2 FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /* ****************************************************************************
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67 * main-blinky.c is included when the "Blinky" build configuration is used.
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68 * main-full.c is included when the "Full" build configuration is used.
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70 * main-full.c creates a lot of demo and test tasks and timers, and is
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71 * therefore very comprehensive but also complex. If you would prefer a much
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72 * simpler project to get started with, then select the 'Blinky' build
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73 * configuration within the SDK Eclipse IDE. See the documentation page for
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74 * this demo on the http://www.FreeRTOS.org web site for more information.
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75 * ****************************************************************************
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77 * main() creates all the demo application tasks and timers, then starts the
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78 * scheduler. The web documentation provides more details of the standard demo
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79 * application tasks, which provide no particular functionality, but do provide
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80 * a good example of how to use the FreeRTOS API.
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82 * In addition to the standard demo tasks, the following tasks and tests are
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83 * defined and/or created within this file:
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85 * TCP/IP ("lwIP") task - lwIP is used to create a basic web server. The web
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86 * server uses server side includes (SSI) to generate tables of task statistics,
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87 * and run time statistics (run time statistics show how much processing time
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88 * each task has consumed). See
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89 * http://www.FreeRTOS.org/Free-RTOS-for-Xilinx-MicroBlaze-on-Spartan-6-FPGA.html
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90 * for details on setting up and using the embedded web server.
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92 * "Reg test" tasks - These test the task context switch mechanism by first
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93 * filling the MicroBlaze registers with known values, before checking that each
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94 * register maintains the value that was written to it as the tasks are switched
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95 * in and out. The two register test tasks do not use the same values, and
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96 * execute at a very low priority, to ensure they are pre-empted regularly.
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98 * "Check" timer - The check timer period is initially set to five seconds.
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99 * The check timer callback function checks that all the standard demo tasks,
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100 * and the register check tasks, are not only still executing, but are executing
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101 * without reporting any errors. If the check timer discovers that a task has
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102 * either stalled, or reported an error, then it changes its own period from
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103 * the initial five seconds, to just 200ms. The check timer callback function
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104 * also toggles an LED each time it is called. This provides a visual
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105 * indication of the system status: If the LED toggles every five seconds then
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106 * no issues have been discovered. If the LED toggles every 200ms then an issue
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107 * has been discovered with at least one task. The last reported issue is
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108 * latched into the pcStatusMessage variable, and can also be viewed at the
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109 * bottom of the pages served by the embedded web server.
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111 * ***NOTE*** This demo uses the standard comtest tasks, which has special
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112 * hardware requirements. See
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113 * http://www.FreeRTOS.org/Free-RTOS-for-Xilinx-MicroBlaze-on-Spartan-6-FPGA.html
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114 * for more information.
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116 * This file also includes example implementations of the
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117 * vApplicationIdleHook(), vApplicationStackOverflowHook(),
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118 * vApplicationMallocFailedHook(), vApplicationClearTimerInterrupt(), and
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119 * vApplicationSetupTimerInterrupt() callback (hook) functions.
