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 * This project includes a lot of tasks and tests and is therefore complex.
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30 * If you would prefer a much simpler project to get started with then select
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31 * the 'Blinky' build configuration within the HEW IDE. The Blinky build
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32 * configuration uses main-blinky.c instead of main-full.c.
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33 * ****************************************************************************
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35 * Creates all the demo application tasks, then starts the scheduler. The web
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36 * documentation provides more details of the standard demo application tasks,
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37 * which provide no particular functionality but do provide a good example of
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38 * how to use the FreeRTOS API. The tasks defined in flop.c are included in the
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39 * set of standard demo tasks to ensure the floating point unit gets some
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42 * In addition to the standard demo tasks, the following tasks and tests are
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43 * defined and/or created within this file:
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45 * "Reg test" tasks - These fill the registers with known values, then
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46 * repeatedly check that each register still contains its expected value for
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47 * the lifetime of the tasks. Each task uses different values. The tasks run
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48 * with very low priority so get preempted very frequently. A check variable
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49 * is incremented on each iteration of the test loop. A register containing an
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50 * unexpected value is indicative of an error in the context switching
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51 * mechanism and will result in a branch to a null loop - which in turn will
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52 * prevent the check variable from incrementing any further and allow the check
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53 * timer (described below) to determine that an error has occurred. The nature
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54 * of the reg test tasks necessitates that they are written in assembly code.
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56 * "Check Timer" and Callback Function - The check timer period is initially
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57 * set to five seconds. The check timer callback function checks that all the
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58 * standard demo tasks are not only still executing, but are executing without
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59 * reporting any errors. If the check timer discovers that a task has either
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60 * stalled, or reported an error, then it changes its own period from the
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61 * initial five seconds, to just 200ms. The check timer callback function
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62 * also toggles LED 3 each time it is called. This provides a visual
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63 * indication of the system status: If the LED toggles every five seconds,
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64 * then no issues have been discovered. If the LED toggles every 200ms, then
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65 * an issue has been discovered with at least one task.
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67 * "High frequency timer test" - A high frequency periodic interrupt is
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68 * generated using a timer - the interrupt is assigned a priority above
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69 * configMAX_SYSCALL_INTERRUPT_PRIORITY, so will not be effected by anything
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70 * the kernel is doing. The frequency and priority of the interrupt, in
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71 * combination with other standard tests executed in this demo, will result
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72 * in interrupts nesting at least 3 and probably 4 deep. This test is only
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73 * included in build configurations that have the optimiser switched on.
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75 * *NOTE 1* If LED3 is toggling every 5 seconds then all the demo application
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76 * tasks are executing as expected and no errors have been reported in any
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77 * tasks. The toggle rate increasing to 200ms indicates that at least one task
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78 * has reported unexpected behaviour.
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80 * *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
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81 * the application set up a timer to generate the tick interrupt. In this
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82 * example a compare match timer is used for this purpose.
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84 * *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started.
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85 * The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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86 * Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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88 * *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use
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89 * of all the 8bit timers (as two cascaded 16bit units).
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92 /* Hardware specific includes. */
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93 #include "iodefine.h"
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95 /* Kernel includes. */
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96 #include "FreeRTOS.h"
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101 /* Standard demo includes. */
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102 #include "partest.h"
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104 #include "IntQueue.h"
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105 #include "BlockQ.h"
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107 #include "integer.h"
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108 #include "blocktim.h"
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109 #include "semtest.h"
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111 #include "GenQTest.h"
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113 #include "recmutex.h"
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116 /* Values that are passed into the reg test tasks using the task parameter. The
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117 tasks check that the values are passed in correctly. */
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118 #define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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119 #define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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121 /* Priorities at which the tasks are created. */
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122 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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123 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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124 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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125 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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126 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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127 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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128 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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129 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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131 /* The LED toggled by the check timer. */
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132 #define mainCHECK_LED ( 3 )
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134 /* The period at which the check timer will expire, in ms, provided no errors
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135 have been reported by any of the standard demo tasks. ms are converted to the
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136 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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137 #define mainCHECK_TIMER_PERIOD_MS ( 5000UL / portTICK_PERIOD_MS )
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139 /* The period at which the check timer will expire, in ms, if an error has been
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140 reported in one of the standard demo tasks. ms are converted to the equivalent
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141 in ticks using the portTICK_PERIOD_MS constant. */
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142 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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144 /* A block time of zero simple means "Don't Block". */
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145 #define mainDONT_BLOCK ( 0UL )
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148 * vApplicationMallocFailedHook() will only be called if
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149 * configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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150 * function that will execute if a call to pvPortMalloc() fails.
