1 #error This project has been reworked for use with a later version of the Xilinx tools and IP. Please find more up to date projects in other FreeRTOS/Demo/MicroBlaze_nnn directories.
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4 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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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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32 >>>NOTE<<< The modification to the GPL is included to allow you to
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33 distribute a combined work that includes FreeRTOS without being obliged to
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34 provide the source code for proprietary components outside of the FreeRTOS
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35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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38 more details. You should have received a copy of the GNU General Public
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39 License and the FreeRTOS license exception along with FreeRTOS; if not it
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40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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41 by writing to Richard Barry, contact details for whom are available on the
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46 ***************************************************************************
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48 * Having a problem? Start by reading the FAQ "My application does *
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49 * not run, what could be wrong? *
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51 * http://www.FreeRTOS.org/FAQHelp.html *
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53 ***************************************************************************
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56 http://www.FreeRTOS.org - Documentation, training, latest information,
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57 license and contact details.
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59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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60 including FreeRTOS+Trace - an indispensable productivity tool.
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62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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63 the code with commercial support, indemnification, and middleware, under
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64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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65 provide a safety engineered and independently SIL3 certified version under
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66 the SafeRTOS brand: http://www.SafeRTOS.com.
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70 * Creates all the demo application tasks, then starts the scheduler. The WEB
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71 * documentation provides more details of the standard demo application tasks.
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73 * In addition to the standard tasks, main() creates two "Register Check"
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74 * tasks. These tasks write known values into every general purpose register,
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75 * then check each register to ensure it still contains the expected (written)
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76 * value. The register check tasks operate at the idle priority so will get
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77 * repeatedly preempted. A register being found to contain an incorrect value
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78 * following such a preemption would be indicative of an error in the context
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81 * Main.c also creates a task called "Check". This only executes every three
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82 * seconds but has the highest priority so is guaranteed to get processor time.
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83 * Its main function is to check that all the other tasks are still operational.
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84 * Each task (other than the "flash" tasks) maintains a unique count that is
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85 * incremented each time the task successfully completes its function. Should
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86 * any error occur within such a task the count is permanently halted. The
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87 * check task inspects the count of each task to ensure it has changed since
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88 * the last time the check task executed. If all the count variables have
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89 * changed all the tasks are still executing error free, and the check task
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90 * toggles the onboard LED. Should any task contain an error at any time
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91 * the LED toggle rate will change from 3 seconds to 500ms.
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95 /* Scheduler includes. */
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96 #include "FreeRTOS.h"
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99 /* Demo application includes. */
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100 #include "partest.h"
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102 #include "comtest2.h"
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103 #include "integer.h"
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104 #include "semtest.h"
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105 #include "BlockQ.h"
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106 #include "dynamic.h"
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109 /* Hardware library includes. */
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112 /* The rate at which the 'check' LED will flash when no errors have been
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114 #define mainNO_ERROR_CHECK_PERIOD 3000
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116 /* The rate at which the 'check' LED will flash when an error has been
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117 detected in one of the demo tasks. */
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118 #define mainERROR_CHECK_PERIOD 500
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120 /* Demo application task priorities. */
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121 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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122 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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123 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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124 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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125 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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126 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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128 /* Software cannot influence the BAUD rate used by the simple UART
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130 #define mainBAUD_RATE 0
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132 /* The LED flashed by the 'check' task to indicate the system status. */
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133 #define mainCHECK_TASK_LED 3
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135 /* The first LED flashed by the COM port test tasks. LED mainCOM_TEST_LED + 1
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136 will also be used. */
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137 #define mainCOM_TEST_LED 4
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139 /* The register test task does not make any function calls so does not require
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140 much stack at all. */
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141 #define mainTINY_STACK 70
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144 * The task that executes at the highest priority and calls
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145 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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148 static void vErrorChecks( void *pvParameters );
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151 * Checks that all the demo application tasks are still executing without error
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152 * - as described at the top of the file.
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154 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void );
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157 * The register test task as described at the top of this file.
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159 static void vRegisterTest( void *pvParameters );
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162 * Perform any necessary hardware configuration.
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164 static void prvSetupHardware( void );
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166 /* Set to pdFAIL should an error be discovered in the register test tasks. */
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167 static unsigned long ulRegisterTestStatus = pdPASS;
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168 const unsigned long *pulStatusAddr = &ulRegisterTestStatus;
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170 /*-----------------------------------------------------------*/
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173 * Create all the demo tasks - then start the scheduler.
