2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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67 /******************************************************************************
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68 * NOTE 1: This project provides two demo applications. A simple blinky style
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69 * project, and a more comprehensive test and demo application. The
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70 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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71 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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72 * in main.c. This file implements the comprehensive test and demo version.
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74 * NOTE 2: This file only contains the source code that is specific to the
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75 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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76 * required to configure the hardware, are defined in main.c.
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77 ******************************************************************************
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79 * main_full() creates all the demo application tasks and a software timer, then
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80 * starts the scheduler. The web documentation provides more details of the
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81 * standard demo application tasks, which provide no particular functionality,
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82 * but do provide a good example of how to use the FreeRTOS API.
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84 * In addition to the standard demo tasks, the following tasks and tests are
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85 * defined and/or created within this file:
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87 * "Reg test" tasks - These fill both the core and floating point registers with
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88 * known values, then check that each register maintains its expected value for
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89 * the lifetime of the task. Each task uses a different set of values. The reg
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90 * test tasks execute with a very low priority, so get preempted very
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91 * frequently. A register containing an unexpected value is indicative of an
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92 * error in the context switching mechanism.
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94 * "Check" timer - The check software timer period is initially set to three
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95 * seconds. The callback function associated with the check software timer
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96 * checks that all the standard demo tasks, and the register check tasks, are
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97 * not only still executing, but are executing without reporting any errors. If
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98 * the check software timer discovers that a task has either stalled, or
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99 * reported an error, then it changes its own execution period from the initial
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100 * three seconds, to just 200ms. The check software timer callback function
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101 * also toggles the single LED each time it is called. This provides a visual
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102 * indication of the system status: If the LED toggles every three seconds,
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103 * then no issues have been discovered. If the LED toggles every 200ms, then
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104 * an issue has been discovered with at least one task.
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107 /* Standard includes. */
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110 /* Kernel includes. */
\r
111 #include "FreeRTOS.h"
\r
113 #include "timers.h"
\r
114 #include "semphr.h"
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116 /* Standard demo application includes. */
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118 #include "integer.h"
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120 #include "semtest.h"
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121 #include "dynamic.h"
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122 #include "BlockQ.h"
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123 #include "blocktim.h"
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124 #include "countsem.h"
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125 #include "GenQTest.h"
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126 #include "recmutex.h"
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129 /* Hardware includes. */
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130 #include "XMC4500.h"
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131 #include "System_XMC4500.h"
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133 /* Priorities for the demo application tasks. */
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134 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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135 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
\r
136 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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137 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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138 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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140 /* To toggle the single LED */
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141 #define mainTOGGLE_LED() ( PORT3->OMR = 0x02000200 )
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143 /* A block time of zero simply means "don't block". */
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144 #define mainDONT_BLOCK ( 0UL )
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146 /* The period after which the check timer will expire, in ms, provided no errors
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147 have been reported by any of the standard demo tasks. ms are converted to the
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148 equivalent in ticks using the portTICK_RATE_MS constant. */
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149 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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151 /* The period at which the check timer will expire, in ms, if an error has been
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152 reported in one of the standard demo tasks. ms are converted to the equivalent
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153 in ticks using the portTICK_RATE_MS constant. */
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154 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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156 /*-----------------------------------------------------------*/
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159 * The check timer callback function, as described at the top of this file.
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161 static void prvCheckTimerCallback( xTimerHandle xTimer );
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164 * Register check tasks, and the tasks used to write over and check the contents
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165 * of the FPU registers, as described at the top of this file. The nature of
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166 * these files necessitates that they are written in an assembly file.
