@ -52,28 +52,20 @@
*/ */
/* ****************************************************************************
/* ****************************************************************************
* This project includes a lot of tasks and tests and is therefore complex .
* This project includes a lot of demo and test tasks , and is therefore complex .
* If you would prefer a much simpler project to get started with then select
* If you would prefer a much simpler project to get started with , then select
* the ' Blinky ' build configuration within the Embedded Workbench IDE .
* the ' Blinky ' build configuration within the SDK Eclipse IDE .
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
*
*
* Creates all the demo application tasks , then starts the scheduler . The web
* main ( ) creates all the demo application tasks , then starts the scheduler .
* documentation provides more details of the standard demo application tasks ,
* The web documentation provides more details of the standard demo application
* which provide no particular functionality but do provide a good example of
* tasks , which provide no particular functionality , but do provide a good
* how to use the FreeRTOS API . The tasks defined in flop . c are included in the
* example of how to use the FreeRTOS API .
* set of standard demo tasks to ensure the floating point unit gets some
* exercise .
*
*
* In addition to the standard demo tasks , the following tasks and tests are
* In addition to the standard demo tasks , the following tasks and tests are
* defined and / or created within this file :
* defined and / or created within this file :
*
*
* Webserver ( " uIP " ) task - This serves a number of dynamically generated WEB
* Webserver ( " lwIP " ) task - TBD _RB_
* pages to a standard WEB browser . The IP and MAC addresses are configured by
* constants defined at the bottom of FreeRTOSConfig . h . Use either a standard
* Ethernet cable to connect through a hug , or a cross over ( point to point )
* cable to connect directly . Ensure the IP address used is compatible with the
* IP address of the machine running the browser - the easiest way to achieve
* this is to ensure the first three octets of the IP addresses are the same .
*
*
* " Reg test " tasks - These fill the registers with known values , then check
* " Reg test " tasks - These fill the registers with known values , then check
* that each register still contains its expected value . Each task uses
* that each register still contains its expected value . Each task uses
@ -82,54 +74,32 @@
* test loop . A register containing an unexpected value is indicative of an
* test loop . A register containing an unexpected value is indicative of an
* error in the context switching mechanism and will result in a branch to a
* error in the context switching mechanism and will result in a branch to a
* null loop - which in turn will prevent the check variable from incrementing
* null loop - which in turn will prevent the check variable from incrementing
* any further and allow the check t ask ( described below ) to determine that an
* any further and allow the check t imer ( described below ) to determine that an
* error has occurred . The nature of the reg test tasks necessitates that they
* error has occurred . The nature of the reg test tasks necessitates that they
* are written in assembly code .
* are written in assembly code .
*
*
* " Check " task - This only executes every five seconds but has a high priority
* " Check " timer - The check timer period is initially set to five seconds .
* to ensure it gets processor time . Its main function is to check that all the
* The check timer callback function checks that all the standard demo tasks are
* standard demo tasks are still operational . While no errors have been
* functioning as expected , without error . If an error is discovered in any
* discovered the check task will toggle LED 5 every 5 seconds - the toggle
* standard demo task , then the check timer period is shortened to 200 ms . The
* rate increasing to 200 ms being a visual indication that at least one task has
* check timer callback function also toggles an LED each time it is called .
* reported unexpected behaviour .
* Therefore , if the LED toggles every five seconds , all the tasks are
* functioning as expected , without any error conditions being detected . If the
* LED toggles every 200 ms then an error has been discovered in at least one
* task .
*
*
* " High frequency timer test " - A high frequency periodic interrupt is
* This file also includes example implementations of the vApplicationTickHook ( ) ,
* generated using a timer - the interrupt is assigned a priority above
* vApplicationIdleHook ( ) , vApplicationStackOverflowHook ( ) ,
* configMAX_SYSCALL_INTERRUPT_PRIORITY so should not be effected by anything
* vApplicationMallocFailedHook ( ) , vApplicationClearTimerInterrupt ( ) , and
* the kernel is doing . The frequency and priority of the interrupt , in
* vApplicationSetupTimerInterrupt ( ) callback ( hook ) functions .
