2 FreeRTOS V8.0.1 - 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 * This project includes a lot of tasks and tests and is therefore complex.
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68 * If you would prefer a much simpler project to get started with then select
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69 * the 'low power' demo by setting configCREATE_LOW_POWER_DEMO to 1 in
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70 * FreeRTOSConfig.h. When configCREATE_LOW_POWER_DEMO is set to 1 main() will
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71 * call main_low_power() instead of main_full().
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72 * ****************************************************************************
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74 * Creates all the demo application tasks, then starts the scheduler. The web
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75 * documentation provides more details of the standard demo application tasks,
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76 * which provide no particular functionality but do provide a good example of
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77 * how to use the FreeRTOS API.
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79 * In addition to the standard demo tasks, the following tasks and tests are
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80 * defined and/or created within this file:
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82 * "Reg test" tasks - These fill the registers with known values, then
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83 * repeatedly check that each register still contains its expected value for
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84 * the lifetime of the tasks. Each task uses different values. The tasks run
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85 * with very low priority so get preempted very frequently. A check variable
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86 * is incremented on each iteration of the test loop. A register containing an
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87 * unexpected value is indicative of an error in the context switching
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88 * mechanism and will result in a branch to a null loop - which in turn will
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89 * prevent the check variable from incrementing any further and allow the check
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90 * timer (described below) to determine that an error has occurred. The nature
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91 * of the reg test tasks necessitates that they are written in assembly code.
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93 * "Check Timer" and Callback Function - The check timer period is initially
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94 * set to three seconds. The check timer callback function checks that all the
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95 * standard demo tasks are not only still executing, but are executing without
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96 * reporting any errors. If the check timer discovers that a task has either
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97 * stalled, or reported an error, then it changes its own period from the
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98 * initial three seconds, to just 200ms. The check timer callback function
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99 * also toggles LED 0 each time it is called. This provides a visual
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100 * indication of the system status: If the LED toggles every three seconds,
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101 * then no issues have been discovered. If the LED toggles every 200ms, then
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102 * an issue has been discovered with at least one task.
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104 * *NOTE 1* The CPU must be in Supervisor mode when the scheduler is started.
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105 * The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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106 * Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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109 /* Standard includes. */
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110 #include <string.h>
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112 /* Hardware specific includes. */
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113 #include "iodefine.h"
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115 /* Kernel includes. */
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116 #include "FreeRTOS.h"
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118 #include "timers.h"
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119 #include "semphr.h"
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121 /* Standard demo includes. */
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122 #include "partest.h"
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124 #include "blocktim.h"
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125 #include "GenQTest.h"
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126 #include "recmutex.h"
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128 /* The code in this file is only built when configCREATE_LOW_POWER_DEMO is set
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129 to 0, otherwise the code in main_low_power.c is used. */
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130 #if configCREATE_LOW_POWER_DEMO == 0
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133 /* Values that are passed into the reg test tasks using the task parameter.
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134 The tasks check that the values are passed in correctly. */
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135 #define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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136 #define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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138 /* Priorities at which the standard demo tasks are created. */
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139 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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140 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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142 /* The LED toggled by the check timer. */
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143 #define mainCHECK_LED ( 0 )
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145 /* The period at which the check timer will expire, in ms, provided no errors
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146 have been reported by any of the standard demo tasks. ms are converted to the
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147 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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148 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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150 /* The period at which the check timer will expire, in ms, if an error has been
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151 reported in one of the standard demo tasks. ms are converted to the equivalent
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152 in ticks using the portTICK_PERIOD_MS constant. */
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153 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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155 /* A block time of zero simple means "Don't Block". */
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156 #define mainDONT_BLOCK ( 0UL )
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159 * The reg test tasks as described at the top of this file.
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161 static void prvRegTest1Task( void *pvParameters );
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162 static void prvRegTest2Task( void *pvParameters );
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165 * The actual implementation of the reg test functionality, which, because of
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166 * the direct register access, have to be in assembly.
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168 static void prvRegTest1Implementation( void ) __attribute__(( naked ));
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169 static void prvRegTest2Implementation( void ) __attribute__(( naked ));
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172 * The check timer callback function, as described at the top of this file.
