2 * FreeRTOS Kernel V10.3.0
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3 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /******************************************************************************
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29 * NOTE 1: This project provides two demo applications. A simple blinky style
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30 * project, and a more comprehensive test and demo application. The
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31 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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32 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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33 * in main.c. This file implements the comprehensive test and demo version.
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35 * NOTE 2: This file only contains the source code that is specific to the
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36 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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37 * required to configure the hardware, are defined in main.c.
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38 ******************************************************************************
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40 * main_full() creates all the demo application tasks and a software timer, then
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41 * starts the scheduler. The web documentation provides more details of the
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42 * standard demo application tasks, which provide no particular functionality,
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43 * but do provide a good example of how to use the FreeRTOS API.
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45 * In addition to the standard demo tasks, the following tasks and tests are
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46 * defined and/or created within this file:
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48 * "Reg test" tasks - These fill both the core and floating point registers with
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49 * known values, then check that each register maintains its expected value for
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50 * the lifetime of the task. Each task uses a different set of values. The reg
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51 * test tasks execute with a very low priority, so get preempted very
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52 * frequently. A register containing an unexpected value is indicative of an
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53 * error in the context switching mechanism.
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55 * "Check" timer - The check software timer period is initially set to three
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56 * seconds. The callback function associated with the check software timer
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57 * checks that all the standard demo tasks, and the register check tasks, are
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58 * not only still executing, but are executing without reporting any errors. If
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59 * the check software timer discovers that a task has either stalled, or
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60 * reported an error, then it changes its own execution period from the initial
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61 * three seconds, to just 200ms. The check software timer callback function
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62 * also toggles the single LED each time it is called. This provides a visual
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63 * indication of the system status: If the LED toggles every three seconds,
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64 * then no issues have been discovered. If the LED toggles every 200ms, then
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65 * an issue has been discovered with at least one task.
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68 /* Standard includes. */
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71 /* Kernel includes. */
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72 #include "FreeRTOS.h"
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77 /* Standard demo application includes. */
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79 #include "integer.h"
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81 #include "semtest.h"
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82 #include "dynamic.h"
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84 #include "blocktim.h"
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85 #include "countsem.h"
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86 #include "GenQTest.h"
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87 #include "recmutex.h"
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90 /* Hardware includes. */
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91 #include "XMC4500.h"
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92 #include "System_XMC4500.h"
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94 /* Priorities for the demo application tasks. */
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95 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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96 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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97 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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98 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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99 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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101 /* To toggle the single LED */
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102 #define mainTOGGLE_LED() ( PORT3->OMR = 0x02000200 )
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104 /* A block time of zero simply means "don't block". */
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105 #define mainDONT_BLOCK ( 0UL )
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107 /* The period after which the check timer will expire, in ms, provided no errors
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108 have been reported by any of the standard demo tasks. ms are converted to the
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109 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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110 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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112 /* The period at which the check timer will expire, in ms, if an error has been
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113 reported in one of the standard demo tasks. ms are converted to the equivalent
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114 in ticks using the portTICK_PERIOD_MS constant. */
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115 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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117 /*-----------------------------------------------------------*/
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120 * The check timer callback function, as described at the top of this file.
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122 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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125 * Register check tasks, and the tasks used to write over and check the contents
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126 * of the FPU registers, as described at the top of this file. The nature of
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127 * these files necessitates that they are written in an assembly file.
