2 FreeRTOS V8.1.2 - Copyright (C) 2014 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 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /******************************************************************************
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67 * NOTE 1: This project provides two demo applications. A simple blinky style
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68 * project, and a more comprehensive test and demo application. The
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69 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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70 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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71 * in main.c. This file implements the comprehensive test and demo version.
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73 * NOTE 2: This file only contains the source code that is specific to the
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74 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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75 * required to configure the hardware, are defined in main.c.
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76 ******************************************************************************
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78 * main_full() creates all the demo application tasks and a software timer, then
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79 * starts the scheduler. The web documentation provides more details of the
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80 * standard demo application tasks, which provide no particular functionality,
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81 * but do provide a good example of how to use the FreeRTOS API.
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83 * In addition to the standard demo tasks, the following tasks and tests are
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84 * defined and/or created within this file:
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86 * "Reg test" tasks - These fill both the core and floating point registers with
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87 * known values, then check that each register maintains its expected value for
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88 * the lifetime of the task. Each task uses a different set of values. The reg
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89 * test tasks execute with a very low priority, so get preempted very
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90 * frequently. A register containing an unexpected value is indicative of an
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91 * error in the context switching mechanism.
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93 * "Check" timer - The check software timer period is initially set to three
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94 * seconds. The callback function associated with the check software timer
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95 * checks that all the standard demo tasks, and the register check tasks, are
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96 * not only still executing, but are executing without reporting any errors. If
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97 * the check software timer discovers that a task has either stalled, or
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98 * reported an error, then it changes its own execution period from the initial
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99 * three seconds, to just 200ms. The check software timer callback function
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100 * also toggles the single LED each time it is called. This provides a visual
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101 * indication of the system status: If the LED toggles every three seconds,
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102 * then no issues have been discovered. If the LED toggles every 200ms, then
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103 * an issue has been discovered with at least one task.
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106 /* Standard includes. */
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109 /* Kernel includes. */
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110 #include "FreeRTOS.h"
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112 #include "timers.h"
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113 #include "semphr.h"
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115 /* Standard demo application includes. */
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117 #include "integer.h"
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119 #include "semtest.h"
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120 #include "dynamic.h"
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121 #include "BlockQ.h"
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122 #include "blocktim.h"
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123 #include "countsem.h"
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124 #include "GenQTest.h"
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125 #include "recmutex.h"
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128 /* Hardware includes. */
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129 #include "XMC4500.h"
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130 #include "System_XMC4500.h"
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132 /* Priorities for the demo application tasks. */
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133 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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134 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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135 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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136 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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137 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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139 /* To toggle the single LED */
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140 #define mainTOGGLE_LED() ( PORT3->OMR = 0x02000200 )
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142 /* A block time of zero simply means "don't block". */
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143 #define mainDONT_BLOCK ( 0UL )
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145 /* The period after which the check timer will expire, in ms, provided no errors
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146 have been reported by any of the standard demo tasks. ms are converted to the
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147 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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148 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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150 /* The period at which the check timer will expire, in ms, if an error has been
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151 reported in one of the standard demo tasks. ms are converted to the equivalent
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152 in ticks using the portTICK_PERIOD_MS constant. */
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153 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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155 /*-----------------------------------------------------------*/
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158 * The check timer callback function, as described at the top of this file.
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160 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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163 * Register check tasks, and the tasks used to write over and check the contents
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164 * of the FPU registers, as described at the top of this file. The nature of
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165 * these files necessitates that they are written in an assembly file.
