--- /dev/null
+;/*\r
+; FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd.\r
+; All rights reserved\r
+;\r
+; VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
+;\r
+; ***************************************************************************\r
+; * *\r
+; * FreeRTOS provides completely free yet professionally developed, *\r
+; * robust, strictly quality controlled, supported, and cross *\r
+; * platform software that has become a de facto standard. *\r
+; * *\r
+; * Help yourself get started quickly and support the FreeRTOS *\r
+; * project by purchasing a FreeRTOS tutorial book, reference *\r
+; * manual, or both from: http://www.FreeRTOS.org/Documentation *\r
+; * *\r
+; * Thank you! *\r
+; * *\r
+; ***************************************************************************\r
+;\r
+; This file is part of the FreeRTOS distribution.\r
+;\r
+; FreeRTOS is free software; you can redistribute it and/or modify it under\r
+; the terms of the GNU General Public License (version 2) as published by the\r
+; Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.\r
+;\r
+; >>! NOTE: The modification to the GPL is included to allow you to distribute\r
+; >>! a combined work that includes FreeRTOS without being obliged to provide\r
+; >>! the source code for proprietary components outside of the FreeRTOS\r
+; >>! kernel.\r
+;\r
+; FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
+; WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
+; FOR A PARTICULAR PURPOSE. Full license text is available from the following\r
+; link: http://www.freertos.org/a00114.html\r
+;\r
+; 1 tab == 4 spaces!\r
+;\r
+; ***************************************************************************\r
+; * *\r
+; * Having a problem? Start by reading the FAQ "My application does *\r
+; * not run, what could be wrong?" *\r
+; * *\r
+; * http://www.FreeRTOS.org/FAQHelp.html *\r
+; * *\r
+; ***************************************************************************\r
+;\r
+; http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
+; license and Real Time Engineers Ltd. contact details.;\r
+;\r
+; http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
+; including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
+; compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
+;\r
+; http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
+; Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS\r
+; licenses offer ticketed support, indemnification and middleware.\r
+;\r
+; http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
+; engineered and independently SIL3 certified version for use in safety and\r
+; mission critical applications that require provable dependability.\r
+;\r
+; 1 tab == 4 spaces!\r
+;*/\r
+\r
+ .GLB _vRegTest1Implementation\r
+ .GLB _vRegTest2Implementation\r
+\r
+ .GLB _ulRegTest1LoopCounter\r
+ .GLB _ulRegTest2LoopCounter\r
+\r
+ .SECTION P,CODE\r
+\r
+\r
+;/* This function is explained in the comments at the top of main.c. */\r
+_vRegTest1Implementation:\r
+\r
+ ;/* Put a known value in each register. */\r
+ MOV.L #1, R1\r
+ MOV.L #2, R2\r
+ MOV.L #3, R3\r
+ MOV.L #4, R4\r
+ MOV.L #5, R5\r
+ MOV.L #6, R6\r
+ MOV.L #7, R7\r
+ MOV.L #8, R8\r
+ MOV.L #9, R9\r
+ MOV.L #10, R10\r
+ MOV.L #11, R11\r
+ MOV.L #12, R12\r
+ MOV.L #13, R13\r
+ MOV.L #14, R14\r
+ MOV.L #15, R15\r
+ \r
+ ;/* Loop, checking each itteration that each register still contains the\r
+ ;expected value. */\r
+TestLoop1: \r
+\r
+ ;/* Push the registers that are going to get clobbered. */\r
+ PUSHM R14-R15 \r
+ \r
+ ;/* Increment the loop counter to show this task is still getting CPU time. */\r
+ MOV.L #_ulRegTest1LoopCounter, R14\r
+ MOV.L [ R14 ], R15\r
+ ADD #1, R15 \r
+ MOV.L R15, [ R14 ]\r
+ \r
+ ;/* Yield to extend the text coverage. Set the bit in the ITU SWINTR register. */\r
+ MOV.L #1, R14\r
+ MOV.L #0872E0H, R15\r
+ MOV.B R14, [R15]\r
+ NOP \r
+ NOP \r
+ \r
+ ;/* Restore the clobbered registers. */\r
+ POPM R14-R15 \r
+ \r
+ ;/* Now compare each register to ensure it still contains the value that was\r
+ ;set before this loop was entered. */\r
+ CMP #1, R1 \r
+ BNE RegTest1Error \r
