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Add in interrupt nesting test.

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pull/4/head
Richard Barry 11 years ago
parent d898d16c44
commit 2fc4e89b98
5 changed files with 178 additions and 201 deletions
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5
FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/.project
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@ -49,6 +49,11 @@
<type>1</type> <type>1</type>
<locationURI>FREERTOS_ROOT/FreeRTOS-Plus/Demo/Common/FreeRTOS_Plus_CLI_Demos/UARTCommandConsole.c</locationURI> <locationURI>FREERTOS_ROOT/FreeRTOS-Plus/Demo/Common/FreeRTOS_Plus_CLI_Demos/UARTCommandConsole.c</locationURI>
</link> </link>
<link>
<name>src/Standard_Demo_Tasks/IntQueue.c</name>
<type>1</type>
<locationURI>FREERTOS_ROOT/FreeRTOS/Demo/Common/Minimal/IntQueue.c</locationURI>
</link>
</linkedResources> </linkedResources>
<filteredResources> <filteredResources>
<filter> <filter>

25
FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/FreeRTOSConfig.h
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@ -132,14 +132,14 @@
#define configUSE_QUEUE_SETS 1 #define configUSE_QUEUE_SETS 1
/* Co-routine definitions. */ /* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0 #define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 ) #define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Software timer definitions. */ /* Software timer definitions. */
#define configUSE_TIMERS 1 #define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 ) #define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
#define configTIMER_QUEUE_LENGTH 5 #define configTIMER_QUEUE_LENGTH 5
#define configTIMER_TASK_STACK_DEPTH ( configMINIMAL_STACK_SIZE * 2 ) #define configTIMER_TASK_STACK_DEPTH ( configMINIMAL_STACK_SIZE * 2 )
/* Set the following definitions to 1 to include the API function, or zero /* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */ to exclude the API function. */
@ -165,13 +165,14 @@ Zynq MPU. */
#define configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET ( -0xf00 ) #define configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET ( -0xf00 )
#define configUNIQUE_INTERRUPT_PRIORITIES 32 #define configUNIQUE_INTERRUPT_PRIORITIES 32
/* Run time stats gathering definitions. */ /* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS is not required because the time base
unsigned long ulGetRunTimeCounterValue( void ); comes from the ulHighFrequencyTimerCounts variable which is incremented in a
void vInitialiseRunTimeStats( void ); high frequency timer that is already being started as part of the interrupt
nesting test. */
#define configGENERATE_RUN_TIME_STATS 1 #define configGENERATE_RUN_TIME_STATS 1
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() vInitialiseRunTimeStats() extern volatile uint32_t ulHighFrequencyTimerCounts;
#define portGET_RUN_TIME_COUNTER_VALUE() ulGetRunTimeCounterValue() #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
#define portGET_RUN_TIME_COUNTER_VALUE() ulHighFrequencyTimerCounts
/* The size of the global output buffer that is available for use when there /* The size of the global output buffer that is available for use when there
are multiple command interpreters running at once (for example, one on a UART are multiple command interpreters running at once (for example, one on a UART

21
FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/FreeRTOS_tick_config.c
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@ -88,6 +88,7 @@ BaseType_t xStatus;
extern void FreeRTOS_Tick_Handler( void ); extern void FreeRTOS_Tick_Handler( void );
XScuTimer_Config *pxTimerConfig; XScuTimer_Config *pxTimerConfig;
XScuGic_Config *pxGICConfig; XScuGic_Config *pxGICConfig;
const uint8_t ucRisingEdge = 3;
/* This function is called with the IRQ interrupt disabled, and the IRQ /* This function is called with the IRQ interrupt disabled, and the IRQ
interrupt should be left disabled. It is enabled automatically when the interrupt should be left disabled. It is enabled automatically when the
@ -99,8 +100,11 @@ XScuGic_Config *pxGICConfig;
xStatus = XScuGic_CfgInitialize( &xInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress ); xStatus = XScuGic_CfgInitialize( &xInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress );
configASSERT( xStatus == XST_SUCCESS ); configASSERT( xStatus == XST_SUCCESS );
/* The priority must be the lowest possible. */
XScuGic_SetPriorityTriggerType( &xInterruptController, XPAR_SCUTIMER_INTR, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT, ucRisingEdge );
/* Install the FreeRTOS tick handler. */ /* Install the FreeRTOS tick handler. */
xStatus = XScuGic_Connect(&xInterruptController, XPAR_SCUTIMER_INTR, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, (void *)&xTimer); xStatus = XScuGic_Connect( &xInterruptController, XPAR_SCUTIMER_INTR, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, ( void * ) &xTimer );
configASSERT( xStatus == XST_SUCCESS ); configASSERT( xStatus == XST_SUCCESS );
/* Initialise the timer. */ /* Initialise the timer. */
@ -127,21 +131,6 @@ XScuGic_Config *pxGICConfig;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/*
* Crude implementation of a run time counter used to measure how much time
* each task spends in the Running state.
