2 FreeRTOS V8.1.1 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /* ****************************************************************************
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67 * This project includes a lot of tasks and tests and is therefore complex.
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68 * If you would prefer a much simpler project to get started with then select
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69 * the 'Blinky' build configuration within the HEW IDE. The Blinky
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70 * configuration builds main-blinky.c in place of this file.
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71 * ****************************************************************************
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73 * Creates all the demo application tasks, then starts the scheduler. The web
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74 * documentation provides more details of the standard demo application tasks,
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75 * which provide no particular functionality but do provide a good example of
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76 * how to use the FreeRTOS API. The tasks defined in flop.c are included in the
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77 * set of standard demo tasks to ensure the floating point unit gets some
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80 * In addition to the standard demo tasks, the following tasks and tests are
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81 * defined and/or created within this file:
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83 * Webserver ("uIP") task - This serves a number of dynamically generated WEB
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84 * pages to a standard WEB browser. The IP and MAC addresses are configured by
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85 * constants defined at the bottom of FreeRTOSConfig.h. Use either a standard
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86 * Ethernet cable to connect through a hug, or a cross over (point to point)
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87 * cable to connect directly. Ensure the IP address used is compatible with the
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88 * IP address of the machine running the browser - the easiest way to achieve
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89 * this is to ensure the first three octets of the IP addresses are the same.
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91 * "Reg test" tasks - These fill the registers with known values, then check
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92 * that each register still contains its expected value. Each task uses
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93 * different values. The tasks run with very low priority so get preempted
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94 * very frequently. A check variable is incremented on each iteration of the
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95 * test loop. A register containing an unexpected value is indicative of an
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96 * error in the context switching mechanism and will result in a branch to a
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97 * null loop - which in turn will prevent the check variable from incrementing
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98 * any further and allow the check task (described below) to determine that an
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99 * error has occurred. The nature of the reg test tasks necessitates that they
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100 * are written in assembly code.
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102 * "Check" timer - The check software timer period is initially set to five
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103 * seconds. The callback function associated with the check software timer
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104 * checks that all the standard demo tasks, and the register check tasks, are
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105 * not only still executing, but are executing without reporting any errors. If
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106 * the check software timer discovers that a task has either stalled, or
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107 * reported an error, then it changes its own execution period from the initial
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108 * five seconds, to just 200ms. The check software timer callback function
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109 * also toggles LED3 each time it is called. This provides a visual indication
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110 * of the system status: If LED3 toggles every five seconds, then no issues
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111 * have been discovered. If the LED toggles every 200ms, then an issue has been
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112 * discovered with at least one task.
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114 * "High frequency timer test" - A high frequency periodic interrupt is
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115 * generated using a timer - the interrupt is assigned a priority above
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116 * configMAX_SYSCALL_INTERRUPT_PRIORITY so should not be effected by anything
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117 * the kernel is doing. The frequency and priority of the interrupt, in
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118 * combination with other standard tests executed in this demo, should result
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119 * in interrupts nesting at least 3 and probably 4 deep. This test is only
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120 * included in build configurations that have the optimiser switched on. In
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121 * optimised builds the count of high frequency ticks is used as the time base
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122 * for the run time stats.
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124 * *NOTE 1* If LED3 is toggling every 5 seconds then all the demo application
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125 * tasks are executing as expected and no errors have been reported in any
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126 * tasks. The toggle rate increasing to 200ms indicates that at least one task
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127 * has reported unexpected behaviour.
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129 * *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
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130 * the application set up a timer to generate the tick interrupt. In this
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131 * example a compare match timer is used for this purpose.
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133 * *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started.
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134 * The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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135 * Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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137 * *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use
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138 * of all the 8bit timers (as two cascaded 16bit units).