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122 /* Standard includes. */
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123 #include <string.h>
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126 /* BSP includes. */
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127 #include "xtmrctr.h"
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128 #include "microblaze_exceptions_g.h"
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130 /* Kernel includes. */
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131 #include "FreeRTOS.h"
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133 #include "timers.h"
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135 /* Standard demo includes. */
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136 #include "partest.h"
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138 #include "BlockQ.h"
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140 #include "blocktim.h"
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141 #include "semtest.h"
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143 #include "GenQTest.h"
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145 #include "recmutex.h"
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147 #include "dynamic.h"
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148 #include "comtest_strings.h"
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149 #include "TimerDemo.h"
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151 /* lwIP includes. */
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152 #include "lwip/tcpip.h"
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155 /* Priorities at which the various tasks are created. */
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156 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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157 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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158 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 1 )
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159 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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160 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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161 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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162 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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163 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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164 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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166 /* The LED toggled by the check task. */
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167 #define mainCHECK_LED ( 3 )
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169 /* The rate at which mainCHECK_LED will toggle when all the tasks are running
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170 without error. See the description of the check timer in the comments at the
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171 top of this file. */
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172 #define mainNO_ERROR_CHECK_TIMER_PERIOD ( 5000 / portTICK_PERIOD_MS )
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174 /* The rate at which mainCHECK_LED will toggle when an error has been reported
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175 by at least one task. See the description of the check timer in the comments at
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176 the top of this file. */
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177 #define mainERROR_CHECK_TIMER_PERIOD ( 200 / portTICK_PERIOD_MS )
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179 /* A block time of zero simply means "don't block". */
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180 #define mainDONT_BLOCK ( ( TickType_t ) 0 )
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182 /* The LED used by the comtest tasks. See the comtest_strings.c file for more
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183 information. In this case an invalid LED number is provided as all four
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184 available LEDs (LEDs 0 to 3) are already in use. */
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185 #define mainCOM_TEST_LED ( 4 )
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187 /* Baud rate used by the comtest tasks. The baud rate used is actually fixed in
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188 UARTLite IP when the hardware was built, but the standard serial init function
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189 required a baud rate parameter to be provided - in this case it is just
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191 #define mainCOM_TEST_BAUD_RATE ( XPAR_RS232_UART_1_BAUDRATE )
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193 /* The timer test task generates a lot of timers that all use a different
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194 period that is a multiple of the mainTIMER_TEST_PERIOD definition. */
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195 #define mainTIMER_TEST_PERIOD ( 20 )
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197 /*-----------------------------------------------------------*/
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200 * The register test tasks as described in the comments at the top of this file.
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201 * The nature of the register test tasks means they have to be implemented in
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204 extern void vRegisterTest1( void *pvParameters );
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205 extern void vRegisterTest2( void *pvParameters );
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208 * Defines the 'check' timer functionality as described at the top of this file.
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209 * This function is the callback function associated with the 'check' timer.
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211 static void vCheckTimerCallback( TimerHandle_t xTimer );
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214 * Configure the interrupt controller, LED outputs and button inputs.
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216 static void prvSetupHardware( void );
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218 /* Defined in lwIPApps.c. */
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219 extern void lwIPAppsInit( void *pvArguments );
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221 /*-----------------------------------------------------------*/
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223 /* The check timer callback function sets pcStatusMessage to a string that
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224 indicates the last reported error that it discovered. */
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225 static const char *pcStatusMessage = NULL;
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227 /* Structures that hold the state of the various peripherals used by this demo.
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228 These are used by the Xilinx peripheral driver API functions. In this case,
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229 only the timer/counter is used directly within this file. */
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230 static XTmrCtr xTimer0Instance;
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232 /* The 'check' timer, as described at the top of this file. */
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233 static TimerHandle_t xCheckTimer = NULL;
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235 /* Used in the run time stats calculations. */
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236 static unsigned long ulClocksPer10thOfAMilliSecond = 0UL;
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238 /* Constants used to set up the AXI timer to generate ticks. */
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239 static const unsigned char ucTimerCounterNumber = ( unsigned char ) 0U;
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240 static const unsigned long ulCounterReloadValue = ( ( XPAR_AXI_TIMER_0_CLOCK_FREQ_HZ / configTICK_RATE_HZ ) - 1UL );
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242 /*-----------------------------------------------------------*/
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246 /***************************************************************************
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247 This project includes a lot of demo and test tasks and timers, and is
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248 therefore comprehensive, but complex. If you would prefer a much simpler
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249 project to get started with, then select the 'Blinky' build configuration
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250 within the SDK Eclipse IDE.
