--- /dev/null
+/*\r
+ FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.\r
+ All rights reserved\r
+\r
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\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
+\r
+ ***************************************************************************\r
+ >>! NOTE: The modification to the GPL is included to allow you to !<<\r
+ >>! distribute a combined work that includes FreeRTOS without being !<<\r
+ >>! obliged to provide the source code for proprietary components !<<\r
+ >>! outside of the FreeRTOS kernel. !<<\r
+ ***************************************************************************\r
+\r
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
+ FOR A PARTICULAR PURPOSE. Full license text is available on the following\r
+ link: http://www.freertos.org/a00114.html\r
+\r
+ ***************************************************************************\r
+ * *\r
+ * FreeRTOS provides completely free yet professionally developed, *\r
+ * robust, strictly quality controlled, supported, and cross *\r
+ * platform software that is more than just the market leader, it *\r
+ * is the industry's de facto standard. *\r
+ * *\r
+ * Help yourself get started quickly while simultaneously helping *\r
+ * to support the FreeRTOS project by purchasing a FreeRTOS *\r
+ * tutorial book, reference manual, or both: *\r
+ * http://www.FreeRTOS.org/Documentation *\r
+ * *\r
+ ***************************************************************************\r
+\r
+ http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading\r
+ the FAQ page "My application does not run, what could be wrong?". Have you\r
+ defined configASSERT()?\r
+\r
+ http://www.FreeRTOS.org/support - In return for receiving this top quality\r
+ embedded software for free we request you assist our global community by\r
+ participating in the support forum.\r
+\r
+ http://www.FreeRTOS.org/training - Investing in training allows your team to\r
+ be as productive as possible as early as possible. Now you can receive\r
+ FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers\r
+ Ltd, and the world's leading authority on the world's leading RTOS.\r
+\r
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
+\r
+ http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.\r
+ Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.\r
+\r
+ http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High\r
+ Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS\r
+ licenses offer ticketed support, indemnification and commercial middleware.\r
+\r
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
+ engineered and independently SIL3 certified version for use in safety and\r
+ mission critical applications that require provable dependability.\r
+\r
+ 1 tab == 4 spaces!\r
+*/\r
+\r
+/******************************************************************************\r
+ * NOTE 1: This project provides two demo applications. A simple blinky style\r
+ * project, and a more comprehensive test and demo application. The\r
+ * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select\r
+ * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY\r
+ * in main.c. This file implements the comprehensive test and demo version.\r
+ *\r
+ * NOTE 2: This file only contains the source code that is specific to the\r
+ * full demo. Generic functions, such FreeRTOS hook functions, and functions\r
+ * required to configure the hardware, are defined in main.c.\r
+ *\r
+ ******************************************************************************\r
+ *\r
+ * main_full() creates all the demo application tasks and software timers, then\r
+ * starts the scheduler. The web documentation provides more details of the\r
+ * standard demo application tasks, which provide no particular functionality,\r
+ * but do provide a good example of how to use the FreeRTOS API.\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
+ * "Reg test" tasks - These fill both the core and floating point registers with\r
+ * known values, then check that each register maintains its expected value for\r
+ * the lifetime of the task. Each task uses a different set of values. The reg\r
+ * test tasks execute with a 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.\r
+ *\r
+ * "Check" task - The check task period is initially set to three seconds. The\r
+ * task checks that all the standard demo tasks, and the register check tasks,\r
+ * are not only still executing, but are executing without reporting any errors.\r
+ * If the check task discovers that a task has either stalled, or reported an\r
+ * error, then it changes its own execution period from the initial three\r
