2 FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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77 * Creates all the demo application tasks, then starts the scheduler. The WEB
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78 * documentation provides more details of the standard demo application tasks.
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79 * In addition to the standard demo tasks, the following tasks and tests are
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80 * defined and/or created within this file:
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82 * "Check" task - This only executes every five seconds but has a high priority
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83 * to ensure it gets processor time. Its main function is to check that all the
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84 * standard demo tasks are still operational. While no errors have been
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85 * discovered the check task will toggle an LED every 5 seconds - the toggle
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86 * rate increasing to 500ms being a visual indication that at least one task has
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87 * reported unexpected behaviour.
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89 * "Reg test" tasks - These fill the registers with known values, then check
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90 * that each register still contains its expected value. Each task uses
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91 * different values. The tasks run with very low priority so get preempted very
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92 * frequently. A register containing an unexpected value is indicative of an
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93 * error in the context switching mechanism.
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97 /* Standard includes. */
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100 /* Scheduler includes. */
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101 #include "FreeRTOS.h"
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104 #include "semphr.h"
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106 /* Demo app includes. */
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107 #include "BlockQ.h"
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108 #include "crflash.h"
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109 #include "partest.h"
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110 #include "semtest.h"
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111 #include "GenQTest.h"
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113 #include "comtest2.h"
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115 /*-----------------------------------------------------------*/
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117 /* The time between cycles of the 'check' functionality - as described at the
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118 top of this file. */
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119 #define mainNO_ERROR_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
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121 /* The rate at which the LED controlled by the 'check' task will flash should an
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122 error have been detected. */
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123 #define mainERROR_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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125 /* The LED controlled by the 'check' task. */
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126 #define mainCHECK_LED ( 3 )
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128 /* ComTest constants - there is no free LED for the comtest tasks. */
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129 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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130 #define mainCOM_TEST_LED ( 5 )
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132 /* Task priorities. */
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133 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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134 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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135 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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136 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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137 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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139 /* Co-routines are used to flash the LEDs. */
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140 #define mainNUM_FLASH_CO_ROUTINES ( 3 )
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142 /* The baud rate used by the comtest tasks. */
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143 #define mainBAUD_RATE ( 38400 )
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145 /* There is no spare LED for the comtest tasks, so this is set to an invalid
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147 #define mainCOM_LED ( 4 )
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150 * Configure the hardware for the demo.
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152 static void prvSetupHardware( void );
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155 * Implements the 'check' task functionality as described at the top of this
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158 static void prvCheckTask( void *pvParameters );
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161 * Implement the 'Reg test' functionality as described at the top of this file.
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163 static void vRegTest1Task( void *pvParameters );
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164 static void vRegTest2Task( void *pvParameters );
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166 /*-----------------------------------------------------------*/
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168 /* Counters used to detect errors within the reg test tasks. */
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169 static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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171 /*-----------------------------------------------------------*/
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175 /* Setup the hardware ready for this demo. */
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176 prvSetupHardware();
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178 /* Start the standard demo tasks. */
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179 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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180 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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181 vStartQueuePeekTasks();
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182 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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183 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_LED );
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185 /* For demo purposes use some co-routines to flash the LEDs. */
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186 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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188 /* Create the check task. */
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189 xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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192 /* Start the reg test tasks - defined in this file. */
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193 xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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194 xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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196 /* Start the scheduler. */
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197 vTaskStartScheduler();
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199 /* Will only get here if there was insufficient memory to create the idle