+ CMP #2, R2 \r
+ BNE RegTest1Error \r
+ CMP #3, R3 \r
+ BNE RegTest1Error \r
+ CMP #4, R4 \r
+ BNE RegTest1Error \r
+ CMP #5, R5 \r
+ BNE RegTest1Error \r
+ CMP #6, R6 \r
+ BNE RegTest1Error \r
+ CMP #7, R7 \r
+ BNE RegTest1Error \r
+ CMP #8, R8 \r
+ BNE RegTest1Error \r
+ CMP #9, R9 \r
+ BNE RegTest1Error \r
+ CMP #10, R10 \r
+ BNE RegTest1Error \r
+ CMP #11, R11 \r
+ BNE RegTest1Error \r
+ CMP #12, R12 \r
+ BNE RegTest1Error \r
+ CMP #13, R13 \r
+ BNE RegTest1Error \r
+ CMP #14, R14 \r
+ BNE RegTest1Error \r
+ CMP #15, R15 \r
+ BNE RegTest1Error \r
+\r
+ ;/* All comparisons passed, start a new itteratio of this loop. */\r
+ BRA TestLoop1 \r
+ \r
+RegTest1Error: \r
+ ;/* A compare failed, just loop here so the loop counter stops incrementing\r
+ ;- causing the check task to indicate the error. */\r
+ BRA RegTest1Error \r
+;/*-----------------------------------------------------------*/\r
+\r
+;/* This function is explained in the comments at the top of main.c. */\r
+_vRegTest2Implementation:\r
+\r
+ ;/* Put a known value in each register. */\r
+ MOV.L #10H, R1\r
+ MOV.L #20H, R2\r
+ MOV.L #30H, R3\r
+ MOV.L #40H, R4\r
+ MOV.L #50H, R5\r
+ MOV.L #60H, R6\r
+ MOV.L #70H, R7\r
+ MOV.L #80H, R8\r
+ MOV.L #90H, R9\r
+ MOV.L #100H, R10\r
+ MOV.L #110H, R11\r
+ MOV.L #120H, R12\r
+ MOV.L #130H, R13\r
+ MOV.L #140H, R14\r
+ MOV.L #150H, R15\r
+ \r
+ ;/* Loop, checking each itteration that each register still contains the\r
+ ;expected value. */\r
+TestLoop2: \r
+\r
+ ;/* Push the registers that are going to get clobbered. */\r
+ PUSHM R14-R15 \r
+ \r
+ ;/* Increment the loop counter to show this task is still getting CPU time. */\r
+ MOV.L #_ulRegTest2LoopCounter, R14\r
+ MOV.L [ R14 ], R15\r
+ ADD #1, R15 \r
+ MOV.L R15, [ R14 ]\r
+ \r
+ ;/* Restore the clobbered registers. */\r
+ POPM R14-R15 \r
+ \r
+ ;/* Now compare each register to ensure it still contains the value that was\r
+ ;set before this loop was entered. */\r
+ CMP #10H, R1 \r
+ BNE RegTest2Error \r
+ CMP #20H, R2 \r
+ BNE RegTest2Error \r
+ CMP #30H, R3 \r
+ BNE RegTest2Error \r
+ CMP #40H, R4 \r
+ BNE RegTest2Error \r
+ CMP #50H, R5 \r
+ BNE RegTest2Error \r
+ CMP #60H, R6 \r
+ BNE RegTest2Error \r
+ CMP #70H, R7 \r
+ BNE RegTest2Error \r
+ CMP #80H, R8 \r
+ BNE RegTest2Error \r
+ CMP #90H, R9 \r
+ BNE RegTest2Error \r
+ CMP #100H, R10 \r
+ BNE RegTest2Error \r
+ CMP #110H, R11 \r
+ BNE RegTest2Error \r
+ CMP #120H, R12 \r
+ BNE RegTest2Error \r
+ CMP #130H, R13 \r
+ BNE RegTest2Error \r
+ CMP #140H, R14 \r
+ BNE RegTest2Error \r
+ CMP #150H, R15 \r
+ BNE RegTest2Error \r
+\r
+ ;/* All comparisons passed, start a new itteratio of this loop. */\r
+ BRA TestLoop2 \r
+ \r
+RegTest2Error: \r
+ ;/* A compare failed, just loop here so the loop counter stops incrementing\r
+ ;- causing the check task to indicate the error. */\r
+ BRA RegTest2Error \r
+\r
+ \r
+ .END\r
--- /dev/null
+/*\r
+ FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd.\r
+ All rights reserved\r
+\r
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
+\r
+ ***************************************************************************\r
+ * *\r
+ * FreeRTOS provides completely free yet professionally developed, *\r
+ * robust, strictly quality controlled, supported, and cross *\r
+ * platform software that has become a de facto standard. *\r
+ * *\r
+ * Help yourself get started quickly and support the FreeRTOS *\r
+ * project by purchasing a FreeRTOS tutorial book, reference *\r
+ * manual, or both from: http://www.FreeRTOS.org/Documentation *\r
+ * *\r
+ * Thank you! *\r
+ * *\r
+ ***************************************************************************\r
+\r
+ This file is part of the FreeRTOS distribution.\r
+\r
+ FreeRTOS is free software; you can redistribute it and/or modify it under\r
+ the terms of the GNU General Public License (version 2) as published by the\r
+ Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.\r
+\r
+ >>! NOTE: The modification to the GPL is included to allow you to distribute\r
+ >>! a combined work that includes FreeRTOS without being obliged to provide\r
+ >>! the source code for proprietary components outside of the FreeRTOS\r