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251 ***************************************************************************/
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253 /* Configure the interrupt controller, LED outputs and button inputs. */
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254 prvSetupHardware();
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256 /* This call creates the TCP/IP thread. */
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257 tcpip_init( lwIPAppsInit, NULL );
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259 /* Start the reg test tasks, as described in the comments at the top of this
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261 xTaskCreate( vRegisterTest1, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) 0, tskIDLE_PRIORITY, NULL );
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262 xTaskCreate( vRegisterTest2, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) 0, tskIDLE_PRIORITY, NULL );
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264 /* Create the standard demo tasks. */
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265 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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266 vCreateBlockTimeTasks();
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267 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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268 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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269 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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270 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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271 vStartQueuePeekTasks();
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272 vStartRecursiveMutexTasks();
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273 vStartComTestStringsTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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274 vStartDynamicPriorityTasks();
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275 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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277 /* Note - the set of standard demo tasks contains two versions of
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278 vStartMathTasks.c. One is defined in flop.c, and uses double precision
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279 floating point numbers and variables. The other is defined in sp_flop.c,
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280 and uses single precision floating point numbers and variables. The
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281 MicroBlaze floating point unit only handles single precision floating.
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282 Therefore, to test the floating point hardware, sp_flop.c should be included
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283 in this project. */
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284 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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286 /* The suicide tasks must be created last as they need to know how many
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287 tasks were running prior to their creation. This then allows them to
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288 ascertain whether or not the correct/expected number of tasks are running at
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290 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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292 /* Create the 'check' timer - the timer that periodically calls the
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293 check function as described in the comments at the top of this file. Note
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294 that, for reasons stated in the comments within vApplicationIdleHook()
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295 (defined in this file), the check timer is not actually started until after
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296 the scheduler has been started. */
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297 xCheckTimer = xTimerCreate( "Check timer", mainNO_ERROR_CHECK_TIMER_PERIOD, pdTRUE, ( void * ) 0, vCheckTimerCallback );
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299 /* Start the scheduler running. From this point on, only tasks and
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300 interrupts will be executing. */
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301 vTaskStartScheduler();
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303 /* If all is well then the following line will never be reached. If
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304 execution does reach here, then it is highly probably that the heap size
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305 is too small for the idle and/or timer tasks to be created within
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306 vTaskStartScheduler(). */
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307 taskDISABLE_INTERRUPTS();
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310 /*-----------------------------------------------------------*/
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312 static void vCheckTimerCallback( TimerHandle_t xTimer )
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314 extern unsigned long ulRegTest1CycleCount, ulRegTest2CycleCount;
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315 static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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316 static long lErrorAlreadyLatched = pdFALSE;
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317 TickType_t xExecutionRate = mainNO_ERROR_CHECK_TIMER_PERIOD;
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319 /* This is the callback function used by the 'check' timer, as described
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320 in the comments at the top of this file. */
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322 /* Don't overwrite any errors that have already been latched. */
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323 if( pcStatusMessage == NULL )
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325 /* Check the standard demo tasks are running without error. */
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326 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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328 pcStatusMessage = "Error: GenQueue";
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330 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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332 pcStatusMessage = "Error: QueuePeek\r\n";
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334 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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336 pcStatusMessage = "Error: BlockQueue\r\n";
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338 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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340 pcStatusMessage = "Error: BlockTime\r\n";
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342 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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344 pcStatusMessage = "Error: SemTest\r\n";
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346 else if( xArePollingQueuesStillRunning() != pdTRUE )
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348 pcStatusMessage = "Error: PollQueue\r\n";
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350 else if( xIsCreateTaskStillRunning() != pdTRUE )
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352 pcStatusMessage = "Error: Death\r\n";
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354 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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356 pcStatusMessage = "Error: RecMutex\r\n";
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358 else if( xAreMathsTaskStillRunning() != pdPASS )
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360 pcStatusMessage = "Error: Flop\r\n";
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362 else if( xAreComTestTasksStillRunning() != pdPASS )
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364 pcStatusMessage = "Error: Comtest\r\n";
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366 else if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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368 pcStatusMessage = "Error: Dynamic\r\n";
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370 else if( xAreTimerDemoTasksStillRunning( xExecutionRate ) != pdTRUE )