*/
unsigned long ulGetRunTimeCounterValue( void )
{
return 0;
}
/*-----------------------------------------------------------*/
void vInitialiseRunTimeStats( void )
{
}
/*-----------------------------------------------------------*/
void vClearTickInterrupt( void ) void vClearTickInterrupt( void )
{ {
XScuTimer_ClearInterruptStatus( &xTimer ); XScuTimer_ClearInterruptStatus( &xTimer );

323
FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/IntQueueTimer.c
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@ -63,6 +63,24 @@
1 tab == 4 spaces! 1 tab == 4 spaces!
*/ */
/*
* This file initialises three timers as follows:
*
* Timer 0 and Timer 1 provide the interrupts that are used with the IntQ
* standard demo tasks, which test interrupt nesting and using queues from
* interrupts. Both these interrupts operate below the maximum syscall
* interrupt priority.
*
* Timer 2 is a much higher frequency timer that tests the nesting of interrupts
* that execute above the maximum syscall interrupt priority.
*
* All the timers can nest with the tick interrupt - creating a maximum
* interrupt nesting depth of 4.
*
* For convenience, the high frequency timer is also used to provide the time
* base for the run time stats.
*/
/* Scheduler includes. */ /* Scheduler includes. */
#include "FreeRTOS.h" #include "FreeRTOS.h"
@ -71,214 +89,173 @@
#include "IntQueue.h" #include "IntQueue.h"
/* Xilinx includes. */ /* Xilinx includes. */
#include "xstatus.h"
#include "xil_io.h"
#include "xil_exception.h"
#include "xttcps.h" #include "xttcps.h"
#include "xscugic.h" #include "xscugic.h"
/* The frequencies at which the first two timers expire are slightly offset to
ensure they don't remain synchronised. The frequency of the interrupt that
operates above the max syscall interrupt priority is 10 times faster so really
hammers the interrupt entry and exit code. */
#define tmrTIMERS_USED 3
#define tmrTIMER_0_FREQUENCY ( 2000UL ) #define tmrTIMER_0_FREQUENCY ( 2000UL )
#define tmrTIMER_1_FREQUENCY ( 2001UL ) #define tmrTIMER_1_FREQUENCY ( 2001UL )
#define tmrTIMER_2_FREQUENCY ( 20000UL )
#define TTC_TICK_DEVICE_ID XPAR_XTTCPS_0_DEVICE_ID /*-----------------------------------------------------------*/
#define TTC_TICK_INTR_ID XPAR_XTTCPS_0_INTR
#define INTC_DEVICE_ID XPAR_SCUGIC_SINGLE_DEVICE_ID
/* /*
* Constants to set the basic operating parameters. * The single interrupt service routines that is used to service all three
* PWM_DELTA_DUTY is critical to the running time of the test. Smaller values * timers.
* make the test run longer.