* combination with other standard tests executed in this demo , should result
*/
* in interrupts nesting at least 3 and probably 4 deep . This test is only
* included in build configurations that have the optimiser switched on . In
* optimised builds the count of high frequency ticks is used as the time base
* for the run time stats .
*
* * NOTE 1 * If LED5 is toggling every 5 seconds then all the demo application
* tasks are executing as expected and no errors have been reported in any
* tasks . The toggle rate increasing to 200 ms indicates that at least one task
* has reported unexpected behaviour .
*
* * NOTE 2 * vApplicationSetupTimerInterrupt ( ) is called by the kernel to let
* the application set up a timer to generate the tick interrupt . In this
* example a compare match timer is used for this purpose .
*
* * NOTE 3 * The CPU must be in Supervisor mode when the scheduler is started .
* The PowerON_Reset_PC ( ) supplied in resetprg . c with this demo has
* Change_PSW_PM_to_UserMode ( ) commented out to ensure this is the case .
*
* * NOTE 4 * The IntQueue common demo tasks test interrupt nesting and make use
* of all the 8 bit timers ( as two cascaded 16 bit units ) .
*/
/* Standard includes. */ /* Standard includes. */
# include <string.h> # include <string.h>
# include <stdio.h> # include <stdio.h>
/* BSP includes. */ /* BSP includes. */
# include "xenv_standalone.h"
# include "xtmrctr.h" # include "xtmrctr.h"
# include "xil_exception.h"
# include "microblaze_exceptions_g.h"
# include "xgpio.h"
/* Kernel includes. */ /* Kernel includes. */
# include "FreeRTOS.h" # include "FreeRTOS.h"
@ -150,8 +120,7 @@
# include "flop.h" # include "flop.h"
# include "dynamic.h" # include "dynamic.h"
# include "comtest_strings.h" # include "comtest_strings.h"
# include "TimerDemo.h"
# define xPrintf( x )
/* Priorities at which the tasks are created. */ /* Priorities at which the tasks are created. */
# define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 ) # define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
@ -195,6 +164,8 @@ when the hardware was built, but the standard serial init function required a
baud rate parameter . */ baud rate parameter . */
# define mainCOM_TEST_BAUD_RATE ( XPAR_RS232_UART_1_BAUDRATE ) # define mainCOM_TEST_BAUD_RATE ( XPAR_RS232_UART_1_BAUDRATE )
# define mainTIMER_TEST_PERIOD ( 20 )
/*
/*
* vApplicationMallocFailedHook ( ) will only be called if
* vApplicationMallocFailedHook ( ) will only be called if
* configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig . h . It is a hook
* configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig . h . It is a hook
@ -242,10 +213,6 @@ static void vCheckTimerCallback( xTimerHandle xTimer );
static void prvSetupHardware ( void ) ; static void prvSetupHardware ( void ) ;
/*
* Contains the implementation of the WEB server .
*/
//_RB_extern void vuIP_Task( void *pvParameters );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -263,6 +230,12 @@ static xTimerHandle xCheckTimer = NULL;
int main ( void ) int main ( void )
{ {
/* *************************************************************************
This project includes a lot of demo and test tasks , and is therefore complex .
If you would prefer a much simpler project to get started with , then select
the ' Blinky ' build configuration within the SDK Eclipse IDE .