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168 static void vRegTest1Task( void *pvParameters );
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169 static void vRegTest2Task( void *pvParameters );
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171 /*-----------------------------------------------------------*/
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173 /* The following two variables are used to communicate the status of the
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174 register check tasks to the check software timer. If the variables keep
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175 incrementing, then the register check tasks has not discovered any errors. If
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176 a variable stops incrementing, then an error has been found. */
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177 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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179 /*-----------------------------------------------------------*/
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181 void main_full( void )
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183 xTimerHandle xCheckTimer = NULL;
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185 /* Start all the other standard demo/test tasks. The have not particular
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186 functionality, but do demonstrate how to use the FreeRTOS API and test the
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188 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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189 vStartDynamicPriorityTasks();
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190 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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191 vCreateBlockTimeTasks();
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192 vStartCountingSemaphoreTasks();
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193 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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194 vStartRecursiveMutexTasks();
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195 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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196 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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197 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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199 /* Create the register check tasks, as described at the top of this
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201 xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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202 xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
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204 /* Create the software timer that performs the 'check' functionality,
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205 as described at the top of this file. */
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206 xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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207 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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208 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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209 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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210 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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213 if( xCheckTimer != NULL )
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215 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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218 /* The set of tasks created by the following function call have to be
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219 created last as they keep account of the number of tasks they expect to see
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221 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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223 /* Start the scheduler. */
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224 vTaskStartScheduler();
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226 /* If all is well, the scheduler will now be running, and the following line
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227 will never be reached. If the following line does execute, then there was
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228 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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229 to be created. See the memory management section on the FreeRTOS web site
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230 for more details. */
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233 __asm volatile( "NOP" );
\r
236 /*-----------------------------------------------------------*/
\r
238 static void prvCheckTimerCallback( xTimerHandle xTimer )
\r
240 static long lChangedTimerPeriodAlready = pdFALSE;
\r
241 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
\r
242 unsigned long ulErrorFound = pdFALSE;
\r
244 /* Check all the demo tasks (other than the flash tasks) to ensure