+ * seconds, to just 200ms. The check task also toggles an LED each time it is\r
+ * called. This provides a visual indication of the system status: If the LED\r
+ * toggles every three seconds, then no issues have been discovered. If the LED\r
+ * toggles every 200ms, then an issue has been discovered with at least one\r
+ * task. The LED used is defined in mainCHECK_LED, below.\r
+ *\r
+ * NOTE on LEDS:\r
+ *\r
+ * This demo is NOT configured to use the LED built onto the SAMA6D2\r
+ * XPLained board!\r
+ *\r
+ * The LED driver PIN_LED definitions have been altered in\r
+ * board_sama5d2-xplained.h to remap them to GPIOs terminating on pins 30,\r
+ * 32 and 34 of J17. (This change is conditional on the preprocessor\r
+ * #define "LEDS_ON_J17".) These GPIOs are configured to be "high drive"\r
+ * push-pull outputs; they can source up to 18mA at 1.8v. Low\r
+ * forward-voltage LEDs may be connected via 100 ohm resistors to pins\r
+ * 30, 32 and 34 with their cathodes to pin 35/36 (GND).\r
+ */\r
+\r
+/* Standard includes. */\r
+#include <stdio.h>\r
+\r
+/* Kernel includes. */\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+#include "timers.h"\r
+#include "semphr.h"\r
+\r
+/* Standard demo application includes. */\r
+#include "flop.h"\r
+#include "semtest.h"\r
+#include "dynamic.h"\r
+#include "BlockQ.h"\r
+#include "blocktim.h"\r
+#include "countsem.h"\r
+#include "GenQTest.h"\r
+#include "recmutex.h"\r
+#include "death.h"\r
+#include "partest.h"\r
+#include "comtest2.h"\r
+#include "serial.h"\r
+#include "TimerDemo.h"\r
+#include "QueueOverwrite.h"\r
+#include "IntQueue.h"\r
+#include "EventGroupsDemo.h"\r
+#include "flash.h"\r
+\r
+/* Priorities for the demo application tasks. */\r
+#define mainLED_FLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1UL )\r
+#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )\r
+#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )\r
+#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )\r
+#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )\r
+#define mainCDC_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2UL )\r
+#define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
+#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )\r
+#define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )\r
+\r
+/* The initial priority used by the UART command console task. */\r
+#define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( configMAX_PRIORITIES - 2 )\r
+\r
+/* The LED used by the check task. */\r
+#define mainCHECK_LED ( 2 )\r
+\r
+/* A block time of zero simply means "don't block". */\r
+#define mainDONT_BLOCK ( 0UL )\r
+\r
+/* The period of the check task, in ms, provided no errors have been reported by\r
+any of the standard demo tasks. ms are converted to the equivalent in ticks\r
+using the pdMS_TO_TICKS() macro constant. */\r
+#define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000UL )\r
+\r
+/* The period of the check task, in ms, if an error has been reported in one of\r
+the standard demo tasks. ms are converted to the equivalent in ticks using the\r
+pdMS_TO_TICKS() macro. */\r
+#define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 200UL )\r
+\r
+/* Parameters that are passed into the register check tasks solely for the\r
+purpose of ensuring parameters are passed into tasks correctly. */\r
+#define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )\r
+#define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )\r
+\r
+/* The base period used by the timer test tasks. */\r
+#define mainTIMER_TEST_PERIOD ( 50 )\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * Called by main() to run the full demo (as opposed to the blinky demo) when\r
+ * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.\r
+ */\r
+void main_full( 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
+ * Register check tasks, and the tasks used to write over and check the contents\r
+ * of the FPU registers, as described at the top of this file. The nature of\r
+ * these files necessitates that they are written in an assembly file, but the\r
+ * entry points are kept in the C file for the convenience of checking the task\r
+ * parameter.\r
+ */\r
+static void prvRegTestTaskEntry1( void *pvParameters );\r
+extern void vRegTest1Implementation( void );\r
+static void prvRegTestTaskEntry2( void *pvParameters );\r
+extern void vRegTest2Implementation( void );\r
+\r
+/*\r
+ * A high priority task that does nothing other than execute at a pseudo random\r
+ * time to ensure the other test tasks don't just execute in a repeating\r
+ * pattern.\r
+ */\r
+static void prvPseudoRandomiser( void *pvParameters );\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/* The following two variables are used to communicate the status of the\r