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
/* Configure the interrupt controller, LED outputs and button inputs. */
/* Configure the interrupt controller, LED outputs and button inputs. */
prvSetupHardware ( ) ;
prvSetupHardware ( ) ;
@ -270,9 +243,6 @@ int main( void )
xTaskCreate ( vRegisterTest1 , ( const signed char * const ) " RegTst1 " , configMINIMAL_STACK_SIZE , ( void * ) 0 , tskIDLE_PRIORITY , NULL ) ;
xTaskCreate ( vRegisterTest1 , ( const signed char * const ) " RegTst1 " , configMINIMAL_STACK_SIZE , ( void * ) 0 , tskIDLE_PRIORITY , NULL ) ;
xTaskCreate ( vRegisterTest2 , ( const signed char * const ) " RegTst2 " , configMINIMAL_STACK_SIZE , ( void * ) 0 , tskIDLE_PRIORITY , NULL ) ;
xTaskCreate ( vRegisterTest2 , ( const signed char * const ) " RegTst2 " , configMINIMAL_STACK_SIZE , ( void * ) 0 , tskIDLE_PRIORITY , NULL ) ;
/* The web server task. */
//_RB_ xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
/* Create the standard demo tasks. */
/* Create the standard demo tasks. */
vStartBlockingQueueTasks ( mainBLOCK_Q_PRIORITY ) ;
vStartBlockingQueueTasks ( mainBLOCK_Q_PRIORITY ) ;
vCreateBlockTimeTasks ( ) ;
vCreateBlockTimeTasks ( ) ;
@ -283,6 +253,8 @@ int main( void )
vStartQueuePeekTasks ( ) ;
vStartQueuePeekTasks ( ) ;
vStartRecursiveMutexTasks ( ) ;
vStartRecursiveMutexTasks ( ) ;
vStartComTestStringsTasks ( mainCOM_TEST_PRIORITY , mainCOM_TEST_BAUD_RATE , mainCOM_TEST_LED ) ;
vStartComTestStringsTasks ( mainCOM_TEST_PRIORITY , mainCOM_TEST_BAUD_RATE , mainCOM_TEST_LED ) ;
vStartDynamicPriorityTasks ( ) ;
vStartTimerDemoTask ( mainTIMER_TEST_PERIOD ) ;
/* Note - the set of standard demo tasks contains two versions of
/* Note - the set of standard demo tasks contains two versions of
vStartMathTasks . c . One is defined in flop . c , and uses double precision
vStartMathTasks . c . One is defined in flop . c , and uses double precision
@ -305,12 +277,6 @@ int main( void )
until after the scheduler has been started . */
until after the scheduler has been started . */
xCheckTimer = xTimerCreate ( ( const signed char * ) " Check timer " , mainNO_ERROR_CHECK_TIMER_PERIOD , pdTRUE , ( void * ) 0 , vCheckTimerCallback ) ;
xCheckTimer = xTimerCreate ( ( const signed char * ) " Check timer " , mainNO_ERROR_CHECK_TIMER_PERIOD , pdTRUE , ( void * ) 0 , vCheckTimerCallback ) ;
/* Ensure the check timer will start running as soon as the scheduler
starts . The block time is set to 0 ( mainDONT_BLOCK ) , but would be
ingnored at this point anyway as block times can only be specified when
the scheduler is running . */
xTimerStart ( xCheckTimer , mainDONT_BLOCK ) ;
/* Start the tasks running. */
/* Start the tasks running. */
vTaskStartScheduler ( ) ;
vTaskStartScheduler ( ) ;
@ -327,6 +293,7 @@ static void vCheckTimerCallback( xTimerHandle xTimer )
extern unsigned long ulRegTest1CycleCount , ulRegTest2CycleCount ; extern unsigned long ulRegTest1CycleCount , ulRegTest2CycleCount ;
static volatile unsigned long ulLastRegTest1CycleCount = 0UL , ulLastRegTest2CycleCount = 0UL ; static volatile unsigned long ulLastRegTest1CycleCount = 0UL , ulLastRegTest2CycleCount = 0UL ;
static long lErrorAlreadyLatched = pdFALSE ; static long lErrorAlreadyLatched = pdFALSE ;
portTickType xExecutionRate = mainNO_ERROR_CHECK_TIMER_PERIOD ;