*/ */
#define TICK_TIMER_FREQ_HZ 100 /* Tick timer counter's output frequency */ static void prvTimerHandler( void *CallBackRef );
#define TICKS_PER_CHANGE_PERIOD TICK_TIMER_FREQ_HZ /* Tick signals per update */ /*-----------------------------------------------------------*/
#define TIMERS_USED 2 /* Hardware constants. */
static const BaseType_t xDeviceIDs[ tmrTIMERS_USED ] = { XPAR_XTTCPS_0_DEVICE_ID, XPAR_XTTCPS_1_DEVICE_ID, XPAR_XTTCPS_2_DEVICE_ID };
static const BaseType_t xInterruptIDs[ tmrTIMERS_USED ] = { XPAR_XTTCPS_0_INTR, XPAR_XTTCPS_1_INTR, XPAR_XTTCPS_2_INTR };
static void TickHandler(void *CallBackRef); /* Timer configuration settings. */
typedef struct
{
uint32_t OutputHz; /* Output frequency. */
uint16_t Interval; /* Interval value. */
uint8_t Prescaler; /* Prescaler value. */
uint16_t Options; /* Option settings. */
} TmrCntrSetup;
static volatile uint8_t UpdateFlag; /* Flag to update the seconds counter */ static TmrCntrSetup xTimerSettings[ tmrTIMERS_USED ] =
static uint32_t TickCount; /* Ticker interrupts between seconds change */ {
static XTtcPs TtcPsInst[ TIMERS_USED ]; /* Timer counter instance */ { tmrTIMER_0_FREQUENCY, 0, 0, XTTCPS_OPTION_INTERVAL_MODE | XTTCPS_OPTION_WAVE_DISABLE },
{ tmrTIMER_1_FREQUENCY, 0, 0, XTTCPS_OPTION_INTERVAL_MODE | XTTCPS_OPTION_WAVE_DISABLE },
{ tmrTIMER_2_FREQUENCY, 0, 0, XTTCPS_OPTION_INTERVAL_MODE | XTTCPS_OPTION_WAVE_DISABLE }
};
/* Lower priority number means higher logical priority, so
configMAX_API_CALL_INTERRUPT_PRIORITY - 1 is above the maximum system call
interrupt priority. */
static const UBaseType_t uxInterruptPriorities[ tmrTIMERS_USED ] =
{
configMAX_API_CALL_INTERRUPT_PRIORITY + 1,
configMAX_API_CALL_INTERRUPT_PRIORITY,
configMAX_API_CALL_INTERRUPT_PRIORITY - 1
}
static XTtcPs xTimerInstances[ tmrTIMERS_USED ];
typedef struct { /* Used to provide a means of ensuring the intended interrupt nesting depth is
u32 OutputHz; /* Output frequency */ actually being reached. */
u16 Interval; /* Interval value */ extern uint32_t ulPortInterruptNesting;
u8 Prescaler; /* Prescaler value */ static uint32_t ulMaxRecordedNesting = 0;
u16 Options; /* Option settings */
} TmrCntrSetup;
static const TmrCntrSetup SettingsTable[ TIMERS_USED ] = { { tmrTIMER_0_FREQUENCY, 0, 0, XTTCPS_OPTION_INTERVAL_MODE | XTTCPS_OPTION_WAVE_DISABLE }, /* For convenience the high frequency timer increments a variable that is then
{ tmrTIMER_1_FREQUENCY, 0, 0, XTTCPS_OPTION_INTERVAL_MODE | XTTCPS_OPTION_WAVE_DISABLE } }; used as the time base for the run time stats. */
volatile uint32_t ulHighFrequencyTimerCounts = 0;
BaseType_t DeviceIDs[ TIMERS_USED ] = { XPAR_XTTCPS_0_DEVICE_ID, XPAR_XTTCPS_1_DEVICE_ID }; /*-----------------------------------------------------------*/
BaseType_t InterruptIDs[ TIMERS_USED ] = { XPAR_XTTCPS_0_INTR, XPAR_XTTCPS_1_INTR };
void vInitialiseTimerForIntQueueTest( void ) void vInitialiseTimerForIntQueueTest( void )
{ {
int Status; BaseType_t xStatus;
TmrCntrSetup *TimerSetup; TmrCntrSetup *pxTimerSettings;
XTtcPs *TtcPsTick;
extern XScuGic xInterruptController; extern XScuGic xInterruptController;
BaseType_t xTimer; BaseType_t xTimer;
XTtcPs *Timer; XTtcPs *pxTimerInstance;
XTtcPs_Config *Config; XTtcPs_Config *pxTimerConfiguration;
const uint8_t ucRisingEdge = 3;
for( xTimer = 0; xTimer < TIMERS_USED; xTimer++ ) for( xTimer = 0; xTimer < tmrTIMERS_USED; xTimer++ )
{ {
/* Look up the timer's configuration. */
pxTimerInstance = &( xTimerInstances[ xTimer ] );
pxTimerConfiguration = XTtcPs_LookupConfig( xDeviceIDs[ xTimer ] );
configASSERT( pxTimerConfiguration );
pxTimerSettings = &( xTimerSettings[ xTimer ] );
/* Initialise the device. */
xStatus = XTtcPs_CfgInitialize( pxTimerInstance, pxTimerConfiguration, pxTimerConfiguration->BaseAddress );
if( xStatus != XST_SUCCESS )
{
/* Not sure how to do this before XTtcPs_CfgInitialize is called
as pxTimerInstance is set within XTtcPs_CfgInitialize(). */
XTtcPs_Stop( pxTimerInstance );
xStatus = XTtcPs_CfgInitialize( pxTimerInstance, pxTimerConfiguration, pxTimerConfiguration->BaseAddress );
configASSERT( xStatus == XST_SUCCESS );
}
/* Set the options. */
XTtcPs_SetOptions( pxTimerInstance, pxTimerSettings->Options );
/* The timer frequency is preset in the pxTimerSettings structure.
