2 FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not itcan be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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75 /* ****************************************************************************
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76 * This project includes a lot of tasks and tests and is therefore complex.
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77 * If you would prefer a much simpler project to get started with then select
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78 * the 'low power' demo by setting configCREATE_LOW_POWER_DEMO to 1 in
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79 * FreeRTOSConfig.h. When configCREATE_LOW_POWER_DEMO is set to 1 main() will
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80 * call main_low_power() instead of main_full().
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81 * ****************************************************************************
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83 * Creates all the demo application tasks, then starts the scheduler. The web
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84 * documentation provides more details of the standard demo application tasks,
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85 * which provide no particular functionality but do provide a good example of
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86 * how to use the FreeRTOS API.
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88 * In addition to the standard demo tasks, the following tasks and tests are
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89 * defined and/or created within this file:
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91 * "Reg test" tasks - These fill the registers with known values, then
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92 * repeatedly check that each register still contains its expected value for
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93 * the lifetime of the tasks. Each task uses different values. The tasks run
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94 * with very low priority so get preempted very frequently. A check variable
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95 * is incremented on each iteration of the test loop. A register containing an
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96 * unexpected value is indicative of an error in the context switching
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97 * mechanism and will result in a branch to a null loop - which in turn will
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98 * prevent the check variable from incrementing any further and allow the check
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99 * timer (described below) to determine that an error has occurred. The nature
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100 * of the reg test tasks necessitates that they are written in assembly code.
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102 * "Check Timer" and Callback Function - The check timer period is initially
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103 * set to three seconds. The check timer callback function checks that all the
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104 * standard demo tasks are not only still executing, but are executing without
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105 * reporting any errors. If the check timer discovers that a task has either
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106 * stalled, or reported an error, then it changes its own period from the
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107 * initial three seconds, to just 200ms. The check timer callback function
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108 * also toggles LED 0 each time it is called. This provides a visual
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109 * indication of the system status: If the LED toggles every three seconds,
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110 * then no issues have been discovered. If the LED toggles every 200ms, then
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111 * an issue has been discovered with at least one task.
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113 * *NOTE 1* The CPU must be in Supervisor mode when the scheduler is started.
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114 * The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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115 * Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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118 /* Standard includes. */
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119 #include <string.h>
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121 /* Hardware specific includes. */
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122 #include "iodefine.h"
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124 /* Kernel includes. */
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125 #include "FreeRTOS.h"
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127 #include "timers.h"
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128 #include "semphr.h"
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130 /* Standard demo includes. */
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131 #include "partest.h"
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133 #include "blocktim.h"
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134 #include "GenQTest.h"
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135 #include "recmutex.h"
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137 /* The code in this file is only built when configCREATE_LOW_POWER_DEMO is set
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138 to 0, otherwise the code in main_low_power.c is used. */
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139 #if configCREATE_LOW_POWER_DEMO == 0
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142 /* Values that are passed into the reg test tasks using the task parameter.
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143 The tasks check that the values are passed in correctly. */
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144 #define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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145 #define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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147 /* Priorities at which the standard demo tasks are created. */
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148 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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149 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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151 /* The LED toggled by the check timer. */
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152 #define mainCHECK_LED ( 0 )
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154 /* The period at which the check timer will expire, in ms, provided no errors
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155 have been reported by any of the standard demo tasks. ms are converted to the
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156 equivalent in ticks using the portTICK_RATE_MS constant. */
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157 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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159 /* The period at which the check timer will expire, in ms, if an error has been
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160 reported in one of the standard demo tasks. ms are converted to the equivalent
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161 in ticks using the portTICK_RATE_MS constant. */
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162 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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164 /* A block time of zero simple means "Don't Block". */
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165 #define mainDONT_BLOCK ( 0UL )
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168 * The reg test tasks as described at the top of this file.
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170 static void prvRegTest1Task( void *pvParameters );
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171 static void prvRegTest2Task( void *pvParameters );
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174 * The actual implementation of the reg test functionality, which, because of
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175 * the direct register access, have to be in assembly.
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177 static void prvRegTest1Implementation( void ) __attribute__(( naked ));
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178 static void prvRegTest2Implementation( void ) __attribute__(( naked ));
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181 * The check timer callback function, as described at the top of this file.