+ >>! kernel.\r
+\r
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
+ FOR A PARTICULAR PURPOSE. Full license text is available from the following\r
+ link: http://www.freertos.org/a00114.html\r
+\r
+ 1 tab == 4 spaces!\r
+\r
+ ***************************************************************************\r
+ * *\r
+ * Having a problem? Start by reading the FAQ "My application does *\r
+ * not run, what could be wrong?" *\r
+ * *\r
+ * http://www.FreeRTOS.org/FAQHelp.html *\r
+ * *\r
+ ***************************************************************************\r
+\r
+ http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
+ license and Real Time Engineers Ltd. contact details.\r
+\r
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
+\r
+ http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
+ Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS\r
+ licenses offer ticketed support, indemnification and middleware.\r
+\r
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
+ engineered and independently SIL3 certified version for use in safety and\r
+ mission critical applications that require provable dependability.\r
+\r
+ 1 tab == 4 spaces!\r
+*/\r
+\r
+/******************************************************************************\r
+ * NOTE 1: This project provides two demo applications. A simple blinky style\r
+ * project, and a more comprehensive test and demo application. The\r
+ * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select\r
+ * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY\r
+ * in main.c. This file implements the comprehensive test and demo version.\r
+ *\r
+ * NOTE 2: This file only contains the source code that is specific to the\r
+ * full demo. Generic functions, such FreeRTOS hook functions, and functions\r
+ * required to configure the hardware, are defined in main.c.\r
+ *\r
+ ******************************************************************************\r
+ *\r
+ * main_full() creates all the demo application tasks and software timers, then\r
+ * starts the scheduler. The web documentation provides more details of the\r
+ * standard demo application tasks, which provide no particular functionality,\r
+ * but do provide a good example of how to use the FreeRTOS API.\r
+ *\r
+ * In addition to the standard demo tasks, the following tasks and tests are\r
+ * defined and/or created within this file:\r
+ *\r
+ * FreeRTOS+CLI command console. The command console is access through the\r
+ * UART to USB connector on the ZC702 Zynq development board (marked J2). For\r
+ * reasons of robustness testing the UART driver is deliberately written to be\r
+ * inefficient and should not be used as a template for a production driver.\r
+ * Type "help" to see a list of registered commands. The FreeRTOS+CLI license\r
+ * is different to the FreeRTOS license, see http://www.FreeRTOS.org/cli for\r
+ * license and usage details. The default baud rate is 115200.\r
+ *\r
+ * "Reg test" tasks - These fill both the core and floating point registers with\r
+ * known values, then check that each register maintains its expected value for\r
+ * the lifetime of the task. Each task uses a different set of values. The reg\r
+ * test tasks execute with a very low priority, so get preempted very\r
+ * frequently. A register containing an unexpected value is indicative of an\r
+ * error in the context switching mechanism.\r
+ *\r
+ * "Check" task - The check task period is initially set to three seconds. The\r
+ * task checks that all the standard demo tasks, and the register check tasks,\r
+ * are not only still executing, but are executing without reporting any errors.\r
+ * If the check task discovers that a task has either stalled, or reported an\r
+ * error, then it changes its own execution period from the initial three\r
+ * seconds, to just 200ms. The check task also toggles an LED each time it is\r
+ * called. This provides a visual indication of the system status: If the LED\r
+ * toggles every three seconds, then no issues have been discovered. If the LED\r
+ * toggles every 200ms, then an issue has been discovered with at least one\r
