatile unsigned long ulHighFrequencyTaskIterations = 0UL;
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138 /*-----------------------------------------------------------*/
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140 void vSetupInterruptNestingTest( void )
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142 unsigned long ulCompareMatchBits;
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144 /* Create the semaphore used to communicate between the high frequency
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145 interrupt and the task. */
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146 vSemaphoreCreateBinary( xHighFrequencyTimerSemaphore );
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147 configASSERT( xHighFrequencyTimerSemaphore );
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149 /* Create the task that pends on the semaphore that is given by the
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150 high frequency interrupt. */
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151 xTaskCreate( prvHighFrequencyTimerTask, "HFTmr", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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153 /* Setup the interrupt itself. The STM module clock divider is setup when
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154 the tick interrupt is configured - which is when the scheduler is started -
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155 so there is no need to do it here.
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157 The tick interrupt uses compare match 0, so this test uses compare match
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158 1, which means shifting up the values by 16 before writing them to the
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160 ulCompareMatchBits = ( 0x1fUL - __CLZ( ulCompareMatchValue ) );
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161 ulCompareMatchBits <<= 16UL;
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163 /* Write the values to the relevant SMT registers, without changing other
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165 taskENTER_CRITICAL();
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167 STM_CMCON.reg &= ~( 0x1fUL << 16UL );
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168 STM_CMCON.reg |= ulCompareMatchBits;
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169 STM_CMP1.reg = ulCompareMatchValue;
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171 if( 0 != _install_int_handler( configHIGH_FREQUENCY_TIMER_PRIORITY, prvPortHighFrequencyTimerHandler, 0 ) )
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173 /* Set-up the interrupt. */
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174 STM_SRC1.reg = ( configHIGH_FREQUENCY_TIMER_PRIORITY | 0x00005000UL );
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176 /* Enable the Interrupt. */
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177 STM_ISRR.reg &= ~( 0x03UL << 2UL );
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178 STM_ISRR.reg |= ( 0x1UL << 2UL );
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179 STM_ICR.reg &= ~( 0x07UL << 4UL );
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180 STM_ICR.reg |= ( 0x5UL << 4UL );
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184 /* Failed to install the interrupt. */
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185 configASSERT( ( ( volatile void * ) NULL ) );
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188 taskEXIT_CRITICAL();
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190 /*-----------------------------------------------------------*/
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192 unsigned long ulInterruptNestingTestGetIterationCount( unsigned long *pulExpectedIncFrequency_ms )
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194 unsigned long ulReturn;
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196 *pulExpectedIncFrequency_ms = ulSemaphoreGiveRate_ms;
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197 portENTER_CRITICAL();
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199 ulReturn = ulHighFrequencyTaskIterations;
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200 ulHighFrequencyTaskIterations = 0UL;
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205 /*-----------------------------------------------------------*/
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207 static void prvHighFrequencyTimerTask( void *pvParameters )
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209 /* Just to remove compiler warnings about the unused parameter. */
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210 ( void ) pvParameters;
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214 /* Wait for the next trigger from the high frequency timer interrupt. */
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215 xSemaphoreTake( xHighFrequencyTimerSemaphore, portMAX_DELAY );
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217 /* Just count how many times the task has been unblocked before
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218 returning to wait for the semaphore again. */
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219 ulHighFrequencyTaskIterations++;
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222 /*-----------------------------------------------------------*/
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224 static void prvPortHighFrequencyTimerHandler( int iArg )
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226 static volatile unsigned long ulExecutionCounter = 0UL;
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227 unsigned long ulHigherPriorityTaskWoken = pdFALSE;
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229 /* Just to avoid compiler warnings about unused parameters. */
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232 /* Clear the interrupt source. */
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233 STM_ISRR.reg = 1UL << 2UL;
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235 /* Reload the Compare Match register for X ticks into the future.*/
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236 STM_CMP1.reg += ulCompareMatchValue;
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238 ulExecutionCounter++;
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240 if( ulExecutionCounter >= ulInterruptsPer10ms )
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242 ulExecutionCounter = xSemaphoreGiveFromISR( xHighFrequencyTimerSemaphore, &ulHigherPriorityTaskWoken );
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244 /* If the semaphore was given ulExeuctionCounter will now be pdTRUE. */
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245 configASSERT( ulExecutionCounter == pdTRUE );
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247 /* Start counting again. */
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248 ulExecutionCounter = 0UL;
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251 /* Context switch on exit if necessary. */
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252 portYIELD_FROM_ISR( ulHigherPriorityTaskWoken );
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