2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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67 /* ****************************************************************************
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68 * This project includes a lot of tasks and tests and is therefore complex.
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69 * If you would prefer a much simpler project to get started with then select
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70 * the 'Blinky' build configuration within the HEW IDE. The Blinky
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71 * configuration builds main-blinky.c in place of this file.
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72 * ****************************************************************************
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74 * Creates all the demo application tasks, then starts the scheduler. The web
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75 * documentation provides more details of the standard demo application tasks,
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76 * which provide no particular functionality but do provide a good example of
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77 * how to use the FreeRTOS API. The tasks defined in flop.c are included in the
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78 * set of standard demo tasks to ensure the floating point unit gets some
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81 * In addition to the standard demo tasks, the following tasks and tests are
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82 * defined and/or created within this file:
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84 * Webserver ("uIP") task - This serves a number of dynamically generated WEB
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85 * pages to a standard WEB browser. The IP and MAC addresses are configured by
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86 * constants defined at the bottom of FreeRTOSConfig.h. Use either a standard
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87 * Ethernet cable to connect through a hug, or a cross over (point to point)
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88 * cable to connect directly. Ensure the IP address used is compatible with the
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89 * IP address of the machine running the browser - the easiest way to achieve
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90 * this is to ensure the first three octets of the IP addresses are the same.
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92 * "Reg test" tasks - These fill the registers with known values, then check
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93 * that each register still contains its expected value. Each task uses
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94 * different values. The tasks run with very low priority so get preempted
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95 * very frequently. A check variable is incremented on each iteration of the
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96 * test loop. A register containing an unexpected value is indicative of an
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97 * error in the context switching mechanism and will result in a branch to a
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98 * null loop - which in turn will prevent the check variable from incrementing
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99 * any further and allow the check task (described below) to determine that an
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100 * error has occurred. The nature of the reg test tasks necessitates that they
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101 * are written in assembly code.
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103 * "Check" timer - The check software timer period is initially set to five
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104 * seconds. The callback function associated with the check software timer
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105 * checks that all the standard demo tasks, and the register check tasks, are
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106 * not only still executing, but are executing without reporting any errors. If
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107 * the check software timer discovers that a task has either stalled, or
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108 * reported an error, then it changes its own execution period from the initial
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109 * five seconds, to just 200ms. The check software timer callback function
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110 * also toggles LED3 each time it is called. This provides a visual indication
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111 * of the system status: If LED3 toggles every five seconds, then no issues
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112 * have been discovered. If the LED toggles every 200ms, then an issue has been
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113 * discovered with at least one task.
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115 * "High frequency timer test" - A high frequency periodic interrupt is
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116 * generated using a timer - the interrupt is assigned a priority above
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117 * configMAX_SYSCALL_INTERRUPT_PRIORITY so should not be effected by anything
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118 * the kernel is doing. The frequency and priority of the interrupt, in
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119 * combination with other standard tests executed in this demo, should result
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120 * in interrupts nesting at least 3 and probably 4 deep. This test is only
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121 * included in build configurations that have the optimiser switched on. In
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122 * optimised builds the count of high frequency ticks is used as the time base
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123 * for the run time stats.
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125 * *NOTE 1* If LED3 is toggling every 5 seconds then all the demo application
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126 * tasks are executing as expected and no errors have been reported in any
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127 * tasks. The toggle rate increasing to 200ms indicates that at least one task
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128 * has reported unexpected behaviour.
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130 * *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
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131 * the application set up a timer to generate the tick interrupt. In this
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132 * example a compare match timer is used for this purpose.
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134 * *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started.
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135 * The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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136 * Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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138 * *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use
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139 * of all the 8bit timers (as two cascaded 16bit units).
