FreeRTOS is distributed in the hope that it will be useful, but WITHOUT\r
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or\r
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
+ 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
licensing and training services.\r
*/\r
\r
-/* \r
+/*\r
* This project includes a lot of tasks and tests and is therefore complex.\r
* If you would prefer a much simpler project to get started with then select\r
* the 'Blinky' build configuration within the HEW IDE.\r
*\r
- * Creates all the demo application tasks, then starts the scheduler. The WEB\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. The tasks defined in flop.c are included in the\r
* set of standard demo tasks to ensure the floating point unit gets some\r
- * exercise. \r
+ * exercise.\r
*\r
- * In addition to the standard demo tasks, the following tasks and tests are \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 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 and will result in interrupts being\r
- * disabled and a branch to a null loop. This has the effect of stopping \r
- * execution of all the tests and tasks, which in turn results in all LED\r
- * activity stopping too. The nature of the reg test tasks necessitates that \r
- * they are written in assembly code. The check task (described below) checks \r
- * that the reg test tasks are still executing and will indicate an error if\r
- * either reg test task is found to have stalled.\r
+ * different values. The tasks run with very low priority so get preempted\r
+ * very frequently. A check variable is incremented on each iteration of the\r
+ * test loop. A register containing an unexpected value is indicative of an\r
+ * error in the context switching mechanism and will result in a branch to a\r
+ * null loop - which in turn will prevent the check variable from incrementing\r
+ * any further and allow the check task (described below) to determine that an\r
+ * error has occurred. The nature of the reg test tasks necessitates that they\r
+ * are written in assembly code.\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
* rate increasing to 200ms being a visual indication that at least one task has\r
* reported unexpected behaviour.\r
*\r
- * "High frequency timer test" - A high frequency periodic interrupt is \r
- * generated using a timer - the interrupt is assigned a priority above \r
+ * "High frequency timer test" - A high frequency periodic interrupt is\r
+ * generated using a timer - the interrupt is assigned a priority above\r
* configMAX_SYSCALL_INTERRUPT_PRIORITY so should not be effected by anything\r
- * the kernel is doing. The interrupt service routine measures the number of \r
- * counts a separate timer performs between each interrupt to determine the \r
+ * the kernel is doing. The interrupt service routine measures the number of\r
+ * counts a separate timer performs between each interrupt to determine the\r
* jitter in the interrupt timing.\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 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
+ *\r
* *NOTE 2* 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
+ * example a compare match timer is used for this purpose.\r
*\r
* *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started.\r
- * The PowerON_Reset_PC() supplied in resetprg.c with this demo has \r
+ * The PowerON_Reset_PC() supplied in resetprg.c with this demo has\r
* Change_PSW_PM_to_UserMode() commented out to ensure this is the case.\r
*\r
* *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use\r
#include "recmutex.h"\r
#include "flop.h"\r
\r
-/* Values that are passed into the reg test tasks using the task parameter. The \r
+/* Values that are passed into the reg test tasks using the task parameter. The\r
tasks check that the values are passed in correctly. */\r
#define mainREG_TEST_1_PARAMETER ( 0x12121212UL )\r
#define mainREG_TEST_2_PARAMETER ( 0x12345678UL )\r
#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )\r
\r
/* The LED toggled by the check task. */\r
-#define mainCHECK_LED ( 5 )\r
+#define mainCHECK_LED ( 5 )\r
\r
/* The rate at which mainCHECK_LED will toggle when all the tasks are running\r
without error. Controlled by the check task as described at the top of this\r
