2 * FreeRTOS Kernel V10.0.0
\r
3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
\r
5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
\r
6 * this software and associated documentation files (the "Software"), to deal in
\r
7 * the Software without restriction, including without limitation the rights to
\r
8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
\r
9 * the Software, and to permit persons to whom the Software is furnished to do so,
\r
10 * subject to the following conditions:
\r
12 * The above copyright notice and this permission notice shall be included in all
\r
13 * copies or substantial portions of the Software. If you wish to use our Amazon
\r
14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
\r
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
\r
17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
\r
18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
\r
19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
\r
20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
\r
21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
\r
23 * http://www.FreeRTOS.org
\r
24 * http://aws.amazon.com/freertos
\r
26 * 1 tab == 4 spaces!
\r
29 /******************************************************************************
\r
30 * NOTE 1: This project provides two demo applications. A simple blinky
\r
31 * style project, and a more comprehensive test and demo application. The
\r
32 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to
\r
33 * select between the two. See the notes on using
\r
34 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY in main.c. This file implements the
\r
35 * comprehensive version.
\r
37 * NOTE 2: This file only contains the source code that is specific to the
\r
38 * full demo. Generic functions, such FreeRTOS hook functions, and functions
\r
39 * required to configure the hardware, are defined in main.c.
\r
41 ******************************************************************************
\r
43 * main_full() creates a set of demo application tasks and software timers, then
\r
44 * starts the scheduler. The web documentation provides more details of the
\r
45 * standard demo application tasks, which provide no particular functionality,
\r
46 * but do provide a good example of how to use the FreeRTOS API.
\r
48 * In addition to the standard demo tasks, the following tasks and tests are
\r
49 * defined and/or created within this file:
\r
51 * "FreeRTOS+CLI command console" - The command console uses SCI1 for its
\r
52 * input and output. The baud rate is set to 19200. Type "help" to see a list
\r
53 * of registered commands. The FreeRTOS+CLI license is different to the
\r
54 * FreeRTOS license, see http://www.FreeRTOS.org/cli for license and usage
\r
57 * "Reg test" tasks - These fill both the core and floating point registers with
\r
58 * known values, then check that each register maintains its expected value for
\r
59 * the lifetime of the task. Each task uses a different set of values. The reg
\r
60 * test tasks execute with a very low priority, so get preempted very
\r
61 * frequently. A register containing an unexpected value is indicative of an
\r
62 * error in the context switching mechanism.
\r
64 * "Check" task - The check task period is initially set to three seconds. The
\r
65 * task checks that all the standard demo tasks are not only still executing,
\r
66 * but are executing without reporting any errors. If the check task discovers
\r
67 * that a task has either stalled, or reported an error, then it changes its own
\r
68 * execution period from the initial three seconds, to just 200ms. The check
\r
69 * task also toggles an LED on each iteration of its loop. This provides a
\r
70 * visual indication of the system status: If the LED toggles every three
\r
71 * seconds, then no issues have been discovered. If the LED toggles every
\r
72 * 200ms, then an issue has been discovered with at least one task.