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174 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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177 /*-----------------------------------------------------------*/
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179 /* Variables that are incremented on each iteration of the reg test tasks -
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180 provided the tasks have not reported any errors. The check timer inspects these
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181 variables to ensure they are still incrementing as expected. If a variable
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182 stops incrementing then it is likely that its associated task has stalled. */
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183 unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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185 /* The check timer. This uses prvCheckTimerCallback() as its callback
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187 static TimerHandle_t xCheckTimer = NULL;
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189 /*-----------------------------------------------------------*/
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191 void main_full( void )
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193 /* Start the reg test tasks which test the context switching mechanism. */
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194 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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195 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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197 /* Create the standard demo tasks. */
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198 vCreateBlockTimeTasks();
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199 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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200 vStartRecursiveMutexTasks();
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202 /* The suicide tasks must be created last as they need to know how many
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203 tasks were running prior to their creation in order to ascertain whether
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204 or not the correct/expected number of tasks are running at any given time. */
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205 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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207 /* Create the software timer that performs the 'check' functionality,
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208 as described at the top of this file. */
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209 xCheckTimer = xTimerCreate( "CheckTimer",/* A text name, purely to help debugging. */
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210 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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211 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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212 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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213 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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216 configASSERT( xCheckTimer );
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218 /* Start the check timer. It will actually start when the scheduler is
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220 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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222 /* Start the tasks running. */
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223 vTaskStartScheduler();
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225 /* If all is well execution will never reach here as the scheduler will be
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226 running. If this null loop is reached then it is likely there was
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227 insufficient FreeRTOS heap available for the idle task and/or timer task to
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228 be created. See http://www.freertos.org/a00111.html. */
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231 /*-----------------------------------------------------------*/
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233 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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235 static long lChangedTimerPeriodAlready = pdFALSE, lErrorStatus = pdPASS;
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236 static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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238 /* Remove compiler warnings about unused parameters. */
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241 /* Check the standard demo tasks are running without error. */
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242 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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244 lErrorStatus = pdFAIL;
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246 else if( xIsCreateTaskStillRunning() != pdTRUE )
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248 lErrorStatus = pdFAIL;
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250 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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252 lErrorStatus = pdFAIL;
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254 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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256 lErrorStatus = pdFAIL;
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259 /* Check the reg test tasks are still cycling. They will stop incrementing
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260 their loop counters if they encounter an error. */
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261 if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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263 lErrorStatus = pdFAIL;
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266 if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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268 lErrorStatus = pdFAIL;
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271 /* Remember the loop counter values this time around so they can be checked
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272 again the next time this callback function executes. */
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273 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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274 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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276 /* Toggle the check LED to give an indication of the system status. If
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277 the LED toggles every three seconds then everything is ok. A faster toggle
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278 indicates an error. */
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279 vParTestToggleLED( mainCHECK_LED );
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281 /* Was an error detected this time through the callback execution? */
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282 if( lErrorStatus != pdPASS )
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284 if( lChangedTimerPeriodAlready == pdFALSE )
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286 lChangedTimerPeriodAlready = pdTRUE;
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288 /* This call to xTimerChangePeriod() uses a zero block time.