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144 #include <string.h>
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146 /* Kernel includes. */
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147 #include "FreeRTOS.h"
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149 #include "timers.h"
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150 #include "semphr.h"
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152 /* Standard demo includes. */
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153 #include "partest.h"
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154 #include "flash_timer.h"
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155 #include "IntQueue.h"
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156 #include "BlockQ.h"
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158 #include "integer.h"
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159 #include "blocktim.h"
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160 #include "semtest.h"
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162 #include "GenQTest.h"
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164 #include "recmutex.h"
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167 /* Values that are passed into the reg test tasks using the task parameter. The
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168 tasks check that the values are passed in correctly. */
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169 #define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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170 #define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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172 /* Priorities at which the tasks are created. */
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173 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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174 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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175 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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176 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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177 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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178 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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179 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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180 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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181 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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183 /* The WEB server uses string handling functions, which in turn use a bit more
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184 stack than most of the other tasks. */
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185 #define mainuIP_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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187 /* The LED toggled by the check timer. */
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188 #define mainCHECK_LED ( 3 )
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190 /* The rate at which mainCHECK_LED will toggle when all the tasks are running
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191 without error. Controlled by the check timer as described at the top of this
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193 #define mainNO_ERROR_CHECK_TIMER_PERIOD_MS ( 5000 / portTICK_RATE_MS )
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195 /* The rate at which mainCHECK_LED will toggle when an error has been reported
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196 by at least one task. Controlled by the check timer as described at the top of
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198 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200 / portTICK_RATE_MS )
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200 /* A block time of zero simply means "don't block". */
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201 #define mainDONT_BLOCK ( 0UL )
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203 /* A set of timers are created, each of which toggles and LED. This specifies
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204 the number of timers to create. */
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205 #define mainNUMBER_OF_LEDS_TO_FLASH ( 3 )
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208 * vApplicationMallocFailedHook() will only be called if
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209 * configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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210 * function that will execute if a call to pvPortMalloc() fails.
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211 * pvPortMalloc() is called internally by the kernel whenever a task, queue or
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212 * semaphore is created. It is also called by various parts of the demo
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215 void vApplicationMallocFailedHook( void );
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218 * vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1
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219 * in FreeRTOSConfig.h. It is a hook function that is called on each iteration
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220 * of the idle task. It is essential that code added to this hook function
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221 * never attempts to block in any way (for example, call xQueueReceive() with
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222 * a block time specified). If the application makes use of the vTaskDelete()
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223 * API function (as this demo application does) then it is also important that
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224 * vApplicationIdleHook() is permitted to return to its calling function because
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225 * it is the responsibility of the idle task to clean up memory allocated by the
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226 * kernel to any task that has since been deleted.
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228 void vApplicationIdleHook( void );
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231 * vApplicationStackOverflowHook() will only be called if
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232 * configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and
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233 * name of the offending task should be passed in the function parameters, but
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234 * it is possible that the stack overflow will have corrupted these - in which
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235 * case pxCurrentTCB can be inspected to find the same information.
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237 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );
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240 * The reg test tasks as described at the top of this file.
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242 static void prvRegTest1Task( void *pvParameters );
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243 static void prvRegTest2Task( void *pvParameters );
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246 * The actual implementation of the reg test functionality, which, because of
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247 * the direct register access, have to be in assembly.
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249 static void prvRegTest1Implementation( void );
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250 static void prvRegTest2Implementation( void );
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253 * The check timer callback function, as described at the top of this file.
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255 static void prvCheckTimerCallback( xTimerHandle xTimer );
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258 * Contains the implementation of the WEB server.