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177 /* When re-starting a debug session (rather than cold booting) we want
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178 to ensure the installed interrupt handlers do not execute until after the
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179 scheduler has been started. */
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180 portDISABLE_INTERRUPTS();
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182 prvSetupHardware();
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184 /* Start the standard demo application tasks. */
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185 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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186 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_TEST_LED );
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187 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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188 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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189 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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190 vStartDynamicPriorityTasks();
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191 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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193 /* Create two register check tasks - using a different parameter for each.
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194 The parameter is used to generate the known values written to the registers. */
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195 #if configUSE_PREEMPTION == 1
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196 xTaskCreate( vRegisterTest, "Reg1", mainTINY_STACK, ( void * ) 10, tskIDLE_PRIORITY, NULL );
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197 xTaskCreate( vRegisterTest, "Reg2", mainTINY_STACK, ( void * ) 20, tskIDLE_PRIORITY, NULL );
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200 /* Create the 'check' task that is defined in this file. */
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201 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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203 /* Finally start the scheduler. */
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204 vTaskStartScheduler();
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206 /* Should not get here as the processor is now under control of the
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211 /*-----------------------------------------------------------*/
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213 static void vErrorChecks( void *pvParameters )
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215 portTickType xDelayPeriod = mainNO_ERROR_CHECK_PERIOD;
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217 /* The parameters are not used. */
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218 ( void ) pvParameters;
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220 /* Cycle for ever, delaying then checking all the other tasks are still
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221 operating without error. The delay period used will depend on whether
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222 or not an error has been discovered in one of the demo tasks. */
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225 vTaskDelay( xDelayPeriod );
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226 if( !prvCheckOtherTasksAreStillRunning() )
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228 /* An error has been found. Shorten the delay period to make
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229 the LED flash faster. */
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230 xDelayPeriod = mainERROR_CHECK_PERIOD;
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233 vParTestToggleLED( mainCHECK_TASK_LED );
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236 /*-----------------------------------------------------------*/
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238 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
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240 static portBASE_TYPE xAllTestsPass = pdTRUE;
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242 /* Return pdFALSE if any demo application task set has encountered
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245 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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247 xAllTestsPass = pdFALSE;
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250 if( xAreComTestTasksStillRunning() != pdTRUE )
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252 xAllTestsPass = pdFALSE;
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255 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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257 xAllTestsPass = pdFALSE;
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260 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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262 xAllTestsPass = pdFAIL;
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265 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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267 xAllTestsPass = ( long ) pdFAIL;
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270 if( xArePollingQueuesStillRunning() != pdTRUE )
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272 xAllTestsPass = ( long ) pdFAIL;
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275 /* Mutual exclusion on this variable is not necessary as we only read it. */
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276 if( ulRegisterTestStatus != pdPASS )
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278 xAllTestsPass = pdFALSE;
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281 return xAllTestsPass;
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283 /*-----------------------------------------------------------*/
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285 static void prvSetupHardware( void )
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287 /* Ensure the interrupt controller is enabled in order that subsequent
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288 code can successfully configure the peripherals. */
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289 XIntc_mMasterEnable( XPAR_OPB_INTC_0_BASEADDR );
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291 /* Initialise the GPIO used for the LED's. */
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292 vParTestInitialise();
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294 /*-----------------------------------------------------------*/
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296 static void vRegisterTest( void *pvParameters )
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300 /* Fill the registers with their register number plus the offset
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301 (added) value. The added value is passed in as a parameter so
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302 is contained in r5. */
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303 asm volatile ( "addi r3, r5, 3 \n\t" \
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304 "addi r4, r5, 4 \n\t" \
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305 "addi r6, r5, 6 \n\t" \
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306 "addi r7, r5, 7 \n\t" \
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307 "addi r8, r5, 8 \n\t" \
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308 "addi r9, r5, 9 \n\t" \
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309 "addi r10, r5, 10 \n\t" \
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310 "addi r11, r5, 11 \n\t" \
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311 "addi r12, r5, 12 \n\t" \
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312 "addi r16, r5, 16 \n\t" \
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313 "addi r17, r5, 17 \n\t" \
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314 "addi r18, r5, 18 \n\t" \
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315 "addi r19, r5, 19 \n\t" \
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316 "addi r20, r5, 20 \n\t" \
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317 "addi r21, r5, 21 \n\t" \
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318 "addi r22, r5, 22 \n\t" \
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319 "addi r23, r5, 23 \n\t" \
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320 "addi r24, r5, 24 \n\t" \
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321 "addi r25, r5, 25 \n\t" \
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322 "addi r26, r5, 26 \n\t" \
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323 "addi r27, r5, 27 \n\t" \
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324 "addi r28, r5, 28 \n\t" \
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325 "addi r29, r5, 29 \n\t" \
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326 "addi r30, r5, 30 \n\t" \
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327 "addi r31, r5, 31 \n\t"
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330 /* Now read back the register values to ensure they are as we expect.