\r
75 /* Standard includes. */
\r
78 /* Kernel includes. */
\r
79 #include "FreeRTOS.h"
\r
84 /* Standard demo application includes. */
\r
86 #include "semtest.h"
\r
87 #include "dynamic.h"
\r
89 #include "blocktim.h"
\r
90 #include "countsem.h"
\r
91 #include "GenQTest.h"
\r
92 #include "recmutex.h"
\r
94 #include "partest.h"
\r
95 #include "comtest2.h"
\r
97 #include "TimerDemo.h"
\r
98 #include "QueueOverwrite.h"
\r
99 #include "IntQueue.h"
\r
100 #include "EventGroupsDemo.h"
\r
101 #include "TaskNotify.h"
\r
102 #include "IntSemTest.h"
\r
104 /* Renesas includes. */
\r
105 #include <rskrx71mdef.h>
\r
106 #include "r_cg_macrodriver.h"
\r
107 #include "r_cg_userdefine.h"
\r
109 /* Priorities for the demo application tasks. */
\r
110 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
\r
111 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
\r
112 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
\r
113 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
114 #define mainUART_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3UL )
\r
115 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
\r
116 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
\r
118 /* The priority used by the UART command console task. */
\r
119 #define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( configMAX_PRIORITIES - 2 )
\r
121 /* The period of the check task, in ms, provided no errors have been reported by
\r
122 any of the standard demo tasks. ms are converted to the equivalent in ticks
\r
123 using the portTICK_PERIOD_MS constant. */
\r
124 #define mainNO_ERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 3000UL )
\r
126 /* The period of the check task, in ms, if an error has been reported in one of
\r
127 the standard demo tasks. ms are converted to the equivalent in ticks using the
\r
128 portTICK_PERIOD_MS constant. */
\r
129 #define mainERROR_CHECK_TASK_PERIOD pdMS_TO_TICKS( 200UL )
\r
131 /* Parameters that are passed into the register check tasks solely for the
\r
132 purpose of ensuring parameters are passed into tasks correctly. */
\r
133 #define mainREG_TEST_1_PARAMETER ( ( void * ) 0x12121212UL )
\r
134 #define mainREG_TEST_2_PARAMETER ( ( void * ) 0x12345678UL )
\r
136 /* The base period used by the timer test tasks. */
\r
137 #define mainTIMER_TEST_PERIOD ( 50 )
\r
139 /*-----------------------------------------------------------*/
\r
142 * Entry point for the comprehensive demo (as opposed to the simple blinky
\r
145 void main_full( void );
\r
148 * The full demo includes some functionality called from the tick hook.
\r
150 void vFullDemoTickHook( void );
\r
153 * The check task, as described at the top of this file.
\r
155 static void prvCheckTask( void *pvParameters );
\r
158 * Register check tasks, and the tasks used to write over and check the contents
\r
159 * of the registers, as described at the top of this file. The nature of these
\r
160 * files necessitates that they are written in assembly, but the entry points
\r
161 * are kept in the C file for the convenience of checking the task parameter.
\r
163 static void prvRegTest1Task( void *pvParameters );
\r
164 static void prvRegTest2Task( void *pvParameters );
\r
165 static void prvRegTest1Implementation( void );
\r
166 static void prvRegTest2Implementation( void );
\r
169 * A high priority task that does nothing other than execute at a pseudo random
\r
170 * time to ensure the other test tasks don't just execute in a repeating
\r
173 static void prvPseudoRandomiser( void *pvParameters );
\r
176 * Register commands that can be used with FreeRTOS+CLI. The commands are
\r
177 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
\r
179 extern void vRegisterSampleCLICommands( void );
\r
182 * The task that manages the FreeRTOS+CLI input and output.
\r
184 extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
\r
186 /*-----------------------------------------------------------*/
\r
188 /* The following two variables are used to communicate the status of the
\r
189 register check tasks to the check task. If the variables keep incrementing,
\r
190 then the register check tasks have not discovered any errors. If a variable
\r
191 stops incrementing, then an error has been found. */
\r
192 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
\r
194 /*-----------------------------------------------------------*/
\r
196 void main_full( void )
\r
198 /* Start all the other standard demo/test tasks. They have no particular
\r
199 functionality, but do demonstrate how to use the FreeRTOS API and test the
\r
201 vStartInterruptQueueTasks();
\r
202 vStartDynamicPriorityTasks();
\r
203 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
204 vCreateBlockTimeTasks();
\r
205 vStartCountingSemaphoreTasks();
\r
206 vStartGenericQueueTasks( tskIDLE_PRIORITY );
\r
207 vStartRecursiveMutexTasks();
\r
208 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
