2 * FreeRTOS Kernel V10.0.0
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3 * Copyright (C) 2017 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. If you wish to use our Amazon
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14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
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16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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23 * http://www.FreeRTOS.org
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24 * http://aws.amazon.com/freertos
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26 * 1 tab == 4 spaces!
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29 /* ****************************************************************************
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30 * This project includes a lot of tasks and tests and is therefore complex.
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31 * If you would prefer a much simpler project to get started with then select
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32 * the 'Blinky' build configuration within the HEW IDE. The Blinky build
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33 * configuration uses main-blinky.c instead of main-full.c.
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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 five 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 five seconds, to just 200ms. The check timer callback function
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61 * also toggles LED 3 each time it is called. This provides a visual
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62 * indication of the system status: If the LED toggles every five 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 * "High frequency timer test" - A high frequency periodic interrupt is
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67 * generated using a timer - the interrupt is assigned a priority above
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68 * configMAX_SYSCALL_INTERRUPT_PRIORITY, so will not be effected by anything
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69 * the kernel is doing. The frequency and priority of the interrupt, in
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70 * combination with other standard tests executed in this demo, will result
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71 * in interrupts nesting at least 3 and probably 4 deep. This test is only
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72 * included in build configurations that have the optimiser switched on.
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74 * "Button and LCD test" - This creates two tasks. The first simply scrolls
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75 * a message back and forth along the top line of the LCD display. If no
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76 * buttons are pushed, the second also scrolls a message back and forth, but
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77 * along the bottom line of the display. The automatic scrolling of the second
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78 * line of the display can be started and stopped using button SW2. Once
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79 * stopped it can then be manually nudged left using button SW3, and manually
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80 * nudged right using button SW1. Button pushes generate an interrupt, and the
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81 * interrupt communicates with the task using a queue.
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83 * *NOTE 1* vApplicationSetupTimerInterrupt() is called by the kernel to let
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84 * the application set up a timer to generate the tick interrupt. In this
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85 * example a compare match timer is used for this purpose.
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87 * *NOTE 2* The CPU must be in Supervisor mode when the scheduler is started.
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88 * The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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89 * Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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91 * *NOTE 3* The IntQueue common demo tasks test interrupt nesting and make use
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92 * of all the 8bit timers (as two cascaded 16bit units).
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95 /* Standard includes. */
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98 /* Hardware specific includes. */
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99 #include "iodefine.h"
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101 /* Kernel includes. */
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102 #include "FreeRTOS.h"
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104 #include "timers.h"
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105 #include "semphr.h"
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107 /* Standard demo includes. */
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108 #include "partest.h"
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110 #include "IntQueue.h"
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111 #include "BlockQ.h"
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113 #include "integer.h"
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114 #include "blocktim.h"
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115 #include "semtest.h"
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117 #include "GenQTest.h"
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119 #include "recmutex.h"
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121 /* Demo specific tasks. */
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122 #include "ButtonAndLCD.h"
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124 /* Peripheral includes. */
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127 /* Values that are passed into the reg test tasks using the task parameter.
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128 The tasks check that the values are passed in correctly. */
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129 #define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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130 #define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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132 /* Priorities at which the tasks are created. */
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133 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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134 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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135 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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136 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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137 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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138 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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139 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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140 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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142 /* The LED toggled by the check timer. */
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143 #define mainCHECK_LED ( 3 )
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145 /* The period at which the check timer will expire, in ms, provided no errors
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146 have been reported by any of the standard demo tasks. ms are converted to the
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147 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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148 #define mainCHECK_TIMER_PERIOD_MS ( 5000UL / portTICK_PERIOD_MS )
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150 /* The period at which the check timer will expire, in ms, if an error has been
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151 reported in one of the standard demo tasks. ms are converted to the equivalent
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152 in ticks using the portTICK_PERIOD_MS constant. */
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153 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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155 /* A block time of zero simple means "Don't Block". */
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156 #define mainDONT_BLOCK ( 0UL )
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159 * vApplicationMallocFailedHook() will only be called if
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160 * configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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161 * function that will execute if a call to pvPortMalloc() fails.
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162 * pvPortMalloc() is called internally by the kernel whenever a task, queue or
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163 * semaphore is created. It is also called by various parts of the demo
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166 void vApplicationMallocFailedHook( void );
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169 * vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1
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170 * in FreeRTOSConfig.h. It is a hook function that is called on each iteration
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171 * of the idle task. It is essential that code added to this hook function
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172 * never attempts to block in any way (for example, call xQueueReceive() with
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173 * a block time specified). If the application makes use of the vTaskDelete()
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174 * API function (as this demo application does) then it is also important that
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175 * vApplicationIdleHook() is permitted to return to its calling function because
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176 * it is the responsibility of the idle task to clean up memory allocated by the
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177 * kernel to any task that has since been deleted.
