2 FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not itcan be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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75 /* ****************************************************************************
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76 * This project includes a lot of tasks and tests and is therefore complex.
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77 * If you would prefer a much simpler project to get started with then select
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78 * the 'Blinky' build configuration within the HEW IDE. The Blinky
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79 * configuration builds main-blinky.c in place of this file.
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80 * ****************************************************************************
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82 * Creates all the demo application tasks, then starts the scheduler. The web
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83 * documentation provides more details of the standard demo application tasks,
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84 * which provide no particular functionality but do provide a good example of
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85 * how to use the FreeRTOS API. The tasks defined in flop.c are included in the
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86 * set of standard demo tasks to ensure the floating point unit gets some
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89 * In addition to the standard demo tasks, the following tasks and tests are
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90 * defined and/or created within this file:
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92 * Webserver ("uIP") task - This serves a number of dynamically generated WEB
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93 * pages to a standard WEB browser. The IP and MAC addresses are configured by
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94 * constants defined at the bottom of FreeRTOSConfig.h. Use either a standard
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95 * Ethernet cable to connect through a hug, or a cross over (point to point)
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96 * cable to connect directly. Ensure the IP address used is compatible with the
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97 * IP address of the machine running the browser - the easiest way to achieve
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98 * this is to ensure the first three octets of the IP addresses are the same.
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100 * "Reg test" tasks - These fill the registers with known values, then check
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101 * that each register still contains its expected value. Each task uses
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102 * different values. The tasks run with very low priority so get preempted
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103 * very frequently. A check variable is incremented on each iteration of the
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104 * test loop. A register containing an unexpected value is indicative of an
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105 * error in the context switching mechanism and will result in a branch to a
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106 * null loop - which in turn will prevent the check variable from incrementing
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107 * any further and allow the check task (described below) to determine that an
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108 * error has occurred. The nature of the reg test tasks necessitates that they
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109 * are written in assembly code.
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111 * "Check" timer - The check software timer period is initially set to five
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112 * seconds. The callback function associated with the check software timer
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113 * checks that all the standard demo tasks, and the register check tasks, are
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114 * not only still executing, but are executing without reporting any errors. If
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115 * the check software timer discovers that a task has either stalled, or
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116 * reported an error, then it changes its own execution period from the initial
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117 * five seconds, to just 200ms. The check software timer callback function
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118 * also toggles LED3 each time it is called. This provides a visual indication
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119 * of the system status: If LED3 toggles every five seconds, then no issues
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120 * have been discovered. If the LED toggles every 200ms, then an issue has been
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121 * discovered with at least one task.
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123 * "High frequency timer test" - A high frequency periodic interrupt is
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124 * generated using a timer - the interrupt is assigned a priority above
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125 * configMAX_SYSCALL_INTERRUPT_PRIORITY so should not be effected by anything
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126 * the kernel is doing. The frequency and priority of the interrupt, in
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127 * combination with other standard tests executed in this demo, should result
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128 * in interrupts nesting at least 3 and probably 4 deep. This test is only
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129 * included in build configurations that have the optimiser switched on. In
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130 * optimised builds the count of high frequency ticks is used as the time base
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131 * for the run time stats.
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133 * *NOTE 1* If LED3 is toggling every 5 seconds then all the demo application
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134 * tasks are executing as expected and no errors have been reported in any
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135 * tasks. The toggle rate increasing to 200ms indicates that at least one task
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136 * has reported unexpected behaviour.
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138 * *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
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139 * the application set up a timer to generate the tick interrupt. In this
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140 * example a compare match timer is used for this purpose.
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142 * *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started.
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143 * The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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144 * Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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146 * *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use
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147 * of all the 8bit timers (as two cascaded 16bit units).
