2 * FreeRTOS Kernel V10.2.1
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3 * Copyright (C) 2019 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 * NOTE 1: This project provides two demo applications. A simple blinky
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30 * style project, and a more comprehensive test and demo application. The
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31 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to
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32 * select between the two. See the notes on using
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33 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY in main.c. This file implements the
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34 * comprehensive version.
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36 * NOTE 2: This file only contains the source code that is specific to the
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37 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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38 * required to configure the hardware, are defined in main.c.
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40 ******************************************************************************
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42 * main_full() creates a set of demo application tasks and software timers, then
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43 * starts the scheduler. The web documentation provides more details of the
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44 * standard demo application tasks, which provide no particular functionality,
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45 * but do provide a good example of how to use the FreeRTOS API.
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47 * In addition to the standard demo tasks, the following tasks and tests are
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48 * defined and/or created within this file:
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50 * "FreeRTOS+CLI command console" - The command console uses SCI1 for its
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51 * input and output. The baud rate is set to 19200. Type "help" to see a list
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52 * of registered commands. The FreeRTOS+CLI license is different to the
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53 * FreeRTOS license, see http://www.FreeRTOS.org/cli for license and usage
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56 * "Reg test" tasks - These fill both the core and floating point registers with
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57 * known values, then check that each register maintains its expected value for
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58 * the lifetime of the task. Each task uses a different set of values. The reg
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59 * test tasks execute with a very low priority, so get preempted very
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60 * frequently. A register containing an unexpected value is indicative of an
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61 * error in the context switching mechanism.
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63 * "Check" task - The check task period is initially set to three seconds. The
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64 * task checks that all the standard demo tasks are not only still executing,
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65 * but are executing without reporting any errors. If the check task discovers
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66 * that a task has either stalled, or reported an error, then it changes its own
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67 * execution period from the initial three seconds, to just 200ms. The check
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68 * task also toggles an LED on each iteration of its loop. This provides a
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69 * visual indication of the system status: If the LED toggles every three
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70 * seconds, then no issues have been discovered. If the LED toggles every
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71 * 200ms, then an issue has been discovered with at least one task.
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74 /* Standard includes. */
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77 /* Kernel includes. */
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78 #include "FreeRTOS.h"
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83 /* Standard demo application includes. */
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84 #include "semtest.h"
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85 #include "dynamic.h"
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87 #include "blocktim.h"
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88 #include "countsem.h"
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89 #include "GenQTest.h"
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90 #include "recmutex.h"
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92 #include "partest.h"
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93 #include "comtest2.h"
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95 #include "QueueOverwrite.h"
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96 #include "IntQueue.h"
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97 #include "EventGroupsDemo.h"
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98 #include "TaskNotify.h"
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99 #include "IntSemTest.h"
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101 /* Renesas includes. */
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102 #include <rskrx113def.h>
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103 #include "r_cg_macrodriver.h"
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104 #include "r_cg_userdefine.h"
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106 /* Priorities for the demo application tasks. */
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107 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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108 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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109 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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110 #define mainUART_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3UL )
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111 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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112 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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114 /* The priority used by the UART command console task. */
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115 #define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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117 /* The period of the check task, in ms, provided no errors have been reported by
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118 any of the standard demo tasks. ms are converted to the equivalent in ticks
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119 using the portTICK_PERIOD_MS constant. */
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120 #define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000UL )
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122 /* The period of the check task, in ms, if an error has been reported in one of
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123 the standard demo tasks. ms are converted to the equivalent in ticks using the
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124 portTICK_PERIOD_MS constant. */
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125 #define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 200UL )
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127 /* Parameters that are passed into the register check tasks solely for the
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128 purpose of ensuring parameters are passed into tasks correctly. */
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129 #define mainREG_TEST_1_PARAMETER ( ( void * ) 0x12121212UL )
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130 #define mainREG_TEST_2_PARAMETER ( ( void * ) 0x12345678UL )
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132 /* The base period used by the timer test tasks. */
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133 #define mainTIMER_TEST_PERIOD ( 50 )
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135 /*-----------------------------------------------------------*/
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138 * Entry point for the comprehensive demo (as opposed to the simple blinky
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141 void main_full( void );
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144 * The full demo includes some functionality called from the tick hook.
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146 void vFullDemoTickHook( void );
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149 * The check task, as described at the top of this file.
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151 static void prvCheckTask( void *pvParameters );
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154 * Register check tasks, and the tasks used to write over and check the contents
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155 * of the registers, as described at the top of this file. The nature of these
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156 * files necessitates that they are written in assembly, but the entry points
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157 * are kept in the C file for the convenience of checking the task parameter.