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167 static void vRegTest1Task( void *pvParameters ) __attribute__((naked));
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168 static void vRegTest2Task( void *pvParameters ) __attribute__((naked));
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170 /*-----------------------------------------------------------*/
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172 /* The following two variables are used to communicate the status of the
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173 register check tasks to the check software timer. If the variables keep
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174 incrementing, then the register check tasks has not discovered any errors. If
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175 a variable stops incrementing, then an error has been found. */
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176 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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178 /*-----------------------------------------------------------*/
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180 void main_full( void )
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182 TimerHandle_t xCheckTimer = NULL;
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184 /* Start all the other standard demo/test tasks. The have not particular
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185 functionality, but do demonstrate how to use the FreeRTOS API and test the
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187 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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188 vStartDynamicPriorityTasks();
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189 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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190 vCreateBlockTimeTasks();
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191 vStartCountingSemaphoreTasks();
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192 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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193 vStartRecursiveMutexTasks();
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194 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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195 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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196 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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198 /* Create the register check tasks, as described at the top of this
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200 xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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201 xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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203 /* Create the software timer that performs the 'check' functionality,
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204 as described at the top of this file. */
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205 xCheckTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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206 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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207 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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208 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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209 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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212 if( xCheckTimer != NULL )
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214 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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217 /* The set of tasks created by the following function call have to be
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218 created last as they keep account of the number of tasks they expect to see
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220 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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222 /* Start the scheduler. */
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223 vTaskStartScheduler();
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225 /* If all is well, the scheduler will now be running, and the following line
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226 will never be reached. If the following line does execute, then there was
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227 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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228 to be created. See the memory management section on the FreeRTOS web site
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229 for more details. */
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232 /*-----------------------------------------------------------*/
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234 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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236 static long lChangedTimerPeriodAlready = pdFALSE;
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237 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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238 unsigned long ulErrorFound = pdFALSE;
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240 /* Check all the demo tasks (other than the flash tasks) to ensure
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241 that they are all still running, and that none have detected an error. */
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243 if( xAreMathsTaskStillRunning() != pdTRUE )
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245 ulErrorFound = pdTRUE;