+register check tasks to the check task. If the variables keep incrementing,\r
+then the register check tasks have not discovered any errors. If a variable\r
+stops incrementing, then an error has been found. */\r
+volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+void main_full( void )\r
+{\r
+ /* Start all the other standard demo/test tasks. They have no particular\r
+ functionality, but do demonstrate how to use the FreeRTOS API and test the\r
+ kernel port. */\r
+ vStartInterruptQueueTasks();\r
+ vStartDynamicPriorityTasks();\r
+ vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );\r
+ vCreateBlockTimeTasks();\r
+ vStartCountingSemaphoreTasks();\r
+ vStartGenericQueueTasks( tskIDLE_PRIORITY );\r
+ vStartRecursiveMutexTasks();\r
+ vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );\r
+ vStartMathTasks( mainFLOP_TASK_PRIORITY );\r
+ vStartTimerDemoTask( mainTIMER_TEST_PERIOD );\r
+ vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );\r
+ vStartEventGroupTasks();\r
+\r
+ /* Create the register check tasks, as described at the top of this file */\r
+ xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );\r
+ xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );\r
+\r
+ /* Create the task that just adds a little random behaviour. */\r
+ xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );\r
+\r
+ /* Create the task that performs the 'check' functionality, as described at\r
+ the top of this file. */\r
+ xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );\r
+\r
+ /* The set of tasks created by the following function call have to be\r
+ created last as they keep account of the number of tasks they expect to see\r
+ running. */\r
+ vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );\r
+\r
+ /* Start the scheduler. */\r
+ vTaskStartScheduler();\r
+\r
+ /* If all is well, the scheduler will now be running, and the following\r
+ line will never be reached. If the following line does execute, then\r
+ there was either insufficient FreeRTOS heap memory available for the idle\r
+ and/or timer tasks to be created, or vTaskStartScheduler() was called from\r
+ User mode. See the memory management section on the FreeRTOS web site for\r
+ more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The\r
+ mode from which main() is called is set in the C start up code and must be\r
+ a privileged mode (not user mode). */\r
+ for( ;; );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvCheckTask( void *pvParameters )\r
+{\r
+TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;\r
+TickType_t xLastExecutionTime;\r
+static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;\r
+unsigned long ulErrorFound = pdFALSE;\r
+\r
+ /* Just to stop compiler warnings. */\r
+ ( void ) pvParameters;\r
+\r
+ /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()\r
+ works correctly. */\r
+ xLastExecutionTime = xTaskGetTickCount();\r
+\r
+ /* Cycle for ever, delaying then checking all the other tasks are still\r
+ operating without error. The onboard LED is toggled on each iteration.\r
+ If an error is detected then the delay period is decreased from\r
+ mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the\r
+ effect of increasing the rate at which the onboard LED toggles, and in so\r
+ doing gives visual feedback of the system status. */\r
+ for( ;; )\r
+ {\r
+ /* Delay until it is time to execute again. */\r
+ vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );\r
+\r
+ /* Check all the demo tasks (other than the flash tasks) to ensure\r
+ that they are all still running, and that none have detected an error. */\r
+ if( xAreIntQueueTasksStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xAreMathsTaskStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xAreBlockingQueuesStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if ( xAreGenericQueueTasksStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xIsCreateTaskStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xAreSemaphoreTasksStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xIsQueueOverwriteTaskStillRunning() != pdPASS )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xAreEventGroupTasksStillRunning() != pdPASS )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ /* Check that the register test 1 task is still running. */\r
+ if( ulLastRegTest1Value == ulRegTest1LoopCounter )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+ ulLastRegTest1Value = ulRegTest1LoopCounter;\r
+\r
+ /* Check that the register test 2 task is still running. */\r
+ if( ulLastRegTest2Value == ulRegTest2LoopCounter )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+ ulLastRegTest2Value = ulRegTest2LoopCounter;\r
+\r
