2 FreeRTOS V8.2.0rc1 - 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 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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96 /* ****************************************************************************
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97 * This project includes a lot of tasks and tests and is therefore complex.
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98 * If you would prefer a much simpler project to get started with then select
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99 * the 'low power' demo by setting configCREATE_LOW_POWER_DEMO to 1 in
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100 * FreeRTOSConfig.h. When configCREATE_LOW_POWER_DEMO is set to 1 main() will
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101 * call main_low_power() instead of main_full().
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102 * ****************************************************************************
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104 * Creates all the demo application tasks, then starts the scheduler. The web
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105 * documentation provides more details of the standard demo application tasks,
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106 * which provide no particular functionality but do provide a good example of
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107 * how to use the FreeRTOS API.
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109 * In addition to the standard demo tasks, the following tasks and tests are
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110 * defined and/or created within this file:
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112 * "Reg test" tasks - These fill the registers with known values, then
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113 * repeatedly check that each register still contains its expected value for
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114 * the lifetime of the tasks. Each task uses different values. The tasks run
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115 * with very low priority so get preempted very frequently. A check variable
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116 * is incremented on each iteration of the test loop. A register containing an
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117 * unexpected value is indicative of an error in the context switching
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118 * mechanism and will result in a branch to a null loop - which in turn will
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119 * prevent the check variable from incrementing any further and allow the check
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120 * timer (described below) to determine that an error has occurred. The nature
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121 * of the reg test tasks necessitates that they are written in assembly code.
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123 * "Check Timer" and Callback Function - The check timer period is initially
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124 * set to three seconds. The check timer callback function checks that all the
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125 * standard demo tasks are not only still executing, but are executing without
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126 * reporting any errors. If the check timer discovers that a task has either
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127 * stalled, or reported an error, then it changes its own period from the
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128 * initial three seconds, to just 200ms. The check timer callback function
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129 * also toggles LED 0 each time it is called. This provides a visual
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130 * indication of the system status: If the LED toggles every three seconds,
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131 * then no issues have been discovered. If the LED toggles every 200ms, then
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132 * an issue has been discovered with at least one task.
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134 * *NOTE 1* The CPU must be in Supervisor mode when the scheduler is started.
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135 * The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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136 * Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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139 /* Standard includes. */
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140 #include <string.h>
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142 /* Hardware specific includes. */
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143 #include "iodefine.h"
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145 /* Kernel includes. */
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146 #include "FreeRTOS.h"
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148 #include "timers.h"
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149 #include "semphr.h"
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151 /* Standard demo includes. */
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152 #include "partest.h"
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154 #include "blocktim.h"
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155 #include "GenQTest.h"
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156 #include "recmutex.h"
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158 /* The code in this file is only built when configCREATE_LOW_POWER_DEMO is set
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159 to 0, otherwise the code in main_low_power.c is used. */
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160 #if configCREATE_LOW_POWER_DEMO == 0
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163 /* Values that are passed into the reg test tasks using the task parameter.
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164 The tasks check that the values are passed in correctly. */
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165 #define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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166 #define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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168 /* Priorities at which the standard demo tasks are created. */
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169 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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170 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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172 /* The LED toggled by the check timer. */
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173 #define mainCHECK_LED ( 0 )
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175 /* The period at which the check timer will expire, in ms, provided no errors
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176 have been reported by any of the standard demo tasks. ms are converted to the
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177 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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178 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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180 /* The period at which the check timer will expire, in ms, if an error has been
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181 reported in one of the standard demo tasks. ms are converted to the equivalent
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182 in ticks using the portTICK_PERIOD_MS constant. */
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183 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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185 /* A block time of zero simple means "Don't Block". */
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186 #define mainDONT_BLOCK ( 0UL )
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189 * The reg test tasks as described at the top of this file.
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191 static void prvRegTest1Task( void *pvParameters );
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192 static void prvRegTest2Task( void *pvParameters );
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195 * The actual implementation of the reg test functionality, which, because of
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196 * the direct register access, have to be in assembly.
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198 static void prvRegTest1Implementation( void );
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199 static void prvRegTest2Implementation( void );
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202 * The check timer callback function, as described at the top of this file.
