2 FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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75 /******************************************************************************
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76 * NOTE 1: This project provides two demo applications. A simple blinky style
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77 * project, and a more comprehensive test and demo application. The
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78 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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79 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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80 * in main.c. This file implements the comprehensive test and demo version.
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82 * NOTE 2: This file only contains the source code that is specific to the
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83 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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84 * required to configure the hardware, are defined in main.c.
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85 ******************************************************************************
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87 * main_full() creates all the demo application tasks and a software timer, then
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88 * starts the scheduler. The web documentation provides more details of the
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89 * standard demo application tasks, which provide no particular functionality,
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90 * but do provide a good example of how to use the FreeRTOS API.
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92 * In addition to the standard demo tasks, the following tasks and tests are
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93 * defined and/or created within this file:
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95 * "Reg test" tasks - These fill both the core and floating point registers with
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96 * known values, then check that each register maintains its expected value for
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97 * the lifetime of the task. Each task uses a different set of values. The reg
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98 * test tasks execute with a very low priority, so get preempted very
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99 * frequently. A register containing an unexpected value is indicative of an
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100 * error in the context switching mechanism.
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102 * "Check" timer - The check software timer period is initially set to three
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103 * seconds. The callback function associated with the check software timer
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104 * checks that all the standard demo tasks, and the register check tasks, are
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105 * not only still executing, but are executing without reporting any errors. If
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106 * the check software timer discovers that a task has either stalled, or
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107 * reported an error, then it changes its own execution period from the initial
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108 * three seconds, to just 200ms. The check software timer callback function
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109 * also toggles the single LED each time it is called. This provides a visual
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110 * indication of the system status: If the LED toggles every three seconds,
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111 * then no issues have been discovered. If the LED toggles every 200ms, then
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112 * an issue has been discovered with at least one task.
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115 /* Standard includes. */
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118 /* Kernel includes. */
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119 #include "FreeRTOS.h"
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121 #include "timers.h"
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122 #include "semphr.h"
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124 /* Standard demo application includes. */
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126 #include "integer.h"
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128 #include "semtest.h"
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129 #include "dynamic.h"
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130 #include "BlockQ.h"
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131 #include "blocktim.h"
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132 #include "countsem.h"
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133 #include "GenQTest.h"
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134 #include "recmutex.h"
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137 /* Hardware includes. */
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138 #include "XMC4500.h"
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139 #include "System_XMC4500.h"
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141 /* Priorities for the demo application tasks. */
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142 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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143 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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144 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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145 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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146 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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148 /* To toggle the single LED */
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149 #define mainTOGGLE_LED() ( PORT3->OMR = 0x02000200 )
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151 /* A block time of zero simply means "don't block". */
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152 #define mainDONT_BLOCK ( 0UL )
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154 /* The period after which the check timer will expire, in ms, provided no errors
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155 have been reported by any of the standard demo tasks. ms are converted to the
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156 equivalent in ticks using the portTICK_RATE_MS constant. */
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157 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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159 /* The period at which the check timer will expire, in ms, if an error has been
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160 reported in one of the standard demo tasks. ms are converted to the equivalent
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161 in ticks using the portTICK_RATE_MS constant. */
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162 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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164 /*-----------------------------------------------------------*/
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167 * The check timer callback function, as described at the top of this file.
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169 static void prvCheckTimerCallback( xTimerHandle xTimer );
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172 * Register check tasks, and the tasks used to write over and check the contents
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173 * of the FPU registers, as described at the top of this file. The nature of
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174 * these files necessitates that they are written in an assembly file.