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260 extern void vuIP_Task( void *pvParameters );
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262 /*-----------------------------------------------------------*/
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264 /* Variables that are incremented on each iteration of the reg test tasks -
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265 provided the tasks have not reported any errors. The check task inspects these
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266 variables to ensure they are still incrementing as expected. If a variable
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267 stops incrementing then it is likely that its associate task has stalled. */
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268 unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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270 /* The status message that is displayed at the bottom of the "task stats" web
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271 page, which is served by the uIP task. This will report any errors picked up
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272 by the reg test task. */
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273 const char *pcStatusMessage = "All tasks executing without error.";
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275 /*-----------------------------------------------------------*/
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279 xTimerHandle xCheckTimer;
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280 extern void HardwareSetup( void );
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282 /* Turn all LEDs off. */
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283 vParTestInitialise();
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285 /* Start the reg test tasks which test the context switching mechanism. */
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286 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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287 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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289 /* The web server task. */
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290 xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
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292 /* Create the standard demo tasks. */
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293 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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294 vCreateBlockTimeTasks();
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295 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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296 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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297 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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298 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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299 vStartQueuePeekTasks();
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300 vStartRecursiveMutexTasks();
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301 vStartInterruptQueueTasks();
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302 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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304 /* Create the timers used to toggle the LEDs. */
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305 vStartLEDFlashTimers( mainNUMBER_OF_LEDS_TO_FLASH );
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307 /* Create the software timer that performs the 'check' functionality,
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308 as described at the top of this file. */
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309 xCheckTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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310 ( mainNO_ERROR_CHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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311 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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312 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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313 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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316 if( xCheckTimer != NULL )
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318 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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321 /* The suicide tasks must be created last as they need to know how many
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322 tasks were running prior to their creation in order to ascertain whether
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323 or not the correct/expected number of tasks are running at any given time. */
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324 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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326 /* Start the tasks running. */
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327 vTaskStartScheduler();
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329 /* If all is well, the scheduler will now be running, and the following line
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330 will never be reached. If the following line does execute, then there was
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331 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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332 to be created. See the memory management section on the FreeRTOS web site
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333 for more details. */
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336 /*-----------------------------------------------------------*/
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338 static void prvCheckTimerCallback( xTimerHandle xTimer )
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340 static long lChangedTimerPeriodAlready = pdFALSE;
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341 static unsigned long ulLastRegTest1CycleCount = 0, ulLastRegTest2CycleCount = 0;
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342 long lErrorFound = pdFALSE;
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344 /* If this is being executed then the kernel has been started. Start the
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345 high frequency timer test as described at the top of this file. This is
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346 only included in the optimised build configuration - otherwise it takes up
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347 too much CPU time and can disrupt other tests. */
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348 #ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
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349 vSetupHighFrequencyTimer();
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352 /* Check the standard demo tasks are running without error. */
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353 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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355 lErrorFound = pdTRUE;
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356 pcStatusMessage = "Error: GenQueue";
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358 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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360 lErrorFound = pdTRUE;
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361 pcStatusMessage = "Error: QueuePeek";
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363 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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365 lErrorFound = pdTRUE;
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366 pcStatusMessage = "Error: BlockQueue";
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368 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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370 lErrorFound = pdTRUE;
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371 pcStatusMessage = "Error: BlockTime";
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373 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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375 lErrorFound = pdTRUE;
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376 pcStatusMessage = "Error: SemTest";
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378 else if( xArePollingQueuesStillRunning() != pdTRUE )
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380 lErrorFound = pdTRUE;
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381 pcStatusMessage = "Error: PollQueue";
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383 else if( xIsCreateTaskStillRunning() != pdTRUE )
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385 lErrorFound = pdTRUE;
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386 pcStatusMessage = "Error: Death";
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388 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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390 lErrorFound = pdTRUE;
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391 pcStatusMessage = "Error: IntMath";
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393 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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395 lErrorFound = pdTRUE;
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396 pcStatusMessage = "Error: RecMutex";
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398 else if( xAreIntQueueTasksStillRunning() != pdPASS )
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400 lErrorFound = pdTRUE;
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401 pcStatusMessage = "Error: IntQueue";
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403 else if( xAreMathsTaskStillRunning() != pdPASS )
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405 lErrorFound = pdTRUE;
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406 pcStatusMessage = "Error: Flop";
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409 /* Check the reg test tasks are still cycling. They will stop incrementing
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410 their loop counters if they encounter an error. */
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411 if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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413 lErrorFound = pdTRUE;
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414 pcStatusMessage = "Error: RegTest1";
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417 if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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419 lErrorFound = pdTRUE;
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420 pcStatusMessage = "Error: RegTest2";
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423 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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424 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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426 /* Toggle the check LED to give an indication of the system status. If
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427 the LED toggles every mainNO_ERROR_CHECK_TIMER_PERIOD_MS milliseconds then
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428 everything is ok. A faster toggle indicates an error. */
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429 vParTestToggleLED( mainCHECK_LED );
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431 /* Have any errors been latch in lErrorFound? If so, shorten the
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432 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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433 This will result in an increase in the rate at which mainCHECK_LED
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435 if( lErrorFound != pdFALSE )
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437 if( lChangedTimerPeriodAlready == pdFALSE )
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439 lChangedTimerPeriodAlready = pdTRUE;
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441 /* This call to xTimerChangePeriod() uses a zero block time.
