2 * FreeRTOS Kernel V10.3.0
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3 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* ****************************************************************************
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29 * This project includes a lot of tasks and tests and is therefore complex.
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30 * If you would prefer a much simpler project to get started with then select
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31 * the 'low power' demo by setting configCREATE_LOW_POWER_DEMO to 1 in
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32 * FreeRTOSConfig.h. When configCREATE_LOW_POWER_DEMO is set to 1 main() will
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33 * call main_low_power() instead of main_full().
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34 * ****************************************************************************
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36 * Creates all the demo application tasks, then starts the scheduler. The web
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37 * documentation provides more details of the standard demo application tasks,
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38 * which provide no particular functionality but do provide a good example of
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39 * how to use the FreeRTOS API.
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41 * In addition to the standard demo tasks, the following tasks and tests are
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42 * defined and/or created within this file:
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44 * "Reg test" tasks - These fill the registers with known values, then
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45 * repeatedly check that each register still contains its expected value for
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46 * the lifetime of the tasks. Each task uses different values. The tasks run
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47 * with very low priority so get preempted very frequently. A check variable
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48 * is incremented on each iteration of the test loop. A register containing an
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49 * unexpected value is indicative of an error in the context switching
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50 * mechanism and will result in a branch to a null loop - which in turn will
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51 * prevent the check variable from incrementing any further and allow the check
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52 * timer (described below) to determine that an error has occurred. The nature
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53 * of the reg test tasks necessitates that they are written in assembly code.
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55 * "Check Timer" and Callback Function - The check timer period is initially
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56 * set to three seconds. The check timer callback function checks that all the
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57 * standard demo tasks are not only still executing, but are executing without
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58 * reporting any errors. If the check timer discovers that a task has either
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59 * stalled, or reported an error, then it changes its own period from the
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60 * initial three seconds, to just 200ms. The check timer callback function
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61 * also toggles LED 0 each time it is called. This provides a visual
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62 * indication of the system status: If the LED toggles every three seconds,
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63 * then no issues have been discovered. If the LED toggles every 200ms, then
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64 * an issue has been discovered with at least one task.
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66 * *NOTE 1* The CPU must be in Supervisor mode when the scheduler is started.
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67 * The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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68 * Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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71 /* Standard includes. */
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74 /* Hardware specific includes. */
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75 #include "iodefine.h"
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77 /* Kernel includes. */
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78 #include "FreeRTOS.h"
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83 /* Standard demo includes. */
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84 #include "partest.h"
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86 #include "blocktim.h"
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87 #include "GenQTest.h"
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88 #include "recmutex.h"
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90 /* The code in this file is only built when configCREATE_LOW_POWER_DEMO is set
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91 to 0, otherwise the code in main_low_power.c is used. */
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92 #if configCREATE_LOW_POWER_DEMO == 0
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95 /* Values that are passed into the reg test tasks using the task parameter.
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96 The tasks check that the values are passed in correctly. */
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97 #define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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98 #define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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100 /* Priorities at which the standard demo tasks are created. */
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101 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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102 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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104 /* The LED toggled by the check timer. */
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105 #define mainCHECK_LED ( 0 )
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107 /* The period at which the check timer will expire, in ms, provided no errors
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108 have been reported by any of the standard demo tasks. ms are converted to the
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109 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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110 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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112 /* The period at which the check timer will expire, in ms, if an error has been
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113 reported in one of the standard demo tasks. ms are converted to the equivalent
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114 in ticks using the portTICK_PERIOD_MS constant. */
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115 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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117 /* A block time of zero simple means "Don't Block". */
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118 #define mainDONT_BLOCK ( 0UL )
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121 * The reg test tasks as described at the top of this file.
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123 static void prvRegTest1Task( void *pvParameters );
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124 static void prvRegTest2Task( void *pvParameters );
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127 * The actual implementation of the reg test functionality, which, because of
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128 * the direct register access, have to be in assembly.
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130 static void prvRegTest1Implementation( void );
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131 static void prvRegTest2Implementation( void );
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134 * The check timer callback function, as described at the top of this file.