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179 void vApplicationIdleHook( void );
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182 * vApplicationStackOverflowHook() will only be called if
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183 * configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and
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184 * name of the offending task should be passed in the function parameters, but
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185 * it is possible that the stack overflow will have corrupted these - in which
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186 * case pxCurrentTCB can be inspected to find the same information.
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188 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
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191 * The reg test tasks as described at the top of this file.
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193 static void prvRegTest1Task( void *pvParameters );
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194 static void prvRegTest2Task( void *pvParameters );
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197 * The actual implementation of the reg test functionality, which, because of
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198 * the direct register access, have to be in assembly.
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200 static void prvRegTest1Implementation( void );
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201 static void prvRegTest2Implementation( void );
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204 * The check timer callback function, as described at the top of this file.
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206 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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209 /*-----------------------------------------------------------*/
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211 /* Variables that are incremented on each iteration of the reg test tasks -
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212 provided the tasks have not reported any errors. The check timer inspects these
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213 variables to ensure they are still incrementing as expected. If a variable
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214 stops incrementing then it is likely that its associate task has stalled. */
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215 unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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217 /* The check timer. This uses prvCheckTimerCallback() as its callback
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219 static TimerHandle_t xCheckTimer = NULL;
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221 /*-----------------------------------------------------------*/
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225 extern void HardwareSetup( void );
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227 /* Renesas provided CPU configuration routine. The clocks are configured in
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231 /* Turn all LEDs off. */
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232 vParTestInitialise();
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234 /* Start the reg test tasks which test the context switching mechanism. */
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235 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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236 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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238 /* The button and LCD tasks, as described at the top of this file. */
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239 vStartButtonAndLCDDemo();
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241 /* Create the standard demo tasks. */
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242 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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243 vCreateBlockTimeTasks();
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244 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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245 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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246 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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247 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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248 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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249 vStartQueuePeekTasks();
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250 vStartRecursiveMutexTasks();
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251 vStartInterruptQueueTasks();
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253 /* The suicide tasks must be created last as they need to know how many
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254 tasks were running prior to their creation in order to ascertain whether
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255 or not the correct/expected number of tasks are running at any given time. */
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256 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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258 /* Create the software timer that performs the 'check' functionality,
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259 as described at the top of this file. */
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260 xCheckTimer = xTimerCreate( "CheckTimer",/* A text name, purely to help debugging. */
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261 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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262 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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263 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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264 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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267 configASSERT( xCheckTimer );
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269 /* Start the check timer. It will actually start when the scheduler is
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271 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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273 /* Start the tasks running. */
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274 vTaskStartScheduler();
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276 /* If all is well we will never reach here as the scheduler will now be
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277 running. If we do reach here then it is likely that there was insufficient
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278 heap available for the idle task to be created. */
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281 /*-----------------------------------------------------------*/
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283 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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285 static long lChangedTimerPeriodAlready = pdFALSE, lErrorStatus = pdPASS;
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286 static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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288 /* Check the standard demo tasks are running without error. */
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289 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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291 lErrorStatus = pdFAIL;
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293 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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295 lErrorStatus = pdFAIL;
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297 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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299 lErrorStatus = pdFAIL;
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301 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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303 lErrorStatus = pdFAIL;
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305 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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307 lErrorStatus = pdFAIL;
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309 else if( xArePollingQueuesStillRunning() != pdTRUE )
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311 lErrorStatus = pdFAIL;
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313 else if( xIsCreateTaskStillRunning() != pdTRUE )
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315 lErrorStatus = pdFAIL;
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317 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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319 lErrorStatus = pdFAIL;
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321 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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323 lErrorStatus = pdFAIL;
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325 else if( xAreIntQueueTasksStillRunning() != pdPASS )
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327 lErrorStatus = pdFAIL;
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330 /* Check the reg test tasks are still cycling. They will stop incrementing
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331 their loop counters if they encounter an error. */
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332 if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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334 lErrorStatus = pdFAIL;
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337 if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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339 lErrorStatus = pdFAIL;
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342 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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343 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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345 /* Toggle the check LED to give an indication of the system status. If
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346 the LED toggles every 5 seconds then everything is ok. A faster toggle
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347 indicates an error. */
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348 vParTestToggleLED( mainCHECK_LED );
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350 /* Was an error detected this time through the callback execution? */
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351 if( lErrorStatus != pdPASS )
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353 if( lChangedTimerPeriodAlready == pdFALSE )
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355 lChangedTimerPeriodAlready = pdTRUE;
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357 /* This call to xTimerChangePeriod() uses a zero block time.
