/*\r
- FreeRTOS.org V4.8.0 - Copyright (C) 2003-2008 Richard Barry.\r
-\r
- This file is part of the FreeRTOS.org distribution.\r
-\r
- FreeRTOS.org is free software; you can redistribute it and/or modify\r
- it under the terms of the GNU General Public License as published by\r
- the Free Software Foundation; either version 2 of the License, or\r
- (at your option) any later version.\r
-\r
- FreeRTOS.org is distributed in the hope that it will be useful,\r
- but WITHOUT ANY WARRANTY; without even the implied warranty of\r
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
- GNU General Public License for more details.\r
-\r
- You should have received a copy of the GNU General Public License\r
- along with FreeRTOS.org; if not, write to the Free Software\r
- Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
-\r
- A special exception to the GPL can be applied should you wish to distribute\r
- a combined work that includes FreeRTOS.org, without being obliged to provide\r
- the source code for any proprietary components. See the licensing section\r
- of http://www.FreeRTOS.org for full details of how and when the exception\r
- can be applied.\r
-\r
- ***************************************************************************\r
- ***************************************************************************\r
- * *\r
- * SAVE TIME AND MONEY! Why not get us to quote to get FreeRTOS.org *\r
- * running on your hardware - or even write all or part of your application*\r
- * for you? See http://www.OpenRTOS.com for details. *\r
- * *\r
- ***************************************************************************\r
- ***************************************************************************\r
-\r
- Please ensure to read the configuration and relevant port sections of the\r
- online documentation.\r
-\r
- http://www.FreeRTOS.org - Documentation, latest information, license and \r
- contact details.\r
-\r
- http://www.SafeRTOS.com - A version that is certified for use in safety \r
- critical systems.\r
-\r
- http://www.OpenRTOS.com - Commercial support, development, porting, \r
- licensing and training services.\r
+ FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.\r
+ \r
+\r
+ ***************************************************************************\r
+ * *\r
+ * FreeRTOS tutorial books are available in pdf and paperback. *\r
+ * Complete, revised, and edited pdf reference manuals are also *\r
+ * available. *\r
+ * *\r
+ * Purchasing FreeRTOS documentation will not only help you, by *\r
+ * ensuring you get running as quickly as possible and with an *\r
+ * in-depth knowledge of how to use FreeRTOS, it will also help *\r
+ * the FreeRTOS project to continue with its mission of providing *\r
+ * professional grade, cross platform, de facto standard solutions *\r
+ * for microcontrollers - completely free of charge! *\r
+ * *\r
+ * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *\r
+ * *\r
+ * Thank you for using FreeRTOS, and thank you for your support! *\r
+ * *\r
+ ***************************************************************************\r
+\r
+\r
+ This file is part of the FreeRTOS distribution.\r
+\r
+ FreeRTOS is free software; you can redistribute it and/or modify it under\r
+ the terms of the GNU General Public License (version 2) as published by the\r
+ Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
+ >>>NOTE<<< The modification to the GPL is included to allow you to\r
+ distribute a combined work that includes FreeRTOS without being obliged to\r
+ provide the source code for proprietary components outside of the FreeRTOS\r
+ kernel. FreeRTOS is distributed in the hope that it will be useful, but\r
+ WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY\r
+ or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
+ more details. You should have received a copy of the GNU General Public\r
+ License and the FreeRTOS license exception along with FreeRTOS; if not it\r
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained\r
+ by writing to Richard Barry, contact details for whom are available on the\r
+ FreeRTOS WEB site.\r
+\r
+ 1 tab == 4 spaces!\r
+\r
+ http://www.FreeRTOS.org - Documentation, latest information, license and\r
+ contact details.\r
+\r
+ http://www.SafeRTOS.com - A version that is certified for use in safety\r
+ critical systems.\r
+\r
+ http://www.OpenRTOS.com - Commercial support, development, porting,\r
+ licensing and training services.\r
*/\r
\r
/*\r
* In addition to the standard demo tasks, the following tasks and tests are\r
* defined and/or created within this file:\r
*\r
- * "Fast Interrupt Test" - A high frequency periodic interrupt is generated\r
- * using a free running timer to demonstrate the use of the\r
- * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt\r