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143 #include <string.h>
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145 /* Kernel includes. */
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146 #include "FreeRTOS.h"
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148 #include "timers.h"
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149 #include "semphr.h"
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151 /* Standard demo includes. */
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152 #include "partest.h"
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153 #include "flash_timer.h"
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154 #include "IntQueue.h"
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155 #include "BlockQ.h"
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157 #include "integer.h"
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158 #include "blocktim.h"
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159 #include "semtest.h"
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161 #include "GenQTest.h"
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163 #include "recmutex.h"
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166 /* Values that are passed into the reg test tasks using the task parameter. The
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167 tasks check that the values are passed in correctly. */
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168 #define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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169 #define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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171 /* Priorities at which the tasks are created. */
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172 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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173 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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174 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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175 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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176 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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177 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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178 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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179 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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180 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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182 /* The WEB server uses string handling functions, which in turn use a bit more
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183 stack than most of the other tasks. */
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184 #define mainuIP_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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186 /* The LED toggled by the check timer. */
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187 #define mainCHECK_LED ( 3 )
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189 /* The rate at which mainCHECK_LED will toggle when all the tasks are running
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190 without error. Controlled by the check timer as described at the top of this
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192 #define mainNO_ERROR_CHECK_TIMER_PERIOD_MS ( 5000 / portTICK_PERIOD_MS )
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194 /* The rate at which mainCHECK_LED will toggle when an error has been reported
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195 by at least one task. Controlled by the check timer as described at the top of
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197 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200 / portTICK_PERIOD_MS )
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199 /* A block time of zero simply means "don't block". */
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200 #define mainDONT_BLOCK ( 0UL )
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202 /* A set of timers are created, each of which toggles and LED. This specifies
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203 the number of timers to create. */
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204 #define mainNUMBER_OF_LEDS_TO_FLASH ( 3 )
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207 * vApplicationMallocFailedHook() will only be called if
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208 * configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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209 * function that will execute if a call to pvPortMalloc() fails.
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210 * pvPortMalloc() is called internally by the kernel whenever a task, queue or
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211 * semaphore is created. It is also called by various parts of the demo
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214 void vApplicationMallocFailedHook( void );
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217 * vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1
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218 * in FreeRTOSConfig.h. It is a hook function that is called on each iteration
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219 * of the idle task. It is essential that code added to this hook function
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220 * never attempts to block in any way (for example, call xQueueReceive() with
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221 * a block time specified). If the application makes use of the vTaskDelete()
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222 * API function (as this demo application does) then it is also important that
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223 * vApplicationIdleHook() is permitted to return to its calling function because
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224 * it is the responsibility of the idle task to clean up memory allocated by the
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225 * kernel to any task that has since been deleted.
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227 void vApplicationIdleHook( void );
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230 * vApplicationStackOverflowHook() will only be called if
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231 * configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and
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232 * name of the offending task should be passed in the function parameters, but
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233 * it is possible that the stack overflow will have corrupted these - in which
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234 * case pxCurrentTCB can be inspected to find the same information.
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236 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
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239 * The reg test tasks as described at the top of this file.
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241 static void prvRegTest1Task( void *pvParameters );
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242 static void prvRegTest2Task( void *pvParameters );
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245 * The actual implementation of the reg test functionality, which, because of
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246 * the direct register access, have to be in assembly.
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248 static void prvRegTest1Implementation( void );
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249 static void prvRegTest2Implementation( void );
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252 * The check timer callback function, as described at the top of this file.
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254 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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257 * Contains the implementation of the WEB server.
