licensing and training services.\r
*/\r
\r
+\r
+\r
+/*\r
+ * Creates all the demo application tasks, then starts the scheduler. The WEB\r
+ * documentation provides more details of the standard demo application tasks,\r
+ * which provide no particular functionality but do provide a good example of\r
+ * how to use the FreeRTOS API. In addition to the standard demo tasks, the \r
+ * following tasks and tests are defined and/or created within this file:\r
+ *\r
+ * "Reg test" tasks - These fill the registers with known values, then check\r
+ * that each register still contains its expected value. Each task uses\r
+ * different values. The tasks run with very low priority so get preempted very\r
+ * frequently. A register containing an unexpected value is indicative of an\r
+ * error in the context switching mechanism. Both standard and floating point\r
+ * registers are checked. The nature of the reg test tasks necessitates that\r
+ * they are written in assembly code. They are defined in regtest.src.\r
+ *\r
+ * "math" tasks - These are a set of 8 tasks that perform various double\r
+ * precision floating point calculations in order to check that the tasks \r
+ * floating point registers are being correctly saved and restored during\r
+ * context switches. The math tasks are defined in flop.c.\r
+ *\r
+ * "Check" task - This only executes every five seconds but has a high priority\r
+ * to ensure it gets processor time. Its main function is to check that all the\r
+ * standard demo tasks are still operational. While no errors have been\r
+ * discovered the check task will toggle an LED every 5 seconds - the toggle\r
+ * rate increasing to 500ms being a visual indication that at least one task has\r
+ * reported unexpected behaviour.\r
+ *\r
+ * *NOTE 1* If LED5 is toggling every 5 seconds then all the demo application\r
+ * tasks are executing as expected and no errors have been reported in any \r
+ * tasks. The toggle rate increasing to 200ms indicates that at least one task\r
+ * has reported unexpected behaviour.\r
+ * \r
+ * *NOTE 2* This file and flop.c both demonstrate the use of \r
+ * xPortUsesFloatingPoint() which informs the kernel that a task should maintain\r
+ * a floating point context.\r
+ *\r
+ * *NOTE 3* vApplicationSetupTimerInterrupt() is called by the kernel to let\r
+ * the application set up a timer to generate the tick interrupt. In this\r
+ * example a compare match timer is used for this purpose. \r
+ * vApplicationTickHook() is used to clear the timer interrupt and relies on\r
+ * configUSE_TICK_HOOK being set to 1 in FreeRTOSConfig.h.\r
+ *\r
+ * *NOTE 4* The traceTASK_SWITCHED_IN and traceTASK_SWITCHED_OUT trace hooks\r
+ * are used to save and restore the floating point context respectively for\r
+ * those tasks that require it (those for which xPortUsesFloatingPoint() has\r
+ * been called).\r
+ * \r
+ */\r
+\r
/* Kernel includes. */\r
#include "FreeRTOS.h"\r
#include "task.h"\r
by at least one task. */\r
#define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )\r
\r
+/*\r
+ * vApplicationMallocFailedHook() will only be called if\r
+ * configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook\r
+ * function that will execute if a call to pvPortMalloc() fails.\r
+ * pvPortMalloc() is called internally by the kernel whenever a task, queue or\r
+ * semaphore is created. It is also called by various parts of the demo\r
+ * application. \r
+ */\r
void vApplicationMallocFailedHook( void );\r
+\r
+/*\r
+ * vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1\r
+ * in FreeRTOSConfig.h. It is a hook function that is called on each iteration\r
+ * of the idle task. It is essential that code added to this hook function\r
+ * never attempts to block in any way (for example, call xQueueReceive() with\r
+ * a block time specified). If the application makes use of the vTaskDelete()\r
+ * API function (as this demo application does) then it is also important that\r
+ * vApplicationIdleHook() is permitted to return to its calling function because\r
+ * it is the responsibility of the idle task to clean up memory allocated by the\r
+ * kernel to any task that has since been deleted.\r
+ */\r
void vApplicationIdleHook( void );\r
+\r
+/*\r
+ * Just sets up clocks, ports, etc. used by the demo application.\r
+ */\r
static void prvSetupHardware( void );\r
+\r
+/*\r
+ * The check task as described at the top of this file.\r
+ */\r
static void prvCheckTask( void *pvParameters );\r
\r
+/*\r
+ * The reg test tasks as described at the top of this file.\r
+ */\r
extern void vRegTest1Task( void *pvParameters );\r
extern void vRegTest2Task( void *pvParameters );\r
\r
+/*-----------------------------------------------------------*/\r
+\r
+/* Variables that are incremented on each iteration of the reg test tasks - \r
+provided the tasks have not reported any errors. The check task inspects these\r
+variables to ensure they are still incrementing as expected. */\r
volatile unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;\r
\r
/*-----------------------------------------------------------*/\r
\r
+/*\r
+ * Creates the majority of the demo application tasks before starting the\r
+ * scheduler.\r
+ */\r
void main(void)\r
{\r
xTaskHandle xCreatedTask;\r
prvSetupHardware();\r
\r
/* Start the reg test tasks which test the context switching mechanism. */\r
- xTaskCreate( vRegTest1Task, "RegTest1", configMINIMAL_STACK_SIZE, ( void * ) 0x12345678UL, tskIDLE_PRIORITY, &xCreatedTask );\r
+ xTaskCreate( vRegTest1Task, "RegTest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xCreatedTask );\r
xPortUsesFloatingPoint( xCreatedTask );\r
\r
- xTaskCreate( vRegTest2Task, "RegTest2", configMINIMAL_STACK_SIZE, ( void * ) 0x11223344UL, tskIDLE_PRIORITY, &xCreatedTask );\r
+ xTaskCreate( vRegTest2Task, "RegTest2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xCreatedTask );\r
xPortUsesFloatingPoint( xCreatedTask );\r
\r
/* Start the check task as described at the top of this file. */\r
vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );\r
vStartQueuePeekTasks();\r
vStartRecursiveMutexTasks();\r
+ \r
+ /* Start the math tasks as described at the top of this file. */\r
vStartMathTasks( mainFLOP_TASK_PRIORITY );\r
\r
/* The suicide tasks must be created last as they need to know how many\r
/* Place this task in the blocked state until it is time to run again. */\r
vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );\r
\r
- /* Inspect all the other tasks to esnure none have experienced any errors. */\r
+ /* Inspect all the other tasks to ensure none have experienced any errors. */\r
if( xAreGenericQueueTasksStillRunning() != pdTRUE )\r
{\r
/* Increase the rate at which this task cycles, which will increase the\r
\r
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )\r
{\r
- /* Just to remove compiler warnings. */\r
+ /* Just to remove compiler warnings. This function will only actually\r
+ get called if configCHECK_FOR_STACK_OVERFLOW is set to a non zero value.\r
+ By default this demo does not use the stack overflow checking functionality\r
+ as the SuperH will normally execute an exception if the stack overflows. */\r
( void ) pxTask;\r
( void ) pcTaskName;\r
\r
void vApplicationSetupTimerInterrupt( void )\r
{\r
/* The peripheral clock is divided by 32 before feeding the compare match\r
-periphersl (CMT). */\r
+peripheral (CMT). */\r
unsigned long ulCompareMatch = ( configPERIPHERAL_CLOCK_HZ / ( configTICK_RATE_HZ * 32 ) ) + 1;\r
\r
/* Configure a timer to create the RTOS tick interrupt. This example uses\r
projects / freertos / blobdiff