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553 lines
23 KiB
C
553 lines
23 KiB
C
16 years ago
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/*
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FreeRTOS V5.4.1 - Copyright (C) 2009 Real Time Engineers Ltd.
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation and modified by the FreeRTOS exception.
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**NOTE** The exception to the GPL is included to allow you to distribute a
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combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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Alternative commercial license and support terms are also available upon
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request. See the licensing section of http://www.FreeRTOS.org for full
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license details.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details.
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You should have received a copy of the GNU General Public License along
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with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
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Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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***************************************************************************
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* *
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* Looking for a quick start? Then check out the FreeRTOS eBook! *
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* See http://www.FreeRTOS.org/Documentation for details *
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* *
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***************************************************************************
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1 tab == 4 spaces!
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Please ensure to read the configuration and relevant port sections of the
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online documentation.
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/*
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* Creates all the demo application tasks, then starts the scheduler.
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* In addition to the standard demo tasks, the following tasks and tests are
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* defined and/or created within this file:
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*
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* "Check" task - This only executes every five seconds but has the highest
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* priority so is guaranteed to get processor time. Its main function is to
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* check that all the standard demo tasks are still operational. The check
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* task will write an error message to the console should an error be detected
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* within any of the demo tasks. The check task also toggles the LED defined
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* by mainCHECK_LED every 5 seconds while the system is error free, with the
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* toggle rate increasing to every 500ms should an error occur.
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*
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* "Reg test" tasks - These fill the registers with known values, then check
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* that each register still contains its expected value. Each task uses
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* different values. The tasks run with very low priority so get preempted very
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* frequently. A register containing an unexpected value is indicative of an
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* error in the context switching mechanism.
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*
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* See the online documentation for this demo for more information on interrupt
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* usage.
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*/
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/* Standard includes. */
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#include <stddef.h>
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#include <stdio.h>
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#include <string.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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/* Demo application includes. */
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#include "partest.h"
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#include "flash.h"
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#include "blocktim.h"
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#include "semtest.h"
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#include "serial.h"
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#include "comtest.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "integer.h"
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#include "PollQ.h"
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#include "BlockQ.h"
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#include "dynamic.h"
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#include "countsem.h"
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#include "recmutex.h"
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#include "death.h"
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/*-----------------------------------------------------------*/
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/* The rate at which the LED controlled by the 'check' task will toggle when no
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errors have been detected. */
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#define mainNO_ERROR_PERIOD ( 5000 )
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/* The rate at which the LED controlled by the 'check' task will toggle when an
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error has been detected. */
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#define mainERROR_PERIOD ( 500 )
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/* The LED toggled by the Check task. */
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#define mainCHECK_LED ( 7 )
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/* The first LED used by the ComTest tasks. One LED toggles each time a
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character is transmitted, and one each time a character is received and
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verified as being the expected character. */
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#define mainCOMTEST_LED ( 4 )
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/* Priority definitions for the tasks in the demo application. */
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#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainSEMAPHORE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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#define mainREG_TEST_PRIORITY ( tskIDLE_PRIORITY )
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/* Misc. */
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#define mainDONT_WAIT ( 0 )
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/* The parameters passed to the reg test tasks. This is just done to check
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the parameter passing mechanism is working correctly. */
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#define mainREG_TEST_1_PARAMETER ( ( void * ) 0x12345678 )
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#define mainREG_TEST_2_PARAMETER ( ( void * ) 0x87654321 )
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/*-----------------------------------------------------------*/
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/*
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* Setup the processor ready for the demo.
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*/
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static void prvSetupHardware( void );
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/*
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* Execute all of the check functions to ensure the tests haven't failed.
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*/
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static void prvCheckTask( void *pvParameters );
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/*
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* The register test (or RegTest) tasks as described at the top of this file.
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*/
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static void prvFirstRegTestTask( void *pvParameters );
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static void prvSecondRegTestTask( void *pvParameters );
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/*-----------------------------------------------------------*/
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/* Counters that are incremented on each iteration of the RegTest tasks
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so long as no errors have been detected. */
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volatile unsigned long ulRegTest1Counter = 0UL, ulRegTest2Counter = 0UL;
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/*-----------------------------------------------------------*/
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/*
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* Create the demo tasks then start the scheduler.