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151 * pvPortMalloc() is called internally by the kernel whenever a task, queue or
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152 * semaphore is created. It is also called by various parts of the demo
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155 void vApplicationMallocFailedHook( void );
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158 * vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1
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159 * in FreeRTOSConfig.h. It is a hook function that is called on each iteration
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160 * of the idle task. It is essential that code added to this hook function
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161 * never attempts to block in any way (for example, call xQueueReceive() with
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162 * a block time specified). If the application makes use of the vTaskDelete()
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163 * API function (as this demo application does) then it is also important that
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164 * vApplicationIdleHook() is permitted to return to its calling function because
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165 * it is the responsibility of the idle task to clean up memory allocated by the
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166 * kernel to any task that has since been deleted.
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168 void vApplicationIdleHook( void );
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171 * vApplicationStackOverflowHook() will only be called if
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172 * configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and
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173 * name of the offending task should be passed in the function parameters, but
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174 * it is possible that the stack overflow will have corrupted these - in which
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175 * case pxCurrentTCB can be inspected to find the same information.
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177 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
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180 * The reg test tasks as described at the top of this file.
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182 static void prvRegTest1Task( void *pvParameters );
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183 static void prvRegTest2Task( void *pvParameters );
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186 * The actual implementation of the reg test functionality, which, because of
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187 * the direct register access, have to be in assembly.
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189 static void prvRegTest1Implementation( void );
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190 static void prvRegTest2Implementation( void );
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193 * The check timer callback function, as described at the top of this file.
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195 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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198 /*-----------------------------------------------------------*/
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200 /* Variables that are incremented on each iteration of the reg test tasks -
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201 provided the tasks have not reported any errors. The check timer inspects these
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202 variables to ensure they are still incrementing as expected. If a variable
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203 stops incrementing then it is likely that its associate task has stalled. */
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204 unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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206 /* The check timer. This uses prvCheckTimerCallback() as its callback
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208 static TimerHandle_t xCheckTimer = NULL;
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210 /*-----------------------------------------------------------*/
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214 extern void HardwareSetup( void );
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216 /* Renesas provided CPU configuration routine. The clocks are configured in
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220 /* Turn all LEDs off. */
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221 vParTestInitialise();
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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 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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229 vCreateBlockTimeTasks();
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230 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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231 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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232 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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233 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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234 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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235 vStartQueuePeekTasks();
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236 vStartRecursiveMutexTasks();
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237 vStartInterruptQueueTasks();
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238 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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240 /* The suicide tasks must be created last as they need to know how many
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241 tasks were running prior to their creation in order to ascertain whether
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242 or not the correct/expected number of tasks are running at any given time. */
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243 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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245 /* Create the software timer that performs the 'check' functionality,
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246 as described at the top of this file. */
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247 xCheckTimer = xTimerCreate( "CheckTimer",/* A text name, purely to help debugging. */
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248 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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249 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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250 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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251 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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254 /* Sanity check that the check timer was indeed created. */
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255 configASSERT( xCheckTimer );
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257 /* Start the check timer. It will actually start when the scheduler is
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259 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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261 /* Start the tasks running. */
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262 vTaskStartScheduler();
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264 /* If all is well, the following line will never be reached as the scheduler
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265 will be running. If the following line is reached, there was insufficient
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266 FreeRTOS heap available for the idle task to be created. See
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267 http://www.freertos.org/a00111.html and the malloc failed hook function for
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268 more information. */
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271 /*-----------------------------------------------------------*/
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273 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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275 static long lChangedTimerPeriodAlready = pdFALSE, lErrorStatus = pdPASS;
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276 static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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278 /* Check the standard demo tasks are running without error. */
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279 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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281 lErrorStatus = pdFAIL;
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283 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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285 lErrorStatus = pdFAIL;
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287 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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289 lErrorStatus = pdFAIL;
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291 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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293 lErrorStatus = pdFAIL;
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295 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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297 lErrorStatus = pdFAIL;
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299 else if( xArePollingQueuesStillRunning() != pdTRUE )
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301 lErrorStatus = pdFAIL;
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303 else if( xIsCreateTaskStillRunning() != pdTRUE )
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305 lErrorStatus = pdFAIL;
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307 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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309 lErrorStatus = pdFAIL;
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311 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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313 lErrorStatus = pdFAIL;
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315 else if( xAreIntQueueTasksStillRunning() != pdPASS )
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317 lErrorStatus = pdFAIL;
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319 else if( xAreMathsTaskStillRunning() != pdPASS )
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321 lErrorStatus = pdFAIL;
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324 /* Check the reg test tasks are still cycling. They will stop incrementing
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325 their loop counters if they encounter an error. */
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326 if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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328 lErrorStatus = pdFAIL;
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331 if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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333 lErrorStatus = pdFAIL;
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336 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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337 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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339 /* Toggle the check LED to give an indication of the system status. If
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340 the LED toggles every 5 seconds then everything is ok. A faster toggle
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341 indicates an error. */
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342 vParTestToggleLED( mainCHECK_LED );
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344 /* Was an error detected this time through the callback execution? */
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345 if( lErrorStatus != pdPASS )
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347 if( lChangedTimerPeriodAlready == pdFALSE )
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349 lChangedTimerPeriodAlready = pdTRUE;
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351 /* This call to xTimerChangePeriod() uses a zero block time.