+ * task.\r
+ */\r
+\r
+/* Standard includes. */\r
+#include <stdio.h>\r
+\r
+/* Kernel includes. */\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+#include "timers.h"\r
+#include "semphr.h"\r
+\r
+/* Standard demo application includes. */\r
+#include "flop.h"\r
+#include "semtest.h"\r
+#include "dynamic.h"\r
+#include "BlockQ.h"\r
+#include "blocktim.h"\r
+#include "countsem.h"\r
+#include "GenQTest.h"\r
+#include "recmutex.h"\r
+#include "death.h"\r
+#include "partest.h"\r
+#include "comtest2.h"\r
+#include "serial.h"\r
+#include "TimerDemo.h"\r
+#include "QueueOverwrite.h"\r
+#include "IntQueue.h"\r
+#include "EventGroupsDemo.h"\r
+\r
+/* Priorities for the demo application tasks. */\r
+#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )\r
+#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )\r
+#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )\r
+#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )\r
+#define mainUART_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3UL )\r
+#define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
+#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )\r
+#define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )\r
+\r
+/* The priority used by the UART command console task. */\r
+#define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( configMAX_PRIORITIES - 2 )\r
+\r
+/* The LED used by the check timer. */\r
+#define mainCHECK_LED ( 0 )\r
+\r
+/* A block time of zero simply means "don't block". */\r
+#define mainDONT_BLOCK ( 0UL )\r
+\r
+/* The period after which the check timer will expire, in ms, provided no errors\r
+have been reported by any of the standard demo tasks. ms are converted to the\r
+equivalent in ticks using the portTICK_PERIOD_MS constant. */\r
+#define mainNO_ERROR_CHECK_TASK_PERIOD ( 3000UL / portTICK_PERIOD_MS )\r
+\r
+/* The period at which the check timer will expire, in ms, if an error has been\r
+reported in one of the standard demo tasks. ms are converted to the equivalent\r
+in ticks using the portTICK_PERIOD_MS constant. */\r
+#define mainERROR_CHECK_TASK_PERIOD ( 200UL / portTICK_PERIOD_MS )\r
+\r
+/* Parameters that are passed into the register check tasks solely for the\r
+purpose of ensuring parameters are passed into tasks correctly. */\r
+#define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )\r
+#define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )\r
+\r
+/* The base period used by the timer test tasks. */\r
+#define mainTIMER_TEST_PERIOD ( 50 )\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * Called by main() to run the full demo (as opposed to the blinky demo) when\r
+ * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.\r
+ */\r
+void main_full( void );\r
+\r
+/*\r
+ * The check task, as described at the top of this file.\r
+ */\r
+static void prvCheckTask( void *pvParameters );\r
+\r
+/*\r
+ * Register check tasks, and the tasks used to write over and check the contents\r
+ * of the FPU registers, as described at the top of this file. The nature of\r
+ * these files necessitates that they are written in an assembly file, but the\r
+ * entry points are kept in the C file for the convenience of checking the task\r
+ * parameter.\r
+ */\r
+static void prvRegTestTaskEntry1( void *pvParameters );\r
+extern void vRegTest1Implementation( void );\r
+static void prvRegTestTaskEntry2( void *pvParameters );\r
+extern void vRegTest2Implementation( void );\r
+\r
+/*\r
+ * Register commands that can be used with FreeRTOS+CLI. The commands are\r
+ * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.\r
+ */\r
+extern void vRegisterSampleCLICommands( void );\r
+\r
+/*\r
+ * The task that manages the FreeRTOS+CLI input and output.\r
+ */\r
+extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );\r
+\r
+/*\r
+ * A high priority task that does nothing other than execute at a pseudo random\r
+ * time to ensure the other test tasks don't just execute in a repeating\r
+ * pattern.\r
+ */\r
+static void prvPseudoRandomiser( void *pvParameters );\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/* The following two variables are used to communicate the status of the\r