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204 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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207 /*-----------------------------------------------------------*/
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209 /* Variables that are incremented on each iteration of the reg test tasks -
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210 provided the tasks have not reported any errors. The check timer inspects these
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211 variables to ensure they are still incrementing as expected. If a variable
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212 stops incrementing then it is likely that its associated task has stalled. */
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213 unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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215 /* The check timer. This uses prvCheckTimerCallback() as its callback
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217 static TimerHandle_t xCheckTimer = NULL;
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219 /*-----------------------------------------------------------*/
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221 void main_full( void )
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223 /* Start the reg test tasks which test the context switching mechanism. */
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224 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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225 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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227 /* Create the standard demo tasks. */
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228 vCreateBlockTimeTasks();
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229 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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230 vStartRecursiveMutexTasks();
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232 /* The suicide tasks must be created last as they need to know how many
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233 tasks were running prior to their creation in order to ascertain whether
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234 or not the correct/expected number of tasks are running at any given time. */
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235 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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237 /* Create the software timer that performs the 'check' functionality,
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238 as described at the top of this file. */
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239 xCheckTimer = xTimerCreate( "CheckTimer",/* A text name, purely to help debugging. */
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240 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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241 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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242 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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243 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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246 configASSERT( xCheckTimer );
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248 /* Start the check timer. It will actually start when the scheduler is
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250 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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252 /* Start the tasks running. */
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253 vTaskStartScheduler();
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255 /* If all is well execution will never reach here as the scheduler will be
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256 running. If this null loop is reached then it is likely there was
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257 insufficient FreeRTOS heap available for the idle task and/or timer task to
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258 be created. See http://www.freertos.org/a00111.html. */
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261 /*-----------------------------------------------------------*/
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263 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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265 static long lChangedTimerPeriodAlready = pdFALSE, lErrorStatus = pdPASS;
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266 static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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268 /* Remove compiler warnings about unused parameters. */
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271 /* Check the standard demo tasks are running without error. */
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272 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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274 lErrorStatus = pdFAIL;
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276 else if( xIsCreateTaskStillRunning() != pdTRUE )
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278 lErrorStatus = pdFAIL;
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280 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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282 lErrorStatus = pdFAIL;
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284 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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286 lErrorStatus = pdFAIL;
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289 /* Check the reg test tasks are still cycling. They will stop incrementing
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290 their loop counters if they encounter an error. */
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291 if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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293 lErrorStatus = pdFAIL;
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296 if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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298 lErrorStatus = pdFAIL;
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301 /* Remember the loop counter values this time around so they can be checked
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302 again the next time this callback function executes. */
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303 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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304 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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306 /* Toggle the check LED to give an indication of the system status. If
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307 the LED toggles every three seconds then everything is ok. A faster toggle
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308 indicates an error. */
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309 vParTestToggleLED( mainCHECK_LED );
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311 /* Was an error detected this time through the callback execution? */
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312 if( lErrorStatus != pdPASS )
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314 if( lChangedTimerPeriodAlready == pdFALSE )
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316 lChangedTimerPeriodAlready = pdTRUE;
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318 /* This call to xTimerChangePeriod() uses a zero block time.
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319 Functions called from inside of a timer callback function must
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320 *never* attempt to block. */
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321 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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325 /*-----------------------------------------------------------*/
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327 /* This function is explained in the comments at the top of this file. */
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328 static void prvRegTest1Task( void *pvParameters )
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330 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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332 /* The parameter did not contain the expected value. */
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335 /* Stop the tick interrupt so its obvious something has gone wrong. */
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336 taskDISABLE_INTERRUPTS();
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340 /* This is an inline asm function that never returns. */
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341 prvRegTest1Implementation();
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343 /*-----------------------------------------------------------*/
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345 /* This function is explained in the comments at the top of this file. */
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346 static void prvRegTest2Task( void *pvParameters )
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348 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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350 /* The parameter did not contain the expected value. */
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353 /* Stop the tick interrupt so its obvious something has gone wrong. */
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354 taskDISABLE_INTERRUPTS();
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358 /* This is an inline asm function that never returns. */
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359 prvRegTest2Implementation();
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361 /*-----------------------------------------------------------*/
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363 /* This function is explained in the comments at the top of this file. */
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364 #pragma inline_asm prvRegTest1Implementation
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365 static void prvRegTest1Implementation( void )
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367 ; Put a known value in each register.
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368 MOV.L #11111111H, R15
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370 MOV.L #22222222H, R15
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388 ; Loop, checking each iteration that each register still contains the
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392 ; Push the registers that are going to get clobbered.
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395 ; Increment the loop counter to show this task is still getting CPU time.
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396 MOV.L #_ulRegTest1CycleCount, R14
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401 ; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
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403 MOV.L #0872E0H, R15
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408 ;Check the accumulator value.
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410 CMP #11111111H, R15
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413 CMP #11112222H, R15
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416 ; Restore the clobbered registers.
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419 ; Now compare each register to ensure it still contains the value that was
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420 ; set before this loop was entered.
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452 ; All comparisons passed, start a new iteration of this loop.
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456 ; A compare failed, just loop here so the loop counter stops incrementing
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457 ; causing the check timer to indicate the error.
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460 /*-----------------------------------------------------------*/
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462 /* This function is explained in the comments at the top of this file. */
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463 #pragma inline_asm prvRegTest2Implementation
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464 static void prvRegTest2Implementation( void )
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466 ; Put a known value in each register.
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467 MOV.L #33333333H, R15
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469 MOV.L #44444444H, R15
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487 ; Loop, checking on each iteration that each register still contains the
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491 ; Push the registers that are going to get clobbered.
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494 ; Increment the loop counter to show this task is still getting CPU time.
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495 MOV.L #_ulRegTest2CycleCount, R14
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500 ;Check the accumulator value.
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502 CMP #33333333H, R15
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505 CMP #33334444H, R15
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508 ; Restore the clobbered registers.
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542 ; All comparisons passed, start a new itteratio of this loop.
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546 ; A compare failed, just loop here so the loop counter stops incrementing
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547 ; - causing the check timer to indicate the error.
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550 /*-----------------------------------------------------------*/
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552 #endif /* configCREATE_LOW_POWER_DEMO */
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projects / freertos / blob