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136 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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139 /*-----------------------------------------------------------*/
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141 /* Variables that are incremented on each iteration of the reg test tasks -
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142 provided the tasks have not reported any errors. The check timer inspects these
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143 variables to ensure they are still incrementing as expected. If a variable
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144 stops incrementing then it is likely that its associated task has stalled. */
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145 unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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147 /* The check timer. This uses prvCheckTimerCallback() as its callback
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149 static TimerHandle_t xCheckTimer = NULL;
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151 /*-----------------------------------------------------------*/
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153 void main_full( void )
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155 /* Start the reg test tasks which test the context switching mechanism. */
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156 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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157 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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159 /* Create the standard demo tasks. */
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160 vCreateBlockTimeTasks();
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161 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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162 vStartRecursiveMutexTasks();
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164 /* The suicide tasks must be created last as they need to know how many
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165 tasks were running prior to their creation in order to ascertain whether
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166 or not the correct/expected number of tasks are running at any given time. */
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167 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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169 /* Create the software timer that performs the 'check' functionality,
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170 as described at the top of this file. */
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171 xCheckTimer = xTimerCreate( "CheckTimer",/* A text name, purely to help debugging. */
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172 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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173 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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174 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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175 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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178 configASSERT( xCheckTimer );
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180 /* Start the check timer. It will actually start when the scheduler is
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182 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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184 /* Start the tasks running. */
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185 vTaskStartScheduler();
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187 /* If all is well execution will never reach here as the scheduler will be
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188 running. If this null loop is reached then it is likely there was
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189 insufficient FreeRTOS heap available for the idle task and/or timer task to
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190 be created. See http://www.freertos.org/a00111.html. */
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193 /*-----------------------------------------------------------*/
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195 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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197 static long lChangedTimerPeriodAlready = pdFALSE, lErrorStatus = pdPASS;
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198 static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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200 /* Remove compiler warnings about unused parameters. */
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203 /* Check the standard demo tasks are running without error. */
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204 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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206 lErrorStatus = pdFAIL;
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208 else if( xIsCreateTaskStillRunning() != pdTRUE )
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210 lErrorStatus = pdFAIL;
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212 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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214 lErrorStatus = pdFAIL;
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216 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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218 lErrorStatus = pdFAIL;
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221 /* Check the reg test tasks are still cycling. They will stop incrementing
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222 their loop counters if they encounter an error. */
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223 if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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225 lErrorStatus = pdFAIL;
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228 if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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230 lErrorStatus = pdFAIL;
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233 /* Remember the loop counter values this time around so they can be checked
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234 again the next time this callback function executes. */
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235 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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236 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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238 /* Toggle the check LED to give an indication of the system status. If
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239 the LED toggles every three seconds then everything is ok. A faster toggle
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240 indicates an error. */
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241 vParTestToggleLED( mainCHECK_LED );
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243 /* Was an error detected this time through the callback execution? */
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244 if( lErrorStatus != pdPASS )
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246 if( lChangedTimerPeriodAlready == pdFALSE )
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248 lChangedTimerPeriodAlready = pdTRUE;
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250 /* This call to xTimerChangePeriod() uses a zero block time.
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251 Functions called from inside of a timer callback function must
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252 *never* attempt to block. */
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253 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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257 /*-----------------------------------------------------------*/
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259 /* This function is explained in the comments at the top of this file. */
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260 static void prvRegTest1Task( void *pvParameters )
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262 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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264 /* The parameter did not contain the expected value. */
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267 /* Stop the tick interrupt so its obvious something has gone wrong. */
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268 taskDISABLE_INTERRUPTS();
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272 /* This is an inline asm function that never returns. */
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273 prvRegTest1Implementation();
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275 /*-----------------------------------------------------------*/
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277 /* This function is explained in the comments at the top of this file. */
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278 static void prvRegTest2Task( void *pvParameters )
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280 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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282 /* The parameter did not contain the expected value. */
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285 /* Stop the tick interrupt so its obvious something has gone wrong. */
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286 taskDISABLE_INTERRUPTS();
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290 /* This is an inline asm function that never returns. */
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291 prvRegTest2Implementation();
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293 /*-----------------------------------------------------------*/
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295 /* This function is explained in the comments at the top of this file. */
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296 #pragma inline_asm prvRegTest1Implementation
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297 static void prvRegTest1Implementation( void )
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299 ; Put a known value in each register.
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300 MOV.L #11111111H, R15
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302 MOV.L #22222222H, R15
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320 ; Loop, checking each iteration that each register still contains the
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324 ; Push the registers that are going to get clobbered.
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327 ; Increment the loop counter to show this task is still getting CPU time.
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328 MOV.L #_ulRegTest1CycleCount, R14
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333 ; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
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335 MOV.L #0872E0H, R15
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340 ;Check the accumulator value.
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342 CMP #11111111H, R15
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345 CMP #11112222H, R15
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348 ; Restore the clobbered registers.
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351 ; Now compare each register to ensure it still contains the value that was
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352 ; set before this loop was entered.
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384 ; All comparisons passed, start a new iteration of this loop.
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388 ; A compare failed, just loop here so the loop counter stops incrementing
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389 ; causing the check timer to indicate the error.
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392 /*-----------------------------------------------------------*/
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394 /* This function is explained in the comments at the top of this file. */
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395 #pragma inline_asm prvRegTest2Implementation
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396 static void prvRegTest2Implementation( void )
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398 ; Put a known value in each register.
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399 MOV.L #33333333H, R15
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401 MOV.L #44444444H, R15
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419 ; Loop, checking on each iteration that each register still contains the
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423 ; Push the registers that are going to get clobbered.
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426 ; Increment the loop counter to show this task is still getting CPU time.
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427 MOV.L #_ulRegTest2CycleCount, R14
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432 ;Check the accumulator value.
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434 CMP #33333333H, R15
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437 CMP #33334444H, R15
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440 ; Restore the clobbered registers.
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474 ; All comparisons passed, start a new itteratio of this loop.
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478 ; A compare failed, just loop here so the loop counter stops incrementing
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479 ; - causing the check timer to indicate the error.
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482 /*-----------------------------------------------------------*/
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484 #endif /* configCREATE_LOW_POWER_DEMO */
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projects / freertos / blob