2 FreeRTOS V8.1.1 - 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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68 * Creates all the demo application tasks, then starts the scheduler. The WEB
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69 * documentation provides more details of the standard demo application tasks.
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70 * In addition to the standard demo tasks, the following tasks and tests are
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71 * defined and/or created within this file:
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73 * "Check" task - This only executes every five seconds but has a high priority
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74 * to ensure it gets processor time. Its main function is to check that all the
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75 * standard demo tasks are still operational. While no errors have been
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76 * discovered the check task will toggle an LED every 5 seconds - the toggle
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77 * rate increasing to 500ms being a visual indication that at least one task has
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78 * reported unexpected behaviour.
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80 * "Reg test" tasks - These fill the registers with known values, then check
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81 * that each register still contains its expected value. Each task uses
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82 * different values. The tasks run with very low priority so get preempted very
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83 * frequently. A register containing an unexpected value is indicative of an
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84 * error in the context switching mechanism.
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88 /* Standard includes. */
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91 /* Scheduler includes. */
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92 #include "FreeRTOS.h"
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97 /* Demo app includes. */
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99 #include "crflash.h"
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100 #include "partest.h"
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101 #include "semtest.h"
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102 #include "GenQTest.h"
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104 #include "comtest2.h"
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106 /*-----------------------------------------------------------*/
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108 /* The time between cycles of the 'check' functionality - as described at the
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109 top of this file. */
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110 #define mainNO_ERROR_PERIOD ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
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112 /* The rate at which the LED controlled by the 'check' task will flash should an
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113 error have been detected. */
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114 #define mainERROR_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
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116 /* The LED controlled by the 'check' task. */
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117 #define mainCHECK_LED ( 3 )
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119 /* ComTest constants - there is no free LED for the comtest tasks. */
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120 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
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121 #define mainCOM_TEST_LED ( 5 )
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123 /* Task priorities. */
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124 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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125 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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126 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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127 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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128 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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130 /* Co-routines are used to flash the LEDs. */
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131 #define mainNUM_FLASH_CO_ROUTINES ( 3 )
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133 /* The baud rate used by the comtest tasks. */
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134 #define mainBAUD_RATE ( 38400 )
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136 /* There is no spare LED for the comtest tasks, so this is set to an invalid
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138 #define mainCOM_LED ( 4 )
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141 * Configure the hardware for the demo.
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143 static void prvSetupHardware( void );
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146 * Implements the 'check' task functionality as described at the top of this
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149 static void prvCheckTask( void *pvParameters );
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152 * Implement the 'Reg test' functionality as described at the top of this file.
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154 static void vRegTest1Task( void *pvParameters );
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155 static void vRegTest2Task( void *pvParameters );
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157 /*-----------------------------------------------------------*/
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159 /* Counters used to detect errors within the reg test tasks. */
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160 static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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162 /*-----------------------------------------------------------*/
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166 /* Setup the hardware ready for this demo. */
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167 prvSetupHardware();
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169 /* Start the standard demo tasks. */
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170 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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171 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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172 vStartQueuePeekTasks();
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173 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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174 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_LED );
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176 /* For demo purposes use some co-routines to flash the LEDs. */
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177 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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179 /* Create the check task. */
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180 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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183 /* Start the reg test tasks - defined in this file. */
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184 xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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185 xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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187 /* Start the scheduler. */
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188 vTaskStartScheduler();
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190 /* Will only get here if there was insufficient memory to create the idle
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196 /*-----------------------------------------------------------*/