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248 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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250 ulErrorFound = pdTRUE;
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253 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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255 ulErrorFound = pdTRUE;
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258 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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260 ulErrorFound = pdTRUE;
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263 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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265 ulErrorFound = pdTRUE;
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268 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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270 ulErrorFound = pdTRUE;
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273 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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275 ulErrorFound = pdTRUE;
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278 if( xIsCreateTaskStillRunning() != pdTRUE )
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280 ulErrorFound = pdTRUE;
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283 if( xArePollingQueuesStillRunning() != pdTRUE )
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285 ulErrorFound = pdTRUE;
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288 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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290 ulErrorFound = pdTRUE;
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293 /* Check that the register test 1 task is still running. */
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294 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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296 ulErrorFound = pdTRUE;
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298 ulLastRegTest1Value = ulRegTest1LoopCounter;
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300 /* Check that the register test 2 task is still running. */
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301 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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303 ulErrorFound = pdTRUE;
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305 ulLastRegTest2Value = ulRegTest2LoopCounter;
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307 /* Toggle the check LED to give an indication of the system status. If
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308 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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309 everything is ok. A faster toggle indicates an error. */
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312 /* Have any errors been latch in ulErrorFound? If so, shorten the
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313 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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314 This will result in an increase in the rate at which mainCHECK_LED
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316 if( ulErrorFound != pdFALSE )
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318 if( lChangedTimerPeriodAlready == pdFALSE )
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320 lChangedTimerPeriodAlready = pdTRUE;
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322 /* This call to xTimerChangePeriod() uses a zero block time.
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323 Functions called from inside of a timer callback function must
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324 *never* attempt to block. */
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325 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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329 /*-----------------------------------------------------------*/
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331 /* This is a naked function. */
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332 static void vRegTest1Task( void *pvParameters )
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336 " /* Fill the core registers with known values. */ \n"
\r
347 " mov r10, #110 \n"
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348 " mov r11, #111 \n"
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349 " mov r12, #112 \n"
\r
351 " /* Fill the VFP registers with known values. */ \n"
\r
352 " vmov d0, r0, r1 \n"
\r
353 " vmov d1, r2, r3 \n"
\r
354 " vmov d2, r4, r5 \n"
\r
355 " vmov d3, r6, r7 \n"
\r
356 " vmov d4, r8, r9 \n"
\r
357 " vmov d5, r10, r11 \n"
\r
358 " vmov d6, r0, r1 \n"
\r
359 " vmov d7, r2, r3 \n"
\r
360 " vmov d8, r4, r5 \n"
\r
361 " vmov d9, r6, r7 \n"
\r
362 " vmov d10, r8, r9 \n"
\r
363 " vmov d11, r10, r11 \n"
\r
364 " vmov d12, r0, r1 \n"
\r
365 " vmov d13, r2, r3 \n"
\r
366 " vmov d14, r4, r5 \n"
\r
367 " vmov d15, r6, r7 \n"
\r
370 " /* Check all the VFP registers still contain the values set above.\n"
\r
371 " First save registers that are clobbered by the test. */ \n"
\r
372 " push { r0-r1 } \n"
\r
374 " vmov r0, r1, d0 \n"
\r
376 " bne reg1_error_loopf \n"
\r
378 " bne reg1_error_loopf \n"
\r
379 " vmov r0, r1, d1 \n"
\r
381 " bne reg1_error_loopf \n"
\r
383 " bne reg1_error_loopf \n"
\r
384 " vmov r0, r1, d2 \n"
\r
386 " bne reg1_error_loopf \n"
\r
388 " bne reg1_error_loopf \n"
\r
389 " vmov r0, r1, d3 \n"
\r
391 " bne reg1_error_loopf \n"
\r
393 " bne reg1_error_loopf \n"
\r
394 " vmov r0, r1, d4 \n"
\r
396 " bne reg1_error_loopf \n"
\r
398 " bne reg1_error_loopf \n"
\r
399 " vmov r0, r1, d5 \n"
\r
401 " bne reg1_error_loopf \n"
\r
403 " bne reg1_error_loopf \n"
\r
404 " vmov r0, r1, d6 \n"
\r
406 " bne reg1_error_loopf \n"
\r
408 " bne reg1_error_loopf \n"
\r
409 " vmov r0, r1, d7 \n"
\r