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129 static void vRegTest1Task( void *pvParameters ) __attribute__((naked));
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130 static void vRegTest2Task( void *pvParameters ) __attribute__((naked));
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132 /*-----------------------------------------------------------*/
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134 /* The following two variables are used to communicate the status of the
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135 register check tasks to the check software timer. If the variables keep
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136 incrementing, then the register check tasks have not discovered any errors. If
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137 a variable stops incrementing, then an error has been found. */
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138 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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140 /*-----------------------------------------------------------*/
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142 void main_full( void )
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144 TimerHandle_t xCheckTimer = NULL;
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146 /* Start all the other standard demo/test tasks. The have not particular
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147 functionality, but do demonstrate how to use the FreeRTOS API and test the
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149 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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150 vStartDynamicPriorityTasks();
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151 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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152 vCreateBlockTimeTasks();
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153 vStartCountingSemaphoreTasks();
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154 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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155 vStartRecursiveMutexTasks();
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156 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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157 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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158 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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160 /* Create the register check tasks, as described at the top of this
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162 xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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163 xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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165 /* Create the software timer that performs the 'check' functionality,
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166 as described at the top of this file. */
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167 xCheckTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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168 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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169 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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170 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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171 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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174 if( xCheckTimer != NULL )
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176 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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179 /* The set of tasks created by the following function call have to be
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180 created last as they keep account of the number of tasks they expect to see
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182 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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184 /* Start the scheduler. */
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185 vTaskStartScheduler();
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187 /* If all is well, the scheduler will now be running, and the following line
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188 will never be reached. If the following line does execute, then there was
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189 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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190 to be created. See the memory management section on the FreeRTOS web site
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191 for more details. */
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194 /*-----------------------------------------------------------*/
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196 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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198 static long lChangedTimerPeriodAlready = pdFALSE;
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199 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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200 unsigned long ulErrorFound = pdFALSE;
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202 /* Check all the demo tasks (other than the flash tasks) to ensure
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203 that they are all still running, and that none have detected an error. */
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205 if( xAreMathsTaskStillRunning() != pdTRUE )
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207 ulErrorFound = pdTRUE;
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210 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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212 ulErrorFound = pdTRUE;