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176 static void vRegTest1Task( void *pvParameters ) __attribute__((naked));
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177 static void vRegTest2Task( void *pvParameters ) __attribute__((naked));
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179 /*-----------------------------------------------------------*/
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181 /* The following two variables are used to communicate the status of the
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182 register check tasks to the check software timer. If the variables keep
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183 incrementing, then the register check tasks has not discovered any errors. If
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184 a variable stops incrementing, then an error has been found. */
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185 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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187 /*-----------------------------------------------------------*/
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189 void main_full( void )
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191 xTimerHandle xCheckTimer = NULL;
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193 /* Start all the other standard demo/test tasks. The have not particular
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194 functionality, but do demonstrate how to use the FreeRTOS API and test the
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196 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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197 vStartDynamicPriorityTasks();
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198 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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199 vCreateBlockTimeTasks();
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200 vStartCountingSemaphoreTasks();
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201 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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202 vStartRecursiveMutexTasks();
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203 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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204 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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205 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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207 /* Create the register check tasks, as described at the top of this
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209 xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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210 xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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212 /* Create the software timer that performs the 'check' functionality,
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213 as described at the top of this file. */
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214 xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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215 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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216 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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217 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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218 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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221 if( xCheckTimer != NULL )
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223 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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226 /* The set of tasks created by the following function call have to be
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227 created last as they keep account of the number of tasks they expect to see
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229 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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231 /* Start the scheduler. */
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232 vTaskStartScheduler();
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234 /* If all is well, the scheduler will now be running, and the following line
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235 will never be reached. If the following line does execute, then there was
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236 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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237 to be created. See the memory management section on the FreeRTOS web site
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238 for more details. */
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241 /*-----------------------------------------------------------*/
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243 static void prvCheckTimerCallback( xTimerHandle xTimer )
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245 static long lChangedTimerPeriodAlready = pdFALSE;
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246 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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247 unsigned long ulErrorFound = pdFALSE;
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249 /* Check all the demo tasks (other than the flash tasks) to ensure
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250 that they are all still running, and that none have detected an error. */
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252 if( xAreMathsTaskStillRunning() != pdTRUE )
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254 ulErrorFound = pdTRUE;