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183 static void prvCheckTimerCallback( xTimerHandle xTimer );
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186 /*-----------------------------------------------------------*/
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188 /* Variables that are incremented on each iteration of the reg test tasks -
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189 provided the tasks have not reported any errors. The check timer inspects these
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190 variables to ensure they are still incrementing as expected. If a variable
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191 stops incrementing then it is likely that its associated task has stalled. */
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192 unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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194 /* The check timer. This uses prvCheckTimerCallback() as its callback
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196 static xTimerHandle xCheckTimer = NULL;
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198 /*-----------------------------------------------------------*/
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200 void main_full( void )
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202 /* Start the reg test tasks which test the context switching mechanism. */
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203 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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204 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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206 /* Create the standard demo tasks. */
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207 vCreateBlockTimeTasks();
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208 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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209 vStartRecursiveMutexTasks();
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211 /* The suicide tasks must be created last as they need to know how many
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212 tasks were running prior to their creation in order to ascertain whether
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213 or not the correct/expected number of tasks are running at any given time. */
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214 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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216 /* Create the software timer that performs the 'check' functionality,
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217 as described at the top of this file. */
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218 xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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219 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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220 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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221 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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222 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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225 configASSERT( xCheckTimer );
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227 /* Start the check timer. It will actually start when the scheduler is
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229 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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231 /* Start the tasks running. */
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232 vTaskStartScheduler();
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234 /* If all is well execution will never reach here as the scheduler will be
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235 running. If this null loop is reached then it is likely there was
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236 insufficient FreeRTOS heap available for the idle task and/or timer task to
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237 be created. See http://www.freertos.org/a00111.html. */
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240 /*-----------------------------------------------------------*/
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242 static void prvCheckTimerCallback( xTimerHandle xTimer )
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244 static long lChangedTimerPeriodAlready = pdFALSE, lErrorStatus = pdPASS;
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245 static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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247 /* Remove compiler warnings about unused parameters. */
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250 /* Check the standard demo tasks are running without error. */
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251 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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253 lErrorStatus = pdFAIL;
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255 else if( xIsCreateTaskStillRunning() != pdTRUE )
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257 lErrorStatus = pdFAIL;
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259 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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261 lErrorStatus = pdFAIL;
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263 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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265 lErrorStatus = pdFAIL;
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268 /* Check the reg test tasks are still cycling. They will stop incrementing
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269 their loop counters if they encounter an error. */
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270 if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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272 lErrorStatus = pdFAIL;
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275 if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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277 lErrorStatus = pdFAIL;
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280 /* Remember the loop counter values this time around so they can be checked
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281 again the next time this callback function executes. */
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282 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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283 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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285 /* Toggle the check LED to give an indication of the system status. If
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286 the LED toggles every three seconds then everything is ok. A faster toggle
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287 indicates an error. */
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288 vParTestToggleLED( mainCHECK_LED );
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290 /* Was an error detected this time through the callback execution? */
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291 if( lErrorStatus != pdPASS )
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293 if( lChangedTimerPeriodAlready == pdFALSE )
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295 lChangedTimerPeriodAlready = pdTRUE;
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297 /* This call to xTimerChangePeriod() uses a zero block time.