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259 extern void vuIP_Task( void *pvParameters );
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261 /*-----------------------------------------------------------*/
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263 /* Variables that are incremented on each iteration of the reg test tasks -
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264 provided the tasks have not reported any errors. The check task inspects these
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265 variables to ensure they are still incrementing as expected. If a variable
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266 stops incrementing then it is likely that its associate task has stalled. */
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267 unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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269 /* The status message that is displayed at the bottom of the "task stats" web
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270 page, which is served by the uIP task. This will report any errors picked up
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271 by the reg test task. */
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272 const char *pcStatusMessage = "All tasks executing without error.";
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274 /*-----------------------------------------------------------*/
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278 TimerHandle_t xCheckTimer;
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279 extern void HardwareSetup( void );
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281 /* Turn all LEDs off. */
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282 vParTestInitialise();
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284 /* Start the reg test tasks which test the context switching mechanism. */
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285 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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286 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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288 /* The web server task. */
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289 xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
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291 /* Create the standard demo tasks. */
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292 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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293 vCreateBlockTimeTasks();
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294 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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295 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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296 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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297 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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298 vStartQueuePeekTasks();
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299 vStartRecursiveMutexTasks();
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300 vStartInterruptQueueTasks();
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301 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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303 /* Create the timers used to toggle the LEDs. */
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304 vStartLEDFlashTimers( mainNUMBER_OF_LEDS_TO_FLASH );
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306 /* Create the software timer that performs the 'check' functionality,
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307 as described at the top of this file. */
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308 xCheckTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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309 ( mainNO_ERROR_CHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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310 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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311 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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312 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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315 if( xCheckTimer != NULL )
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317 xTimerStart( xCheckTimer, mainDONT_BLOCK );
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320 /* The suicide tasks must be created last as they need to know how many
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321 tasks were running prior to their creation in order to ascertain whether
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322 or not the correct/expected number of tasks are running at any given time. */
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323 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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325 /* Start the tasks running. */
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326 vTaskStartScheduler();
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328 /* If all is well, the scheduler will now be running, and the following line
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329 will never be reached. If the following line does execute, then there was
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330 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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331 to be created. See the memory management section on the FreeRTOS web site
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332 for more details. */
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335 /*-----------------------------------------------------------*/
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337 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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339 static long lChangedTimerPeriodAlready = pdFALSE;
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340 static unsigned long ulLastRegTest1CycleCount = 0, ulLastRegTest2CycleCount = 0;
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341 long lErrorFound = pdFALSE;
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343 /* If this is being executed then the kernel has been started. Start the
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344 high frequency timer test as described at the top of this file. This is
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345 only included in the optimised build configuration - otherwise it takes up
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346 too much CPU time and can disrupt other tests. */
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347 #ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
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348 vSetupHighFrequencyTimer();
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351 /* Check the standard demo tasks are running without error. */
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352 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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354 lErrorFound = pdTRUE;
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355 pcStatusMessage = "Error: GenQueue";
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357 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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359 lErrorFound = pdTRUE;
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360 pcStatusMessage = "Error: QueuePeek";
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362 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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364 lErrorFound = pdTRUE;
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365 pcStatusMessage = "Error: BlockQueue";
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367 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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369 lErrorFound = pdTRUE;
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370 pcStatusMessage = "Error: BlockTime";
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372 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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374 lErrorFound = pdTRUE;
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375 pcStatusMessage = "Error: SemTest";
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377 else if( xArePollingQueuesStillRunning() != pdTRUE )
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379 lErrorFound = pdTRUE;
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380 pcStatusMessage = "Error: PollQueue";
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382 else if( xIsCreateTaskStillRunning() != pdTRUE )
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384 lErrorFound = pdTRUE;
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385 pcStatusMessage = "Error: Death";
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387 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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389 lErrorFound = pdTRUE;
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390 pcStatusMessage = "Error: IntMath";
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392 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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394 lErrorFound = pdTRUE;
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395 pcStatusMessage = "Error: RecMutex";
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397 else if( xAreIntQueueTasksStillRunning() != pdPASS )
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399 lErrorFound = pdTRUE;
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400 pcStatusMessage = "Error: IntQueue";
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402 else if( xAreMathsTaskStillRunning() != pdPASS )
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404 lErrorFound = pdTRUE;
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405 pcStatusMessage = "Error: Flop";
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408 /* Check the reg test tasks are still cycling. They will stop incrementing
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409 their loop counters if they encounter an error. */
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410 if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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412 lErrorFound = pdTRUE;
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413 pcStatusMessage = "Error: RegTest1";
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416 if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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418 lErrorFound = pdTRUE;
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419 pcStatusMessage = "Error: RegTest2";
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422 ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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423 ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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425 /* Toggle the check LED to give an indication of the system status. If
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426 the LED toggles every mainNO_ERROR_CHECK_TIMER_PERIOD_MS milliseconds then
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427 everything is ok. A faster toggle indicates an error. */
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428 vParTestToggleLED( mainCHECK_LED );
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430 /* Have any errors been latch in lErrorFound? If so, shorten the
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431 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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432 This will result in an increase in the rate at which mainCHECK_LED
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434 if( lErrorFound != pdFALSE )
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436 if( lChangedTimerPeriodAlready == pdFALSE )
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438 lChangedTimerPeriodAlready = pdTRUE;
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440 /* This call to xTimerChangePeriod() uses a zero block time.