Derive the values for the other structure members. */
XTtcPs_CalcIntervalFromFreq( pxTimerInstance, pxTimerSettings->OutputHz, &( pxTimerSettings->Interval ), &( pxTimerSettings->Prescaler ) );
/* Set the interval and prescale. */
XTtcPs_SetInterval( pxTimerInstance, pxTimerSettings->Interval );
XTtcPs_SetPrescaler( pxTimerInstance, pxTimerSettings->Prescaler );
/* The priority must be the lowest possible. */
XScuGic_SetPriorityTriggerType( &xInterruptController, xInterruptIDs[ xTimer ], uxInterruptPriorities[ xTimer ] << portPRIORITY_SHIFT, ucRisingEdge );
TimerSetup = &( SettingsTable[ xTimer ] ); /* Connect to the interrupt controller. */
Timer = &TtcPsInst[ xTimer ]; xStatus = XScuGic_Connect( &xInterruptController, xInterruptIDs[ xTimer ], ( Xil_InterruptHandler ) prvTimerHandler, ( void * ) pxTimerInstance );
configASSERT( xStatus == XST_SUCCESS);
/*
* Look up the configuration based on the device identifier /* Enable the interrupt in the GIC. */
*/ XScuGic_Enable( &xInterruptController, xInterruptIDs[ xTimer ] );
Config = XTtcPs_LookupConfig(DeviceIDs[ xTimer ]);
configASSERT( Config ); /* Enable the interrupts in the timer. */
XTtcPs_EnableInterrupts( pxTimerInstance, XTTCPS_IXR_INTERVAL_MASK );
/*
* Initialize the device /* Start the timer. */
*/ XTtcPs_Start( pxTimerInstance );
Status = XTtcPs_CfgInitialize(Timer, Config, Config->BaseAddress);
configASSERT(Status == XST_SUCCESS);
/*
* Stop the timer first
*/
XTtcPs_Stop( Timer );
/*
* Set the options
*/
XTtcPs_SetOptions(Timer, TimerSetup->Options);
/*
* Timer frequency is preset in the TimerSetup structure,
* however, the value is not reflected in its other fields, such as
* IntervalValue and PrescalerValue. The following call will map the
* frequency to the interval and prescaler values.
*/
XTtcPs_CalcIntervalFromFreq(Timer, TimerSetup->OutputHz,
&(TimerSetup->Interval), &(TimerSetup->Prescaler));
/*
* Set the interval and prescale
*/
XTtcPs_SetInterval(Timer, TimerSetup->Interval);
XTtcPs_SetPrescaler(Timer, TimerSetup->Prescaler);
/*
* Connect to the interrupt controller
*/
Status = XScuGic_Connect(&xInterruptController, InterruptIDs[ xTimer ], (Xil_InterruptHandler)TickHandler, (void *)Timer);
configASSERT( Status == XST_SUCCESS);
/*
* Enable the interrupt for the Timer counter
*/
XScuGic_Enable(&xInterruptController, InterruptIDs[ xTimer ]);
/*
* Enable the interrupts for the tick timer/counter
* We only care about the interval timeout.