/* This is the callback function used by the 'check' timer, as described
/* This is the callback function used by the 'check' timer, as described
at the top of this file . */
at the top of this file . */
@ -338,75 +305,60 @@ static long lErrorAlreadyLatched = pdFALSE;
rate at which mainCHECK_LED flashes to give visual feedback that an error
rate at which mainCHECK_LED flashes to give visual feedback that an error
has occurred . */
has occurred . */
pcStatusMessage = " Error: GenQueue " ;
pcStatusMessage = " Error: GenQueue " ;
xPrintf ( pcStatusMessage ) ;
}
}
else if ( xAreQueuePeekTasksStillRunning ( ) ! = pdTRUE )
if ( xAreQueuePeekTasksStillRunning ( ) ! = pdTRUE )
{
{
pcStatusMessage = " Error: QueuePeek \r \n " ;
pcStatusMessage = " Error: QueuePeek \r \n " ;
xPrintf ( pcStatusMessage ) ;
}
}
else if ( xAreBlockingQueuesStillRunning ( ) ! = pdTRUE )
if ( xAreBlockingQueuesStillRunning ( ) ! = pdTRUE )
{
{
pcStatusMessage = " Error: BlockQueue \r \n " ;
pcStatusMessage = " Error: BlockQueue \r \n " ;
xPrintf ( pcStatusMessage ) ;
}
}
else if ( xAreBlockTimeTestTasksStillRunning ( ) ! = pdTRUE )
if ( xAreBlockTimeTestTasksStillRunning ( ) ! = pdTRUE )
{
{
pcStatusMessage = " Error: BlockTime \r \n " ;
pcStatusMessage = " Error: BlockTime \r \n " ;
xPrintf ( pcStatusMessage ) ;
}
}
else if ( xAreSemaphoreTasksStillRunning ( ) ! = pdTRUE )
if ( xAreSemaphoreTasksStillRunning ( ) ! = pdTRUE )
{
{
pcStatusMessage = " Error: SemTest \r \n " ;
pcStatusMessage = " Error: SemTest \r \n " ;
xPrintf ( pcStatusMessage ) ;
}
}
else if ( xArePollingQueuesStillRunning ( ) ! = pdTRUE )
if ( xArePollingQueuesStillRunning ( ) ! = pdTRUE )
{
{
pcStatusMessage = " Error: PollQueue \r \n " ;
pcStatusMessage = " Error: PollQueue \r \n " ;
xPrintf ( pcStatusMessage ) ;
}
}
else if ( xIsCreateTaskStillRunning ( ) ! = pdTRUE )
if ( xIsCreateTaskStillRunning ( ) ! = pdTRUE )
{
{
pcStatusMessage = " Error: Death \r \n " ;
pcStatusMessage = " Error: Death \r \n " ;
xPrintf ( pcStatusMessage ) ;
}
}
else if ( xAreRecursiveMutexTasksStillRunning ( ) ! = pdTRUE )
if ( xAreRecursiveMutexTasksStillRunning ( ) ! = pdTRUE )
{
{
pcStatusMessage = " Error: RecMutex \r \n " ;
pcStatusMessage = " Error: RecMutex \r \n " ;
xPrintf ( pcStatusMessage ) ;
}
}
else if ( xAreMathsTaskStillRunning ( ) ! = pdPASS )
if ( xAreMathsTaskStillRunning ( ) ! = pdPASS )
{
{
pcStatusMessage = " Error: Flop \r \n " ;
pcStatusMessage = " Error: Flop \r \n " ;
xPrintf ( pcStatusMessage ) ;
}
}
else if ( xAreComTestTasksStillRunning ( ) ! = pdPASS )
if ( xAreComTestTasksStillRunning ( ) ! = pdPASS )
{
{
pcStatusMessage = " Error: Comtest \r \n " ;
pcStatusMessage = " Error: Comtest \r \n " ;
xPrintf ( pcStatusMessage ) ;
}
}
else if ( xAreDynamicPriorityTasksStillRunning ( ) ! = pdPASS )
/* Check the reg test tasks are still cycling. They will stop incrementing
their loop counters if they encounter an error . */
if ( ulRegTest1CycleCount = = ulLastRegTest1CycleCount )
{
{
pcStatusMessage = " Error: Dynamic \r \n " ;
}
else if ( xAreTimerDemoTasksStillRunning ( xExecutionRate ) ! = pdTRUE )
{
pcStatusMessage = " Error: TimerDemo " ;
}
else if ( ulRegTest1CycleCount = = ulLastRegTest1CycleCount )
{
/* Check the reg test tasks are still cycling. They will stop
incrementing their loop counters if they encounter an error . */
pcStatusMessage = " Error: RegTest1 \r \n " ;