411 " bne reg1_error_loopf \n"
\r
413 " bne reg1_error_loopf \n"
\r
414 " vmov r0, r1, d8 \n"
\r
416 " bne reg1_error_loopf \n"
\r
418 " bne reg1_error_loopf \n"
\r
419 " vmov r0, r1, d9 \n"
\r
421 " bne reg1_error_loopf \n"
\r
423 " bne reg1_error_loopf \n"
\r
424 " vmov r0, r1, d10 \n"
\r
426 " bne reg1_error_loopf \n"
\r
428 " bne reg1_error_loopf \n"
\r
429 " vmov r0, r1, d11 \n"
\r
431 " bne reg1_error_loopf \n"
\r
433 " bne reg1_error_loopf \n"
\r
434 " vmov r0, r1, d12 \n"
\r
436 " bne reg1_error_loopf \n"
\r
438 " bne reg1_error_loopf \n"
\r
439 " vmov r0, r1, d13 \n"
\r
441 " bne reg1_error_loopf \n"
\r
443 " bne reg1_error_loopf \n"
\r
444 " vmov r0, r1, d14 \n"
\r
446 " bne reg1_error_loopf \n"
\r
448 " bne reg1_error_loopf \n"
\r
449 " vmov r0, r1, d15 \n"
\r
451 " bne reg1_error_loopf \n"
\r
453 " bne reg1_error_loopf \n"
\r
455 " /* Restore the registers that were clobbered by the test. */\n"
\r
458 " /* VFP register test passed. Jump to the core register test. */\n"
\r
459 " b reg1_loopf_pass \n"
\r
461 "reg1_error_loopf: \n"
\r
462 " /* If this line is hit then a VFP register value was found to be\n"
\r
463 " incorrect. */ \n"
\r
464 " b reg1_error_loopf \n"
\r
466 "reg1_loopf_pass: \n"
\r
469 " bne reg1_error_loop \n"
\r
471 " bne reg1_error_loop \n"
\r
473 " bne reg1_error_loop \n"
\r
475 " bne reg1_error_loop \n"
\r
477 " bne reg1_error_loop \n"
\r
479 " bne reg1_error_loop \n"
\r
481 " bne reg1_error_loop \n"
\r
483 " bne reg1_error_loop \n"
\r
485 " bne reg1_error_loop \n"
\r
487 " bne reg1_error_loop \n"
\r
488 " cmp r10, #110 \n"
\r
489 " bne reg1_error_loop \n"
\r
490 " cmp r11, #111 \n"
\r
491 " bne reg1_error_loop \n"
\r
492 " cmp r12, #112 \n"
\r
493 " bne reg1_error_loop \n"
\r
495 " /* Everything passed, increment the loop counter. */ \n"
\r
496 " push { r0-r1 } \n"
\r
497 " ldr r0, =ulRegTest1LoopCounter \n"
\r
499 " adds r1, r1, #1 \n"
\r
501 " pop { r0-r1 } \n"
\r
503 " /* Start again. */ \n"
\r
506 "reg1_error_loop: \n"
\r
507 " /* If this line is hit then there was an error in a core register value.\n"
\r
508 " The loop ensures the loop counter stops incrementing. */\n"
\r
509 " b reg1_error_loop \n"
\r
513 /*-----------------------------------------------------------*/
\r
515 /* This is a naked function. */
\r
516 static void vRegTest2Task( void *pvParameters )
\r
520 " /* Set all the core registers to known values. */ \n"
\r
535 " /* Set all the VFP to known values. */ \n"
\r
536 " vmov d0, r0, r1 \n"
\r
537 " vmov d1, r2, r3 \n"
\r
538 " vmov d2, r4, r5 \n"
\r
539 " vmov d3, r6, r7 \n"
\r
540 " vmov d4, r8, r9 \n"
\r
541 " vmov d5, r10, r11 \n"
\r
542 " vmov d6, r0, r1 \n"
\r
543 " vmov d7, r2, r3 \n"
\r
544 " vmov d8, r4, r5 \n"
\r
545 " vmov d9, r6, r7 \n"
\r
546 " vmov d10, r8, r9 \n"
\r
547 " vmov d11, r10, r11 \n"
\r
548 " vmov d12, r0, r1 \n"
\r
549 " vmov d13, r2, r3 \n"
\r
550 " vmov d14, r4, r5 \n"
\r
551 " vmov d15, r6, r7 \n"
\r
555 " /* Check all the VFP registers still contain the values set above.\n"
\r
556 " First save registers that are clobbered by the test. */ \n"
\r
557 " push { r0-r1 } \n"
\r
559 " vmov r0, r1, d0 \n"
\r
561 " bne reg2_error_loopf \n"
\r
563 " bne reg2_error_loopf \n"
\r
564 " vmov r0, r1, d1 \n"
\r
566 " bne reg2_error_loopf \n"
\r
568 " bne reg2_error_loopf \n"
\r
569 " vmov r0, r1, d2 \n"
\r
571 " bne reg2_error_loopf \n"
\r
573 " bne reg2_error_loopf \n"
\r
574 " vmov r0, r1, d3 \n"
\r
576 " bne reg2_error_loopf \n"
\r
578 " bne reg2_error_loopf \n"
\r
579 " vmov r0, r1, d4 \n"
\r
581 " bne reg2_error_loopf \n"
\r
583 " bne reg2_error_loopf \n"
\r
584 " vmov r0, r1, d5 \n"
\r
586 " bne reg2_error_loopf \n"
\r
588 " bne reg2_error_loopf \n"
\r
589 " vmov r0, r1, d6 \n"
\r
591 " bne reg2_error_loopf \n"
\r
593 " bne reg2_error_loopf \n"
\r
594 " vmov r0, r1, d7 \n"
\r
596 " bne reg2_error_loopf \n"
\r
598 " bne reg2_error_loopf \n"
\r
599 " vmov r0, r1, d8 \n"
\r
601 " bne reg2_error_loopf \n"
\r
603 " bne reg2_error_loopf \n"
\r
604 " vmov r0, r1, d9 \n"
\r
606 " bne reg2_error_loopf \n"
\r
608 " bne reg2_error_loopf \n"
\r
609 " vmov r0, r1, d10 \n"
\r
611 " bne reg2_error_loopf \n"
\r
613 " bne reg2_error_loopf \n"
\r
614 " vmov r0, r1, d11 \n"
\r
616 " bne reg2_error_loopf \n"
\r
618 " bne reg2_error_loopf \n"
\r
619 " vmov r0, r1, d12 \n"
\r
621 " bne reg2_error_loopf \n"
\r
623 " bne reg2_error_loopf \n"
\r
624 " vmov r0, r1, d13 \n"
\r
626 " bne reg2_error_loopf \n"
\r
628 " bne reg2_error_loopf \n"
\r
629 " vmov r0, r1, d14 \n"
\r
631 " bne reg2_error_loopf \n"
\r
633 " bne reg2_error_loopf \n"
\r
634 " vmov r0, r1, d15 \n"
\r
636 " bne reg2_error_loopf \n"
\r
638 " bne reg2_error_loopf \n"
\r
640 " /* Restore the registers that were clobbered by the test. */\n"
\r
643 " /* VFP register test passed. Jump to the core register test. */\n"
\r
644 " b reg2_loopf_pass \n"
\r
646 "reg2_error_loopf: \n"
\r
647 " /* If this line is hit then a VFP register value was found to be\n"
\r
648 " incorrect. */ \n"
\r
649 " b reg2_error_loopf \n"
\r
651 "reg2_loopf_pass: \n"
\r
654 " bne reg2_error_loop \n"
\r
656 " bne reg2_error_loop \n"
\r
658 " bne reg2_error_loop \n"
\r
660 " bne reg2_error_loop \n"
\r
662 " bne reg2_error_loop \n"
\r
664 " bne reg2_error_loop \n"
\r
666 " bne reg2_error_loop \n"
\r
668 " bne reg2_error_loop \n"
\r
670 " bne reg2_error_loop \n"
\r
672 " bne reg2_error_loop \n"
\r
674 " bne reg2_error_loop \n"
\r
676 " bne reg2_error_loop \n"
\r
678 " bne reg2_error_loop \n"
\r
680 " /* Increment the loop counter to indicate this test is still functioning\n"
\r
681 " correctly. */ \n"
\r
682 " push { r0-r1 } \n"
\r
683 " ldr r0, =ulRegTest2LoopCounter \n"
\r
685 " adds r1, r1, #1 \n"
\r
687 " pop { r0-r1 } \n"
\r
689 " /* Start again. */ \n"
\r
692 "reg2_error_loop: \n"
\r
693 " /* If this line is hit then there was an error in a core register value.\n"
\r
694 " This loop ensures the loop counter variable stops incrementing. */\n"
\r
695 " b reg2_error_loop \n"
\r
projects / freertos / blob