2 FreeRTOS V7.2.0 - 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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69 * Creates all the demo application tasks, then starts the scheduler. The WEB
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70 * documentation provides more details of the standard demo application tasks.
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71 * In addition to the standard demo tasks, the following tasks and tests are
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72 * defined and/or created within this file:
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74 * "Check" task - This only executes every five seconds but has a high priority
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75 * to ensure it gets processor time. Its main function is to check that all the
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76 * standard demo tasks are still operational. While no errors have been
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77 * discovered the check task will toggle an LED every 5 seconds - the toggle
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78 * rate increasing to 500ms being a visual indication that at least one task has
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79 * reported unexpected behaviour.
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81 * "Reg test" tasks - These fill the registers with known values, then check
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82 * that each register still contains its expected value. Each task uses
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83 * different values. The tasks run with very low priority so get preempted very
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84 * frequently. A register containing an unexpected value is indicative of an
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85 * error in the context switching mechanism.
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89 /* Standard includes. */
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92 /* Scheduler includes. */
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93 #include "FreeRTOS.h"
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98 /* Demo app includes. */
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100 #include "crflash.h"
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101 #include "partest.h"
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102 #include "semtest.h"
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103 #include "GenQTest.h"
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105 #include "comtest2.h"
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107 /*-----------------------------------------------------------*/
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109 /* The time between cycles of the 'check' functionality - as described at the
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110 top of this file. */
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111 #define mainNO_ERROR_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
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113 /* The rate at which the LED controlled by the 'check' task will flash should an
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114 error have been detected. */
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115 #define mainERROR_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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117 /* The LED controlled by the 'check' task. */
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118 #define mainCHECK_LED ( 3 )
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120 /* ComTest constants - there is no free LED for the comtest tasks. */
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121 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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122 #define mainCOM_TEST_LED ( 5 )
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124 /* Task priorities. */
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125 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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126 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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127 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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128 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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129 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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131 /* Co-routines are used to flash the LEDs. */
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132 #define mainNUM_FLASH_CO_ROUTINES ( 3 )
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134 /* The baud rate used by the comtest tasks. */
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135 #define mainBAUD_RATE ( 38400 )
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137 /* There is no spare LED for the comtest tasks, so this is set to an invalid
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139 #define mainCOM_LED ( 4 )
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142 * Configure the hardware for the demo.
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144 static void prvSetupHardware( void );
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147 * Implements the 'check' task functionality as described at the top of this
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150 static void prvCheckTask( void *pvParameters );
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153 * Implement the 'Reg test' functionality as described at the top of this file.
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155 static void vRegTest1Task( void *pvParameters );
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156 static void vRegTest2Task( void *pvParameters );
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158 /*-----------------------------------------------------------*/
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160 /* Counters used to detect errors within the reg test tasks. */
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161 static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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163 /*-----------------------------------------------------------*/
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167 /* Setup the hardware ready for this demo. */
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168 prvSetupHardware();
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170 /* Start the standard demo tasks. */
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171 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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172 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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173 vStartQueuePeekTasks();
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174 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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175 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_LED );
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177 /* For demo purposes use some co-routines to flash the LEDs. */
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178 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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180 /* Create the check task. */
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181 xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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184 /* Start the reg test tasks - defined in this file. */
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185 xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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186 xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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188 /* Start the scheduler. */
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189 vTaskStartScheduler();
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191 /* Will only get here if there was insufficient memory to create the idle
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197 /*-----------------------------------------------------------*/