file. */\r
-#define mainNO_ERROR_CYCLE_TIME ( 5000 / portTICK_RATE_MS )\r
+#define mainNO_ERROR_CYCLE_TIME ( 5000 / portTICK_RATE_MS )\r
\r
/* The rate at which mainCHECK_LED will toggle when an error has been reported\r
-by at least one task. Controlled by the check task as described at the top of \r
+by at least one task. Controlled by the check task as described at the top of\r
this file. */\r
-#define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )\r
+#define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )\r
\r
/* The period of the peripheral clock in nano seconds. This is used to calculate\r
the jitter time in nano seconds as part of the high frequency timer test. The\r
clock driving the timer is divided by 8. */\r
-#define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( ( double ) configPERIPHERAL_CLOCK_HZ ) / 8.0 ) * 1000000000.0 ) )\r
+#define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( ( double ) configPERIPHERAL_CLOCK_HZ ) / 8.0 ) * 1000000000.0 ) )\r
\r
/*\r
* vApplicationMallocFailedHook() will only be called if\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
+ * application.\r
*/\r
void vApplicationMallocFailedHook( void );\r
\r
void vApplicationIdleHook( void );\r
\r
/*\r
- * vApplicationStackOverflowHook() will only be called if \r
- * configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and \r
+ * vApplicationStackOverflowHook() will only be called if\r
+ * configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and\r
* name of the offending task should be passed in the function parameters, but\r
* it is possible that the stack overflow will have corrupted these - in which\r
* case pxCurrentTCB can be inspected to find the same information.\r
*/\r
static void prvCheckTask( void *pvParameters );\r
\r
-/* Variables that are incremented on each iteration of the reg test tasks - \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. If a variable \r
+variables to ensure they are still incrementing as expected. If a variable\r
stops incrementing then it is likely that its associate task has stalled. */\r
unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;\r
\r
/* Renesas provided CPU configuration routine. The clocks are configured in\r
here. */\r
HardwareSetup();\r
- \r
+\r
/* Turn all LEDs off. */\r
vParTestInitialise();\r
- \r
+\r
/* Start the reg test tasks which test the context switching mechanism. */\r
xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );\r
xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );\r
/* Create the standard demo tasks. */\r
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );\r
vCreateBlockTimeTasks();\r
- vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );\r
- vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );\r
- vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );\r
- vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );\r
+ vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );\r
+ vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );\r
+ vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );\r
+ vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );\r
vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );\r
- vStartQueuePeekTasks();\r
+ vStartQueuePeekTasks();\r
vStartRecursiveMutexTasks();\r
vStartInterruptQueueTasks();\r
vStartMathTasks( mainFLOP_TASK_PRIORITY );\r
/* The suicide tasks must be created last as they need to know how many\r
tasks were running prior to their creation in order to ascertain whether\r
or not the correct/expected number of tasks are running at any given time. */\r
- vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );\r
+ vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );\r
\r
/* Start the tasks running. */\r
vTaskStartScheduler();\r
- \r
+\r
/* If all is well we will never reach here as the scheduler will now be\r
running. If we do reach here then it is likely that there was insufficient\r
heap available for the idle task to be created. */\r
extern void vSetupHighFrequencyTimer( void );\r
extern volatile unsigned short usMaxJitter;\r
volatile unsigned long ulActualJitter = 0;\r
+static char cErrorText[ 100 ];\r
\r
/* If this is being executed then the kernel has been started. Start the high\r
- frequency timer test as described at the top of this file. This is only \r