*/
XTtcPs_EnableInterrupts(Timer, XTTCPS_IXR_INTERVAL_MASK);
/*
* Start the tick timer/counter
*/
XTtcPs_Start(Timer);
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vT2InterruptHandler( void ) static void prvTimerHandler( void *pvCallBackRef )
{ {
portEND_SWITCHING_ISR( xFirstTimerHandler() ); uint32_t ulInterruptStatus;
} XTtcPs *pxTimer = ( XTtcPs * ) pvCallBackRef;
/*-----------------------------------------------------------*/ BaseType_t xYieldRequired;
void vT3InterruptHandler( void ) /* Read the interrupt status, then write it back to clear the interrupt. */
{ ulInterruptStatus = XTtcPs_GetInterruptStatus( pxTimer );
portEND_SWITCHING_ISR( xSecondTimerHandler() ); XTtcPs_ClearInterruptStatus( pxTimer, ulInterruptStatus );
}
/*-----------------------------------------------------------*/
volatile uint32_t ulTimer1Count = 0, ulTimer2Count = 0; /* Only one interrupt event type is expected. */
configASSERT( ( XTTCPS_IXR_INTERVAL_MASK & ulInterruptStatus ) != 0 );
static void TickHandler(void *CallBackRef) /* Check the device ID to know which IntQueue demo to call. */
{ if( pxTimer->Config.DeviceId == xDeviceIDs[ 0 ] )
uint32_t StatusEvent; {
XTtcPs *pxTtcPs = (XTtcPs *)CallBackRef; xYieldRequired = xFirstTimerHandler();
/* }
* Read the interrupt status, then write it back to clear the interrupt. else if( pxTimer->Config.DeviceId == xDeviceIDs[ 1 ] )
*/ {
StatusEvent = XTtcPs_GetInterruptStatus(pxTtcPs); xYieldRequired = xSecondTimerHandler();
XTtcPs_ClearInterruptStatus(pxTtcPs, StatusEvent); }
else
if (0 != (XTTCPS_IXR_INTERVAL_MASK & StatusEvent)) { {
if( pxTtcPs->Config.DeviceId == DeviceIDs[ 0 ] ) /* The high frequency timer is also used to generate the time base for
{ the run time state. */
ulTimer1Count++; ulHighFrequencyTimerCounts++;
}
else /* Latch the highest interrupt nesting count detected. */
if( ulPortInterruptNesting > ulMaxRecordedNesting )
{ {
ulTimer2Count++; ulMaxRecordedNesting = ulPortInterruptNesting;
} }
TickCount++;
xYieldRequired = pdFALSE;
} }
}
#if 0 /* If xYieldRequired is not pdFALSE then calling either xFirstTimerHandler()
int SetupTimer(int DeviceID) or xSecondTimerHandler() resulted in a task leaving the blocked state and
{ the task that left the blocked state had a priority higher than the currently
int Status; running task (the task this interrupt interrupted) - so a context switch
XTtcPs_Config *Config; should be performed so the interrupt returns directly to the higher priority
XTtcPs *Timer; task. xYieldRequired is tested inside the following macro. */
TmrCntrSetup *TimerSetup; portYIELD_FROM_ISR( xYieldRequired );
TimerSetup = &SettingsTable;
Timer = &TtcPsInst;
/*
* Stop the timer first
*/
XTtcPs_Stop( &TtcPsInst );
/*
* Look up the configuration based on the device identifier
*/
Config = XTtcPs_LookupConfig(DeviceIDs[ DeviceID ]);
configASSERT( Config );
/*
* Initialize the device
*/
Status = XTtcPs_CfgInitialize(Timer, Config, Config->BaseAddress);
configASSERT(Status == XST_SUCCESS);
/*
* Set the options
*/
XTtcPs_SetOptions(Timer, TimerSetup->Options);
/*
* Timer frequency is preset in the TimerSetup structure,
* however, the value is not reflected in its other fields, such as
* IntervalValue and PrescalerValue. The following call will map the
* frequency to the interval and prescaler values.
*/
XTtcPs_CalcIntervalFromFreq(Timer, TimerSetup->OutputHz,
&(TimerSetup->Interval), &(TimerSetup->Prescaler));
/*
* Set the interval and prescale
*/
XTtcPs_SetInterval(Timer, TimerSetup->Interval);
XTtcPs_SetPrescaler(Timer, TimerSetup->Prescaler);
return XST_SUCCESS;
} }
#endif

5
FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/main_full.c
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@ -324,6 +324,11 @@ unsigned long ulErrorFound = pdFALSE;
/* Check all the demo tasks (other than the flash tasks) to ensure /* Check all the demo tasks (other than the flash tasks) to ensure
that they are all still running, and that none have detected an error. */ that they are all still running, and that none have detected an error. */
if( xAreIntQueueTasksStillRunning() != pdTRUE )
{
ulErrorFound = pdTRUE;
}
if( xAreMathsTaskStillRunning() != pdTRUE ) if( xAreMathsTaskStillRunning() != pdTRUE )
{ {
ulErrorFound = pdTRUE; ulErrorFound = pdTRUE;

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