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245 that they are all still running, and that none have detected an error. */
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247 if( xAreMathsTaskStillRunning() != pdTRUE )
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249 ulErrorFound = pdTRUE;
\r
252 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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254 ulErrorFound = pdTRUE;
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257 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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259 ulErrorFound = pdTRUE;
\r
262 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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264 ulErrorFound = pdTRUE;
\r
267 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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269 ulErrorFound = pdTRUE;
\r
272 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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274 ulErrorFound = pdTRUE;
\r
277 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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279 ulErrorFound = pdTRUE;
\r
282 if( xIsCreateTaskStillRunning() != pdTRUE )
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284 ulErrorFound = pdTRUE;
\r
287 if( xArePollingQueuesStillRunning() != pdTRUE )
\r
289 ulErrorFound = pdTRUE;
\r
292 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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294 ulErrorFound = pdTRUE;
\r
297 /* Check that the register test 1 task is still running. */
\r
298 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
\r
300 ulErrorFound = pdTRUE;
\r
302 ulLastRegTest1Value = ulRegTest1LoopCounter;
\r
304 /* Check that the register test 2 task is still running. */
\r
305 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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307 ulErrorFound = pdTRUE;
\r
309 ulLastRegTest2Value = ulRegTest2LoopCounter;
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311 /* Toggle the check LED to give an indication of the system status. If
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312 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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313 everything is ok. A faster toggle indicates an error. */
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316 /* Have any errors been latch in ulErrorFound? If so, shorten the
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317 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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318 This will result in an increase in the rate at which mainCHECK_LED
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320 if( ulErrorFound != pdFALSE )
\r
322 if( lChangedTimerPeriodAlready == pdFALSE )
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324 lChangedTimerPeriodAlready = pdTRUE;
\r
326 /* This call to xTimerChangePeriod() uses a zero block time.
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327 Functions called from inside of a timer callback function must
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328 *never* attempt to block. */
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329 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
\r
333 /*-----------------------------------------------------------*/
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335 /* This is a naked function. */
\r
336 static void vRegTest1Task( void *pvParameters )
\r
340 " \n" /* Fill the core registers with known values. */
\r
351 " mov r10, #110 \n"
\r
352 " mov r11, #111 \n"
\r
353 " mov r12, #112 \n"
\r
355 " vmov d0, r0, r1 \n" /* Fill the VFP registers with known values. */
\r
356 " vmov d1, r2, r3 \n"
\r
357 " vmov d2, r4, r5 \n"
\r
358 " vmov d3, r6, r7 \n"
\r
359 " vmov d4, r8, r9 \n"
\r
360 " vmov d5, r10, r11 \n"
\r
361 " vmov d6, r0, r1 \n"
\r
362 " vmov d7, r2, r3 \n"
\r
363 " vmov d8, r4, r5 \n"
\r
364 " vmov d9, r6, r7 \n"
\r
365 " vmov d10, r8, r9 \n"
\r
366 " vmov d11, r10, r11 \n"
\r
367 " vmov d12, r0, r1 \n"
\r
368 " vmov d13, r2, r3 \n"
\r
369 " vmov d14, r4, r5 \n"
\r
370 " vmov d15, r6, r7 \n"
\r
372 "reg1_loop: \n" /* Check all the VFP registers still contain the values set above." */
\r
373 " push { r0-r1 } \n" /* First save registers that are clobbered by the test. */
\r
375 " vmov r0, r1, d0 \n"
\r
377 " bne reg1_error_loopf \n"
\r
379 " bne reg1_error_loopf \n"
\r
380 " vmov r0, r1, d1 \n"
\r
382 " bne reg1_error_loopf \n"
\r
384 " bne reg1_error_loopf \n"
\r
385 " vmov r0, r1, d2 \n"
\r
387 " bne reg1_error_loopf \n"
\r
389 " bne reg1_error_loopf \n"
\r
390 " vmov r0, r1, d3 \n"
\r
392 " bne reg1_error_loopf \n"
\r
394 " bne reg1_error_loopf \n"
\r
395 " vmov r0, r1, d4 \n"
\r
397 " bne reg1_error_loopf \n"
\r
399 " bne reg1_error_loopf \n"
\r
400 " vmov r0, r1, d5 \n"
\r
402 " bne reg1_error_loopf \n"
\r
404 " bne reg1_error_loopf \n"
\r
405 " vmov r0, r1, d6 \n"
\r
407 " bne reg1_error_loopf \n"
\r
409 " bne reg1_error_loopf \n"
\r
410 " vmov r0, r1, d7 \n"
\r
412 " bne reg1_error_loopf \n"
\r
414 " bne reg1_error_loopf \n"
\r
415 " vmov r0, r1, d8 \n"
\r
417 " bne reg1_error_loopf \n"
\r
419 " bne reg1_error_loopf \n"
\r
420 " vmov r0, r1, d9 \n"
\r
422 " bne reg1_error_loopf \n"
\r
424 " bne reg1_error_loopf \n"
\r