+ frequency timer test as described at the top of this file. This is only\r
included in the optimised build configuration - otherwise it takes up too much\r
CPU time. */\r
#ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST\r
rate at which mainCHECK_LED flashes to give visual feedback that an error\r
has occurred. */\r
xCycleFrequency = mainERROR_CYCLE_TIME;\r
+ strcpy( cErrorText, "Error: GenQueue" );\r
}\r
else if( xAreQueuePeekTasksStillRunning() != pdTRUE )\r
{\r
xCycleFrequency = mainERROR_CYCLE_TIME;\r
+ strcpy( cErrorText, "Error: QueuePeek" );\r
}\r
else if( xAreBlockingQueuesStillRunning() != pdTRUE )\r
{\r
xCycleFrequency = mainERROR_CYCLE_TIME;\r
+ strcpy( cErrorText, "Error: BlockQueue" );\r
}\r
else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )\r
{\r
xCycleFrequency = mainERROR_CYCLE_TIME;\r
+ strcpy( cErrorText, "Error: BlockTime" );\r
+ }\r
+ else if( xAreSemaphoreTasksStillRunning() != pdTRUE )\r
+ {\r
+ xCycleFrequency = mainERROR_CYCLE_TIME;\r
+ strcpy( cErrorText, "Error: SemTest" );\r
+ }\r
+ else if( xArePollingQueuesStillRunning() != pdTRUE )\r
+ {\r
+ xCycleFrequency = mainERROR_CYCLE_TIME;\r
+ strcpy( cErrorText, "Error: PollQueue" );\r
+ }\r
+ else if( xIsCreateTaskStillRunning() != pdTRUE )\r
+ {\r
+ xCycleFrequency = mainERROR_CYCLE_TIME;\r
+ strcpy( cErrorText, "Error: Death" );\r
+ }\r
+ else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )\r
+ {\r
+ xCycleFrequency = mainERROR_CYCLE_TIME;\r
+ strcpy( cErrorText, "Error: IntMath" );\r
+ }\r
+ else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )\r
+ {\r
+ xCycleFrequency = mainERROR_CYCLE_TIME;\r
+ strcpy( cErrorText, "Error: RecMutex" );\r
}\r
- else if( xAreSemaphoreTasksStillRunning() != pdTRUE )\r
- {\r
- xCycleFrequency = mainERROR_CYCLE_TIME;\r
- }\r
- else if( xArePollingQueuesStillRunning() != pdTRUE )\r
- {\r
- xCycleFrequency = mainERROR_CYCLE_TIME;\r
- }\r
- else if( xIsCreateTaskStillRunning() != pdTRUE )\r
- {\r
- xCycleFrequency = mainERROR_CYCLE_TIME;\r
- }\r
- else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )\r
- {\r
- xCycleFrequency = mainERROR_CYCLE_TIME;\r
- }\r
- else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )\r
- {\r
- xCycleFrequency = mainERROR_CYCLE_TIME;\r
- }\r
else if( xAreIntQueueTasksStillRunning() != pdPASS )\r
{\r
xCycleFrequency = mainERROR_CYCLE_TIME;\r
+ strcpy( cErrorText, "Error: IntQueue" );\r
}\r
else if( xAreMathsTaskStillRunning() != pdPASS )\r
{\r
xCycleFrequency = mainERROR_CYCLE_TIME;\r
+ strcpy( cErrorText, "Error: Flop" );\r
}\r
\r
/* Check the reg test tasks are still cycling. They will stop incrementing\r
if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )\r
{\r
xCycleFrequency = mainERROR_CYCLE_TIME;\r
+ strcpy( cErrorText, "Error: RegTest1" );\r
}\r
\r
if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )\r
{\r
xCycleFrequency = mainERROR_CYCLE_TIME;\r
+ strcpy( cErrorText, "Error: RegTest2" );\r
}\r
- \r
+\r
ulLastRegTest1CycleCount = ulRegTest1CycleCount;\r
ulLastRegTest2CycleCount = ulRegTest2CycleCount;\r
- \r
- /* Toggle the check LED to give an indication of the system status. If \r
- the LED toggles every 5 seconds then everything is ok. A faster toggle \r
+\r
+ /* Toggle the check LED to give an indication of the system status. If\r
+ the LED toggles every 5 seconds then everything is ok. A faster toggle\r
indicates an error. */\r
vParTestToggleLED( mainCHECK_LED );\r
- \r
- /* Calculate the maximum jitter experienced by the high frequency timer \r
- test and print it out. It is ok to use printf without worrying about \r
+\r
+ /* Calculate the maximum jitter experienced by the high frequency timer\r
+ test and print it out. It is ok to use printf without worrying about\r
mutual exclusion as it is not used anywhere else in this demo. */\r
//sprintf( cTempBuf, "%s [%fns]\n", "Max Jitter = ", ( ( float ) usMaxJitter ) * mainNS_PER_CLOCK );\r
ulActualJitter = ( ( unsigned long ) usMaxJitter ) * mainNS_PER_CLOCK;\r
}\r
/*-----------------------------------------------------------*/\r
\r
-/* The RX port uses this callback function to configure its tick interrupt. \r
+/* The RX port uses this callback function to configure its tick interrupt.\r
This allows the application to choose the tick interrupt source. */\r