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298 Functions called from inside of a timer callback function must
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299 *never* attempt to block. */
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300 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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304 /*-----------------------------------------------------------*/
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306 /* This function is explained in the comments at the top of this file. */
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307 static void prvRegTest1Task( void *pvParameters )
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309 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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311 /* The parameter did not contain the expected value. */
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314 /* Stop the tick interrupt so its obvious something has gone wrong. */
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315 taskDISABLE_INTERRUPTS();
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319 /* This is an inline asm function that never returns. */
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320 prvRegTest1Implementation();
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322 /*-----------------------------------------------------------*/
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324 /* This function is explained in the comments at the top of this file. */
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325 static void prvRegTest2Task( void *pvParameters )
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327 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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329 /* The parameter did not contain the expected value. */
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332 /* Stop the tick interrupt so its obvious something has gone wrong. */
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333 taskDISABLE_INTERRUPTS();
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337 /* This is an inline asm function that never returns. */
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338 prvRegTest2Implementation();
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340 /*-----------------------------------------------------------*/
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342 /* This function is explained in the comments at the top of this file. */
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343 static void prvRegTest1Implementation( void )
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347 /* Set each register to a known value. */
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348 " MOV.L #0x33333333, R15 \n\t"
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349 " MVTACHI R15 \n\t"
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350 " MOV.L #0x44444444, R15 \n\t"
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351 " MVTACLO R15 \n\t"
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352 " MOV.L #1, R1 \n\t"
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353 " MOV.L #2, R2 \n\t"
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354 " MOV.L #3, R3 \n\t"
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355 " MOV.L #4, R4 \n\t"
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356 " MOV.L #5, R5 \n\t"
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357 " MOV.L #6, R6 \n\t"
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358 " MOV.L #7, R7 \n\t"
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359 " MOV.L #8, R8 \n\t"
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360 " MOV.L #9, R9 \n\t"
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361 " MOV.L #10, R10 \n\t"
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362 " MOV.L #11, R11 \n\t"
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363 " MOV.L #12, R12 \n\t"
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364 " MOV.L #13, R13 \n\t"
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365 " MOV.L #14, R14 \n\t"
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366 " MOV.L #15, R15 \n\t"
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368 /* Loop, checking each iteration that each register still contains the
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372 /* Push the registers that are going to get clobbered. */
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373 " PUSHM R14-R15 \n\t"
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375 /* Increment the loop counter to show this task is still getting CPU
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377 " MOV.L #_ulRegTest1CycleCount, R14 \n\t"
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378 " MOV.L [ R14 ], R15 \n\t"
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379 " ADD #1, R15 \n\t"
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380 " MOV.L R15, [ R14 ] \n\t"
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382 /* Yield to extend the text coverage. Set the bit in the ITU SWINTR
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384 " MOV.L #1, R14 \n\t"
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385 " MOV.L #0872E0H, R15 \n\t"
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386 " MOV.B R14, [R15] \n\t"
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390 /* Check the accumulator value. */
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391 " MVFACHI R15 \n\t"
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392 " CMP #0x33333333, R15 \n\t"
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393 " BNE RegTest2Error \n\t"
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394 " MVFACMI R15 \n\t"
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395 " CMP #0x33334444, R15 \n\t"
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396 " BNE RegTest2Error \n\t"
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398 /* Restore the clobbered registers. */
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399 " POPM R14-R15 \n\t"
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401 /* Now compare each register to ensure it still contains the value that
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402 was set before this loop was entered. */
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404 " BNE RegTest1Error \n\t"
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406 " BNE RegTest1Error \n\t"
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408 " BNE RegTest1Error \n\t"
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410 " BNE RegTest1Error \n\t"
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412 " BNE RegTest1Error \n\t"
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414 " BNE RegTest1Error \n\t"
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416 " BNE RegTest1Error \n\t"