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198 static void prvCheckTask( void *pvParameters )
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200 unsigned long ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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201 TickType_t xLastExecutionTime;
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202 volatile unsigned portBASE_TYPE uxUnusedStack;
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204 ( void ) pvParameters;
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206 /* Initialise the variable used to control our iteration rate prior to
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208 xLastExecutionTime = xTaskGetTickCount();
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212 /* Wait until it is time to run the tests again. */
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213 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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215 /* Has an error been found in any task? */
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216 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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221 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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226 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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231 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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236 if( xAreComTestTasksStillRunning() != pdTRUE )
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241 if( ulLastRegTest1Count == ulRegTest1Counter )
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243 ulError |= 0x1000UL;
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246 if( ulLastRegTest2Count == ulRegTest2Counter )
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248 ulError |= 0x1000UL;
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251 ulLastRegTest1Count = ulRegTest1Counter;
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252 ulLastRegTest2Count = ulRegTest2Counter;
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254 /* If an error has been found then increase our cycle rate, and in so
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255 doing increase the rate at which the check task LED toggles. */
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258 ulTicksToWait = mainERROR_PERIOD;
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261 /* Toggle the LED each itteration. */
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262 vParTestToggleLED( mainCHECK_LED );
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264 /* For demo only - how much unused stack does this task have? */
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265 uxUnusedStack = uxTaskGetStackHighWaterMark( NULL );
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268 /*-----------------------------------------------------------*/
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270 void prvSetupHardware( void )
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272 portDISABLE_INTERRUPTS();
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274 /* Setup the port used to toggle LEDs. */
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275 vParTestInitialise();
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277 /*-----------------------------------------------------------*/
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279 void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *pcTaskName )
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281 /* This will get called if a stack overflow is detected during the context
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282 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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283 problems within nested interrupts, but only do this for debug purposes as
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284 it will increase the context switch time. */
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287 ( void ) pcTaskName;
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293 /*-----------------------------------------------------------*/
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295 void vApplicationIdleHook( void );
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296 void vApplicationIdleHook( void )
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298 /* The co-routines run in the idle task. */
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299 vCoRoutineSchedule();
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301 /*-----------------------------------------------------------*/
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305 /* To keep the linker happy only as the libraries have been removed from
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310 /*-----------------------------------------------------------*/
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312 static void vRegTest1Task( void *pvParameters )
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314 /* Sanity check - did we receive the parameter expected? */
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315 if( pvParameters != &ulRegTest1Counter )
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317 /* Change here so the check task can detect that an error occurred. */
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323 /* Set all the registers to known values, then check that each retains its
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324 expected value - as described at the top of this file. If an error is
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325 found then the loop counter will no longer be incremented allowing the check
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326 task to recognise the error. */
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327 asm volatile ( "reg_test_1_start: \n\t"
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328 " moveq #1, d0 \n\t"
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329 " moveq #2, d1 \n\t"
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330 " moveq #3, d2 \n\t"
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331 " moveq #4, d3 \n\t"
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332 " moveq #5, d4 \n\t"
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333 " moveq #6, d5 \n\t"
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334 " moveq #7, d6 \n\t"
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335 " moveq #8, d7 \n\t"
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336 " move #9, a0 \n\t"
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337 " move #10, a1 \n\t"
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338 " move #11, a2 \n\t"
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339 " move #12, a3 \n\t"
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340 " move #13, a4 \n\t"
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341 " move #14, a5 \n\t"
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342 " move #15, a6 \n\t"
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344 " cmpi.l #1, d0 \n\t"
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345 " bne reg_test_1_error \n\t"
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346 " cmpi.l #2, d1 \n\t"
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347 " bne reg_test_1_error \n\t"
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348 " cmpi.l #3, d2 \n\t"
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349 " bne reg_test_1_error \n\t"
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350 " cmpi.l #4, d3 \n\t"
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351 " bne reg_test_1_error \n\t"
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352 " cmpi.l #5, d4 \n\t"
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353 " bne reg_test_1_error \n\t"
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354 " cmpi.l #6, d5 \n\t"
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355 " bne reg_test_1_error \n\t"
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356 " cmpi.l #7, d6 \n\t"
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357 " bne reg_test_1_error \n\t"