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215 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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217 ulErrorFound = pdTRUE;
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220 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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222 ulErrorFound = pdTRUE;
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225 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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227 ulErrorFound = pdTRUE;
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230 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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232 ulErrorFound = pdTRUE;
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235 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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237 ulErrorFound = pdTRUE;
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240 if( xIsCreateTaskStillRunning() != pdTRUE )
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242 ulErrorFound = pdTRUE;
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245 if( xArePollingQueuesStillRunning() != pdTRUE )
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247 ulErrorFound = pdTRUE;
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250 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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252 ulErrorFound = pdTRUE;
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255 /* Check that the register test 1 task is still running. */
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256 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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258 ulErrorFound = pdTRUE;
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260 ulLastRegTest1Value = ulRegTest1LoopCounter;
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262 /* Check that the register test 2 task is still running. */
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263 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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265 ulErrorFound = pdTRUE;
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267 ulLastRegTest2Value = ulRegTest2LoopCounter;
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269 /* Toggle the check LED to give an indication of the system status. If
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270 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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271 everything is ok. A faster toggle indicates an error. */
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274 /* Have any errors been latch in ulErrorFound? If so, shorten the
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275 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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276 This will result in an increase in the rate at which mainCHECK_LED
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278 if( ulErrorFound != pdFALSE )
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280 if( lChangedTimerPeriodAlready == pdFALSE )
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282 lChangedTimerPeriodAlready = pdTRUE;
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284 /* This call to xTimerChangePeriod() uses a zero block time.
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285 Functions called from inside of a timer callback function must
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286 *never* attempt to block. */
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287 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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291 /*-----------------------------------------------------------*/
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293 /* This is a naked function. */
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294 static void vRegTest1Task( void *pvParameters )
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298 " /* Fill the core registers with known values. */ \n"
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309 " mov r10, #110 \n"
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310 " mov r11, #111 \n"
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311 " mov r12, #112 \n"
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313 " /* Fill the VFP registers with known values. */ \n"
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314 " vmov d0, r0, r1 \n"
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315 " vmov d1, r2, r3 \n"
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316 " vmov d2, r4, r5 \n"
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317 " vmov d3, r6, r7 \n"
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318 " vmov d4, r8, r9 \n"
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319 " vmov d5, r10, r11 \n"
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320 " vmov d6, r0, r1 \n"
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321 " vmov d7, r2, r3 \n"
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322 " vmov d8, r4, r5 \n"
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323 " vmov d9, r6, r7 \n"
\r
324 " vmov d10, r8, r9 \n"
\r
325 " vmov d11, r10, r11 \n"
\r
326 " vmov d12, r0, r1 \n"
\r
327 " vmov d13, r2, r3 \n"
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328 " vmov d14, r4, r5 \n"
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329 " vmov d15, r6, r7 \n"
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332 " /* Check all the VFP registers still contain the values set above.\n"
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333 " First save registers that are clobbered by the test. */ \n"
\r
334 " push { r0-r1 } \n"
\r
336 " vmov r0, r1, d0 \n"
\r
338 " bne reg1_error_loopf \n"
\r
340 " bne reg1_error_loopf \n"
\r
341 " vmov r0, r1, d1 \n"
\r
343 " bne reg1_error_loopf \n"
\r
345 " bne reg1_error_loopf \n"
\r
346 " vmov r0, r1, d2 \n"
\r
348 " bne reg1_error_loopf \n"
\r
350 " bne reg1_error_loopf \n"
\r
351 " vmov r0, r1, d3 \n"
\r
353 " bne reg1_error_loopf \n"
\r
355 " bne reg1_error_loopf \n"
\r
356 " vmov r0, r1, d4 \n"
\r
358 " bne reg1_error_loopf \n"
\r