425 " vmov r0, r1, d10 \n"
\r
427 " bne reg1_error_loopf \n"
\r
429 " bne reg1_error_loopf \n"
\r
430 " vmov r0, r1, d11 \n"
\r
432 " bne reg1_error_loopf \n"
\r
434 " bne reg1_error_loopf \n"
\r
435 " vmov r0, r1, d12 \n"
\r
437 " bne reg1_error_loopf \n"
\r
439 " bne reg1_error_loopf \n"
\r
440 " vmov r0, r1, d13 \n"
\r
442 " bne reg1_error_loopf \n"
\r
444 " bne reg1_error_loopf \n"
\r
445 " vmov r0, r1, d14 \n"
\r
447 " bne reg1_error_loopf \n"
\r
449 " bne reg1_error_loopf \n"
\r
450 " vmov r0, r1, d15 \n"
\r
452 " bne reg1_error_loopf \n"
\r
454 " bne reg1_error_loopf \n"
\r
456 " pop {r0-r1} \n" /* Restore the registers that were clobbered by the test. */
\r
458 " b reg1_loopf_pass \n" /* VFP register test passed. Jump to the core register test. */
\r
460 "reg1_error_loopf: \n"
\r
461 " b reg1_error_loopf \n" /* If this line is hit then a VFP register value was found to be\n incorrect. */
\r
463 "reg1_loopf_pass: \n"
\r
466 " bne reg1_error_loop \n"
\r
468 " bne reg1_error_loop \n"
\r
470 " bne reg1_error_loop \n"
\r
472 " bne reg1_error_loop \n"
\r
474 " bne reg1_error_loop \n"
\r
476 " bne reg1_error_loop \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
485 " cmp r10, #110 \n"
\r
486 " bne reg1_error_loop \n"
\r
487 " cmp r11, #111 \n"
\r
488 " bne reg1_error_loop \n"
\r
489 " cmp r12, #112 \n"
\r
490 " bne reg1_error_loop \n"
\r
492 " push { r0-r1 } \n" /* Everything passed, increment the loop counter. */
\r
493 " ldr r0, =ulRegTest1LoopCounter \n"
\r
495 " adds r1, r1, #1 \n"
\r
497 " pop { r0-r1 } \n"
\r
499 " b reg1_loop \n" /* Start again. */
\r
501 "reg1_error_loop: \n" /* If this line is hit then there was an error in a core register value. */
\r
502 " b reg1_error_loop \n" /* The loop ensures the loop counter stops incrementing. */
\r
506 /*-----------------------------------------------------------*/
\r
508 /* This is a naked function. */
\r
509 static void vRegTest2Task( void *pvParameters )
\r
513 " mov r0, #-1 \n" /* Set all the core registers to known values. */
\r
527 " vmov d0, r0, r1 \n" /* Set all the VFP to known values. */
\r
528 " vmov d1, r2, r3 \n"
\r
529 " vmov d2, r4, r5 \n"
\r
530 " vmov d3, r6, r7 \n"
\r
531 " vmov d4, r8, r9 \n"
\r
532 " vmov d5, r10, r11 \n"
\r
533 " vmov d6, r0, r1 \n"
\r
534 " vmov d7, r2, r3 \n"
\r
535 " vmov d8, r4, r5 \n"
\r
536 " vmov d9, r6, r7 \n"
\r
537 " vmov d10, r8, r9 \n"
\r
538 " vmov d11, r10, r11 \n"
\r
539 " vmov d12, r0, r1 \n"
\r
540 " vmov d13, r2, r3 \n"
\r
541 " vmov d14, r4, r5 \n"
\r
542 " vmov d15, r6, r7 \n"
\r
546 " push { r0-r1 } \n" /* Check all the VFP registers still contain the values set above. */
\r
547 " vmov r0, r1, d0 \n" /*First save registers that are clobbered by the test. */
\r
549 " bne reg2_error_loopf \n"
\r
551 " bne reg2_error_loopf \n"
\r
552 " vmov r0, r1, d1 \n"
\r
554 " bne reg2_error_loopf \n"
\r
556 " bne reg2_error_loopf \n"
\r
557 " vmov r0, r1, d2 \n"
\r
559 " bne reg2_error_loopf \n"
\r
561 " bne reg2_error_loopf \n"
\r
562 " vmov r0, r1, d3 \n"
\r
564 " bne reg2_error_loopf \n"
\r
566 " bne reg2_error_loopf \n"
\r
567 " vmov r0, r1, d4 \n"
\r
569 " bne reg2_error_loopf \n"
\r
571 " bne reg2_error_loopf \n"
\r
572 " vmov r0, r1, d5 \n"
\r
574 " bne reg2_error_loopf \n"
\r
576 " bne reg2_error_loopf \n"
\r
577 " vmov r0, r1, d6 \n"
\r
579 " bne reg2_error_loopf \n"
\r
581 " bne reg2_error_loopf \n"
\r
582 " vmov r0, r1, d7 \n"
\r
584 " bne reg2_error_loopf \n"
\r
586 " bne reg2_error_loopf \n"
\r
587 " vmov r0, r1, d8 \n"
\r
589 " bne reg2_error_loopf \n"
\r
591 " bne reg2_error_loopf \n"
\r
592 " vmov r0, r1, d9 \n"
\r
594 " bne reg2_error_loopf \n"
\r
596 " bne reg2_error_loopf \n"
\r
597 " vmov r0, r1, d10 \n"
\r
599 " bne reg2_error_loopf \n"
\r
601 " bne reg2_error_loopf \n"
\r
602 " vmov r0, r1, d11 \n"
\r
604 " bne reg2_error_loopf \n"
\r
606 " bne reg2_error_loopf \n"
\r
607 " vmov r0, r1, d12 \n"
\r
609 " bne reg2_error_loopf \n"
\r
611 " bne reg2_error_loopf \n"
\r
612 " vmov r0, r1, d13 \n"
\r
614 " bne reg2_error_loopf \n"
\r
616 " bne reg2_error_loopf \n"
\r
617 " vmov r0, r1, d14 \n"
\r
619 " bne reg2_error_loopf \n"
\r
621 " bne reg2_error_loopf \n"
\r
622 " vmov r0, r1, d15 \n"
\r
624 " bne reg2_error_loopf \n"
\r
626 " bne reg2_error_loopf \n"
\r
628 " pop {r0-r1} \n" /* Restore the registers that were clobbered by the test. */
\r
630 " b reg2_loopf_pass \n" /* VFP register test passed. Jump to the core register test. */
\r
632 "reg2_error_loopf: \n"
\r
633 " b reg2_error_loopf \n" /* If this line is hit then a VFP register value was found to be incorrect. */
\r
635 "reg2_loopf_pass: \n"
\r
638 " bne reg2_error_loop \n"
\r
640 " bne reg2_error_loop \n"
\r
642 " bne reg2_error_loop \n"
\r
644 " bne reg2_error_loop \n"
\r
646 " bne reg2_error_loop \n"
\r
648 " bne reg2_error_loop \n"
\r
650 " bne reg2_error_loop \n"
\r
652 " bne reg2_error_loop \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 " push { r0-r1 } \n" /* Increment the loop counter to indicate this test is still functioning correctly. */
\r
665 " ldr r0, =ulRegTest2LoopCounter \n"
\r
667 " adds r1, r1, #1 \n"
\r
669 " pop { r0-r1 } \n"
\r
671 " b reg2_loop \n" /* Start again. */
\r
673 "reg2_error_loop: \n" /* If this line is hit then there was an error in a core register value. */
\r
674 " b reg2_error_loop \n" /* This loop ensures the loop counter variable stops incrementing. */
\r
projects / freertos / blob