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418 " BNE RegTest1Error \n\t"
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420 " BNE RegTest1Error \n\t"
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421 " CMP #10, R10 \n\t"
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422 " BNE RegTest1Error \n\t"
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423 " CMP #11, R11 \n\t"
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424 " BNE RegTest1Error \n\t"
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425 " CMP #12, R12 \n\t"
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426 " BNE RegTest1Error \n\t"
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427 " CMP #13, R13 \n\t"
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428 " BNE RegTest1Error \n\t"
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429 " CMP #14, R14 \n\t"
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430 " BNE RegTest1Error \n\t"
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431 " CMP #15, R15 \n\t"
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432 " BNE RegTest1Error \n\t"
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434 /* All comparisons passed, start a new iteration of this loop. */
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435 " BRA TestLoop1 \n\t"
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437 /* A compare failed, just loop here so the loop counter stops
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438 incrementing causing the check timer to indicate the error. */
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439 "RegTest1Error: \n\t"
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440 " BRA RegTest1Error "
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443 /*-----------------------------------------------------------*/
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445 /* This function is explained in the comments at the top of this file. */
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446 static void prvRegTest2Implementation( void )
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450 /* Set each register to a known value. */
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451 " MOV.L #0x11111111, R15 \n\t"
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452 " MVTACHI R15 \n\t"
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453 " MOV.L #0x22222222, R15 \n\t"
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454 " MVTACLO R15 \n\t"
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455 " MOV.L #100, R1 \n\t"
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456 " MOV.L #200, R2 \n\t"
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457 " MOV.L #300, R3 \n\t"
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458 " MOV.L #400, R4 \n\t"
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459 " MOV.L #500, R5 \n\t"
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460 " MOV.L #600, R6 \n\t"
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461 " MOV.L #700, R7 \n\t"
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462 " MOV.L #800, R8 \n\t"
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463 " MOV.L #900, R9 \n\t"
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464 " MOV.L #1000, R10 \n\t"
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465 " MOV.L #1001, R11 \n\t"
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466 " MOV.L #1002, R12 \n\t"
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467 " MOV.L #1003, R13 \n\t"
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468 " MOV.L #1004, R14 \n\t"
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469 " MOV.L #1005, R15 \n\t"
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471 /* Loop, checking each iteration that each register still contains the
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475 /* Push the registers that are going to get clobbered. */
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476 " PUSHM R14-R15 \n\t"
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478 /* Increment the loop counter to show this task is still getting CPU
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480 " MOV.L #_ulRegTest2CycleCount, R14 \n\t"
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481 " MOV.L [ R14 ], R15 \n\t"
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482 " ADD #1, R15 \n\t"
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483 " MOV.L R15, [ R14 ] \n\t"
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485 /* Check the accumulator value. */
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486 " MVFACHI R15 \n\t"
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487 " CMP #0x11111111, R15 \n\t"
\r
488 " BNE RegTest2Error \n\t"
\r
489 " MVFACMI R15 \n\t"
\r
490 " CMP #0x11112222, R15 \n\t"
\r
491 " BNE RegTest2Error \n\t"
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493 /* Restore the clobbered registers. */
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494 " POPM R14-R15 \n\t"
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496 /* Now compare each register to ensure it still contains the value that
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497 was set before this loop was entered. */
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498 " CMP #100, R1 \n\t"
\r
499 " BNE RegTest2Error \n\t"
\r
500 " CMP #200, R2 \n\t"
\r
501 " BNE RegTest2Error \n\t"
\r
502 " CMP #300, R3 \n\t"
\r
503 " BNE RegTest2Error \n\t"
\r
504 " CMP #400, R4 \n\t"
\r
505 " BNE RegTest2Error \n\t"
\r
506 " CMP #500, R5 \n\t"
\r
507 " BNE RegTest2Error \n\t"
\r
508 " CMP #600, R6 \n\t"
\r
509 " BNE RegTest2Error \n\t"
\r
510 " CMP #700, R7 \n\t"
\r
511 " BNE RegTest2Error \n\t"
\r
512 " CMP #800, R8 \n\t"
\r
513 " BNE RegTest2Error \n\t"
\r
514 " CMP #900, R9 \n\t"
\r
515 " BNE RegTest2Error \n\t"
\r
516 " CMP #1000, R10 \n\t"
\r
517 " BNE RegTest2Error \n\t"
\r
518 " CMP #1001, R11 \n\t"
\r
519 " BNE RegTest2Error \n\t"
\r
520 " CMP #1002, R12 \n\t"
\r
521 " BNE RegTest2Error \n\t"
\r
522 " CMP #1003, R13 \n\t"
\r
523 " BNE RegTest2Error \n\t"
\r
524 " CMP #1004, R14 \n\t"
\r
525 " BNE RegTest2Error \n\t"
\r
526 " CMP #1005, R15 \n\t"
\r
527 " BNE RegTest2Error \n\t"
\r
529 /* All comparisons passed, start a new iteration of this loop. */
\r
530 " BRA TestLoop2 \n\t"
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532 /* A compare failed, just loop here so the loop counter stops
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533 incrementing causing the check timer to indicate the error. */
\r
534 "RegTest2Error: \n\t"
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535 " BRA RegTest2Error "
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538 /*-----------------------------------------------------------*/
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540 #endif /* configCREATE_LOW_POWER_DEMO */
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projects / freertos / blob