- * service routine measures the number of processor clocks that occur between\r
- * each interrupt - and in so doing measures the jitter in the interrupt timing.\r
- * The maximum measured jitter time is latched in the ulMaxJitter variable, and\r
- * displayed on the LCD display by the 'LCD' task as described below. The\r
- * fast interrupt is configured and handled in the timertest.c source file.\r
- *\r
* "LCD" task - the LCD task is a 'gatekeeper' task. It is the only task that\r
* is permitted to access the display directly. Other tasks wishing to write a\r
* message to the LCD send the message on a queue to the LCD task instead of\r
* check that all the standard demo tasks are still operational. Should any \r
* unexpected behaviour within a demo task be discovered the check task will \r
* write an error to the LCD (via the LCD task). If all the demo tasks are \r
- * executing with their expected behaviour then the check task writes the \r
- * maximum jitter time to the LCD (as described above) - again via the LCD task.\r
+ * executing with their expected behaviour then the check task instead writes \r
+ * a count of the number of times the high frequency interrupt has incremented\r
+ * ulHighFrequencyTimerInterrupts - which is one in every 20,000 interrupts.\r
*\r
* "Register test" tasks - These tasks are used in part to test the kernel port.\r
* They set each processor register to a known value, then check that the \r
* to different values, and will get swapping in and out between setting and \r
* then subsequently checking the register values. Discovery of an incorrect\r
* value would be indicative of an error in the task switching mechanism.\r
+ *\r
+ * By way of demonstration, the demo application defines \r
+ * configMAX_SYSCALL_INTERRUPT_PRIORITY to be 3, configKERNEL_INTERRUPT_PRIORITY \r
+ * to be 1, and all other interrupts as follows:\r
+ *\r
+ * + The UART is allocated a priority of 2. This means it can interrupt the \r
+ * RTOS tick, and can also safely use queues.\r
+ * + Two timers are configured to generate interrupts just to test the nesting \r
+ * and queue access mechanisms. These timers are allocated priorities 2 and 3 \r
+ * respectively. Even though they both access the same two queues, the \r
+ * priority 3 interrupt can safely interrupt the priority 2 interrupt. Both \r
+ * can interrupt the RTOS tick.\r
+ * + Finally a high frequency timer interrupt is configured to use priority 4 - \r
+ * therefore kernel activity will never prevent the high frequency timer from \r
+ * executing immediately that the interrupt is raised (within the limitations \r
+ * of the hardware itself). It would not be safe to access a queue from this \r
+ * interrupt as it is above configMAX_SYSCALL_INTERRUPT_PRIORITY. \r
+ *\r
+ * See the online documentation for this demo for more information on interrupt\r
+ * usage.\r
*/\r
\r
/* Standard includes. */\r
\r
/* Demo application includes. */\r
#include "partest.h"\r
-#include "integer.h"\r
#include "blocktim.h"\r
#include "flash.h"\r
#include "semtest.h"\r
#include "lcd.h"\r
#include "comtest2.h"\r
#include "timertest.h"\r
+#include "IntQueue.h"\r
\r
-#pragma config FPLLMUL = MUL_18, FPLLIDIV = DIV_2, FPLLODIV = DIV_1, FWDTEN = OFF\r
+#pragma config FPLLMUL = MUL_20, FPLLIDIV = DIV_2, FPLLODIV = DIV_1, FWDTEN = OFF\r
#pragma config POSCMOD = HS, FNOSC = PRIPLL, FPBDIV = DIV_2\r
\r
/*-----------------------------------------------------------*/\r
\r
/* The rate at which the LED controlled by the 'check' task will flash when an\r
error has been detected. */\r
-#define mainERROR_PERIOD ( 500 )\r
+#define mainERROR_PERIOD ( 500 / portTICK_RATE_MS )\r
\r
/* The priorities of the various demo application tasks. */\r
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )\r
/* Misc. */\r
#define mainDONT_WAIT ( 0 )\r
\r
-/* Dimension the buffer used to hold the value of the maximum jitter time when\r
-it is converted to a string. */\r
+/* Dimension the buffer used to hold the value of the high frequency timer \r
+count when it is converted to a string. */\r
#define mainMAX_STRING_LENGTH ( 20 )\r
\r
/* The frequency at which the "fast interrupt test" interrupt will occur. */\r
#define mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ( ( configCPU_CLOCK_HZ >> 1 ) / mainTEST_INTERRUPT_FREQUENCY )\r
\r
/* The number of nano seconds between each core clock. */\r
-#define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) ( configCPU_CLOCK_HZ >> 1 ) ) * 1000000000.0 ) )\r
+#define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) ( configCPU_CLOCK_HZ >> 1 ) ) * 1000000000.0 ) )\r
\r
/*-----------------------------------------------------------*/\r
\r
\r
/* Flag used by prvTestTask1() and prvTestTask2() to indicate their status\r