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372 pcStatusMessage = "Error: TimerDemo";
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374 else if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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376 /* Check the reg test tasks are still cycling. They will stop
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377 incrementing their loop counters if they encounter an error. */
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378 pcStatusMessage = "Error: RegTest1\r\n";
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380 else if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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382 pcStatusMessage = "Error: RegTest2\r\n";
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386 /* Store a local copy of the current reg test loop counters. If these have
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387 not incremented the next time this callback function is executed then the
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388 reg test tasks have either stalled or discovered an error. */
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389 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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390 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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392 /* Toggle the check LED to give an indication of the system status. If
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393 the LED toggles every 5 seconds then everything is ok. A faster toggle
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394 indicates an error. */
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395 vParTestToggleLED( mainCHECK_LED );
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397 if( pcStatusMessage != NULL )
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399 if( lErrorAlreadyLatched == pdFALSE )
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401 /* An error has occurred, so change the period of the timer that
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402 calls this callback function. This results in the LED toggling at
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403 a faster rate - giving the user visual feedback that something is not
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404 as it should be. This function is called from the context of the
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405 timer service task so must ***not*** attempt to block while calling
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407 if( xTimerChangePeriod( xTimer, mainERROR_CHECK_TIMER_PERIOD, mainDONT_BLOCK ) == pdPASS )
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409 /* If the command to change the timer period was sent to the
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410 timer command queue successfully, then latch the fact that the
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411 timer period has already been changed. This is just done to
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412 prevent xTimerChangePeriod() being called on every execution of
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413 this function once an error has been discovered. */
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414 lErrorAlreadyLatched = pdTRUE;
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417 /* Update the xExecutionRate variable too as the rate at which this
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418 callback is executed has to be passed into the
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419 xAreTimerDemoTasksStillRunning() function. */
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420 xExecutionRate = mainERROR_CHECK_TIMER_PERIOD;
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424 /*-----------------------------------------------------------*/
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426 /* This is an application defined callback function used to install the tick
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427 interrupt handler. It is provided as an application callback because the kernel
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428 will run on lots of different MicroBlaze and FPGA configurations - not all of
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429 which will have the same timer peripherals defined or available. This example
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430 uses the AXI Timer 0. If that is available on your hardware platform then this
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431 example callback implementation should not require modification. The name of
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432 the interrupt handler that should be installed is vPortTickISR(), which the
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433 function below declares as an extern. */
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434 void vApplicationSetupTimerInterrupt( void )
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436 portBASE_TYPE xStatus;
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437 extern void vPortTickISR( void *pvUnused );
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439 /* Initialise the timer/counter. */
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440 xStatus = XTmrCtr_Initialize( &xTimer0Instance, XPAR_AXI_TIMER_0_DEVICE_ID );
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442 if( xStatus == XST_SUCCESS )
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444 /* Install the tick interrupt handler as the timer ISR.
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445 *NOTE* The xPortInstallInterruptHandler() API function must be used for
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447 xStatus = xPortInstallInterruptHandler( XPAR_INTC_0_TMRCTR_0_VEC_ID, vPortTickISR, NULL );
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450 if( xStatus == pdPASS )
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452 /* Enable the timer interrupt in the interrupt controller.
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453 *NOTE* The vPortEnableInterrupt() API function must be used for this
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455 vPortEnableInterrupt( XPAR_INTC_0_TMRCTR_0_VEC_ID );
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457 /* Configure the timer interrupt handler. */
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458 XTmrCtr_SetHandler( &xTimer0Instance, ( void * ) vPortTickISR, NULL );
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460 /* Set the correct period for the timer. */
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461 XTmrCtr_SetResetValue( &xTimer0Instance, ucTimerCounterNumber, ulCounterReloadValue );
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463 /* Enable the interrupts. Auto-reload mode is used to generate a
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464 periodic tick. Note that interrupts are disabled when this function is
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465 called, so interrupts will not start to be processed until the first
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466 task has started to run. */
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467 XTmrCtr_SetOptions( &xTimer0Instance, ucTimerCounterNumber, ( XTC_INT_MODE_OPTION | XTC_AUTO_RELOAD_OPTION | XTC_DOWN_COUNT_OPTION ) );
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469 /* Start the timer. */
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470 XTmrCtr_Start( &xTimer0Instance, ucTimerCounterNumber );
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473 /* Sanity check that the function executed as expected. */
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474 configASSERT( ( xStatus == pdPASS ) );
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476 /*-----------------------------------------------------------*/
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478 /* This is an application defined callback function used to clear whichever
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479 interrupt was installed by the the vApplicationSetupTimerInterrupt() callback
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480 function - in this case the interrupt generated by the AXI timer. It is
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481 provided as an application callback because the kernel will run on lots of
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482 different MicroBlaze and FPGA configurations - not all of which will have the
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483 same timer peripherals defined or available. This example uses the AXI Timer 0.