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152 #include <string.h>
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154 /* Kernel includes. */
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155 #include "FreeRTOS.h"
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157 #include "timers.h"
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158 #include "semphr.h"
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160 /* Standard demo includes. */
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161 #include "partest.h"
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162 #include "flash_timer.h"
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163 #include "IntQueue.h"
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164 #include "BlockQ.h"
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166 #include "integer.h"
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167 #include "blocktim.h"
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168 #include "semtest.h"
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170 #include "GenQTest.h"
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172 #include "recmutex.h"
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175 /* Values that are passed into the reg test tasks using the task parameter. The
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176 tasks check that the values are passed in correctly. */
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177 #define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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178 #define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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180 /* Priorities at which the tasks are created. */
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181 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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182 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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183 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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184 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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185 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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186 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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187 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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188 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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189 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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191 /* The WEB server uses string handling functions, which in turn use a bit more
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192 stack than most of the other tasks. */
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193 #define mainuIP_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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195 /* The LED toggled by the check timer. */
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196 #define mainCHECK_LED ( 3 )
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198 /* The rate at which mainCHECK_LED will toggle when all the tasks are running
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199 without error. Controlled by the check timer as described at the top of this
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201 #define mainNO_ERROR_CHECK_TIMER_PERIOD_MS ( 5000 / portTICK_RATE_MS )
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203 /* The rate at which mainCHECK_LED will toggle when an error has been reported
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204 by at least one task. Controlled by the check timer as described at the top of
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206 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200 / portTICK_RATE_MS )
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208 /* A block time of zero simply means "don't block". */
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209 #define mainDONT_BLOCK ( 0UL )
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211 /* A set of timers are created, each of which toggles and LED. This specifies
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212 the number of timers to create. */
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213 #define mainNUMBER_OF_LEDS_TO_FLASH ( 3 )
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216 * vApplicationMallocFailedHook() will only be called if
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217 * configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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218 * function that will execute if a call to pvPortMalloc() fails.
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219 * pvPortMalloc() is called internally by the kernel whenever a task, queue or
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220 * semaphore is created. It is also called by various parts of the demo
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223 void vApplicationMallocFailedHook( void );
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226 * vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1
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227 * in FreeRTOSConfig.h. It is a hook function that is called on each iteration
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228 * of the idle task. It is essential that code added to this hook function
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229 * never attempts to block in any way (for example, call xQueueReceive() with
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230 * a block time specified). If the application makes use of the vTaskDelete()
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231 * API function (as this demo application does) then it is also important that
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232 * vApplicationIdleHook() is permitted to return to its calling function because
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233 * it is the responsibility of the idle task to clean up memory allocated by the
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234 * kernel to any task that has since been deleted.
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236 void vApplicationIdleHook( void );
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239 * vApplicationStackOverflowHook() will only be called if
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240 * configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and
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241 * name of the offending task should be passed in the function parameters, but
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242 * it is possible that the stack overflow will have corrupted these - in which
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243 * case pxCurrentTCB can be inspected to find the same information.
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245 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );
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248 * The reg test tasks as described at the top of this file.
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250 static void prvRegTest1Task( void *pvParameters );
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251 static void prvRegTest2Task( void *pvParameters );
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254 * The actual implementation of the reg test functionality, which, because of
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255 * the direct register access, have to be in assembly.
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257 static void prvRegTest1Implementation( void );
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258 static void prvRegTest2Implementation( void );
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261 * The check timer callback function, as described at the top of this file.
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263 static void prvCheckTimerCallback( xTimerHandle xTimer );
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266 * Contains the implementation of the WEB server.