pcStatusMessage = " Error: RegTest1 \r \n " ;
xPrintf ( pcStatusMessage ) ;
}
}
else if ( ulRegTest2CycleCount = = ulLastRegTest2CycleCount )
if ( ulRegTest2CycleCount = = ulLastRegTest2CycleCount )
{
{
pcStatusMessage = " Error: RegTest2 \r \n " ;
pcStatusMessage = " Error: RegTest2 \r \n " ;
xPrintf ( pcStatusMessage ) ;
}
}
ulLastRegTest1CycleCount = ulRegTest1CycleCount ;
ulLastRegTest1CycleCount = ulRegTest1CycleCount ;
@ -425,6 +377,11 @@ static long lErrorAlreadyLatched = pdFALSE;
This is called from a timer callback so must not attempt to block . */
This is called from a timer callback so must not attempt to block . */
xTimerChangePeriod ( xTimer , mainERROR_CHECK_TIMER_PERIOD , mainDONT_BLOCK ) ;
xTimerChangePeriod ( xTimer , mainERROR_CHECK_TIMER_PERIOD , mainDONT_BLOCK ) ;
/* Update the xExecutionRate variable as the rate at which this
callback is executed has to be passed into the
xAreTimerDemoTasksStillRunning ( ) function . */
xExecutionRate = mainERROR_CHECK_TIMER_PERIOD ;
/* Just to ensure the timer period is not changed on each execution
/* Just to ensure the timer period is not changed on each execution
of the callback . */
of the callback . */
lErrorAlreadyLatched = pdTRUE ;
lErrorAlreadyLatched = pdTRUE ;
@ -437,8 +394,7 @@ void vApplicationSetupTimerInterrupt( void )
{ {
portBASE_TYPE xStatus ; portBASE_TYPE xStatus ;
const unsigned char ucTimerCounterNumber = ( unsigned char ) 0U ; const unsigned char ucTimerCounterNumber = ( unsigned char ) 0U ;
//const unsigned long ulCounterValue = ( ( XPAR_AXI_TIMER_0_CLOCK_FREQ_HZ / configTICK_RATE_HZ ) - 1UL );
const unsigned long ulCounterValue = ( ( XPAR_AXI_TIMER_0_CLOCK_FREQ_HZ / configTICK_RATE_HZ ) - 1UL ) ;
const unsigned long ulCounterValue = ( ( ( XPAR_AXI_TIMER_0_CLOCK_FREQ_HZ / configTICK_RATE_HZ ) - 1UL ) ) * 2UL ; //_RB_ there is a clock set up incorrectly somwehre, the *2 should not be required.
extern void vTickISR ( void * pvUnused ) ; extern void vTickISR ( void * pvUnused ) ;
/* Initialise the timer/counter. */
/* Initialise the timer/counter. */
@ -478,9 +434,6 @@ void vApplicationClearTimerInterrupt( void )
{ {
unsigned long ulCSR ; unsigned long ulCSR ;
/* Increment the RTOS tick - this might cause a task to unblock. */
vTaskIncrementTick ( ) ;
/* Clear the timer interrupt */
/* Clear the timer interrupt */
ulCSR = XTmrCtr_GetControlStatusReg ( XPAR_AXI_TIMER_0_BASEADDR , 0 ) ;
ulCSR = XTmrCtr_GetControlStatusReg ( XPAR_AXI_TIMER_0_BASEADDR , 0 ) ;
XTmrCtr_SetControlStatusReg ( XPAR_AXI_TIMER_0_BASEADDR , 0 , ulCSR ) ;
XTmrCtr_SetControlStatusReg ( XPAR_AXI_TIMER_0_BASEADDR , 0 , ulCSR ) ;
@ -509,6 +462,21 @@ void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName
of this file . */ of this file . */
void vApplicationIdleHook ( void ) void vApplicationIdleHook ( void )
{ {
static long lCheckTimerStarted = pdFALSE ;
if ( lCheckTimerStarted = = pdFALSE )
{
xTimerStart ( xCheckTimer , mainDONT_BLOCK ) ; //_RB_ comment why this is done here.
lCheckTimerStarted = pdTRUE ;
}
}
/*-----------------------------------------------------------*/
void vApplicationTickHook ( void )
{
/* Call the periodic timer test, which tests the timer API functions that
can be called from an ISR . */
vTimerPeriodicISRTests ( ) ;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
Richard Barry
14 years ago