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331 This task will get preempted frequently so other tasks are likely to
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332 have executed since the register values were written. */
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334 /* r3 should contain r5 + 3. Subtract 3 to leave r3 equal to r5. */
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335 asm volatile ( "addi r3, r3, -3 " );
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337 /* Compare r3 and r5. If they are not equal then either r3 or r5
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338 contains the wrong value and *pulStatusAddr is to pdFAIL. */
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339 asm volatile ( "cmp r3, r3, r5 \n\t" \
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340 "beqi r3, 12 \n\t" \
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341 "lwi r3, r0, pulStatusAddr \n\t" \
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342 "sw r0, r0, r3 \n\t"
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345 /* Repeat for all the other registers. */
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346 asm volatile ( "addi r4, r4, -4 \n\t" \
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347 "cmp r4, r4, r5 \n\t" \
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348 "beqi r4, 12 \n\t" \
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349 "lwi r3, r0, pulStatusAddr \n\t" \
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350 "sw r0, r0, r3 \n\t" \
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351 "addi r6, r6, -6 \n\t" \
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352 "cmp r6, r6, r5 \n\t" \
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353 "beqi r6, 12 \n\t" \
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354 "lwi r3, r0, pulStatusAddr \n\t" \
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355 "sw r0, r0, r3 \n\t" \
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356 "addi r7, r7, -7 \n\t" \
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357 "cmp r7, r7, r5 \n\t" \
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358 "beqi r7, 12 \n\t" \
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359 "lwi r3, r0, pulStatusAddr \n\t" \
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360 "sw r0, r0, r3 \n\t" \
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361 "addi r8, r8, -8 \n\t" \
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362 "cmp r8, r8, r5 \n\t" \
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363 "beqi r8, 12 \n\t" \
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364 "lwi r3, r0, pulStatusAddr \n\t" \
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365 "sw r0, r0, r3 \n\t" \
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366 "addi r9, r9, -9 \n\t" \
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367 "cmp r9, r9, r5 \n\t" \
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368 "beqi r9, 12 \n\t" \
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369 "lwi r3, r0, pulStatusAddr \n\t" \
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370 "sw r0, r0, r3 \n\t" \
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371 "addi r10, r10, -10 \n\t" \
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372 "cmp r10, r10, r5 \n\t" \
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373 "beqi r10, 12 \n\t" \
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374 "lwi r3, r0, pulStatusAddr \n\t" \
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375 "sw r0, r0, r3 \n\t" \
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376 "addi r11, r11, -11 \n\t" \
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377 "cmp r11, r11, r5 \n\t" \
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378 "beqi r11, 12 \n\t" \
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379 "lwi r3, r0, pulStatusAddr \n\t" \
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380 "sw r0, r0, r3 \n\t" \
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381 "addi r12, r12, -12 \n\t" \
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382 "cmp r12, r12, r5 \n\t" \
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383 "beqi r12, 12 \n\t" \
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384 "lwi r3, r0, pulStatusAddr \n\t" \
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385 "sw r0, r0, r3 \n\t" \
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386 "sw r0, r0, r3 \n\t" \