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484 If that is available on your hardware platform then this example callback
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485 implementation should not require modification provided the example definition
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486 of vApplicationSetupTimerInterrupt() is also not modified. */
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487 void vApplicationClearTimerInterrupt( void )
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489 unsigned long ulCSR;
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491 /* Clear the timer interrupt */
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492 ulCSR = XTmrCtr_GetControlStatusReg( XPAR_AXI_TIMER_0_BASEADDR, 0 );
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493 XTmrCtr_SetControlStatusReg( XPAR_AXI_TIMER_0_BASEADDR, 0, ulCSR );
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495 /*-----------------------------------------------------------*/
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497 void vApplicationMallocFailedHook( void )
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499 /* vApplicationMallocFailedHook() will only be called if
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500 configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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501 function that will get called if a call to pvPortMalloc() fails.
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502 pvPortMalloc() is called internally by the kernel whenever a task, queue or
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503 semaphore is created. It is also called by various parts of the demo
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504 application. If heap_1.c or heap_2.c are used, then the size of the heap
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505 available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
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506 FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
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507 to query the size of free heap space that remains (although it does not
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508 provide information on how the remaining heap might be fragmented). */
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509 taskDISABLE_INTERRUPTS();
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512 /*-----------------------------------------------------------*/
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514 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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516 ( void ) pcTaskName;
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519 /* vApplicationStackOverflowHook() will only be called if
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520 configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2. The handle and name
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521 of the offending task will be passed into the hook function via its
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522 parameters. However, when a stack has overflowed, it is possible that the
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523 parameters will have been corrupted, in which case the pxCurrentTCB variable
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524 can be inspected directly. */
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525 taskDISABLE_INTERRUPTS();
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528 /*-----------------------------------------------------------*/
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530 void vApplicationIdleHook( void )
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532 static long lCheckTimerStarted = pdFALSE;
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534 /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
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535 to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
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536 task. It is essential that code added to this hook function never attempts
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537 to block in any way (for example, call xQueueReceive() with a block time
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538 specified, or call vTaskDelay()). If the application makes use of the
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539 vTaskDelete() API function (as this demo application does) then it is also
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540 important that vApplicationIdleHook() is permitted to return to its calling
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541 function, because it is the responsibility of the idle task to clean up
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542 memory allocated by the kernel to any task that has since been deleted. */
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544 /* If the check timer has not already been started, then start it now.
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545 Normally, the xTimerStart() API function can be called immediately after the
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546 timer is created - how this demo application includes the timer demo tasks.
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547 The timer demo tasks, as part of their test function, deliberately fill up
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548 the timer command queue - meaning the check timer cannot be started until
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549 after the scheduler has been started - at which point the timer command
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550 queue will have been drained. */
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551 if( lCheckTimerStarted == pdFALSE )
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553 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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554 lCheckTimerStarted = pdTRUE;
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557 /*-----------------------------------------------------------*/
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559 void vApplicationExceptionRegisterDump( xPortRegisterDump *xRegisterDump )
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561 ( void ) xRegisterDump;
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563 /* If configINSTALL_EXCEPTION_HANDLERS is set to 1 in FreeRTOSConfig.h, then
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564 the kernel will automatically install its own exception handlers before the
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565 kernel is started, if the application writer has not already caused them to
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566 be installed by calling either of the vPortExceptionsInstallHandlers()
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567 or xPortInstallInterruptHandler() API functions before that time. The
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568 kernels exception handler populates an xPortRegisterDump structure with
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569 the processor state at the point that the exception was triggered - and also
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570 includes a strings that say what the exception cause was and which task was
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571 running at the time. The exception handler then passes the populated
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572 xPortRegisterDump structure into vApplicationExceptionRegisterDump() to
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573 allow the application writer to perform any debugging that may be necessary.