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441 Functions called from inside of a timer callback function must
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442 *never* attempt to block. */
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443 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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447 /*-----------------------------------------------------------*/
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449 /* The RX port uses this callback function to configure its tick interrupt.
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450 This allows the application to choose the tick interrupt source. */
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451 void vApplicationSetupTimerInterrupt( void )
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453 /* Enable compare match timer 0. */
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456 /* Interrupt on compare match. */
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457 CMT0.CMCR.BIT.CMIE = 1;
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459 /* Set the compare match value. */
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460 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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462 /* Divide the PCLK by 8. */
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463 CMT0.CMCR.BIT.CKS = 0;
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465 /* Enable the interrupt... */
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466 _IEN( _CMT0_CMI0 ) = 1;
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468 /* ...and set its priority to the application defined kernel priority. */
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469 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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471 /* Start the timer. */
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472 CMT.CMSTR0.BIT.STR0 = 1;
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474 /*-----------------------------------------------------------*/
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476 /* This function is explained by the comments above its prototype at the top
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478 void vApplicationMallocFailedHook( void )
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482 /*-----------------------------------------------------------*/
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484 /* This function is explained by the comments above its prototype at the top
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486 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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490 /*-----------------------------------------------------------*/
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492 /* This function is explained by the comments above its prototype at the top
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494 void vApplicationIdleHook( void )
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497 /*-----------------------------------------------------------*/
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499 /* This function is explained in the comments at the top of this file. */
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500 static void prvRegTest1Task( void *pvParameters )
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502 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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504 /* The parameter did not contain the expected value. */
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507 /* Stop the tick interrupt so its obvious something has gone wrong. */
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508 taskDISABLE_INTERRUPTS();
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512 /* This is an inline asm function that never returns. */
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513 prvRegTest1Implementation();
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515 /*-----------------------------------------------------------*/
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517 /* This function is explained in the comments at the top of this file. */
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518 static void prvRegTest2Task( void *pvParameters )
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520 if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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522 /* The parameter did not contain the expected value. */
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525 /* Stop the tick interrupt so its obvious something has gone wrong. */
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526 taskDISABLE_INTERRUPTS();
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530 /* This is an inline asm function that never returns. */
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531 prvRegTest2Implementation();
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533 /*-----------------------------------------------------------*/
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535 /* This function is explained in the comments at the top of this file. */
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536 #pragma inline_asm prvRegTest1Implementation
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537 static void prvRegTest1Implementation( void )
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539 ; Put a known value in each register.
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556 ; Loop, checking each itteration that each register still contains the
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560 ; Push the registers that are going to get clobbered.
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563 ; Increment the loop counter to show this task is still getting CPU time.
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564 MOV.L #_ulRegTest1CycleCount, R14
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569 ; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
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571 MOV.L #0872E0H, R15
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576 ; Restore the clobbered registers.
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579 ; Now compare each register to ensure it still contains the value that was
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580 ; set before this loop was entered.
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612 ; All comparisons passed, start a new itteratio of this loop.
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616 ; A compare failed, just loop here so the loop counter stops incrementing
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617 ; causing the check task to indicate the error.
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620 /*-----------------------------------------------------------*/
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622 /* This function is explained in the comments at the top of this file. */
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623 #pragma inline_asm prvRegTest2Implementation
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624 static void prvRegTest2Implementation( void )
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626 ; Put a known value in each register.
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643 ; Loop, checking on each itteration that each register still contains the
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647 ; Push the registers that are going to get clobbered.
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650 ; Increment the loop counter to show this task is still getting CPU time.
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651 MOV.L #_ulRegTest2CycleCount, R14
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656 ; Restore the clobbered registers.
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690 ; All comparisons passed, start a new itteratio of this loop.
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694 ; A compare failed, just loop here so the loop counter stops incrementing
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695 ; - causing the check task to indicate the error.
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698 /*-----------------------------------------------------------*/
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700 char *pcGetTaskStatusMessage( void )
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702 /* Not bothered about a critical section here although technically because of
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703 the task priorities the pointer could change it will be atomic if not near
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704 atomic and its not critical. */
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705 return ( char * ) pcStatusMessage;
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707 /*-----------------------------------------------------------*/
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projects / freertos / blob