+register check tasks to the check task. If the variables keep incrementing,\r
+then the register check tasks has not discovered any errors. If a variable\r
+stops incrementing, then an error has been found. */\r
+volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+void main_full( void )\r
+{\r
+ /* Start all the other standard demo/test tasks. They have not particular\r
+ functionality, but do demonstrate how to use the FreeRTOS API and test the\r
+ kernel port. */\r
+// vStartInterruptQueueTasks();\r
+ vStartDynamicPriorityTasks();\r
+ vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );\r
+ vCreateBlockTimeTasks();\r
+ vStartCountingSemaphoreTasks();\r
+ vStartGenericQueueTasks( tskIDLE_PRIORITY );\r
+ vStartRecursiveMutexTasks();\r
+ vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );\r
+ vStartMathTasks( mainFLOP_TASK_PRIORITY );\r
+ vStartTimerDemoTask( mainTIMER_TEST_PERIOD );\r
+ vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );\r
+ vStartEventGroupTasks();\r
+\r
+ /* Start the tasks that implements the command console on the UART, as\r
+ described above. */\r
+// vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );\r
+\r
+ /* Register the standard CLI commands. */\r
+// vRegisterSampleCLICommands();\r
+\r
+ /* Create the register check tasks, as described at the top of this file */\r
+ xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );\r
+ xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );\r
+\r
+ /* Create the task that just adds a little random behaviour. */\r
+ xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );\r
+\r
+ /* Create the task that performs the 'check' functionality, as described at\r
+ the top of this file. */\r
+ xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );\r
+\r
+ /* The set of tasks created by the following function call have to be\r
+ created last as they keep account of the number of tasks they expect to see\r
+ running. */\r
+ vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );\r
+\r
+ /* Start the scheduler. */\r
+ vTaskStartScheduler();\r
+\r
+ /* If all is well, the scheduler will now be running, and the following\r
+ line will never be reached. If the following line does execute, then\r
+ there was either insufficient FreeRTOS heap memory available for the idle\r
+ and/or timer tasks to be created, or vTaskStartScheduler() was called from\r
+ User mode. See the memory management section on the FreeRTOS web site for\r
+ more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The\r
+ mode from which main() is called is set in the C start up code and must be\r
+ a privileged mode (not user mode). */\r
+ for( ;; );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvCheckTask( void *pvParameters )\r
+{\r
+TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;\r
+TickType_t xLastExecutionTime;\r
+static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;\r
+unsigned long ulErrorFound = pdFALSE;\r
+\r
+ /* Just to stop compiler warnings. */\r
+ ( void ) pvParameters;\r
+\r
+ /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()\r
+ works correctly. */\r
+ xLastExecutionTime = xTaskGetTickCount();\r
+\r
+ /* Cycle for ever, delaying then checking all the other tasks are still\r
+ operating without error. The onboard LED is toggled on each iteration.\r
+ If an error is detected then the delay period is decreased from\r
+ mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the\r
+ effect of increasing the rate at which the onboard LED toggles, and in so\r
+ doing gives visual feedback of the system status. */\r
+ for( ;; )\r
+ {\r
+ /* Delay until it is time to execute again. */\r
+ vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );\r
+\r
+ /* Check all the demo tasks (other than the flash tasks) to ensure\r
+ that they are all still running, and that none have detected an error. */\r
+// if( xAreIntQueueTasksStillRunning() != pdTRUE )\r
+ {\r
+// ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xAreMathsTaskStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xAreBlockingQueuesStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if ( xAreGenericQueueTasksStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xIsCreateTaskStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xAreSemaphoreTasksStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xIsQueueOverwriteTaskStillRunning() != pdPASS )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ if( xAreEventGroupTasksStillRunning() != pdPASS )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+\r
+ /* Check that the register test 1 task is still running. */\r
+ if( ulLastRegTest1Value == ulRegTest1LoopCounter )\r
+ {\r
+ ulErrorFound = pdTRUE;\r
+ }\r
+ ulLastRegTest1Value = ulRegTest1LoopCounter;\r
+\r
+ /* Check that the register test 2 task is still running. */\r
+ if( ulLastRegTest2Value == ulRegTest2LoopCounter )\r
+ {\r
+// ulErrorFound = pdTRUE;\r
+ }\r
+ ulLastRegTest2Value = ulRegTest2LoopCounter;\r
+\r
+ /* Toggle the check LED to give an indication of the system status. If\r
+ the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then\r
+ everything is ok. A faster toggle indicates an error. */\r
+ vParTestToggleLED( mainCHECK_LED );\r
+\r
+ if( ulErrorFound != pdFALSE )\r
+ {\r
+ /* An error has been detected in one of the tasks - flash the LED\r
+ at a higher frequency to give visible feedback that something has\r
+ gone wrong (it might just be that the loop back connector required\r
+ by the comtest tasks has not been fitted). */\r
+ xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;\r
+ }\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvRegTestTaskEntry1( void *pvParameters )\r
+{\r
+ /* Although the regtest task is written in assembler, its entry point is\r
+ written in C for convenience of checking the task parameter is being passed\r
+ in correctly. */\r
+ if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )\r
+ {\r
+ /* The reg test task also tests the floating point registers. Tasks\r
+ that use the floating point unit must call vPortTaskUsesFPU() before\r
+ any floating point instructions are executed. */\r
+// vPortTaskUsesFPU();\r
+\r
+ /* Start the part of the test that is written in assembler. */\r
+ vRegTest1Implementation();\r
+ }\r
+\r
+ /* The following line will only execute if the task parameter is found to\r
+ be incorrect. The check timer will detect that the regtest loop counter is\r
+ not being incremented and flag an error. */\r
+ vTaskDelete( NULL );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvRegTestTaskEntry2( void *pvParameters )\r
+{\r
+ /* Although the regtest task is written in assembler, its entry point is\r
+ written in C for convenience of checking the task parameter is being passed\r
+ in correctly. */\r
+ if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )\r
+ {\r
+ /* The reg test task also tests the floating point registers. Tasks\r
+ that use the floating point unit must call vPortTaskUsesFPU() before\r
+ any floating point instructions are executed. */\r
+// vPortTaskUsesFPU();\r
+\r
+ /* Start the part of the test that is written in assembler. */\r
+ vRegTest2Implementation();\r
+ }\r
+\r
+ /* The following line will only execute if the task parameter is found to\r
+ be incorrect. The check timer will detect that the regtest loop counter is\r
+ not being incremented and flag an error. */\r
+ vTaskDelete( NULL );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvPseudoRandomiser( void *pvParameters )\r
+{\r
+const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = ( 35 / portTICK_PERIOD_MS );\r
+volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue;\r
+\r
+ /* This task does nothing other than ensure there is a little bit of\r
+ disruption in the scheduling pattern of the other tasks. Normally this is\r
+ done by generating interrupts at pseudo random times. */\r
+ for( ;; )\r
+ {\r
+ ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;\r
+ ulValue = ( ulNextRand >> 16UL ) & 0xffUL;\r
+\r
+ if( ulValue < ulMinDelay )\r
+ {\r
+ ulValue = ulMinDelay;\r
+ }\r
+\r
+ vTaskDelay( ulValue );\r
+\r
+ while( ulValue > 0 )\r
+ {\r
+ nop();\r
+ nop();\r
+ nop();\r
+\r
+ ulValue--;\r
+ }\r
+ }\r
+}\r
+\r
+\r
+\r
+\r
+\r
+\r
projects / freertos / commitdiff