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199 static void prvCheckTask( void *pvParameters )
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201 unsigned portLONG ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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202 portTickType xLastExecutionTime;
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203 volatile unsigned portBASE_TYPE uxUnusedStack;
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205 ( void ) pvParameters;
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207 /* Initialise the variable used to control our iteration rate prior to
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209 xLastExecutionTime = xTaskGetTickCount();
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213 /* Wait until it is time to run the tests again. */
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214 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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216 /* Has an error been found in any task? */
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217 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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222 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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227 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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232 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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237 if( xAreComTestTasksStillRunning() != pdTRUE )
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242 if( ulLastRegTest1Count == ulRegTest1Counter )
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244 ulError |= 0x1000UL;
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247 if( ulLastRegTest2Count == ulRegTest2Counter )
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249 ulError |= 0x1000UL;
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252 ulLastRegTest1Count = ulRegTest1Counter;
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253 ulLastRegTest2Count = ulRegTest2Counter;
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255 /* If an error has been found then increase our cycle rate, and in so
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256 doing increase the rate at which the check task LED toggles. */
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259 ulTicksToWait = mainERROR_PERIOD;
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262 /* Toggle the LED each itteration. */
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263 vParTestToggleLED( mainCHECK_LED );
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265 /* For demo only - how much unused stack does this task have? */
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266 uxUnusedStack = uxTaskGetStackHighWaterMark( NULL );
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269 /*-----------------------------------------------------------*/
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271 void prvSetupHardware( void )
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273 portDISABLE_INTERRUPTS();
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275 /* Setup the port used to toggle LEDs. */
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276 vParTestInitialise();
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278 /*-----------------------------------------------------------*/
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280 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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282 /* This will get called if a stack overflow is detected during the context
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283 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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284 problems within nested interrupts, but only do this for debug purposes as
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285 it will increase the context switch time. */
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288 ( void ) pcTaskName;
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294 /*-----------------------------------------------------------*/
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296 void vApplicationIdleHook( void );
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297 void vApplicationIdleHook( void )
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299 /* The co-routines run in the idle task. */
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300 vCoRoutineSchedule();
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302 /*-----------------------------------------------------------*/
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306 /* To keep the linker happy only as the libraries have been removed from
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311 /*-----------------------------------------------------------*/
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313 static void vRegTest1Task( void *pvParameters )
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315 /* Sanity check - did we receive the parameter expected? */
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316 if( pvParameters != &ulRegTest1Counter )
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318 /* Change here so the check task can detect that an error occurred. */
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324 /* Set all the registers to known values, then check that each retains its
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325 expected value - as described at the top of this file. If an error is
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326 found then the loop counter will no longer be incremented allowing the check
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327 task to recognise the error. */
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328 asm volatile ( "reg_test_1_start: \n\t"
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329 " moveq #1, d0 \n\t"
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330 " moveq #2, d1 \n\t"
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331 " moveq #3, d2 \n\t"
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332 " moveq #4, d3 \n\t"
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333 " moveq #5, d4 \n\t"
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334 " moveq #6, d5 \n\t"
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335 " moveq #7, d6 \n\t"
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336 " moveq #8, d7 \n\t"
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337 " move #9, a0 \n\t"
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338 " move #10, a1 \n\t"
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339 " move #11, a2 \n\t"
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340 " move #12, a3 \n\t"
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341 " move #13, a4 \n\t"
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342 " move #14, a5 \n\t"
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343 " move #15, a6 \n\t"
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345 " cmpi.l #1, d0 \n\t"
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346 " bne reg_test_1_error \n\t"
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347 " cmpi.l #2, d1 \n\t"
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348 " bne reg_test_1_error \n\t"
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349 " cmpi.l #3, d2 \n\t"
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350 " bne reg_test_1_error \n\t"
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351 " cmpi.l #4, d3 \n\t"
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352 " bne reg_test_1_error \n\t"
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353 " cmpi.l #5, d4 \n\t"
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354 " bne reg_test_1_error \n\t"
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355 " cmpi.l #6, d5 \n\t"
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356 " bne reg_test_1_error \n\t"
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357 " cmpi.l #7, d6 \n\t"
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358 " bne reg_test_1_error \n\t"