void vApplicationSetupTimerInterrupt( void )\r
{\r
/* Enable compare match timer 0. */\r
MSTP( CMT0 ) = 0;\r
- \r
+\r
/* Interrupt on compare match. */\r
CMT0.CMCR.BIT.CMIE = 1;\r
- \r
+\r
/* Set the compare match value. */\r
CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );\r
- \r
+\r
/* Divide the PCLK by 8. */\r
CMT0.CMCR.BIT.CKS = 0;\r
- \r
+\r
/* Enable the interrupt... */\r
_IEN( _CMT0_CMI0 ) = 1;\r
- \r
+\r
/* ...and set its priority to the application defined kernel priority. */\r
_IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;\r
- \r
+\r
/* Start the timer. */\r
CMT.CMSTR0.BIT.STR0 = 1;\r
}\r
taskDISABLE_INTERRUPTS();\r
}\r
}\r
- \r
+\r
/* This is an inline asm function that never returns. */\r
- prvRegTest1Implementation(); \r
+ prvRegTest1Implementation();\r
}\r
/*-----------------------------------------------------------*/\r
\r
taskDISABLE_INTERRUPTS();\r
}\r
}\r
- \r
+\r
/* This is an inline asm function that never returns. */\r
- prvRegTest2Implementation(); \r
+ prvRegTest2Implementation();\r
}\r
/*-----------------------------------------------------------*/\r
\r
MOV.L #13, R13\r
MOV.L #14, R14\r
MOV.L #15, R15\r
- \r
+\r
; Loop, checking each itteration that each register still contains the\r
; expected value.\r
-TestLoop1: \r
+TestLoop1:\r
\r
; Push the registers that are going to get clobbered.\r
PUSHM R14-R15\r
- \r
+\r
; Increment the loop counter to show this task is still getting CPU time.\r
MOV.L #_ulRegTest1CycleCount, R14\r
MOV.L [ R14 ], R15\r
ADD #1, R15\r
MOV.L R15, [ R14 ]\r
- \r
+\r
; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.\r
MOV.L #1, R14\r
MOV.L #0872E0H, R15\r
MOV.B R14, [R15]\r
NOP\r
NOP\r
- \r
+\r
; Restore the clobbered registers.\r
POPM R14-R15\r
- \r
+\r
; Now compare each register to ensure it still contains the value that was\r
; set before this loop was entered.\r
CMP #1, R1\r
- BNE RegTest2Error\r
+ BNE RegTest1Error\r
CMP #2, R2\r
- BNE RegTest2Error\r
+ BNE RegTest1Error\r
CMP #3, R3\r
- BNE RegTest2Error\r
+ BNE RegTest1Error\r
CMP #4, R4\r
- BNE RegTest2Error\r
+ BNE RegTest1Error\r
CMP #5, R5\r
- BNE RegTest2Error\r
+ BNE RegTest1Error\r
CMP #6, R6\r
- BNE RegTest2Error\r
+ BNE RegTest1Error\r
CMP #7, R7\r
- BNE RegTest2Error\r
+ BNE RegTest1Error\r
CMP #8, R8\r
- BNE RegTest2Error\r
+ BNE RegTest1Error\r
CMP #9, R9\r
- BNE RegTest2Error\r
+ BNE RegTest1Error\r
CMP #10, R10\r
- BNE RegTest2Error\r
+ BNE RegTest1Error\r
CMP #11, R11\r
- BNE RegTest2Error\r
+ BNE RegTest1Error\r
CMP #12, R12\r
- BNE RegTest2Error\r
+ BNE RegTest1Error\r
CMP #13, R13\r
- BNE RegTest2Error\r
+ BNE RegTest1Error\r
CMP #14, R14\r
- BNE RegTest2Error\r
+ BNE RegTest1Error\r
CMP #15, R15\r
- BNE RegTest2Error\r
+ BNE RegTest1Error\r
\r
; All comparisons passed, start a new itteratio of this loop.\r
BRA TestLoop1\r
- \r
+\r
RegTest1Error:\r
- ; A compare failed, something has gone wrong. Stop the tick and any other \r
- ; interrupts to make it obvious that things have halted.\r
- CLRPSW I\r
+ ; A compare failed, just loop here so the loop counter stops incrementing\r
+ ; causing the check task to indicate the error.\r
BRA RegTest1Error\r
}\r
/*-----------------------------------------------------------*/\r
MOV.L #130, R13\r
MOV.L #140, R14\r
MOV.L #150, R15\r
- \r
+\r
; Loop, checking on each itteration that each register still contains the\r
; expected value.\r
-TestLoop2: \r
- \r
+TestLoop2:\r
+\r
; Push the registers that are going to get clobbered.\r
PUSHM R14-R15\r
- \r
+\r
; Increment the loop counter to show this task is still getting CPU time.\r
MOV.L #_ulRegTest2CycleCount, R14\r
MOV.L [ R14 ], R15\r
ADD #1, R15\r
MOV.L R15, [ R14 ]\r
- \r
+\r
; Restore the clobbered registers.\r
- POPM R14-R15 \r
- \r
+ POPM R14-R15\r
+\r
CMP #10, R1\r
BNE RegTest2Error\r
CMP #20, R2\r
\r
; All comparisons passed, start a new itteratio of this loop.\r
BRA TestLoop2\r
- \r
+\r
RegTest2Error:\r
- ; A compare failed, something went wrong. Stop the tick and any other \r
- ; interrupts to make it obvious that things have halted.\r
- CLRPSW I\r
+ ; A compare failed, just loop here so the loop counter stops incrementing\r
+ ; - causing the check task to indicate the error.\r
BRA RegTest2Error\r
}\r
\r
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