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358 Functions called from inside of a timer callback function must
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359 *never* attempt to block. */
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360 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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364 /*-----------------------------------------------------------*/
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366 /* The RX port uses this callback function to configure its tick interrupt.
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367 This allows the application to choose the tick interrupt source. */
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368 void vApplicationSetupTimerInterrupt( void )
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370 /* Enable compare match timer 0. */
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373 /* Interrupt on compare match. */
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374 CMT0.CMCR.BIT.CMIE = 1;
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376 /* Set the compare match value. */
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377 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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379 /* Divide the PCLK by 8. */
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380 CMT0.CMCR.BIT.CKS = 0;
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382 /* Enable the interrupt... */
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383 _IEN( _CMT0_CMI0 ) = 1;
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385 /* ...and set its priority to the application defined kernel priority. */
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386 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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388 /* Start the timer. */
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389 CMT.CMSTR0.BIT.STR0 = 1;
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391 /*-----------------------------------------------------------*/
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393 /* This function is explained by the comments above its prototype at the top
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395 void vApplicationMallocFailedHook( void )
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399 /*-----------------------------------------------------------*/
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401 /* This function is explained by the comments above its prototype at the top
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403 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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407 /*-----------------------------------------------------------*/
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409 /* This function is explained by the comments above its prototype at the top
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411 void vApplicationIdleHook( void )
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413 /* If this is being executed then the kernel has been started. Start the high
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414 frequency timer test as described at the top of this file. This is only
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415 included in the optimised build configuration - otherwise it takes up too much
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416 CPU time and can disrupt other tests. */
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417 #ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
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418 static portBASE_TYPE xTimerTestStarted = pdFALSE;
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419 extern void vSetupHighFrequencyTimer( void );
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420 if( xTimerTestStarted == pdFALSE )
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422 vSetupHighFrequencyTimer();
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423 xTimerTestStarted = pdTRUE;
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427 /*-----------------------------------------------------------*/
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429 /* This function is explained in the comments at the top of this file. */
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430 static void prvRegTest1Task( void *pvParameters )
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432 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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434 /* The parameter did not contain the expected value. */
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437 /* Stop the tick interrupt so its obvious something has gone wrong. */
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438 taskDISABLE_INTERRUPTS();
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442 /* This is an inline asm function that never returns. */
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443 prvRegTest1Implementation();
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445 /*-----------------------------------------------------------*/
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447 /* This function is explained in the comments at the top of this file. */
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448 static void prvRegTest2Task( void *pvParameters )
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450 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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452 /* The parameter did not contain the expected value. */
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455 /* Stop the tick interrupt so its obvious something has gone wrong. */
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456 taskDISABLE_INTERRUPTS();
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460 /* This is an inline asm function that never returns. */
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461 prvRegTest2Implementation();
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463 /*-----------------------------------------------------------*/
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465 /* This function is explained in the comments at the top of this file. */
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466 #pragma inline_asm prvRegTest1Implementation
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467 static void prvRegTest1Implementation( void )
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469 ; Put a known value in each register.
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486 ; Loop, checking each iteration that each register still contains the
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490 ; Push the registers that are going to get clobbered.
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493 ; Increment the loop counter to show this task is still getting CPU time.
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494 MOV.L #_ulRegTest1CycleCount, R14
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499 ; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
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501 MOV.L #0872E0H, R15
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506 ; Restore the clobbered registers.
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509 ; Now compare each register to ensure it still contains the value that was
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510 ; set before this loop was entered.
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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 /* This function is explained in the comments at the top of this file. */
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553 #pragma inline_asm prvRegTest2Implementation
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554 static void prvRegTest2Implementation( void )
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556 ; Put a known value in each register.
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573 ; Loop, checking on each iteration that each register still contains the
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577 ; Push the registers that are going to get clobbered.
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580 ; Increment the loop counter to show this task is still getting CPU time.
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581 MOV.L #_ulRegTest2CycleCount, R14
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586 ; Restore the clobbered registers.
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620 ; All comparisons passed, start a new itteratio of this loop.
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624 ; A compare failed, just loop here so the loop counter stops incrementing
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625 ; - causing the check timer to indicate the error.
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628 /*-----------------------------------------------------------*/
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projects / freertos / blob