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289 Functions called from inside of a timer callback function must
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290 *never* attempt to block. */
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291 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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295 /*-----------------------------------------------------------*/
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297 /* This function is explained in the comments at the top of this file. */
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298 static void prvRegTest1Task( void *pvParameters )
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300 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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302 /* The parameter did not contain the expected value. */
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305 /* Stop the tick interrupt so its obvious something has gone wrong. */
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306 taskDISABLE_INTERRUPTS();
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310 /* This is an inline asm function that never returns. */
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311 prvRegTest1Implementation();
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313 /*-----------------------------------------------------------*/
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315 /* This function is explained in the comments at the top of this file. */
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316 static void prvRegTest2Task( void *pvParameters )
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318 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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320 /* The parameter did not contain the expected value. */
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323 /* Stop the tick interrupt so its obvious something has gone wrong. */
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324 taskDISABLE_INTERRUPTS();
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328 /* This is an inline asm function that never returns. */
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329 prvRegTest2Implementation();
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331 /*-----------------------------------------------------------*/
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333 /* This function is explained in the comments at the top of this file. */
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334 static void prvRegTest1Implementation( void )
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338 /* Set each register to a known value. */
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339 " MOV.L #0x33333333, R15 \n\t"
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340 " MVTACHI R15 \n\t"
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341 " MOV.L #0x44444444, R15 \n\t"
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342 " MVTACLO R15 \n\t"
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343 " MOV.L #1, R1 \n\t"
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344 " MOV.L #2, R2 \n\t"
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345 " MOV.L #3, R3 \n\t"
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346 " MOV.L #4, R4 \n\t"
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347 " MOV.L #5, R5 \n\t"
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348 " MOV.L #6, R6 \n\t"
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349 " MOV.L #7, R7 \n\t"
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350 " MOV.L #8, R8 \n\t"
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351 " MOV.L #9, R9 \n\t"
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352 " MOV.L #10, R10 \n\t"
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353 " MOV.L #11, R11 \n\t"
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354 " MOV.L #12, R12 \n\t"
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355 " MOV.L #13, R13 \n\t"
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356 " MOV.L #14, R14 \n\t"
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357 " MOV.L #15, R15 \n\t"
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359 /* Loop, checking each iteration that each register still contains the
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363 /* Push the registers that are going to get clobbered. */
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364 " PUSHM R14-R15 \n\t"
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366 /* Increment the loop counter to show this task is still getting CPU
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368 " MOV.L #_ulRegTest1CycleCount, R14 \n\t"
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369 " MOV.L [ R14 ], R15 \n\t"
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370 " ADD #1, R15 \n\t"
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371 " MOV.L R15, [ R14 ] \n\t"
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373 /* Yield to extend the text coverage. Set the bit in the ITU SWINTR
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375 " MOV.L #1, R14 \n\t"
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376 " MOV.L #0872E0H, R15 \n\t"
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377 " MOV.B R14, [R15] \n\t"
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381 /* Check the accumulator value. */
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382 " MVFACHI R15 \n\t"
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383 " CMP #0x33333333, R15 \n\t"
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384 " BNE RegTest2Error \n\t"
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385 " MVFACMI R15 \n\t"
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386 " CMP #0x33334444, R15 \n\t"
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387 " BNE RegTest2Error \n\t"
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389 /* Restore the clobbered registers. */
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390 " POPM R14-R15 \n\t"
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392 /* Now compare each register to ensure it still contains the value that
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393 was set before this loop was entered. */
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395 " BNE RegTest1Error \n\t"
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397 " BNE RegTest1Error \n\t"
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399 " BNE RegTest1Error \n\t"
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401 " BNE RegTest1Error \n\t"
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403 " BNE RegTest1Error \n\t"
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405 " BNE RegTest1Error \n\t"
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407 " BNE RegTest1Error \n\t"
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409 " BNE RegTest1Error \n\t"
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411 " BNE RegTest1Error \n\t"
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412 " CMP #10, R10 \n\t"
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413 " BNE RegTest1Error \n\t"
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414 " CMP #11, R11 \n\t"
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415 " BNE RegTest1Error \n\t"
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416 " CMP #12, R12 \n\t"
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417 " BNE RegTest1Error \n\t"
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418 " CMP #13, R13 \n\t"
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419 " BNE RegTest1Error \n\t"
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420 " CMP #14, R14 \n\t"
