2 FreeRTOS V8.2.3 - Copyright (C) 2015 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 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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72 * Creates all the demo application tasks, then starts the scheduler. The WEB
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73 * documentation provides more details of the standard demo application tasks.
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74 * In addition to the standard demo tasks, the following tasks and tests are
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75 * defined and/or created within this file:
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77 * "Check" task - This only executes every five seconds but has a high priority
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78 * to ensure it gets processor time. Its main function is to check that all the
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79 * standard demo tasks are still operational. While no errors have been
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80 * discovered the check task will toggle an LED every 5 seconds - the toggle
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81 * rate increasing to 500ms being a visual indication that at least one task has
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82 * reported unexpected behaviour.
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84 * "Reg test" tasks - These fill the registers with known values, then check
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85 * that each register still contains its expected value. Each task uses
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86 * different values. The tasks run with very low priority so get preempted very
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87 * frequently. A register containing an unexpected value is indicative of an
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88 * error in the context switching mechanism.
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92 /* Standard includes. */
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95 /* Scheduler includes. */
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96 #include "FreeRTOS.h"
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101 /* Demo app includes. */
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102 #include "BlockQ.h"
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103 #include "crflash.h"
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104 #include "partest.h"
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105 #include "semtest.h"
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106 #include "GenQTest.h"
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108 #include "comtest2.h"
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110 /*-----------------------------------------------------------*/
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112 /* The time between cycles of the 'check' functionality - as described at the
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113 top of this file. */
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114 #define mainNO_ERROR_PERIOD ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
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116 /* The rate at which the LED controlled by the 'check' task will flash should an
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117 error have been detected. */
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118 #define mainERROR_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
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120 /* The LED controlled by the 'check' task. */
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121 #define mainCHECK_LED ( 3 )
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123 /* ComTest constants - there is no free LED for the comtest tasks. */
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124 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
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125 #define mainCOM_TEST_LED ( 5 )
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127 /* Task priorities. */
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128 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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129 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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130 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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131 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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132 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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134 /* Co-routines are used to flash the LEDs. */
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135 #define mainNUM_FLASH_CO_ROUTINES ( 3 )
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137 /* The baud rate used by the comtest tasks. */
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138 #define mainBAUD_RATE ( 38400 )
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140 /* There is no spare LED for the comtest tasks, so this is set to an invalid
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142 #define mainCOM_LED ( 4 )
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145 * Configure the hardware for the demo.
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147 static void prvSetupHardware( void );
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150 * Implements the 'check' task functionality as described at the top of this
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153 static void prvCheckTask( void *pvParameters );
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156 * Implement the 'Reg test' functionality as described at the top of this file.
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158 static void vRegTest1Task( void *pvParameters );
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159 static void vRegTest2Task( void *pvParameters );
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161 /*-----------------------------------------------------------*/
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163 /* Counters used to detect errors within the reg test tasks. */
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164 static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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166 /*-----------------------------------------------------------*/
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170 /* Setup the hardware ready for this demo. */
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171 prvSetupHardware();
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173 /* Start the standard demo tasks. */
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174 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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175 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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176 vStartQueuePeekTasks();
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177 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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178 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_LED );
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180 /* For demo purposes use some co-routines to flash the LEDs. */
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181 vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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183 /* Create the check task. */
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184 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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187 /* Start the reg test tasks - defined in this file. */
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188 xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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189 xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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191 /* Start the scheduler. */
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192 vTaskStartScheduler();
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194 /* Will only get here if there was insufficient memory to create the idle