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205 /*-----------------------------------------------------------*/
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207 static void prvCheckTask( void *pvParameters )
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209 unsigned portLONG ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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210 portTickType xLastExecutionTime;
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211 volatile unsigned portBASE_TYPE uxUnusedStack;
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213 ( void ) pvParameters;
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215 /* Initialise the variable used to control our iteration rate prior to
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217 xLastExecutionTime = xTaskGetTickCount();
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221 /* Wait until it is time to run the tests again. */
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222 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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224 /* Has an error been found in any task? */
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225 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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230 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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235 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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240 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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245 if( xAreComTestTasksStillRunning() != pdTRUE )
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250 if( ulLastRegTest1Count == ulRegTest1Counter )
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252 ulError |= 0x1000UL;
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255 if( ulLastRegTest2Count == ulRegTest2Counter )
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257 ulError |= 0x1000UL;
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260 ulLastRegTest1Count = ulRegTest1Counter;
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261 ulLastRegTest2Count = ulRegTest2Counter;
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263 /* If an error has been found then increase our cycle rate, and in so
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264 doing increase the rate at which the check task LED toggles. */
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267 ulTicksToWait = mainERROR_PERIOD;
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270 /* Toggle the LED each itteration. */
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271 vParTestToggleLED( mainCHECK_LED );
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273 /* For demo only - how much unused stack does this task have? */
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274 uxUnusedStack = uxTaskGetStackHighWaterMark( NULL );
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277 /*-----------------------------------------------------------*/
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279 void prvSetupHardware( void )
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281 portDISABLE_INTERRUPTS();
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283 /* Setup the port used to toggle LEDs. */
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284 vParTestInitialise();
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286 /*-----------------------------------------------------------*/
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288 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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290 /* This will get called if a stack overflow is detected during the context
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291 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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292 problems within nested interrupts, but only do this for debug purposes as
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293 it will increase the context switch time. */
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296 ( void ) pcTaskName;
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302 /*-----------------------------------------------------------*/
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304 void vApplicationIdleHook( void );
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305 void vApplicationIdleHook( void )
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307 /* The co-routines run in the idle task. */
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308 vCoRoutineSchedule();
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310 /*-----------------------------------------------------------*/
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314 /* To keep the linker happy only as the libraries have been removed from
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319 /*-----------------------------------------------------------*/
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321 static void vRegTest1Task( void *pvParameters )
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323 /* Sanity check - did we receive the parameter expected? */
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324 if( pvParameters != &ulRegTest1Counter )
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326 /* Change here so the check task can detect that an error occurred. */
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332 /* Set all the registers to known values, then check that each retains its
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333 expected value - as described at the top of this file. If an error is
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334 found then the loop counter will no longer be incremented allowing the check
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335 task to recognise the error. */
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336 asm volatile ( "reg_test_1_start: \n\t"
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337 " moveq #1, d0 \n\t"
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338 " moveq #2, d1 \n\t"
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339 " moveq #3, d2 \n\t"
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340 " moveq #4, d3 \n\t"
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341 " moveq #5, d4 \n\t"
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342 " moveq #6, d5 \n\t"
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343 " moveq #7, d6 \n\t"
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344 " moveq #8, d7 \n\t"
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345 " move #9, a0 \n\t"
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346 " move #10, a1 \n\t"
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347 " move #11, a2 \n\t"
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348 " move #12, a3 \n\t"
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349 " move #13, a4 \n\t"
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350 " move #14, a5 \n\t"
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351 " move #15, a6 \n\t"
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353 " cmpi.l #1, d0 \n\t"
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354 " bne reg_test_1_error \n\t"
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355 " cmpi.l #2, d1 \n\t"
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356 " bne reg_test_1_error \n\t"
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357 " cmpi.l #3, d2 \n\t"
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358 " bne reg_test_1_error \n\t"
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359 " cmpi.l #4, d3 \n\t"
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360 " bne reg_test_1_error \n\t"
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361 " cmpi.l #5, d4 \n\t"
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362 " bne reg_test_1_error \n\t"
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363 " cmpi.l #6, d5 \n\t"
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364 " bne reg_test_1_error \n\t"
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365 " cmpi.l #7, d6 \n\t"
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366 " bne reg_test_1_error \n\t"