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*/
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int main( void )
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{
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/* Configure any hardware required for this demo. */
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prvSetupHardware();
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/* Create all the other standard demo tasks. These serve no purpose other
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than to test the port and demonstrate the use of the FreeRTOS API. */
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vStartLEDFlashTasks( tskIDLE_PRIORITY );
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vStartIntegerMathTasks( mainGENERIC_QUEUE_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );
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vCreateBlockTimeTasks();
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vStartSemaphoreTasks( mainSEMAPHORE_TASK_PRIORITY );
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vStartDynamicPriorityTasks();
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vStartQueuePeekTasks();
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vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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vStartCountingSemaphoreTasks();
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vStartRecursiveMutexTasks();
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, 0, mainCOMTEST_LED );
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/* prvCheckTask uses sprintf so requires more stack. */
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xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* The RegTest tasks as described at the top of this file. */
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xTaskCreate( prvFirstRegTestTask, "Rreg1", configMINIMAL_STACK_SIZE, mainREG_TEST_1_PARAMETER, mainREG_TEST_PRIORITY, NULL );
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xTaskCreate( prvSecondRegTestTask, "Rreg2", configMINIMAL_STACK_SIZE, mainREG_TEST_2_PARAMETER, mainREG_TEST_PRIORITY, NULL );
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/* This task has to be created last as it keeps account of the number of tasks
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it expects to see running. */
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vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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/* Finally start the scheduler. */
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vTaskStartScheduler();
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/* Will only reach here if there is insufficient heap available to start
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the scheduler. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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/* Setup the digital IO for the LED's. */
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vParTestInitialise();
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( void )
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{
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/* Look at pxCurrentTCB to see which task overflowed its stack. */
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for( ;; )
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{
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asm( "break" );
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}
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}
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/*-----------------------------------------------------------*/
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void _general_exception_handler( unsigned portLONG ulCause, unsigned portLONG ulStatus )
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{
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/* This overrides the definition provided by the kernel. Other exceptions
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should be handled here. */
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for( ;; )
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{
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asm( "break" );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTask( void *pvParameters )
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{
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portTickType xLastExecutionTime, ulTicksToWait = mainNO_ERROR_PERIOD;
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unsigned long ulLastRegTest1 = 0UL, ulLastRegTest2 = 0UL;
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const portCHAR * pcMessage;
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/* Initialise the variable used to control our iteration rate prior to
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its first use. */
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xLastExecutionTime = xTaskGetTickCount();
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for( ;; )
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{
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/* Wait until it is time to run the tests again. */
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vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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/* Have any of the standard demo tasks detected an error in their
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operation? */
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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pcMessage = "Error: Integer Maths.\n";
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}
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else if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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pcMessage = "Error: GenQ.\n";
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}
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else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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pcMessage = "Error: BlockQ.\n";
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}
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else if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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pcMessage = "Error: PollQ.\n";
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}
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else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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pcMessage = "Error: PeekQ.\n";
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}
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else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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pcMessage = "Error: Block Time.\n";
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}
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else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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pcMessage = "Error: Semaphore Test.\n";
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}
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else if( xAreComTestTasksStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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pcMessage = "Error: Comm Test.\n";
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}
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else if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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pcMessage = "Error: Suicidal Tasks.\n";
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}
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else if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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pcMessage = "Error: Dynamic Priority.\n";
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}
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else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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pcMessage = "Error: Count Semaphore.\n";
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}
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else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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ulTicksToWait = mainERROR_PERIOD;
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pcMessage = "Error: Recursive Mutex.\n";
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}
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else if( ulLastRegTest1 == ulRegTest1Counter )
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{
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/* ulRegTest1Counter is no longer being incremented, indicating
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that an error has been discovered in prvFirstRegTestTask(). */
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ulTicksToWait = mainERROR_PERIOD;
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pcMessage = "Error: Reg Test1.\n";
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}
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else if( ulLastRegTest2 == ulRegTest2Counter )
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{
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/* ulRegTest2Counter is no longer being incremented, indicating
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that an error has been discovered in prvSecondRegTestTask(). */
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ulTicksToWait = mainERROR_PERIOD;
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pcMessage = "Error: Reg Test2.\n";
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}
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else
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{
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pcMessage = NULL;
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}
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/* Remember the counter values this time around so a counter failing
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to be incremented correctly can be spotted. */
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ulLastRegTest1 = ulRegTest1Counter;
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ulLastRegTest2 = ulRegTest2Counter;
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/* Print out an error message if there is one. Mutual exclusion is
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not used as this is the only task accessing stdout. */
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if( pcMessage != NULL )
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{
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printf( pcMessage );
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}
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/* Provide visual feedback of the system status. If the LED is toggled
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every 5 seconds then no errors have been found. If the LED is toggled
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every 500ms then at least one error has been found. */
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vParTestToggleLED( mainCHECK_LED );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvFirstRegTestTask( void *pvParameters )
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{
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/* Check the parameters are passed in as expected. */
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if( pvParameters != mainREG_TEST_1_PARAMETER )
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{
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/* Don't execute any further so an error is recognised by the check
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task. */
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vTaskDelete( NULL );
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}
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/* Fill registers with known values, then check that each register still
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contains its expected value. An incorrect value is indicative of an error
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in the context switching process.