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268 extern void vuIP_Task( void *pvParameters );
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270 /*-----------------------------------------------------------*/
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272 /* Variables that are incremented on each iteration of the reg test tasks -
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273 provided the tasks have not reported any errors. The check task inspects these
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274 variables to ensure they are still incrementing as expected. If a variable
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275 stops incrementing then it is likely that its associate task has stalled. */
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276 unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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278 /* The status message that is displayed at the bottom of the "task stats" web
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279 page, which is served by the uIP task. This will report any errors picked up
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280 by the reg test task. */
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281 const char *pcStatusMessage = "All tasks executing without error.";
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283 /*-----------------------------------------------------------*/
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287 xTimerHandle xCheckTimer;
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288 extern void HardwareSetup( void );
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290 /* Turn all LEDs off. */
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291 vParTestInitialise();
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293 /* Start the reg test tasks which test the context switching mechanism. */
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294 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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295 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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297 /* The web server task. */
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298 xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
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300 /* Create the standard demo tasks. */
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301 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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302 vCreateBlockTimeTasks();
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303 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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304 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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305 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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306 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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307 vStartQueuePeekTasks();
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308 vStartRecursiveMutexTasks();
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309 vStartInterruptQueueTasks();
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310 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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312 /* Create the timers used to toggle the LEDs. */
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313 vStartLEDFlashTimers( mainNUMBER_OF_LEDS_TO_FLASH );
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315 /* Create the software timer that performs the 'check' functionality,
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316 as described at the top of this file. */
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317 xCheckTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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318 ( mainNO_ERROR_CHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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319 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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320 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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321 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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324 if( xCheckTimer != NULL )
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326 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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329 /* The suicide tasks must be created last as they need to know how many
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330 tasks were running prior to their creation in order to ascertain whether
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331 or not the correct/expected number of tasks are running at any given time. */
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332 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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334 /* Start the tasks running. */
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335 vTaskStartScheduler();
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337 /* If all is well, the scheduler will now be running, and the following line
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338 will never be reached. If the following line does execute, then there was
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339 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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340 to be created. See the memory management section on the FreeRTOS web site
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341 for more details. */
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344 /*-----------------------------------------------------------*/
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346 static void prvCheckTimerCallback( xTimerHandle xTimer )
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348 static long lChangedTimerPeriodAlready = pdFALSE;
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349 static unsigned long ulLastRegTest1CycleCount = 0, ulLastRegTest2CycleCount = 0;
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350 long lErrorFound = pdFALSE;
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352 /* If this is being executed then the kernel has been started. Start the
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353 high frequency timer test as described at the top of this file. This is
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354 only included in the optimised build configuration - otherwise it takes up
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355 too much CPU time and can disrupt other tests. */
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356 #ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
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357 vSetupHighFrequencyTimer();
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360 /* Check the standard demo tasks are running without error. */
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361 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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363 lErrorFound = pdTRUE;
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364 pcStatusMessage = "Error: GenQueue";
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366 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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368 lErrorFound = pdTRUE;
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369 pcStatusMessage = "Error: QueuePeek";
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371 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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373 lErrorFound = pdTRUE;
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374 pcStatusMessage = "Error: BlockQueue";
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376 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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378 lErrorFound = pdTRUE;
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379 pcStatusMessage = "Error: BlockTime";
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381 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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383 lErrorFound = pdTRUE;
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384 pcStatusMessage = "Error: SemTest";
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386 else if( xArePollingQueuesStillRunning() != pdTRUE )
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388 lErrorFound = pdTRUE;
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389 pcStatusMessage = "Error: PollQueue";
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391 else if( xIsCreateTaskStillRunning() != pdTRUE )
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393 lErrorFound = pdTRUE;
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394 pcStatusMessage = "Error: Death";
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396 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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398 lErrorFound = pdTRUE;
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399 pcStatusMessage = "Error: IntMath";
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401 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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403 lErrorFound = pdTRUE;
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404 pcStatusMessage = "Error: RecMutex";
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406 else if( xAreIntQueueTasksStillRunning() != pdPASS )
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408 lErrorFound = pdTRUE;
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409 pcStatusMessage = "Error: IntQueue";
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411 else if( xAreMathsTaskStillRunning() != pdPASS )
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413 lErrorFound = pdTRUE;
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414 pcStatusMessage = "Error: Flop";
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417 /* Check the reg test tasks are still cycling. They will stop incrementing
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418 their loop counters if they encounter an error. */
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419 if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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421 lErrorFound = pdTRUE;
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422 pcStatusMessage = "Error: RegTest1";
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425 if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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427 lErrorFound = pdTRUE;
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428 pcStatusMessage = "Error: RegTest2";
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431 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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432 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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434 /* Toggle the check LED to give an indication of the system status. If
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435 the LED toggles every mainNO_ERROR_CHECK_TIMER_PERIOD_MS milliseconds then
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436 everything is ok. A faster toggle indicates an error. */
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437 vParTestToggleLED( mainCHECK_LED );
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439 /* Have any errors been latch in lErrorFound? If so, shorten the
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440 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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441 This will result in an increase in the rate at which mainCHECK_LED
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443 if( lErrorFound != pdFALSE )
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445 if( lChangedTimerPeriodAlready == pdFALSE )
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447 lChangedTimerPeriodAlready = pdTRUE;
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449 /* This call to xTimerChangePeriod() uses a zero block time.