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367 " cmpi.l #8, d7 \n\t"
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368 " bne reg_test_1_error \n\t"
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369 " move a0, d0 \n\t"
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370 " cmpi.l #9, d0 \n\t"
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371 " bne reg_test_1_error \n\t"
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372 " move a1, d0 \n\t"
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373 " cmpi.l #10, d0 \n\t"
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374 " bne reg_test_1_error \n\t"
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375 " move a2, d0 \n\t"
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376 " cmpi.l #11, d0 \n\t"
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377 " bne reg_test_1_error \n\t"
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378 " move a3, d0 \n\t"
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379 " cmpi.l #12, d0 \n\t"
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380 " bne reg_test_1_error \n\t"
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381 " move a4, d0 \n\t"
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382 " cmpi.l #13, d0 \n\t"
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383 " bne reg_test_1_error \n\t"
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384 " move a5, d0 \n\t"
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385 " cmpi.l #14, d0 \n\t"
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386 " bne reg_test_1_error \n\t"
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387 " move a6, d0 \n\t"
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388 " cmpi.l #15, d0 \n\t"
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389 " bne reg_test_1_error \n\t"
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390 " move ulRegTest1Counter, d0 \n\t"
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391 " addq #1, d0 \n\t"
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392 " move d0, ulRegTest1Counter \n\t"
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393 " bra reg_test_1_start \n\t"
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394 "reg_test_1_error: \n\t"
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395 " bra reg_test_1_error \n\t"
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398 /*-----------------------------------------------------------*/
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400 static void vRegTest2Task( void *pvParameters )
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402 /* Sanity check - did we receive the parameter expected? */
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403 if( pvParameters != &ulRegTest2Counter )
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405 /* Change here so the check task can detect that an error occurred. */
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411 /* Set all the registers to known values, then check that each retains its
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412 expected value - as described at the top of this file. If an error is
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413 found then the loop counter will no longer be incremented allowing the check
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414 task to recognise the error. */
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415 asm volatile ( "reg_test_2_start: \n\t"
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416 " moveq #10, d0 \n\t"
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417 " moveq #20, d1 \n\t"
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418 " moveq #30, d2 \n\t"
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419 " moveq #40, d3 \n\t"
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420 " moveq #50, d4 \n\t"
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421 " moveq #60, d5 \n\t"
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422 " moveq #70, d6 \n\t"
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423 " moveq #80, d7 \n\t"
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424 " move #90, a0 \n\t"
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425 " move #100, a1 \n\t"
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426 " move #110, a2 \n\t"
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427 " move #120, a3 \n\t"
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428 " move #130, a4 \n\t"
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429 " move #140, a5 \n\t"
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430 " move #150, a6 \n\t"
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432 " cmpi.l #10, d0 \n\t"
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433 " bne reg_test_2_error \n\t"
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434 " cmpi.l #20, d1 \n\t"
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435 " bne reg_test_2_error \n\t"
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436 " cmpi.l #30, d2 \n\t"
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437 " bne reg_test_2_error \n\t"
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438 " cmpi.l #40, d3 \n\t"
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439 " bne reg_test_2_error \n\t"
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440 " cmpi.l #50, d4 \n\t"
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441 " bne reg_test_2_error \n\t"
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442 " cmpi.l #60, d5 \n\t"
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443 " bne reg_test_2_error \n\t"
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444 " cmpi.l #70, d6 \n\t"
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445 " bne reg_test_2_error \n\t"
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446 " cmpi.l #80, d7 \n\t"
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447 " bne reg_test_2_error \n\t"
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448 " move a0, d0 \n\t"
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449 " cmpi.l #90, d0 \n\t"
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450 " bne reg_test_2_error \n\t"
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451 " move a1, d0 \n\t"
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452 " cmpi.l #100, d0 \n\t"
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453 " bne reg_test_2_error \n\t"
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454 " move a2, d0 \n\t"
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455 " cmpi.l #110, d0 \n\t"
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456 " bne reg_test_2_error \n\t"
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457 " move a3, d0 \n\t"
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458 " cmpi.l #120, d0 \n\t"
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459 " bne reg_test_2_error \n\t"
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460 " move a4, d0 \n\t"
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461 " cmpi.l #130, d0 \n\t"
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462 " bne reg_test_2_error \n\t"
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463 " move a5, d0 \n\t"
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464 " cmpi.l #140, d0 \n\t"
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465 " bne reg_test_2_error \n\t"
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466 " move a6, d0 \n\t"
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467 " cmpi.l #150, d0 \n\t"
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468 " bne reg_test_2_error \n\t"
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469 " move ulRegTest1Counter, d0 \n\t"
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470 " addq #1, d0 \n\t"
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471 " move d0, ulRegTest2Counter \n\t"
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472 " bra reg_test_2_start \n\t"
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473 "reg_test_2_error: \n\t"
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474 " bra reg_test_2_error \n\t"
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477 /*-----------------------------------------------------------*/
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projects / freertos / blob