209 vStartMathTasks( mainFLOP_TASK_PRIORITY );
\r
210 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
\r
211 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
\r
212 vStartEventGroupTasks();
\r
213 vStartTaskNotifyTask();
\r
214 vStartInterruptSemaphoreTasks();
\r
216 /* Create the register check tasks, as described at the top of this file */
\r
217 xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
\r
218 xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
\r
220 /* Create the task that just adds a little random behaviour. */
\r
221 xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 2, NULL );
\r
223 /* Start the tasks that implements the command console on the UART, as
\r
224 described above. */
\r
225 vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );
\r
227 /* Register the standard CLI commands. */
\r
228 vRegisterSampleCLICommands();
\r
230 /* Create the task that performs the 'check' functionality, as described at
\r
231 the top of this file. */
\r
232 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
\r
234 /* The set of tasks created by the following function call have to be
\r
235 created last as they keep account of the number of tasks they expect to see
\r
237 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
\r
239 /* Start the scheduler. */
\r
240 vTaskStartScheduler();
\r
242 /* If all is well, the scheduler will now be running, and the following
\r
243 line will never be reached. If the following line does execute, then
\r
244 there was insufficient FreeRTOS heap memory available for the Idle and/or
\r
245 timer tasks to be created. See the memory management section on the
\r
246 FreeRTOS web site for more details on the FreeRTOS heap
\r
247 http://www.freertos.org/a00111.html. */
\r
250 /*-----------------------------------------------------------*/
\r
252 static void prvCheckTask( void *pvParameters )
\r
254 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
\r
255 TickType_t xLastExecutionTime;
\r
256 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
\r
257 unsigned long ulErrorFound = pdFALSE;
\r
259 /* Just to stop compiler warnings. */
\r
260 ( void ) pvParameters;
\r
262 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
\r
263 works correctly. */
\r
264 xLastExecutionTime = xTaskGetTickCount();
\r
266 /* Cycle for ever, delaying then checking all the other tasks are still
\r
267 operating without error. The onboard LED is toggled on each iteration.
\r
268 If an error is detected then the delay period is decreased from
\r
269 mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
\r
270 effect of increasing the rate at which the onboard LED toggles, and in so
\r
271 doing gives visual feedback of the system status. */
\r
274 /* Delay until it is time to execute again. */
\r
275 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
\r
277 /* Check all the demo tasks (other than the flash tasks) to ensure
\r
278 that they are all still running, and that none have detected an error. */
\r
279 if( xAreIntQueueTasksStillRunning() != pdTRUE )
\r
281 ulErrorFound |= 1UL << 0UL;
\r
284 if( xAreMathsTaskStillRunning() != pdTRUE )
\r
286 ulErrorFound |= 1UL << 1UL;
\r
289 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
\r
291 ulErrorFound |= 1UL << 2UL;
\r
294 if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
296 ulErrorFound |= 1UL << 3UL;
\r
299 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
301 ulErrorFound |= 1UL << 4UL;
\r
304 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
306 ulErrorFound |= 1UL << 5UL;
\r
309 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
\r
311 ulErrorFound |= 1UL << 6UL;
\r
314 if( xIsCreateTaskStillRunning() != pdTRUE )
\r
316 ulErrorFound |= 1UL << 7UL;
\r
319 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
321 ulErrorFound |= 1UL << 8UL;
\r
324 if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS )
\r
326 ulErrorFound |= 1UL << 9UL;
\r
329 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
\r
331 ulErrorFound |= 1UL << 10UL;
\r
334 if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
\r
336 ulErrorFound |= 1UL << 11UL;
\r
339 if( xAreEventGroupTasksStillRunning() != pdPASS )
\r
341 ulErrorFound |= 1UL << 12UL;
\r
344 if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
\r
346 ulErrorFound |= 1UL << 13UL;
\r
349 if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
\r
351 ulErrorFound |= 1UL << 14UL;
\r
354 /* Check that the register test 1 task is still running. */
\r
355 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
\r
357 ulErrorFound |= 1UL << 15UL;
\r
359 ulLastRegTest1Value = ulRegTest1LoopCounter;
\r
361 /* Check that the register test 2 task is still running. */
\r
362 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
\r
364 ulErrorFound |= 1UL << 16UL;
\r
366 ulLastRegTest2Value = ulRegTest2LoopCounter;
\r
368 /* Toggle the check LED to give an indication of the system status. If