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If no errors are found ulRegTest1Counter is incremented. The check task
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will recognise an error if ulRegTest1Counter stops being incremented.
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This task also performs a manual yield in the middle of its execution, just
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|
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to increase the test coverage. */
|
||
|
|
asm volatile (
|
||
|
|
" .extern ulRegTest1Counter \n" \
|
||
|
|
" \n" \
|
||
|
|
" addi r3, r0, 3 \n" \
|
||
|
|
" addi r4, r0, 4 \n" \
|
||
|
|
" addi r5, r0, 5 \n" \
|
||
|
|
" addi r6, r0, 6 \n" \
|
||
|
|
" addi r7, r0, 7 \n" \
|
||
|
|
" addi r8, r0, 8 \n" \
|
||
|
|
" addi r9, r0, 9 \n" \
|
||
|
|
" addi r10, r0, 10 \n" \
|
||
|
|
" addi r11, r0, 11 \n" \
|
||
|
|
" addi r12, r0, 12 \n" \
|
||
|
|
" addi r13, r0, 13 \n" \
|
||
|
|
" addi r14, r0, 14 \n" \
|
||
|
|
" addi r15, r0, 15 \n" \
|
||
|
|
" addi r16, r0, 16 \n" \
|
||
|
|
" addi r17, r0, 17 \n" \
|
||
|
|
" addi r18, r0, 18 \n" \
|
||
|
|
" addi r19, r0, 19 \n" \
|
||
|
|
" addi r20, r0, 20 \n" \
|
||
|
|
" addi r21, r0, 21 \n" \
|
||
|
|
" addi r22, r0, 22 \n" \
|
||
|
|
" addi r23, r0, 23 \n" \
|
||
|
|
" addi r28, r0, 28 \n" \
|
||
|
|
" addi r31, r0, 31 \n" \
|
||
|
|
"RegTest1: \n" \
|
||
|
|
" addi r2, r0, 0 \n" \
|
||
|
|
" trap \n" \
|
||
|
|
" bne r2, r0, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 3 \n" \
|
||
|
|
" bne r2, r3, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 4 \n" \
|
||
|
|
" bne r2, r4, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 5 \n" \
|
||
|
|
" bne r2, r5, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 6 \n" \
|
||
|
|
" bne r2, r6, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 7 \n" \
|
||
|
|
" bne r2, r7, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 8 \n" \
|
||
|
|
" bne r2, r8, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 9 \n" \
|
||
|
|
" bne r2, r9, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 10 \n" \
|
||
|
|
" bne r2, r10, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 11 \n" \
|
||
|
|
" bne r2, r11, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 12 \n" \
|
||
|
|
" bne r2, r12, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 13 \n" \
|
||
|
|
" bne r2, r13, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 14 \n" \
|
||
|
|
" bne r2, r14, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 15 \n" \
|
||
|
|
" bne r2, r15, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 16 \n" \
|
||
|
|
" bne r2, r16, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 17 \n" \
|
||
|
|
" bne r2, r17, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 18 \n" \
|
||
|
|
" bne r2, r18, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 19 \n" \
|
||
|
|
" bne r2, r19, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 20 \n" \
|
||
|
|
" bne r2, r20, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 21 \n" \
|
||
|
|
" bne r2, r21, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 22 \n" \
|
||
|
|
" bne r2, r22, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 23 \n" \
|
||
|
|
" bne r2, r23, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 28 \n" \
|
||
|
|
" bne r2, r28, RegTest1Error \n" \
|
||
|
|
" addi r2, r0, 31 \n" \
|
||
|
|
" bne r2, r31, RegTest1Error \n" \
|
||
|
|
" ldw r2, %gprel(ulRegTest1Counter)(gp) \n" \
|
||
|
|
" addi r2, r2, 1 \n" \
|
||
|
|
" stw r2, %gprel(ulRegTest1Counter)(gp) \n" \
|
||
|
|
" br RegTest1 \n" \
|
||
|
|
"RegTest1Error: \n" \
|
||
|
|
" br RegTest1Error \n"
|
||
|
|
);
|
||
|
|
}
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
|
||
|
|
static void prvSecondRegTestTask( void *pvParameters )
|
||
|
|
{
|
||
|
|
/* Check the parameters are passed in as expected. */
|
||
|
|
if( pvParameters != mainREG_TEST_2_PARAMETER )
|
||
|
|
{
|
||
|
|
/* Don't execute any further so an error is recognised by the check
|
||
|
|
task. */
|
||
|
|
vTaskDelete( NULL );
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Fill registers with known values, then check that each register still
|
||
|
|
contains its expected value. An incorrect value is indicative of an error
|
||
|
|
in the context switching process.