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358 " cmpi.l #8, d7 \n\t"
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359 " bne reg_test_1_error \n\t"
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360 " move a0, d0 \n\t"
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361 " cmpi.l #9, d0 \n\t"
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362 " bne reg_test_1_error \n\t"
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363 " move a1, d0 \n\t"
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364 " cmpi.l #10, d0 \n\t"
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365 " bne reg_test_1_error \n\t"
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366 " move a2, d0 \n\t"
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367 " cmpi.l #11, d0 \n\t"
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368 " bne reg_test_1_error \n\t"
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369 " move a3, d0 \n\t"
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370 " cmpi.l #12, d0 \n\t"
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371 " bne reg_test_1_error \n\t"
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372 " move a4, d0 \n\t"
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373 " cmpi.l #13, d0 \n\t"
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374 " bne reg_test_1_error \n\t"
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375 " move a5, d0 \n\t"
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376 " cmpi.l #14, d0 \n\t"
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377 " bne reg_test_1_error \n\t"
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378 " move a6, d0 \n\t"
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379 " cmpi.l #15, d0 \n\t"
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380 " bne reg_test_1_error \n\t"
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381 " move ulRegTest1Counter, d0 \n\t"
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382 " addq #1, d0 \n\t"
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383 " move d0, ulRegTest1Counter \n\t"
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384 " bra reg_test_1_start \n\t"
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385 "reg_test_1_error: \n\t"
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386 " bra reg_test_1_error \n\t"
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389 /*-----------------------------------------------------------*/
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391 static void vRegTest2Task( void *pvParameters )
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393 /* Sanity check - did we receive the parameter expected? */
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394 if( pvParameters != &ulRegTest2Counter )
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396 /* Change here so the check task can detect that an error occurred. */
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402 /* Set all the registers to known values, then check that each retains its
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403 expected value - as described at the top of this file. If an error is
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404 found then the loop counter will no longer be incremented allowing the check
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405 task to recognise the error. */
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406 asm volatile ( "reg_test_2_start: \n\t"
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407 " moveq #10, d0 \n\t"
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408 " moveq #20, d1 \n\t"
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409 " moveq #30, d2 \n\t"
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410 " moveq #40, d3 \n\t"
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411 " moveq #50, d4 \n\t"
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412 " moveq #60, d5 \n\t"
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413 " moveq #70, d6 \n\t"
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414 " moveq #80, d7 \n\t"
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415 " move #90, a0 \n\t"
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416 " move #100, a1 \n\t"
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417 " move #110, a2 \n\t"
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418 " move #120, a3 \n\t"
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419 " move #130, a4 \n\t"
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420 " move #140, a5 \n\t"
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421 " move #150, a6 \n\t"
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423 " cmpi.l #10, d0 \n\t"
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424 " bne reg_test_2_error \n\t"
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425 " cmpi.l #20, d1 \n\t"
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426 " bne reg_test_2_error \n\t"
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427 " cmpi.l #30, d2 \n\t"
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428 " bne reg_test_2_error \n\t"
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429 " cmpi.l #40, d3 \n\t"
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430 " bne reg_test_2_error \n\t"
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431 " cmpi.l #50, d4 \n\t"
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432 " bne reg_test_2_error \n\t"
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433 " cmpi.l #60, d5 \n\t"
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434 " bne reg_test_2_error \n\t"
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435 " cmpi.l #70, d6 \n\t"
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436 " bne reg_test_2_error \n\t"
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437 " cmpi.l #80, d7 \n\t"
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438 " bne reg_test_2_error \n\t"
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439 " move a0, d0 \n\t"
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440 " cmpi.l #90, d0 \n\t"
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441 " bne reg_test_2_error \n\t"
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442 " move a1, d0 \n\t"
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443 " cmpi.l #100, d0 \n\t"
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444 " bne reg_test_2_error \n\t"
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445 " move a2, d0 \n\t"
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446 " cmpi.l #110, d0 \n\t"
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447 " bne reg_test_2_error \n\t"
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448 " move a3, d0 \n\t"
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449 " cmpi.l #120, d0 \n\t"
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450 " bne reg_test_2_error \n\t"
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451 " move a4, d0 \n\t"
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452 " cmpi.l #130, d0 \n\t"
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453 " bne reg_test_2_error \n\t"
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454 " move a5, d0 \n\t"
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455 " cmpi.l #140, d0 \n\t"
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456 " bne reg_test_2_error \n\t"
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457 " move a6, d0 \n\t"
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458 " cmpi.l #150, d0 \n\t"
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459 " bne reg_test_2_error \n\t"
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460 " move ulRegTest1Counter, d0 \n\t"
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461 " addq #1, d0 \n\t"
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462 " move d0, ulRegTest2Counter \n\t"
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463 " bra reg_test_2_start \n\t"
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464 "reg_test_2_error: \n\t"
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465 " bra reg_test_2_error \n\t"
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468 /*-----------------------------------------------------------*/
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projects / freertos / blob