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421 " BNE RegTest1Error \n\t"
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422 " CMP #15, R15 \n\t"
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423 " BNE RegTest1Error \n\t"
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425 /* All comparisons passed, start a new iteration of this loop. */
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426 " BRA TestLoop1 \n\t"
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428 /* A compare failed, just loop here so the loop counter stops
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429 incrementing causing the check timer to indicate the error. */
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430 "RegTest1Error: \n\t"
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431 " BRA RegTest1Error "
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434 /*-----------------------------------------------------------*/
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436 /* This function is explained in the comments at the top of this file. */
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437 static void prvRegTest2Implementation( void )
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441 /* Set each register to a known value. */
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442 " MOV.L #0x11111111, R15 \n\t"
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443 " MVTACHI R15 \n\t"
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444 " MOV.L #0x22222222, R15 \n\t"
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445 " MVTACLO R15 \n\t"
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446 " MOV.L #100, R1 \n\t"
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447 " MOV.L #200, R2 \n\t"
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448 " MOV.L #300, R3 \n\t"
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449 " MOV.L #400, R4 \n\t"
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450 " MOV.L #500, R5 \n\t"
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451 " MOV.L #600, R6 \n\t"
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452 " MOV.L #700, R7 \n\t"
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453 " MOV.L #800, R8 \n\t"
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454 " MOV.L #900, R9 \n\t"
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455 " MOV.L #1000, R10 \n\t"
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456 " MOV.L #1001, R11 \n\t"
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457 " MOV.L #1002, R12 \n\t"
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458 " MOV.L #1003, R13 \n\t"
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459 " MOV.L #1004, R14 \n\t"
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460 " MOV.L #1005, R15 \n\t"
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462 /* Loop, checking each iteration that each register still contains the
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466 /* Push the registers that are going to get clobbered. */
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467 " PUSHM R14-R15 \n\t"
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469 /* Increment the loop counter to show this task is still getting CPU
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471 " MOV.L #_ulRegTest2CycleCount, R14 \n\t"
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472 " MOV.L [ R14 ], R15 \n\t"
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473 " ADD #1, R15 \n\t"
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474 " MOV.L R15, [ R14 ] \n\t"
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476 /* Check the accumulator value. */
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477 " MVFACHI R15 \n\t"
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478 " CMP #0x11111111, R15 \n\t"
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479 " BNE RegTest2Error \n\t"
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480 " MVFACMI R15 \n\t"
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481 " CMP #0x11112222, R15 \n\t"
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482 " BNE RegTest2Error \n\t"
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484 /* Restore the clobbered registers. */
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485 " POPM R14-R15 \n\t"
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487 /* Now compare each register to ensure it still contains the value that
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488 was set before this loop was entered. */
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489 " CMP #100, R1 \n\t"
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490 " BNE RegTest2Error \n\t"
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491 " CMP #200, R2 \n\t"
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492 " BNE RegTest2Error \n\t"
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493 " CMP #300, R3 \n\t"
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494 " BNE RegTest2Error \n\t"
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495 " CMP #400, R4 \n\t"
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496 " BNE RegTest2Error \n\t"
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497 " CMP #500, R5 \n\t"
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498 " BNE RegTest2Error \n\t"
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499 " CMP #600, R6 \n\t"
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500 " BNE RegTest2Error \n\t"
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501 " CMP #700, R7 \n\t"
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502 " BNE RegTest2Error \n\t"
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503 " CMP #800, R8 \n\t"
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504 " BNE RegTest2Error \n\t"
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505 " CMP #900, R9 \n\t"
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506 " BNE RegTest2Error \n\t"
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507 " CMP #1000, R10 \n\t"
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508 " BNE RegTest2Error \n\t"
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509 " CMP #1001, R11 \n\t"
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510 " BNE RegTest2Error \n\t"
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511 " CMP #1002, R12 \n\t"
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512 " BNE RegTest2Error \n\t"
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513 " CMP #1003, R13 \n\t"
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514 " BNE RegTest2Error \n\t"
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515 " CMP #1004, R14 \n\t"
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516 " BNE RegTest2Error \n\t"
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517 " CMP #1005, R15 \n\t"
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518 " BNE RegTest2Error \n\t"
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520 /* All comparisons passed, start a new iteration of this loop. */
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521 " BRA TestLoop2 \n\t"
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523 /* A compare failed, just loop here so the loop counter stops
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524 incrementing causing the check timer to indicate the error. */
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525 "RegTest2Error: \n\t"
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526 " BRA RegTest2Error "
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529 /*-----------------------------------------------------------*/
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531 #endif /* configCREATE_LOW_POWER_DEMO */
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projects / freertos / blob