|
||
|
|
|
||
|
|
If no errors are found ulRegTest2Counter is incremented. The check task
|
||
|
|
will recognise an error if ulRegTest2Counter stops being incremented. */
|
||
|
|
asm volatile (
|
||
|
|
" .extern ulRegTest2Counter \n" \
|
||
|
|
" \n" \
|
||
|
|
" addi r3, r0, 3 \n" \
|
||
|
|
" addi r4, r0, 4 \n" \
|
||
|
|
" addi r5, r0, 5 \n" \
|
||
|
|
" addi r6, r0, 6 \n" \
|
||
|
|
" addi r7, r0, 7 \n" \
|
||
|
|
" addi r8, r0, 8 \n" \
|
||
|
|
" addi r9, r0, 9 \n" \
|
||
|
|
" addi r10, r0, 10 \n" \
|
||
|
|
" addi r11, r0, 11 \n" \
|
||
|
|
" addi r12, r0, 12 \n" \
|
||
|
|
" addi r13, r0, 13 \n" \
|
||
|
|
" addi r14, r0, 14 \n" \
|
||
|
|
" addi r15, r0, 15 \n" \
|
||
|
|
" addi r16, r0, 16 \n" \
|
||
|
|
" addi r17, r0, 17 \n" \
|
||
|
|
" addi r18, r0, 18 \n" \
|
||
|
|
" addi r19, r0, 19 \n" \
|
||
|
|
" addi r20, r0, 20 \n" \
|
||
|
|
" addi r21, r0, 21 \n" \
|
||
|
|
" addi r22, r0, 22 \n" \
|
||
|
|
" addi r23, r0, 23 \n" \
|
||
|
|
" addi r28, r0, 28 \n" \
|
||
|
|
" addi r31, r0, 31 \n" \
|
||
|
|
"RegTest2: \n" \
|
||
|
|
" addi r2, r0, 0 \n" \
|
||
|
|
" bne r2, r0, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 3 \n" \
|
||
|
|
" bne r2, r3, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 4 \n" \
|
||
|
|
" bne r2, r4, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 5 \n" \
|
||
|
|
" bne r2, r5, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 6 \n" \
|
||
|
|
" bne r2, r6, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 7 \n" \
|
||
|
|
" bne r2, r7, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 8 \n" \
|
||
|
|
" bne r2, r8, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 9 \n" \
|
||
|
|
" bne r2, r9, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 10 \n" \
|
||
|
|
" bne r2, r10, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 11 \n" \
|
||
|
|
" bne r2, r11, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 12 \n" \
|
||
|
|
" bne r2, r12, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 13 \n" \
|
||
|
|
" bne r2, r13, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 14 \n" \
|
||
|
|
" bne r2, r14, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 15 \n" \
|
||
|
|
" bne r2, r15, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 16 \n" \
|
||
|
|
" bne r2, r16, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 17 \n" \
|
||
|
|
" bne r2, r17, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 18 \n" \
|
||
|
|
" bne r2, r18, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 19 \n" \
|
||
|
|
" bne r2, r19, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 20 \n" \
|
||
|
|
" bne r2, r20, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 21 \n" \
|
||
|
|
" bne r2, r21, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 22 \n" \
|
||
|
|
" bne r2, r22, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 23 \n" \
|
||
|
|
" bne r2, r23, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 28 \n" \
|
||
|
|
" bne r2, r28, RegTest2Error \n" \
|
||
|
|
" addi r2, r0, 31 \n" \
|
||
|
|
" bne r2, r31, RegTest2Error \n" \
|
||
|
|
" ldw r2, %gprel(ulRegTest2Counter)(gp) \n" \
|
||
|
|
" addi r2, r2, 1 \n" \
|
||
|
|
" stw r2, %gprel(ulRegTest2Counter)(gp) \n" \
|
||
|
|
" br RegTest2 \n" \
|
||
|
|
"RegTest2Error: \n" \
|
||
|
|
" br RegTest2Error \n"
|
||
|
|
);
|
||
|
|
}
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
|