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574 However, defining vApplicationExceptionRegisterDump() within the application
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575 itself is optional. The kernel will use a default implementation if the
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576 application writer chooses not to provide their own. */
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582 /*-----------------------------------------------------------*/
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584 static void prvSetupHardware( void )
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586 taskDISABLE_INTERRUPTS();
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588 /* Configure the LED outputs. */
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589 vParTestInitialise();
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591 /* Tasks inherit the exception and cache configuration of the MicroBlaze
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592 at the point that they are created. */
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593 #if MICROBLAZE_EXCEPTIONS_ENABLED == 1
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594 microblaze_enable_exceptions();
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597 #if XPAR_MICROBLAZE_USE_ICACHE == 1
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598 microblaze_invalidate_icache();
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599 microblaze_enable_icache();
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602 #if XPAR_MICROBLAZE_USE_DCACHE == 1
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603 microblaze_invalidate_dcache();
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604 microblaze_enable_dcache();
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608 /*-----------------------------------------------------------*/
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610 void vMainConfigureTimerForRunTimeStats( void )
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612 /* How many times does the counter counter increment in 10ms? */
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613 ulClocksPer10thOfAMilliSecond = XPAR_AXI_TIMER_0_CLOCK_FREQ_HZ / 10000UL;
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615 /*-----------------------------------------------------------*/
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617 unsigned long ulMainGetRunTimeCounterValue( void )
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619 unsigned long ulTimerCounts1, ulTimerCounts2, ulTickCount, ulReturn;
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621 /* NOTE: This can get called from a yield, in which case interrupts are
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622 disabled, or from a tick ISR, in which case the effect is the same as if
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623 interrupts were disabled. In either case, it is going to run atomically. */
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625 /* The timer is in down count mode. How many clocks have passed since it
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626 was last reloaded? */
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627 ulTimerCounts1 = ulCounterReloadValue - XTmrCtr_GetValue( &xTimer0Instance, ucTimerCounterNumber );
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629 /* How many times has it overflowed? */
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630 ulTickCount = xTaskGetTickCountFromISR();
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632 /* If this is being called from a yield, has the counter overflowed since
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633 it was read? If that is the case then ulTickCounts will need incrementing
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634 again as it will not yet have been incremented from the tick interrupt. */
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635 ulTimerCounts2 = ulCounterReloadValue - XTmrCtr_GetValue( &xTimer0Instance, ucTimerCounterNumber );
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636 if( ulTimerCounts2 < ulTimerCounts1 )
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638 /* There is a tick interrupt pending but the tick count not yet
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642 /* Use the second timer reading. */
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643 ulTimerCounts1 = ulTimerCounts2;
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646 /* Convert the tick count into tenths of a millisecond. THIS ASSUMES
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647 configTICK_RATE_HZ is 1000! */
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648 ulReturn = ( ulTickCount * 10UL );
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650 /* Add on the number of tenths of a millisecond that have passed since the
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651 tick count last got updated. */
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652 ulReturn += ( ulTimerCounts1 / ulClocksPer10thOfAMilliSecond );
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654 /* Some crude rounding. */
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655 if( ( ulTimerCounts1 % ulClocksPer10thOfAMilliSecond ) > ( ulClocksPer10thOfAMilliSecond >> 1UL ) )
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662 /*-----------------------------------------------------------*/
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664 char *pcMainGetTaskStatusMessage( void )
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668 if( pcStatusMessage == NULL )
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670 pcReturn = ( char * ) "OK";
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674 pcReturn = ( char * ) pcStatusMessage;
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projects / freertos / blob