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450 Functions called from inside of a timer callback function must
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451 *never* attempt to block. */
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452 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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456 /*-----------------------------------------------------------*/
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458 /* The RX port uses this callback function to configure its tick interrupt.
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459 This allows the application to choose the tick interrupt source. */
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460 void vApplicationSetupTimerInterrupt( void )
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462 /* Enable compare match timer 0. */
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465 /* Interrupt on compare match. */
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466 CMT0.CMCR.BIT.CMIE = 1;
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468 /* Set the compare match value. */
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469 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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471 /* Divide the PCLK by 8. */
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472 CMT0.CMCR.BIT.CKS = 0;
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474 /* Enable the interrupt... */
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475 _IEN( _CMT0_CMI0 ) = 1;
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477 /* ...and set its priority to the application defined kernel priority. */
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478 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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480 /* Start the timer. */
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481 CMT.CMSTR0.BIT.STR0 = 1;
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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 vApplicationMallocFailedHook( void )
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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 vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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499 /*-----------------------------------------------------------*/
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501 /* This function is explained by the comments above its prototype at the top
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503 void vApplicationIdleHook( void )
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506 /*-----------------------------------------------------------*/
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508 /* This function is explained in the comments at the top of this file. */
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509 static void prvRegTest1Task( void *pvParameters )
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511 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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513 /* The parameter did not contain the expected value. */
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516 /* Stop the tick interrupt so its obvious something has gone wrong. */
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517 taskDISABLE_INTERRUPTS();
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521 /* This is an inline asm function that never returns. */
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522 prvRegTest1Implementation();
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524 /*-----------------------------------------------------------*/
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526 /* This function is explained in the comments at the top of this file. */
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527 static void prvRegTest2Task( void *pvParameters )
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529 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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531 /* The parameter did not contain the expected value. */
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534 /* Stop the tick interrupt so its obvious something has gone wrong. */
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535 taskDISABLE_INTERRUPTS();
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539 /* This is an inline asm function that never returns. */
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540 prvRegTest2Implementation();
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542 /*-----------------------------------------------------------*/
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544 /* This function is explained in the comments at the top of this file. */
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545 #pragma inline_asm prvRegTest1Implementation
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546 static void prvRegTest1Implementation( void )
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548 ; Put a known value in each register.
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565 ; Loop, checking each itteration that each register still contains the
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569 ; Push the registers that are going to get clobbered.
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572 ; Increment the loop counter to show this task is still getting CPU time.
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573 MOV.L #_ulRegTest1CycleCount, R14
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578 ; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
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580 MOV.L #0872E0H, R15
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585 ; Restore the clobbered registers.
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588 ; Now compare each register to ensure it still contains the value that was
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589 ; set before this loop was entered.
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621 ; All comparisons passed, start a new itteratio of this loop.
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625 ; A compare failed, just loop here so the loop counter stops incrementing
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626 ; causing the check task to indicate the error.
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629 /*-----------------------------------------------------------*/
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631 /* This function is explained in the comments at the top of this file. */
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632 #pragma inline_asm prvRegTest2Implementation
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633 static void prvRegTest2Implementation( void )
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635 ; Put a known value in each register.
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652 ; Loop, checking on each itteration that each register still contains the
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656 ; Push the registers that are going to get clobbered.
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659 ; Increment the loop counter to show this task is still getting CPU time.
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660 MOV.L #_ulRegTest2CycleCount, R14
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665 ; Restore the clobbered registers.
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699 ; All comparisons passed, start a new itteratio of this loop.
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703 ; A compare failed, just loop here so the loop counter stops incrementing
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704 ; - causing the check task to indicate the error.
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707 /*-----------------------------------------------------------*/
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709 char *pcGetTaskStatusMessage( void )
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711 /* Not bothered about a critical section here although technically because of
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712 the task priorities the pointer could change it will be atomic if not near
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713 atomic and its not critical. */
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714 return ( char * ) pcStatusMessage;
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716 /*-----------------------------------------------------------*/
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projects / freertos / blob