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442 Functions called from inside of a timer callback function must
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443 *never* attempt to block. */
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444 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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448 /*-----------------------------------------------------------*/
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450 /* The RX port uses this callback function to configure its tick interrupt.
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451 This allows the application to choose the tick interrupt source. */
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452 void vApplicationSetupTimerInterrupt( void )
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454 /* Enable compare match timer 0. */
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457 /* Interrupt on compare match. */
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458 CMT0.CMCR.BIT.CMIE = 1;
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460 /* Set the compare match value. */
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461 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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463 /* Divide the PCLK by 8. */
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464 CMT0.CMCR.BIT.CKS = 0;
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466 /* Enable the interrupt... */
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467 _IEN( _CMT0_CMI0 ) = 1;
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469 /* ...and set its priority to the application defined kernel priority. */
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470 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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472 /* Start the timer. */
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473 CMT.CMSTR0.BIT.STR0 = 1;
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475 /*-----------------------------------------------------------*/
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477 /* This function is explained by the comments above its prototype at the top
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479 void vApplicationMallocFailedHook( void )
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483 /*-----------------------------------------------------------*/
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485 /* This function is explained by the comments above its prototype at the top
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487 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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491 /*-----------------------------------------------------------*/
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493 /* This function is explained by the comments above its prototype at the top
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495 void vApplicationIdleHook( void )
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498 /*-----------------------------------------------------------*/
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500 /* This function is explained in the comments at the top of this file. */
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501 static void prvRegTest1Task( void *pvParameters )
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503 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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505 /* The parameter did not contain the expected value. */
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508 /* Stop the tick interrupt so its obvious something has gone wrong. */
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509 taskDISABLE_INTERRUPTS();
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513 /* This is an inline asm function that never returns. */
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514 prvRegTest1Implementation();
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516 /*-----------------------------------------------------------*/
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518 /* This function is explained in the comments at the top of this file. */
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519 static void prvRegTest2Task( void *pvParameters )
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521 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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523 /* The parameter did not contain the expected value. */
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526 /* Stop the tick interrupt so its obvious something has gone wrong. */
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527 taskDISABLE_INTERRUPTS();
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531 /* This is an inline asm function that never returns. */
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532 prvRegTest2Implementation();
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534 /*-----------------------------------------------------------*/
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536 /* This function is explained in the comments at the top of this file. */
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537 #pragma inline_asm prvRegTest1Implementation
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538 static void prvRegTest1Implementation( void )
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540 ; Put a known value in each register.
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557 ; Loop, checking each itteration that each register still contains the
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561 ; Push the registers that are going to get clobbered.
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564 ; Increment the loop counter to show this task is still getting CPU time.
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565 MOV.L #_ulRegTest1CycleCount, R14
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570 ; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
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572 MOV.L #0872E0H, R15
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577 ; Restore the clobbered registers.
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580 ; Now compare each register to ensure it still contains the value that was
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581 ; set before this loop was entered.
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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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623 /* This function is explained in the comments at the top of this file. */
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624 #pragma inline_asm prvRegTest2Implementation
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625 static void prvRegTest2Implementation( void )
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627 ; Put a known value in each register.
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644 ; Loop, checking on each itteration that each register still contains the
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648 ; Push the registers that are going to get clobbered.
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651 ; Increment the loop counter to show this task is still getting CPU time.
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652 MOV.L #_ulRegTest2CycleCount, R14
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657 ; Restore the clobbered registers.
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691 ; All comparisons passed, start a new itteratio of this loop.
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695 ; A compare failed, just loop here so the loop counter stops incrementing
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696 ; - causing the check task to indicate the error.
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699 /*-----------------------------------------------------------*/
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701 char *pcGetTaskStatusMessage( void )
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703 /* Not bothered about a critical section here although technically because of
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704 the task priorities the pointer could change it will be atomic if not near
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705 atomic and its not critical. */
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706 return ( char * ) pcStatusMessage;
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708 /*-----------------------------------------------------------*/
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projects / freertos / blob