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387 "addi r16, r16, -16 \n\t" \
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388 "cmp r16, r16, r5 \n\t" \
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389 "beqi r16, 12 \n\t" \
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390 "lwi r3, r0, pulStatusAddr \n\t" \
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391 "sw r0, r0, r3 \n\t" \
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392 "addi r17, r17, -17 \n\t" \
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393 "cmp r17, r17, r5 \n\t" \
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394 "beqi r17, 12 \n\t" \
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395 "lwi r3, r0, pulStatusAddr \n\t" \
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396 "sw r0, r0, r3 \n\t" \
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397 "addi r18, r18, -18 \n\t" \
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398 "cmp r18, r18, r5 \n\t" \
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399 "beqi r18, 12 \n\t" \
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400 "lwi r3, r0, pulStatusAddr \n\t" \
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401 "sw r0, r0, r3 \n\t" \
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402 "addi r19, r19, -19 \n\t" \
\r
403 "cmp r19, r19, r5 \n\t" \
\r
404 "beqi r19, 12 \n\t" \
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405 "lwi r3, r0, pulStatusAddr \n\t" \
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406 "sw r0, r0, r3 \n\t" \
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407 "addi r20, r20, -20 \n\t" \
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408 "cmp r20, r20, r5 \n\t" \
\r
409 "beqi r20, 12 \n\t" \
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410 "lwi r3, r0, pulStatusAddr \n\t" \
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411 "sw r0, r0, r3 \n\t" \
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412 "addi r21, r21, -21 \n\t" \
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413 "cmp r21, r21, r5 \n\t" \
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414 "beqi r21, 12 \n\t" \
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415 "lwi r3, r0, pulStatusAddr \n\t" \
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416 "sw r0, r0, r3 \n\t" \
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417 "addi r22, r22, -22 \n\t" \
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418 "cmp r22, r22, r5 \n\t" \
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419 "beqi r22, 12 \n\t" \
\r
420 "lwi r3, r0, pulStatusAddr \n\t" \
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421 "sw r0, r0, r3 \n\t" \
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422 "addi r23, r23, -23 \n\t" \
\r
423 "cmp r23, r23, r5 \n\t" \
\r
424 "beqi r23, 12 \n\t" \
\r
425 "lwi r3, r0, pulStatusAddr \n\t" \
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426 "sw r0, r0, r3 \n\t" \
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427 "addi r24, r24, -24 \n\t" \
\r
428 "cmp r24, r24, r5 \n\t" \
\r
429 "beqi r24, 12 \n\t" \
\r
430 "lwi r3, r0, pulStatusAddr \n\t" \
\r
431 "sw r0, r0, r3 \n\t" \
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432 "addi r25, r25, -25 \n\t" \
\r
433 "cmp r25, r25, r5 \n\t" \
\r
434 "beqi r25, 12 \n\t" \
\r
435 "lwi r3, r0, pulStatusAddr \n\t" \
\r
436 "sw r0, r0, r3 \n\t" \
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437 "addi r26, r26, -26 \n\t" \
\r
438 "cmp r26, r26, r5 \n\t" \
\r
439 "beqi r26, 12 \n\t" \
\r
440 "lwi r3, r0, pulStatusAddr \n\t" \
\r
441 "sw r0, r0, r3 \n\t" \
\r
442 "addi r27, r27, -27 \n\t" \
\r
443 "cmp r27, r27, r5 \n\t" \
\r
444 "beqi r27, 12 \n\t" \
\r
445 "lwi r3, r0, pulStatusAddr \n\t" \
\r
446 "sw r0, r0, r3 \n\t" \
\r
447 "addi r28, r28, -28 \n\t" \
\r
448 "cmp r28, r28, r5 \n\t" \
\r
449 "beqi r28, 12 \n\t" \
\r
450 "lwi r3, r0, pulStatusAddr \n\t" \
\r
451 "sw r0, r0, r3 \n\t" \
\r
452 "addi r29, r29, -29 \n\t" \
\r
453 "cmp r29, r29, r5 \n\t" \
\r
454 "beqi r29, 12 \n\t" \
\r
455 "lwi r3, r0, pulStatusAddr \n\t" \
\r
456 "sw r0, r0, r3 \n\t" \
\r
457 "addi r30, r30, -30 \n\t" \
\r
458 "cmp r30, r30, r5 \n\t" \
\r
459 "beqi r30, 12 \n\t" \
\r
460 "lwi r3, r0, pulStatusAddr \n\t" \
\r
461 "sw r0, r0, r3 \n\t" \
\r
462 "addi r31, r31, -31 \n\t" \
\r
463 "cmp r31, r31, r5 \n\t" \
\r
464 "beqi r31, 12 \n\t" \
\r
465 "lwi r3, r0, pulStatusAddr \n\t" \
\r
466 "sw r0, r0, r3 \n\t"
\r
projects / freertos / blob