\r
369 the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
\r
370 everything is ok. A faster toggle indicates an error. */
\r
373 if( ulErrorFound != pdFALSE )
\r
375 /* An error has been detected in one of the tasks - flash the LED
\r
376 at a higher frequency to give visible feedback that something has
\r
377 gone wrong (it might just be that the loop back connector required
\r
378 by the comtest tasks has not been fitted). */
\r
379 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
\r
383 /*-----------------------------------------------------------*/
\r
385 static void prvPseudoRandomiser( void *pvParameters )
\r
387 const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = pdMS_TO_TICKS( 35 );
\r
388 volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue;
\r
390 /* This task does nothing other than ensure there is a little bit of
\r
391 disruption in the scheduling pattern of the other tasks. Normally this is
\r
392 done by generating interrupts at pseudo random times. */
\r
395 ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;
\r
396 ulValue = ( ulNextRand >> 16UL ) & 0xffUL;
\r
398 if( ulValue < ulMinDelay )
\r
400 ulValue = ulMinDelay;
\r
403 vTaskDelay( ulValue );
\r
405 while( ulValue > 0 )
\r
420 /*-----------------------------------------------------------*/
\r
422 void vFullDemoTickHook( void )
\r
424 /* The full demo includes a software timer demo/test that requires
\r
425 prodding periodically from the tick interrupt. */
\r
426 vTimerPeriodicISRTests();
\r
428 /* Call the periodic queue overwrite from ISR demo. */
\r
429 vQueueOverwritePeriodicISRDemo();
\r
431 /* Call the periodic event group from ISR demo. */
\r
432 vPeriodicEventGroupsProcessing();
\r
434 /* Use task notifications from an interrupt. */
\r
435 xNotifyTaskFromISR();
\r
437 /* Use mutexes from interrupts. */
\r
438 vInterruptSemaphorePeriodicTest();
\r
440 /*-----------------------------------------------------------*/
\r
442 /* This function is explained in the comments at the top of this file. */
\r
443 static void prvRegTest1Task( void *pvParameters )
\r
445 if( pvParameters != mainREG_TEST_1_PARAMETER )
\r
447 /* The parameter did not contain the expected value. */
\r
450 /* Stop the tick interrupt so its obvious something has gone wrong. */
\r
451 taskDISABLE_INTERRUPTS();
\r
455 /* This is an inline asm function that never returns. */
\r
456 prvRegTest1Implementation();
\r
458 /*-----------------------------------------------------------*/
\r
460 /* This function is explained in the comments at the top of this file. */
\r
461 static void prvRegTest2Task( void *pvParameters )
\r
463 if( pvParameters != mainREG_TEST_2_PARAMETER )
\r
465 /* The parameter did not contain the expected value. */
\r
468 /* Stop the tick interrupt so its obvious something has gone wrong. */
\r
469 taskDISABLE_INTERRUPTS();
\r
473 /* This is an inline asm function that never returns. */
\r
474 prvRegTest2Implementation();
\r
476 /*-----------------------------------------------------------*/
\r
478 /* This function is explained in the comments at the top of this file. */
\r
479 #pragma inline_asm prvRegTest1Implementation
\r
480 static void prvRegTest1Implementation( void )
\r
482 ; Put a known value in each register.
\r
499 ; Loop, checking each iteration that each register still contains the
\r
503 ; Push the registers that are going to get clobbered.
\r
506 ; Increment the loop counter to show this task is still getting CPU time.
\r
507 MOV.L #_ulRegTest1LoopCounter, R14
\r
512 ; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
\r
514 MOV.L #0872E0H, R15
\r
519 ; Restore the clobbered registers.
\r
522 ; Now compare each register to ensure it still contains the value that was
\r
523 ; set before this loop was entered.
\r
555 ; All comparisons passed, start a new itteratio of this loop.
\r
559 ; A compare failed, just loop here so the loop counter stops incrementing
\r
560 ; causing the check task to indicate the error.
\r
563 /*-----------------------------------------------------------*/
\r
565 /* This function is explained in the comments at the top of this file. */
\r
566 #pragma inline_asm prvRegTest2Implementation
\r
567 static void prvRegTest2Implementation( void )
\r
569 ; Put a known value in each register.
\r
586 ; Loop, checking on each iteration that each register still contains the
\r
590 ; Push the registers that are going to get clobbered.
\r
593 ; Increment the loop counter to show this task is still getting CPU time.
\r
594 MOV.L #_ulRegTest2LoopCounter, R14
\r
599 ; Restore the clobbered registers.
\r
633 ; All comparisons passed, start a new itteratio of this loop.
\r
637 ; A compare failed, just loop here so the loop counter stops incrementing
\r
638 ; - causing the check task to indicate the error.
\r
641 /*-----------------------------------------------------------*/
\r