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352 Functions called from inside of a timer callback function must
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353 *never* attempt to block. */
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354 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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358 /*-----------------------------------------------------------*/
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360 /* The RX port uses this callback function to configure its tick interrupt.
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361 This allows the application to choose the tick interrupt source. */
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362 void vApplicationSetupTimerInterrupt( void )
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364 /* Enable compare match timer 0. */
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367 /* Interrupt on compare match. */
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368 CMT0.CMCR.BIT.CMIE = 1;
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370 /* Set the compare match value. */
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371 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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373 /* Divide the PCLK by 8. */
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374 CMT0.CMCR.BIT.CKS = 0;
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376 /* Enable the interrupt... */
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377 _IEN( _CMT0_CMI0 ) = 1;
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379 /* ...and set its priority to the application defined kernel priority. */
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380 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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382 /* Start the timer. */
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383 CMT.CMSTR0.BIT.STR0 = 1;
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385 /*-----------------------------------------------------------*/
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387 /* This function is explained by the comments above its prototype at the top
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389 void vApplicationMallocFailedHook( void )
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393 /*-----------------------------------------------------------*/
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395 /* This function is explained by the comments above its prototype at the top
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397 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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401 /*-----------------------------------------------------------*/
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403 /* This function is explained by the comments above its prototype at the top
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405 void vApplicationIdleHook( void )
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407 /* If this is being executed then the kernel has been started. Start the high
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408 frequency timer test as described at the top of this file. This is only
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409 included in the optimised build configuration - otherwise it takes up too much
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410 CPU time and can disrupt other tests. */
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411 #ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
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412 static portBASE_TYPE xTimerTestStarted = pdFALSE;
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413 extern void vSetupHighFrequencyTimer( void );
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414 if( xTimerTestStarted == pdFALSE )
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416 vSetupHighFrequencyTimer();
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417 xTimerTestStarted = pdTRUE;
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421 /*-----------------------------------------------------------*/
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423 /* This function is explained in the comments at the top of this file. */
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424 static void prvRegTest1Task( void *pvParameters )
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426 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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428 /* The parameter did not contain the expected value. */
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431 /* Stop the tick interrupt so its obvious something has gone wrong. */
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432 taskDISABLE_INTERRUPTS();
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436 /* This is an inline asm function that never returns. */
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437 prvRegTest1Implementation();
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439 /*-----------------------------------------------------------*/
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441 /* This function is explained in the comments at the top of this file. */
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442 static void prvRegTest2Task( void *pvParameters )
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444 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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446 /* The parameter did not contain the expected value. */
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449 /* Stop the tick interrupt so its obvious something has gone wrong. */
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450 taskDISABLE_INTERRUPTS();
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454 /* This is an inline asm function that never returns. */
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455 prvRegTest2Implementation();
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457 /*-----------------------------------------------------------*/
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459 /* This function is explained in the comments at the top of this file. */
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460 #pragma inline_asm prvRegTest1Implementation
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461 static void prvRegTest1Implementation( void )
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463 ; Put a known value in each register.
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480 ; Loop, checking each iteration that each register still contains the
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484 ; Push the registers that are going to get clobbered.
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487 ; Increment the loop counter to show this task is still getting CPU time.
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488 MOV.L #_ulRegTest1CycleCount, R14
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493 ; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
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495 MOV.L #0872E0H, R15
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500 ; Restore the clobbered registers.
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503 ; Now compare each register to ensure it still contains the value that was
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504 ; set before this loop was entered.
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536 ; All comparisons passed, start a new itteratio of this loop.
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540 ; A compare failed, just loop here so the loop counter stops incrementing
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541 ; causing the check timer to indicate the error.
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544 /*-----------------------------------------------------------*/
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546 /* This function is explained in the comments at the top of this file. */
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547 #pragma inline_asm prvRegTest2Implementation
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548 static void prvRegTest2Implementation( void )
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550 ; Put a known value in each register.
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567 ; Loop, checking on each iteration that each register still contains the
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571 ; Push the registers that are going to get clobbered.
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574 ; Increment the loop counter to show this task is still getting CPU time.
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575 MOV.L #_ulRegTest2CycleCount, R14
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580 ; Restore the clobbered registers.
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614 ; All comparisons passed, start a new itteratio of this loop.
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618 ; A compare failed, just loop here so the loop counter stops incrementing
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619 ; - causing the check timer to indicate the error.
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622 /*-----------------------------------------------------------*/
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projects / freertos / blob