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159 static void prvRegTest1Task( void *pvParameters );
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160 static void prvRegTest2Task( void *pvParameters );
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161 static void prvRegTest1Implementation( void );
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162 static void prvRegTest2Implementation( void );
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165 * A high priority task that does nothing other than execute at a pseudo random
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166 * time to ensure the other test tasks don't just execute in a repeating
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169 static void prvPseudoRandomiser( void *pvParameters );
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172 * Register commands that can be used with FreeRTOS+CLI. The commands are
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173 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
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175 extern void vRegisterSampleCLICommands( void );
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178 * The task that manages the FreeRTOS+CLI input and output.
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180 extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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182 /*-----------------------------------------------------------*/
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184 /* The following two variables are used to communicate the status of the
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185 register check tasks to the check task. If the variables keep incrementing,
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186 then the register check tasks have not discovered any errors. If a variable
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187 stops incrementing, then an error has been found. */
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188 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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190 /*-----------------------------------------------------------*/
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192 void main_full( void )
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194 /* Start all the other standard demo/test tasks. They have no particular
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195 functionality, but do demonstrate how to use the FreeRTOS API and test the
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197 vStartInterruptQueueTasks();
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198 vStartDynamicPriorityTasks();
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199 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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200 vCreateBlockTimeTasks();
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201 vStartCountingSemaphoreTasks();
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202 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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203 vStartRecursiveMutexTasks();
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204 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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205 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
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206 vStartEventGroupTasks();
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207 vStartTaskNotifyTask();
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208 vStartInterruptSemaphoreTasks();
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210 /* Create the register check tasks, as described at the top of this file */
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211 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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212 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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214 /* Create the task that just adds a little random behaviour. */
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215 xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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217 /* Start the tasks that implements the command console on the UART, as
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218 described above. */
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219 vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );
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221 /* Register the standard CLI commands. */
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222 vRegisterSampleCLICommands();
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224 /* Create the task that performs the 'check' functionality, as described at
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225 the top of this file. */
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226 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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228 /* The set of tasks created by the following function call have to be
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229 created last as they keep account of the number of tasks they expect to see
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231 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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233 /* Start the scheduler. */
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234 vTaskStartScheduler();
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236 /* If all is well, the scheduler will now be running, and the following
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237 line will never be reached. If the following line does execute, then
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238 there was insufficient FreeRTOS heap memory available for the Idle and/or
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239 timer tasks to be created. See the memory management section on the
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240 FreeRTOS web site for more details on the FreeRTOS heap
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241 http://www.freertos.org/a00111.html. */
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244 /*-----------------------------------------------------------*/
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246 static void prvCheckTask( void *pvParameters )
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248 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
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249 TickType_t xLastExecutionTime;
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250 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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251 unsigned long ulErrorFound = pdFALSE;
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253 /* Just to stop compiler warnings. */
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254 ( void ) pvParameters;
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256 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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257 works correctly. */
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258 xLastExecutionTime = xTaskGetTickCount();
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260 /* Cycle for ever, delaying then checking all the other tasks are still
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261 operating without error. The onboard LED is toggled on each iteration.
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262 If an error is detected then the delay period is decreased from
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263 mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
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264 effect of increasing the rate at which the onboard LED toggles, and in so
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265 doing gives visual feedback of the system status. */
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268 /* Delay until it is time to execute again. */
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269 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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271 /* Check all the demo tasks (other than the flash tasks) to ensure
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272 that they are all still running, and that none have detected an error. */
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273 if( xAreIntQueueTasksStillRunning() != pdTRUE )
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275 ulErrorFound |= 1UL << 0UL;
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278 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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280 ulErrorFound |= 1UL << 2UL;
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283 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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285 ulErrorFound |= 1UL << 3UL;
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288 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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290 ulErrorFound |= 1UL << 4UL;
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293 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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295 ulErrorFound |= 1UL << 5UL;
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298 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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300 ulErrorFound |= 1UL << 6UL;
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303 if( xIsCreateTaskStillRunning() != pdTRUE )
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305 ulErrorFound |= 1UL << 7UL;
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308 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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310 ulErrorFound |= 1UL << 8UL;
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313 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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315 ulErrorFound |= 1UL << 10UL;
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318 if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