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359 " cmpi.l #8, d7 \n\t"
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360 " bne reg_test_1_error \n\t"
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361 " move a0, d0 \n\t"
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362 " cmpi.l #9, d0 \n\t"
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363 " bne reg_test_1_error \n\t"
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364 " move a1, d0 \n\t"
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365 " cmpi.l #10, d0 \n\t"
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366 " bne reg_test_1_error \n\t"
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367 " move a2, d0 \n\t"
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368 " cmpi.l #11, d0 \n\t"
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369 " bne reg_test_1_error \n\t"
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370 " move a3, d0 \n\t"
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371 " cmpi.l #12, d0 \n\t"
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372 " bne reg_test_1_error \n\t"
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373 " move a4, d0 \n\t"
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374 " cmpi.l #13, d0 \n\t"
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375 " bne reg_test_1_error \n\t"
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376 " move a5, d0 \n\t"
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377 " cmpi.l #14, d0 \n\t"
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378 " bne reg_test_1_error \n\t"
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379 " move a6, d0 \n\t"
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380 " cmpi.l #15, d0 \n\t"
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381 " bne reg_test_1_error \n\t"
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382 " move ulRegTest1Counter, d0 \n\t"
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383 " addq #1, d0 \n\t"
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384 " move d0, ulRegTest1Counter \n\t"
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385 " bra reg_test_1_start \n\t"
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386 "reg_test_1_error: \n\t"
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387 " bra reg_test_1_error \n\t"
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390 /*-----------------------------------------------------------*/
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392 static void vRegTest2Task( void *pvParameters )
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394 /* Sanity check - did we receive the parameter expected? */
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395 if( pvParameters != &ulRegTest2Counter )
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397 /* Change here so the check task can detect that an error occurred. */
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403 /* Set all the registers to known values, then check that each retains its
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404 expected value - as described at the top of this file. If an error is
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405 found then the loop counter will no longer be incremented allowing the check
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406 task to recognise the error. */
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407 asm volatile ( "reg_test_2_start: \n\t"
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408 " moveq #10, d0 \n\t"
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409 " moveq #20, d1 \n\t"
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410 " moveq #30, d2 \n\t"
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411 " moveq #40, d3 \n\t"
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412 " moveq #50, d4 \n\t"
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413 " moveq #60, d5 \n\t"
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414 " moveq #70, d6 \n\t"
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415 " moveq #80, d7 \n\t"
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416 " move #90, a0 \n\t"
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417 " move #100, a1 \n\t"
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418 " move #110, a2 \n\t"
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419 " move #120, a3 \n\t"
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420 " move #130, a4 \n\t"
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421 " move #140, a5 \n\t"
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422 " move #150, a6 \n\t"
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424 " cmpi.l #10, d0 \n\t"
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425 " bne reg_test_2_error \n\t"
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426 " cmpi.l #20, d1 \n\t"
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427 " bne reg_test_2_error \n\t"
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428 " cmpi.l #30, d2 \n\t"
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429 " bne reg_test_2_error \n\t"
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430 " cmpi.l #40, d3 \n\t"
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431 " bne reg_test_2_error \n\t"
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432 " cmpi.l #50, d4 \n\t"
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433 " bne reg_test_2_error \n\t"
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434 " cmpi.l #60, d5 \n\t"
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435 " bne reg_test_2_error \n\t"
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436 " cmpi.l #70, d6 \n\t"
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437 " bne reg_test_2_error \n\t"
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438 " cmpi.l #80, d7 \n\t"
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439 " bne reg_test_2_error \n\t"
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440 " move a0, d0 \n\t"
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441 " cmpi.l #90, d0 \n\t"
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442 " bne reg_test_2_error \n\t"
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443 " move a1, d0 \n\t"
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444 " cmpi.l #100, d0 \n\t"
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445 " bne reg_test_2_error \n\t"
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446 " move a2, d0 \n\t"
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447 " cmpi.l #110, d0 \n\t"
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448 " bne reg_test_2_error \n\t"
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449 " move a3, d0 \n\t"
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450 " cmpi.l #120, d0 \n\t"
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451 " bne reg_test_2_error \n\t"
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452 " move a4, d0 \n\t"
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453 " cmpi.l #130, d0 \n\t"
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454 " bne reg_test_2_error \n\t"
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455 " move a5, d0 \n\t"
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456 " cmpi.l #140, d0 \n\t"
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457 " bne reg_test_2_error \n\t"
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458 " move a6, d0 \n\t"
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459 " cmpi.l #150, d0 \n\t"
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460 " bne reg_test_2_error \n\t"
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461 " move ulRegTest1Counter, d0 \n\t"
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462 " addq #1, d0 \n\t"
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463 " move d0, ulRegTest2Counter \n\t"
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464 " bra reg_test_2_start \n\t"
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465 "reg_test_2_error: \n\t"
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466 " bra reg_test_2_error \n\t"
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469 /*-----------------------------------------------------------*/
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projects / freertos / blob