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200 /*-----------------------------------------------------------*/
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202 static void prvCheckTask( void *pvParameters )
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204 unsigned long ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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205 TickType_t xLastExecutionTime;
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206 volatile unsigned portBASE_TYPE uxUnusedStack;
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208 ( void ) pvParameters;
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210 /* Initialise the variable used to control our iteration rate prior to
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212 xLastExecutionTime = xTaskGetTickCount();
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216 /* Wait until it is time to run the tests again. */
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217 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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219 /* Has an error been found in any task? */
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220 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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225 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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230 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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235 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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240 if( xAreComTestTasksStillRunning() != pdTRUE )
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245 if( ulLastRegTest1Count == ulRegTest1Counter )
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247 ulError |= 0x1000UL;
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250 if( ulLastRegTest2Count == ulRegTest2Counter )
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252 ulError |= 0x1000UL;
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255 ulLastRegTest1Count = ulRegTest1Counter;
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256 ulLastRegTest2Count = ulRegTest2Counter;
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258 /* If an error has been found then increase our cycle rate, and in so
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259 doing increase the rate at which the check task LED toggles. */
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262 ulTicksToWait = mainERROR_PERIOD;
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265 /* Toggle the LED each iteration. */
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266 vParTestToggleLED( mainCHECK_LED );
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268 /* For demo only - how much unused stack does this task have? */
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269 uxUnusedStack = uxTaskGetStackHighWaterMark( NULL );
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272 /*-----------------------------------------------------------*/
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274 void prvSetupHardware( void )
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276 portDISABLE_INTERRUPTS();
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278 /* Setup the port used to toggle LEDs. */
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279 vParTestInitialise();
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281 /*-----------------------------------------------------------*/
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283 void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *pcTaskName )
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285 /* This will get called if a stack overflow is detected during the context
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286 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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287 problems within nested interrupts, but only do this for debug purposes as
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288 it will increase the context switch time. */
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291 ( void ) pcTaskName;
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297 /*-----------------------------------------------------------*/
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299 void vApplicationIdleHook( void );
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300 void vApplicationIdleHook( void )
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302 /* The co-routines run in the idle task. */
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303 vCoRoutineSchedule();
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305 /*-----------------------------------------------------------*/
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309 /* To keep the linker happy only as the libraries have been removed from
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314 /*-----------------------------------------------------------*/
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316 static void vRegTest1Task( void *pvParameters )
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318 /* Sanity check - did we receive the parameter expected? */
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319 if( pvParameters != &ulRegTest1Counter )
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321 /* Change here so the check task can detect that an error occurred. */
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327 /* Set all the registers to known values, then check that each retains its
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328 expected value - as described at the top of this file. If an error is
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329 found then the loop counter will no longer be incremented allowing the check
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330 task to recognise the error. */
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331 asm volatile ( "reg_test_1_start: \n\t"
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332 " moveq #1, d0 \n\t"
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333 " moveq #2, d1 \n\t"
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334 " moveq #3, d2 \n\t"
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335 " moveq #4, d3 \n\t"
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336 " moveq #5, d4 \n\t"
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337 " moveq #6, d5 \n\t"
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338 " moveq #7, d6 \n\t"
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339 " moveq #8, d7 \n\t"
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340 " move #9, a0 \n\t"
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341 " move #10, a1 \n\t"
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342 " move #11, a2 \n\t"
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343 " move #12, a3 \n\t"
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344 " move #13, a4 \n\t"
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345 " move #14, a5 \n\t"
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346 " move #15, a6 \n\t"
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348 " cmpi.l #1, d0 \n\t"
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349 " bne reg_test_1_error \n\t"
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350 " cmpi.l #2, d1 \n\t"
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351 " bne reg_test_1_error \n\t"
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352 " cmpi.l #3, d2 \n\t"
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353 " bne reg_test_1_error \n\t"
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354 " cmpi.l #4, d3 \n\t"
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355 " bne reg_test_1_error \n\t"
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356 " cmpi.l #5, d4 \n\t"
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357 " bne reg_test_1_error \n\t"
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358 " cmpi.l #6, d5 \n\t"
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359 " bne reg_test_1_error \n\t"
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360 " cmpi.l #7, d6 \n\t"
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361 " bne reg_test_1_error \n\t"