(pass/fail). */\r
-unsigned portLONG ulStatus1 = pdPASS;\r
+unsigned long ulStatus1 = pdPASS;\r
\r
/* Variables incremented by prvTestTask1() and prvTestTask2() respectively on \r
each iteration of their function. This is used to detect either task stopping\r
their execution.. */\r
-unsigned portLONG ulRegTest1Cycles = 0, ulRegTest2Cycles = 0;\r
+unsigned long ulRegTest1Cycles = 0, ulRegTest2Cycles = 0;\r
\r
/*-----------------------------------------------------------*/\r
\r
-\r
/*\r
* Create the demo tasks then start the scheduler.\r
*/\r
vStartLEDFlashTasks( tskIDLE_PRIORITY );\r
vCreateBlockTimeTasks();\r
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );\r
- vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );\r
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );\r
vStartQueuePeekTasks();\r
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );\r
+ vStartInterruptQueueTasks();\r
\r
/* Create the tasks defined within this file. */\r
xTaskCreate( prvTestTask1, "Tst1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
xTaskCreate( prvTestTask2, "Tst2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
\r
/* prvCheckTask uses sprintf so requires more stack. */\r
- xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE * 2, NULL, mainCHECK_TASK_PRIORITY, NULL );\r
-\r
- /* Setup the high frequency, high priority, timer test. */\r
- vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );\r
+ xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );\r
\r
/* Finally start the scheduler. */\r
vTaskStartScheduler();\r
static void prvSetupHardware( void )\r
{\r
/* Set the system and peripheral bus speeds and enable the program cache*/\r
- SYSTEMConfigPerformance( configCPU_CLOCK_HZ );\r
+ SYSTEMConfigPerformance( configCPU_CLOCK_HZ - 1 );\r
+ mOSCSetPBDIV( OSC_PB_DIV_2 );\r
\r
/* Setup to use the external interrupt controller. */\r
INTEnableSystemMultiVectoredInt();\r
\r
static void prvCheckTask( void *pvParameters )\r
{\r
-unsigned portLONG ulLastRegTest1Value = 0, ulLastRegTest2Value = 0, ulTicksToWait = mainNO_ERROR_PERIOD;\r
+unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0, ulTicksToWait = mainNO_ERROR_PERIOD;\r
portTickType xLastExecutionTime;\r
\r
-/* Buffer into which the maximum jitter time is written as a string. */\r
-static portCHAR cStringBuffer[ mainMAX_STRING_LENGTH ];\r
+/* Buffer into which the high frequency timer count is written as a string. */\r
+static char cStringBuffer[ mainMAX_STRING_LENGTH ];\r
\r
-/* The maximum jitter time measured by the fast interrupt test. */\r
-extern unsigned portLONG ulMaxJitter ;\r
+/* The count of the high frequency timer interrupts. */\r
+extern unsigned long ulHighFrequencyTimerInterrupts;\r
xLCDMessage xMessage = { ( 200 / portTICK_RATE_MS ), cStringBuffer };\r
\r
+ /* Setup the high frequency, high priority, timer test. It is setup here\r
+ to ensure it does not fire before the scheduler is started. */\r
+ vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );\r
+\r
/* Initialise the variable used to control our iteration rate prior to\r
its first use. */\r
xLastExecutionTime = xTaskGetTickCount();\r
ulTicksToWait = mainERROR_PERIOD;\r
xMessage.pcMessage = "Error: Sem test";\r
}\r
- else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )\r
- {\r
- ulTicksToWait = mainERROR_PERIOD;\r
- xMessage.pcMessage = "Error: Int math";\r
- }\r
+ else if( xAreIntQueueTasksStillRunning() != pdTRUE )\r
+ {\r
+ ulTicksToWait = mainERROR_PERIOD;\r
+ xMessage.pcMessage = "Error: Int queue";\r
+ }\r
\r
- /* Write the max jitter time to the string buffer. It will only be \r
- displayed if no errors have been detected. */\r
- sprintf( cStringBuffer, "%dns max jitter", ( int ) ( ( ulMaxJitter - mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ) * mainNS_PER_CLOCK ) );\r
+ /* Write the ulHighFrequencyTimerInterrupts value to the string \r
+ buffer. It will only be displayed if no errors have been detected. */\r
+ sprintf( cStringBuffer, "Pass %u", ( unsigned int ) ulHighFrequencyTimerInterrupts );\r
\r
xQueueSend( xLCDQueue, &xMessage, mainDONT_WAIT );\r
vParTestToggleLED( mainCHECK_LED );\r
}\r
/*-----------------------------------------------------------*/\r
\r
-void vApplicationGeneralExceptionHandler( unsigned portLONG ulCause, unsigned portLONG ulStatus )\r
+void vApplicationStackOverflowHook( void )\r
+{\r
+ /* Look at pxCurrentTCB to see which task overflowed its stack. */\r
+ for( ;; );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void _general_exception_handler( unsigned long ulCause, unsigned long ulStatus )\r
{\r
/* This overrides the definition provided by the kernel. Other exceptions \r
should be handled here. */\r
for( ;; );\r
}\r
+/*-----------------------------------------------------------*/\r
+\r
projects / freertos / blobdiff