+ /* Toggle the check LED to give an indication of the system status. If\r
+ the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then\r
+ everything is ok. A faster toggle indicates an error. */\r
+ vParTestToggleLED( mainCHECK_LED );\r
+\r
+ if( ulErrorFound != pdFALSE )\r
+ {\r
+ /* An error has been detected in one of the tasks - flash the LED\r
+ at a higher frequency to give visible feedback that something has\r
+ gone wrong (it might just be that the loop back connector required\r
+ by the comtest tasks has not been fitted). */\r
+ xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;\r
+ }\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvRegTestTaskEntry1( void *pvParameters )\r
+{\r
+ /* Although the regtest task is written in assembler, its entry point is\r
+ written in C for convenience of checking the task parameter is being passed\r
+ in correctly. */\r
+ if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )\r
+ {\r
+ /* The reg test task also tests the floating point registers. Tasks\r
+ that use the floating point unit must call vPortTaskUsesFPU() before\r
+ any floating point instructions are executed. */\r
+ vPortTaskUsesFPU();\r
+\r
+ /* Start the part of the test that is written in assembler. */\r
+ vRegTest1Implementation();\r
+ }\r
+\r
+ /* The following line will only execute if the task parameter is found to\r
+ be incorrect. The check task will detect that the regtest loop counter is\r
+ not being incremented and flag an error. */\r
+ vTaskDelete( NULL );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvRegTestTaskEntry2( void *pvParameters )\r
+{\r
+ /* Although the regtest task is written in assembler, its entry point is\r
+ written in C for convenience of checking the task parameter is being passed\r
+ in correctly. */\r
+ if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )\r
+ {\r
+ /* The reg test task also tests the floating point registers. Tasks\r
+ that use the floating point unit must call vPortTaskUsesFPU() before\r
+ any floating point instructions are executed. */\r
+ vPortTaskUsesFPU();\r
+\r
+ /* Start the part of the test that is written in assembler. */\r
+ vRegTest2Implementation();\r
+ }\r
+\r
+ /* The following line will only execute if the task parameter is found to\r
+ be incorrect. The check task will detect that the regtest loop counter is\r
+ not being incremented and flag an error. */\r
+ vTaskDelete( NULL );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvPseudoRandomiser( void *pvParameters )\r
+{\r
+const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = ( 35 / portTICK_PERIOD_MS ), ulIBit = ( 1UL << 7UL );\r
+volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue;\r
+\r
+ /* A few minor port tests before entering the randomiser loop.\r
+\r
+ At this point interrupts should be enabled. */\r
+ configASSERT( ( __get_CPSR() & ulIBit ) == 0 );\r
+\r
+ /* The CPU does not have an interrupt mask register, so critical sections\r
+ have to globally disable interrupts. Therefore entering a critical section\r
+ should leave the I bit set. */\r
+ taskENTER_CRITICAL();\r
+ configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );\r
+\r
+ /* Nest the critical sections. */\r
+ taskENTER_CRITICAL();\r
+ configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );\r
+\r
+ /* After yielding the I bit should still be set. Note yielding is possible\r
+ in a critical section as each task maintains its own critical section\r
+ nesting count so some tasks are in critical sections and others are not -\r
+ however this is *not* something task code should do! */\r
+ taskYIELD();\r
+ configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );\r
+\r
+ /* The I bit should not be cleared again until both critical sections have\r
+ been exited. */\r
+ taskEXIT_CRITICAL();\r
+ taskYIELD();\r
+ configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );\r
+ taskEXIT_CRITICAL();\r
+ configASSERT( ( __get_CPSR() & ulIBit ) == 0 );\r
+ taskYIELD();\r
+ configASSERT( ( __get_CPSR() & ulIBit ) == 0 );\r
+\r
+ /* This task does nothing other than ensure there is a little bit of\r
+ disruption in the scheduling pattern of the other tasks. Normally this is\r
+ done by generating interrupts at pseudo random times. */\r
+ for( ;; )\r
+ {\r
+ ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;\r
+ ulValue = ( ulNextRand >> 16UL ) & 0xffUL;\r
+\r
+ if( ulValue < ulMinDelay )\r
+ {\r
+ ulValue = ulMinDelay;\r
+ }\r
+\r
+ vTaskDelay( ulValue );\r
+\r
+ while( ulValue > 0 )\r
+ {\r
+ __asm volatile( "NOP" );\r
+ __asm volatile( "NOP" );\r
+ __asm volatile( "NOP" );\r
+ __asm volatile( "NOP" );\r
+\r
+ ulValue--;\r
+ }\r
+ }\r
+}\r
+\r
+\r
+\r
+\r
+\r
+\r
projects / freertos / blobdiff