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362 " cmpi.l #8, d7 \n\t"
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363 " bne reg_test_1_error \n\t"
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364 " move a0, d0 \n\t"
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365 " cmpi.l #9, d0 \n\t"
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366 " bne reg_test_1_error \n\t"
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367 " move a1, d0 \n\t"
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368 " cmpi.l #10, d0 \n\t"
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369 " bne reg_test_1_error \n\t"
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370 " move a2, d0 \n\t"
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371 " cmpi.l #11, d0 \n\t"
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372 " bne reg_test_1_error \n\t"
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373 " move a3, d0 \n\t"
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374 " cmpi.l #12, d0 \n\t"
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375 " bne reg_test_1_error \n\t"
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376 " move a4, d0 \n\t"
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377 " cmpi.l #13, d0 \n\t"
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378 " bne reg_test_1_error \n\t"
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379 " move a5, d0 \n\t"
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380 " cmpi.l #14, d0 \n\t"
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381 " bne reg_test_1_error \n\t"
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382 " move a6, d0 \n\t"
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383 " cmpi.l #15, d0 \n\t"
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384 " bne reg_test_1_error \n\t"
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385 " move ulRegTest1Counter, d0 \n\t"
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386 " addq #1, d0 \n\t"
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387 " move d0, ulRegTest1Counter \n\t"
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388 " bra reg_test_1_start \n\t"
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389 "reg_test_1_error: \n\t"
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390 " bra reg_test_1_error \n\t"
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393 /*-----------------------------------------------------------*/
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395 static void vRegTest2Task( void *pvParameters )
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397 /* Sanity check - did we receive the parameter expected? */
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398 if( pvParameters != &ulRegTest2Counter )
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400 /* Change here so the check task can detect that an error occurred. */
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406 /* Set all the registers to known values, then check that each retains its
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407 expected value - as described at the top of this file. If an error is
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408 found then the loop counter will no longer be incremented allowing the check
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409 task to recognise the error. */
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410 asm volatile ( "reg_test_2_start: \n\t"
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411 " moveq #10, d0 \n\t"
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412 " moveq #20, d1 \n\t"
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413 " moveq #30, d2 \n\t"
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414 " moveq #40, d3 \n\t"
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415 " moveq #50, d4 \n\t"
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416 " moveq #60, d5 \n\t"
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417 " moveq #70, d6 \n\t"
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418 " moveq #80, d7 \n\t"
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419 " move #90, a0 \n\t"
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420 " move #100, a1 \n\t"
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421 " move #110, a2 \n\t"
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422 " move #120, a3 \n\t"
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423 " move #130, a4 \n\t"
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424 " move #140, a5 \n\t"
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425 " move #150, a6 \n\t"
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427 " cmpi.l #10, d0 \n\t"
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428 " bne reg_test_2_error \n\t"
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429 " cmpi.l #20, d1 \n\t"
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430 " bne reg_test_2_error \n\t"
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431 " cmpi.l #30, d2 \n\t"
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432 " bne reg_test_2_error \n\t"
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433 " cmpi.l #40, d3 \n\t"
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434 " bne reg_test_2_error \n\t"
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435 " cmpi.l #50, d4 \n\t"
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436 " bne reg_test_2_error \n\t"
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437 " cmpi.l #60, d5 \n\t"
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438 " bne reg_test_2_error \n\t"
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439 " cmpi.l #70, d6 \n\t"
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440 " bne reg_test_2_error \n\t"
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441 " cmpi.l #80, d7 \n\t"
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442 " bne reg_test_2_error \n\t"
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443 " move a0, d0 \n\t"
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444 " cmpi.l #90, d0 \n\t"
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445 " bne reg_test_2_error \n\t"
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446 " move a1, d0 \n\t"
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447 " cmpi.l #100, d0 \n\t"
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448 " bne reg_test_2_error \n\t"
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449 " move a2, d0 \n\t"
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450 " cmpi.l #110, d0 \n\t"
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451 " bne reg_test_2_error \n\t"
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452 " move a3, d0 \n\t"
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453 " cmpi.l #120, d0 \n\t"
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454 " bne reg_test_2_error \n\t"
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455 " move a4, d0 \n\t"
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456 " cmpi.l #130, d0 \n\t"
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457 " bne reg_test_2_error \n\t"
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458 " move a5, d0 \n\t"
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459 " cmpi.l #140, d0 \n\t"
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460 " bne reg_test_2_error \n\t"
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461 " move a6, d0 \n\t"
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462 " cmpi.l #150, d0 \n\t"
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463 " bne reg_test_2_error \n\t"
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464 " move ulRegTest1Counter, d0 \n\t"
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465 " addq #1, d0 \n\t"
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466 " move d0, ulRegTest2Counter \n\t"
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467 " bra reg_test_2_start \n\t"
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468 "reg_test_2_error: \n\t"
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469 " bra reg_test_2_error \n\t"
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472 /*-----------------------------------------------------------*/
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projects / freertos / blob