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257 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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259 ulErrorFound = pdTRUE;
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262 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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264 ulErrorFound = pdTRUE;
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267 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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269 ulErrorFound = pdTRUE;
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272 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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274 ulErrorFound = pdTRUE;
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277 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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279 ulErrorFound = pdTRUE;
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282 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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284 ulErrorFound = pdTRUE;
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287 if( xIsCreateTaskStillRunning() != pdTRUE )
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289 ulErrorFound = pdTRUE;
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292 if( xArePollingQueuesStillRunning() != pdTRUE )
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294 ulErrorFound = pdTRUE;
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297 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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299 ulErrorFound = pdTRUE;
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302 /* Check that the register test 1 task is still running. */
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303 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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305 ulErrorFound = pdTRUE;
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307 ulLastRegTest1Value = ulRegTest1LoopCounter;
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309 /* Check that the register test 2 task is still running. */
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310 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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312 ulErrorFound = pdTRUE;
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314 ulLastRegTest2Value = ulRegTest2LoopCounter;
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316 /* Toggle the check LED to give an indication of the system status. If
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317 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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318 everything is ok. A faster toggle indicates an error. */
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321 /* Have any errors been latch in ulErrorFound? If so, shorten the
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322 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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323 This will result in an increase in the rate at which mainCHECK_LED
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325 if( ulErrorFound != pdFALSE )
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327 if( lChangedTimerPeriodAlready == pdFALSE )
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329 lChangedTimerPeriodAlready = pdTRUE;
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331 /* This call to xTimerChangePeriod() uses a zero block time.
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332 Functions called from inside of a timer callback function must
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333 *never* attempt to block. */
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334 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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338 /*-----------------------------------------------------------*/
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340 /* This is a naked function. */
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341 static void vRegTest1Task( void *pvParameters )
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345 " /* Fill the core registers with known values. */ \n"
\r
356 " mov r10, #110 \n"
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357 " mov r11, #111 \n"
\r
358 " mov r12, #112 \n"
\r
360 " /* Fill the VFP registers with known values. */ \n"
\r
361 " vmov d0, r0, r1 \n"
\r
362 " vmov d1, r2, r3 \n"
\r
363 " vmov d2, r4, r5 \n"
\r
364 " vmov d3, r6, r7 \n"
\r
365 " vmov d4, r8, r9 \n"
\r
366 " vmov d5, r10, r11 \n"
\r
367 " vmov d6, r0, r1 \n"
\r
368 " vmov d7, r2, r3 \n"
\r
369 " vmov d8, r4, r5 \n"
\r
370 " vmov d9, r6, r7 \n"
\r
371 " vmov d10, r8, r9 \n"
\r
372 " vmov d11, r10, r11 \n"
\r
373 " vmov d12, r0, r1 \n"
\r
374 " vmov d13, r2, r3 \n"
\r
375 " vmov d14, r4, r5 \n"
\r
376 " vmov d15, r6, r7 \n"
\r
379 " /* Check all the VFP registers still contain the values set above.\n"
\r
380 " First save registers that are clobbered by the test. */ \n"
\r
381 " push { r0-r1 } \n"
\r
383 " vmov r0, r1, d0 \n"
\r
385 " bne reg1_error_loopf \n"
\r
387 " bne reg1_error_loopf \n"
\r
388 " vmov r0, r1, d1 \n"
\r
390 " bne reg1_error_loopf \n"
\r
392 " bne reg1_error_loopf \n"
\r
393 " vmov r0, r1, d2 \n"
\r
395 " bne reg1_error_loopf \n"
\r
397 " bne reg1_error_loopf \n"
\r
398 " vmov r0, r1, d3 \n"
\r
400 " bne reg1_error_loopf \n"
\r
402 " bne reg1_error_loopf \n"
\r
403 " vmov r0, r1, d4 \n"
\r
405 " bne reg1_error_loopf \n"
\r
407 " bne reg1_error_loopf \n"
\r
408 " vmov r0, r1, d5 \n"
\r
410 " bne reg1_error_loopf \n"
\r
412 " bne reg1_error_loopf \n"
\r
413 " vmov r0, r1, d6 \n"
\r
415 " bne reg1_error_loopf \n"
\r
417 " bne reg1_error_loopf \n"
\r
418 " vmov r0, r1, d7 \n"
\r
420 " bne reg1_error_loopf \n"