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320 ulErrorFound |= 1UL << 11UL;
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323 if( xAreEventGroupTasksStillRunning() != pdPASS )
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325 ulErrorFound |= 1UL << 12UL;
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328 if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
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330 ulErrorFound |= 1UL << 13UL;
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333 if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
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335 ulErrorFound |= 1UL << 14UL;
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338 /* Check that the register test 1 task is still running. */
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339 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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341 ulErrorFound |= 1UL << 15UL;
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343 ulLastRegTest1Value = ulRegTest1LoopCounter;
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345 /* Check that the register test 2 task is still running. */
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346 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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348 ulErrorFound |= 1UL << 16UL;
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350 ulLastRegTest2Value = ulRegTest2LoopCounter;
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352 /* Toggle the check LED to give an indication of the system status. If
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353 the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
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354 everything is ok. A faster toggle indicates an error. */
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357 if( ulErrorFound != pdFALSE )
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359 /* An error has been detected in one of the tasks - flash the LED
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360 at a higher frequency to give visible feedback that something has
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361 gone wrong (it might just be that the loop back connector required
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362 by the comtest tasks has not been fitted). */
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363 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
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367 /*-----------------------------------------------------------*/
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369 static void prvPseudoRandomiser( void *pvParameters )
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371 const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = ( 35 / portTICK_PERIOD_MS );
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372 volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue;
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374 /* This task does nothing other than ensure there is a little bit of
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375 disruption in the scheduling pattern of the other tasks. Normally this is
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376 done by generating interrupts at pseudo random times. */
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379 ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;
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380 ulValue = ( ulNextRand >> 16UL ) & 0xffUL;
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382 if( ulValue < ulMinDelay )
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384 ulValue = ulMinDelay;
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387 vTaskDelay( ulValue );
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389 while( ulValue > 0 )
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404 /*-----------------------------------------------------------*/
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406 void vFullDemoTickHook( void )
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408 /* Call the periodic queue overwrite from ISR demo. */
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409 vQueueOverwritePeriodicISRDemo();
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411 /* Call the periodic event group from ISR demo. */
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412 vPeriodicEventGroupsProcessing();
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414 /* Use task notifications from an interrupt. */
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415 xNotifyTaskFromISR();
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417 /* Use mutexes from interrupts. */
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418 vInterruptSemaphorePeriodicTest();
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420 /*-----------------------------------------------------------*/
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422 /* This function is explained in the comments at the top of this file. */
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423 static void prvRegTest1Task( void *pvParameters )
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425 if( pvParameters != mainREG_TEST_1_PARAMETER )
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427 /* The parameter did not contain the expected value. */
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430 /* Stop the tick interrupt so its obvious something has gone wrong. */
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431 taskDISABLE_INTERRUPTS();
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435 /* This is an inline asm function that never returns. */
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436 prvRegTest1Implementation();
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438 /*-----------------------------------------------------------*/
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440 /* This function is explained in the comments at the top of this file. */
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441 static void prvRegTest2Task( void *pvParameters )
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443 if( pvParameters != mainREG_TEST_2_PARAMETER )
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445 /* The parameter did not contain the expected value. */
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448 /* Stop the tick interrupt so its obvious something has gone wrong. */
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449 taskDISABLE_INTERRUPTS();
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453 /* This is an inline asm function that never returns. */
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454 prvRegTest2Implementation();
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456 /*-----------------------------------------------------------*/
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458 /* This function is explained in the comments at the top of this file. */
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459 #pragma inline_asm prvRegTest1Implementation
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460 static void prvRegTest1Implementation( void )
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462 ; Put a known value in each register.
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479 ; Loop, checking each iteration that each register still contains the
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483 ; Push the registers that are going to get clobbered.
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486 ; Increment the loop counter to show this task is still getting CPU time.
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487 MOV.L #_ulRegTest1LoopCounter, R14
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492 ; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
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494 MOV.L #0872E0H, R15
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499 ; Restore the clobbered registers.
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502 ; Now compare each register to ensure it still contains the value that was
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503 ; set before this loop was entered.
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535 ; All comparisons passed, start a new itteratio of this loop.
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539 ; A compare failed, just loop here so the loop counter stops incrementing
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540 ; causing the check task to indicate the error.
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543 /*-----------------------------------------------------------*/
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545 /* This function is explained in the comments at the top of this file. */
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546 #pragma inline_asm prvRegTest2Implementation
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547 static void prvRegTest2Implementation( void )
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549 ; Put a known value in each register.
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566 ; Loop, checking on each iteration that each register still contains the
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570 ; Push the registers that are going to get clobbered.
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573 ; Increment the loop counter to show this task is still getting CPU time.
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574 MOV.L #_ulRegTest2LoopCounter, R14
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579 ; Restore the clobbered registers.
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613 ; All comparisons passed, start a new itteratio of this loop.
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617 ; A compare failed, just loop here so the loop counter stops incrementing
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618 ; - causing the check task to indicate the error.
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621 /*-----------------------------------------------------------*/
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projects / freertos / blob