360 " bne reg1_error_loopf \n"
\r
361 " vmov r0, r1, d5 \n"
\r
363 " bne reg1_error_loopf \n"
\r
365 " bne reg1_error_loopf \n"
\r
366 " vmov r0, r1, d6 \n"
\r
368 " bne reg1_error_loopf \n"
\r
370 " bne reg1_error_loopf \n"
\r
371 " vmov r0, r1, d7 \n"
\r
373 " bne reg1_error_loopf \n"
\r
375 " bne reg1_error_loopf \n"
\r
376 " vmov r0, r1, d8 \n"
\r
378 " bne reg1_error_loopf \n"
\r
380 " bne reg1_error_loopf \n"
\r
381 " vmov r0, r1, d9 \n"
\r
383 " bne reg1_error_loopf \n"
\r
385 " bne reg1_error_loopf \n"
\r
386 " vmov r0, r1, d10 \n"
\r
388 " bne reg1_error_loopf \n"
\r
390 " bne reg1_error_loopf \n"
\r
391 " vmov r0, r1, d11 \n"
\r
393 " bne reg1_error_loopf \n"
\r
395 " bne reg1_error_loopf \n"
\r
396 " vmov r0, r1, d12 \n"
\r
398 " bne reg1_error_loopf \n"
\r
400 " bne reg1_error_loopf \n"
\r
401 " vmov r0, r1, d13 \n"
\r
403 " bne reg1_error_loopf \n"
\r
405 " bne reg1_error_loopf \n"
\r
406 " vmov r0, r1, d14 \n"
\r
408 " bne reg1_error_loopf \n"
\r
410 " bne reg1_error_loopf \n"
\r
411 " vmov r0, r1, d15 \n"
\r
413 " bne reg1_error_loopf \n"
\r
415 " bne reg1_error_loopf \n"
\r
417 " /* Restore the registers that were clobbered by the test. */\n"
\r
420 " /* VFP register test passed. Jump to the core register test. */\n"
\r
421 " b reg1_loopf_pass \n"
\r
423 "reg1_error_loopf: \n"
\r
424 " /* If this line is hit then a VFP register value was found to be\n"
\r
425 " incorrect. */ \n"
\r
426 " b reg1_error_loopf \n"
\r
428 "reg1_loopf_pass: \n"
\r
431 " bne reg1_error_loop \n"
\r
433 " bne reg1_error_loop \n"
\r
435 " bne reg1_error_loop \n"
\r
437 " bne reg1_error_loop \n"
\r
439 " bne reg1_error_loop \n"
\r
441 " bne reg1_error_loop \n"
\r
443 " bne reg1_error_loop \n"
\r
445 " bne reg1_error_loop \n"
\r
447 " bne reg1_error_loop \n"
\r
449 " bne reg1_error_loop \n"
\r
450 " cmp r10, #110 \n"
\r
451 " bne reg1_error_loop \n"
\r
452 " cmp r11, #111 \n"
\r
453 " bne reg1_error_loop \n"
\r
454 " cmp r12, #112 \n"
\r
455 " bne reg1_error_loop \n"
\r
457 " /* Everything passed, increment the loop counter. */ \n"
\r
458 " push { r0-r1 } \n"
\r
459 " ldr r0, =ulRegTest1LoopCounter \n"
\r
461 " adds r1, r1, #1 \n"
\r
463 " pop { r0-r1 } \n"
\r
465 " /* Start again. */ \n"
\r
468 "reg1_error_loop: \n"
\r
469 " /* If this line is hit then there was an error in a core register value.\n"
\r
470 " The loop ensures the loop counter stops incrementing. */\n"
\r
471 " b reg1_error_loop \n"
\r
475 /*-----------------------------------------------------------*/
\r
477 /* This is a naked function. */
\r
478 static void vRegTest2Task( void *pvParameters )
\r
482 " /* Set all the core registers to known values. */ \n"
\r
497 " /* Set all the VFP to known values. */ \n"
\r
498 " vmov d0, r0, r1 \n"
\r
499 " vmov d1, r2, r3 \n"
\r
500 " vmov d2, r4, r5 \n"
\r
501 " vmov d3, r6, r7 \n"
\r
502 " vmov d4, r8, r9 \n"
\r
503 " vmov d5, r10, r11 \n"
\r
504 " vmov d6, r0, r1 \n"
\r
505 " vmov d7, r2, r3 \n"
\r
506 " vmov d8, r4, r5 \n"
\r
507 " vmov d9, r6, r7 \n"
\r
508 " vmov d10, r8, r9 \n"
\r
509 " vmov d11, r10, r11 \n"
\r
510 " vmov d12, r0, r1 \n"
\r
511 " vmov d13, r2, r3 \n"
\r
512 " vmov d14, r4, r5 \n"
\r
513 " vmov d15, r6, r7 \n"
\r
517 " /* Check all the VFP registers still contain the values set above.\n"
\r
518 " First save registers that are clobbered by the test. */ \n"
\r
519 " push { r0-r1 } \n"
\r
521 " vmov r0, r1, d0 \n"
\r
523 " bne reg2_error_loopf \n"
\r
525 " bne reg2_error_loopf \n"
\r
526 " vmov r0, r1, d1 \n"
\r
528 " bne reg2_error_loopf \n"
\r
530 " bne reg2_error_loopf \n"
\r
531 " vmov r0, r1, d2 \n"
\r
533 " bne reg2_error_loopf \n"
\r
535 " bne reg2_error_loopf \n"
\r
536 " vmov r0, r1, d3 \n"
\r
538 " bne reg2_error_loopf \n"
\r
540 " bne reg2_error_loopf \n"
\r
541 " vmov r0, r1, d4 \n"
\r
543 " bne reg2_error_loopf \n"
\r
545 " bne reg2_error_loopf \n"
\r
546 " vmov r0, r1, d5 \n"
\r
548 " bne reg2_error_loopf \n"
\r
550 " bne reg2_error_loopf \n"
\r
551 " vmov r0, r1, d6 \n"
\r
553 " bne reg2_error_loopf \n"
\r
555 " bne reg2_error_loopf \n"
\r
556 " vmov r0, r1, d7 \n"
\r
558 " bne reg2_error_loopf \n"
\r
560 " bne reg2_error_loopf \n"
\r
561 " vmov r0, r1, d8 \n"
\r
563 " bne reg2_error_loopf \n"
\r
565 " bne reg2_error_loopf \n"
\r
566 " vmov r0, r1, d9 \n"
\r
568 " bne reg2_error_loopf \n"
\r
570 " bne reg2_error_loopf \n"
\r
571 " vmov r0, r1, d10 \n"
\r
573 " bne reg2_error_loopf \n"
\r
575 " bne reg2_error_loopf \n"
\r
576 " vmov r0, r1, d11 \n"
\r
578 " bne reg2_error_loopf \n"
\r
580 " bne reg2_error_loopf \n"
\r
581 " vmov r0, r1, d12 \n"
\r
583 " bne reg2_error_loopf \n"
\r
585 " bne reg2_error_loopf \n"
\r
586 " vmov r0, r1, d13 \n"
\r
588 " bne reg2_error_loopf \n"
\r
590 " bne reg2_error_loopf \n"
\r
591 " vmov r0, r1, d14 \n"
\r
593 " bne reg2_error_loopf \n"
\r
595 " bne reg2_error_loopf \n"
\r
596 " vmov r0, r1, d15 \n"
\r
598 " bne reg2_error_loopf \n"
\r
600 " bne reg2_error_loopf \n"
\r
602 " /* Restore the registers that were clobbered by the test. */\n"
\r
605 " /* VFP register test passed. Jump to the core register test. */\n"
\r
606 " b reg2_loopf_pass \n"
\r
608 "reg2_error_loopf: \n"
\r
609 " /* If this line is hit then a VFP register value was found to be\n"
\r
610 " incorrect. */ \n"
\r
611 " b reg2_error_loopf \n"
\r
613 "reg2_loopf_pass: \n"
\r
616 " bne reg2_error_loop \n"
\r
618 " bne reg2_error_loop \n"
\r
620 " bne reg2_error_loop \n"
\r
622 " bne reg2_error_loop \n"
\r
624 " bne reg2_error_loop \n"
\r
626 " bne reg2_error_loop \n"
\r
628 " bne reg2_error_loop \n"
\r
630 " bne reg2_error_loop \n"
\r
632 " bne reg2_error_loop \n"
\r
634 " bne reg2_error_loop \n"
\r
636 " bne reg2_error_loop \n"
\r
638 " bne reg2_error_loop \n"
\r
640 " bne reg2_error_loop \n"
\r
642 " /* Increment the loop counter to indicate this test is still functioning\n"
\r
643 " correctly. */ \n"
\r
644 " push { r0-r1 } \n"
\r
645 " ldr r0, =ulRegTest2LoopCounter \n"
\r
647 " adds r1, r1, #1 \n"
\r
649 " pop { r0-r1 } \n"
\r
651 " /* Start again. */ \n"
\r
654 "reg2_error_loop: \n"
\r
655 " /* If this line is hit then there was an error in a core register value.\n"
\r
656 " This loop ensures the loop counter variable stops incrementing. */\n"
\r
657 " b reg2_error_loop \n"
\r
projects / freertos / blob