\r
422 " bne reg1_error_loopf \n"
\r
423 " vmov r0, r1, d8 \n"
\r
425 " bne reg1_error_loopf \n"
\r
427 " bne reg1_error_loopf \n"
\r
428 " vmov r0, r1, d9 \n"
\r
430 " bne reg1_error_loopf \n"
\r
432 " bne reg1_error_loopf \n"
\r
433 " vmov r0, r1, d10 \n"
\r
435 " bne reg1_error_loopf \n"
\r
437 " bne reg1_error_loopf \n"
\r
438 " vmov r0, r1, d11 \n"
\r
440 " bne reg1_error_loopf \n"
\r
442 " bne reg1_error_loopf \n"
\r
443 " vmov r0, r1, d12 \n"
\r
445 " bne reg1_error_loopf \n"
\r
447 " bne reg1_error_loopf \n"
\r
448 " vmov r0, r1, d13 \n"
\r
450 " bne reg1_error_loopf \n"
\r
452 " bne reg1_error_loopf \n"
\r
453 " vmov r0, r1, d14 \n"
\r
455 " bne reg1_error_loopf \n"
\r
457 " bne reg1_error_loopf \n"
\r
458 " vmov r0, r1, d15 \n"
\r
460 " bne reg1_error_loopf \n"
\r
462 " bne reg1_error_loopf \n"
\r
464 " /* Restore the registers that were clobbered by the test. */\n"
\r
467 " /* VFP register test passed. Jump to the core register test. */\n"
\r
468 " b reg1_loopf_pass \n"
\r
470 "reg1_error_loopf: \n"
\r
471 " /* If this line is hit then a VFP register value was found to be\n"
\r
472 " incorrect. */ \n"
\r
473 " b reg1_error_loopf \n"
\r
475 "reg1_loopf_pass: \n"
\r
478 " bne reg1_error_loop \n"
\r
480 " bne reg1_error_loop \n"
\r
482 " bne reg1_error_loop \n"
\r
484 " bne reg1_error_loop \n"
\r
486 " bne reg1_error_loop \n"
\r
488 " bne reg1_error_loop \n"
\r
490 " bne reg1_error_loop \n"
\r
492 " bne reg1_error_loop \n"
\r
494 " bne reg1_error_loop \n"
\r
496 " bne reg1_error_loop \n"
\r
497 " cmp r10, #110 \n"
\r
498 " bne reg1_error_loop \n"
\r
499 " cmp r11, #111 \n"
\r
500 " bne reg1_error_loop \n"
\r
501 " cmp r12, #112 \n"
\r
502 " bne reg1_error_loop \n"
\r
504 " /* Everything passed, increment the loop counter. */ \n"
\r
505 " push { r0-r1 } \n"
\r
506 " ldr r0, =ulRegTest1LoopCounter \n"
\r
508 " adds r1, r1, #1 \n"
\r
510 " pop { r0-r1 } \n"
\r
512 " /* Start again. */ \n"
\r
515 "reg1_error_loop: \n"
\r
516 " /* If this line is hit then there was an error in a core register value.\n"
\r
517 " The loop ensures the loop counter stops incrementing. */\n"
\r
518 " b reg1_error_loop \n"
\r
522 /*-----------------------------------------------------------*/
\r
524 /* This is a naked function. */
\r
525 static void vRegTest2Task( void *pvParameters )
\r
529 " /* Set all the core registers to known values. */ \n"
\r
544 " /* Set all the VFP to known values. */ \n"
\r
545 " vmov d0, r0, r1 \n"
\r
546 " vmov d1, r2, r3 \n"
\r
547 " vmov d2, r4, r5 \n"
\r
548 " vmov d3, r6, r7 \n"
\r
549 " vmov d4, r8, r9 \n"
\r
550 " vmov d5, r10, r11 \n"
\r
551 " vmov d6, r0, r1 \n"
\r
552 " vmov d7, r2, r3 \n"
\r
553 " vmov d8, r4, r5 \n"
\r
554 " vmov d9, r6, r7 \n"
\r
555 " vmov d10, r8, r9 \n"
\r
556 " vmov d11, r10, r11 \n"
\r
557 " vmov d12, r0, r1 \n"
\r
558 " vmov d13, r2, r3 \n"
\r
559 " vmov d14, r4, r5 \n"
\r
560 " vmov d15, r6, r7 \n"
\r
564 " /* Check all the VFP registers still contain the values set above.\n"
\r
565 " First save registers that are clobbered by the test. */ \n"
\r
566 " push { r0-r1 } \n"
\r
568 " vmov r0, r1, d0 \n"
\r
570 " bne reg2_error_loopf \n"
\r
572 " bne reg2_error_loopf \n"
\r
573 " vmov r0, r1, d1 \n"
\r
575 " bne reg2_error_loopf \n"
\r
577 " bne reg2_error_loopf \n"
\r
578 " vmov r0, r1, d2 \n"
\r
580 " bne reg2_error_loopf \n"
\r
582 " bne reg2_error_loopf \n"
\r
583 " vmov r0, r1, d3 \n"
\r
585 " bne reg2_error_loopf \n"
\r
587 " bne reg2_error_loopf \n"
\r
588 " vmov r0, r1, d4 \n"
\r
590 " bne reg2_error_loopf \n"
\r
592 " bne reg2_error_loopf \n"
\r
593 " vmov r0, r1, d5 \n"
\r
595 " bne reg2_error_loopf \n"
\r
597 " bne reg2_error_loopf \n"
\r
598 " vmov r0, r1, d6 \n"
\r
600 " bne reg2_error_loopf \n"
\r
602 " bne reg2_error_loopf \n"
\r
603 " vmov r0, r1, d7 \n"
\r
605 " bne reg2_error_loopf \n"
\r
607 " bne reg2_error_loopf \n"
\r
608 " vmov r0, r1, d8 \n"
\r
610 " bne reg2_error_loopf \n"
\r
612 " bne reg2_error_loopf \n"
\r
613 " vmov r0, r1, d9 \n"
\r
615 " bne reg2_error_loopf \n"
\r
617 " bne reg2_error_loopf \n"
\r
618 " vmov r0, r1, d10 \n"
\r
620 " bne reg2_error_loopf \n"
\r
622 " bne reg2_error_loopf \n"
\r
623 " vmov r0, r1, d11 \n"
\r
625 " bne reg2_error_loopf \n"
\r
627 " bne reg2_error_loopf \n"
\r
628 " vmov r0, r1, d12 \n"
\r
630 " bne reg2_error_loopf \n"
\r
632 " bne reg2_error_loopf \n"
\r
633 " vmov r0, r1, d13 \n"
\r
635 " bne reg2_error_loopf \n"
\r
637 " bne reg2_error_loopf \n"
\r
638 " vmov r0, r1, d14 \n"
\r
640 " bne reg2_error_loopf \n"
\r
642 " bne reg2_error_loopf \n"
\r
643 " vmov r0, r1, d15 \n"
\r
645 " bne reg2_error_loopf \n"
\r
647 " bne reg2_error_loopf \n"
\r
649 " /* Restore the registers that were clobbered by the test. */\n"
\r
652 " /* VFP register test passed. Jump to the core register test. */\n"
\r
653 " b reg2_loopf_pass \n"
\r
655 "reg2_error_loopf: \n"
\r
656 " /* If this line is hit then a VFP register value was found to be\n"
\r
657 " incorrect. */ \n"
\r
658 " b reg2_error_loopf \n"
\r
660 "reg2_loopf_pass: \n"
\r
663 " bne reg2_error_loop \n"
\r
665 " bne reg2_error_loop \n"
\r
667 " bne reg2_error_loop \n"
\r
669 " bne reg2_error_loop \n"
\r
671 " bne reg2_error_loop \n"
\r
673 " bne reg2_error_loop \n"
\r
675 " bne reg2_error_loop \n"
\r
677 " bne reg2_error_loop \n"
\r
679 " bne reg2_error_loop \n"
\r
681 " bne reg2_error_loop \n"
\r
683 " bne reg2_error_loop \n"
\r
685 " bne reg2_error_loop \n"
\r
687 " bne reg2_error_loop \n"
\r
689 " /* Increment the loop counter to indicate this test is still functioning\n"
\r
690 " correctly. */ \n"
\r
691 " push { r0-r1 } \n"
\r
692 " ldr r0, =ulRegTest2LoopCounter \n"
\r
694 " adds r1, r1, #1 \n"
\r
696 " pop { r0-r1 } \n"
\r
698 " /* Start again. */ \n"
\r
701 "reg2_error_loop: \n"
\r
702 " /* If this line is hit then there was an error in a core register value.\n"
\r
703 " This loop ensures the loop counter variable stops incrementing. */\n"
\r
704 " b reg2_error_loop \n"
\r
projects / freertos / blob