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458 lines
15 KiB
C
458 lines
15 KiB
C
/*
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FreeRTOS.org V5.2.0 - Copyright (C) 2003-2009 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify it
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under the terms of the GNU General Public License (version 2) as published
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by the Free Software Foundation and modified by the FreeRTOS exception.
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FreeRTOS.org 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.org; 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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A special exception to the GPL is included to allow you to distribute a
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combined work that includes FreeRTOS.org without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details.
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***************************************************************************
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* *
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* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
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* *
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* This is a concise, step by step, 'hands on' guide that describes both *
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* general multitasking concepts and FreeRTOS specifics. It presents and *
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* explains numerous examples that are written using the FreeRTOS API. *
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* Full source code for all the examples is provided in an accompanying *
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* .zip file. *
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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. The WEB
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* documentation provides more details of the standard demo application tasks.
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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 a high priority
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* to ensure it gets processor time. Its main function is to check that all the
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* standard demo tasks are still operational. While no errors have been
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* discovered the check task will toggle an LED every 5 seconds - the toggle
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* rate increasing to 500ms being a visual indication that at least one task has
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* reported unexpected behaviour.
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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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*/
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/* Standard includes. */
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#include <stdio.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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#include "semphr.h"
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/* Demo app includes. */
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#include "BlockQ.h"
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#include "crflash.h"
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#include "partest.h"
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#include "semtest.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "comtest2.h"
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/*-----------------------------------------------------------*/
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/* The time between cycles of the 'check' functionality - as described at the
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top of this file. */
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#define mainNO_ERROR_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
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/* The rate at which the LED controlled by the 'check' task will flash should an
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error have been detected. */
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#define mainERROR_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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/* The LED controlled by the 'check' task. */
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#define mainCHECK_LED ( 3 )
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/* ComTest constants - there is no free LED for the comtest tasks. */
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#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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#define mainCOM_TEST_LED ( 5 )
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/* Task priorities. */
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#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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/* Co-routines are used to flash the LEDs. */
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#define mainNUM_FLASH_CO_ROUTINES ( 3 )
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/* The baud rate used by the comtest tasks. */
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#define mainBAUD_RATE ( 38400 )
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/* There is no spare LED for the comtest tasks, so this is set to an invalid
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number. */
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#define mainCOM_LED ( 4 )
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/*
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* Configure the hardware for the demo.
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*/
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static void prvSetupHardware( void );
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/*
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* Implements the 'check' task functionality as described at the top of this
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* file.
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*/
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static void prvCheckTask( void *pvParameters );
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/*
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* Implement the 'Reg test' functionality as described at the top of this file.
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*/
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static void vRegTest1Task( void *pvParameters );
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static void vRegTest2Task( void *pvParameters );
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/*-----------------------------------------------------------*/
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/* Counters used to detect errors within the reg test tasks. */
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static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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/*-----------------------------------------------------------*/
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int main( void )
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{
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/* Setup the hardware ready for this demo. */
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prvSetupHardware();
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/* Start the standard demo tasks. */
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartQueuePeekTasks();
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_LED );
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/* For demo purposes use some co-routines to flash the LEDs. */
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vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
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/* Create the check task. */
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xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Start the reg test tasks - defined in this file. */
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xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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/* Start the scheduler. */
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vTaskStartScheduler();
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/* Will only get here if there was insufficient memory to create the idle
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task. */
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for( ;; )
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{
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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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unsigned portLONG ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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portTickType xLastExecutionTime;
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volatile unsigned portBASE_TYPE uxUnusedStack;
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( void ) pvParameters;
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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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/* Has an error been found in any task? */
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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ulError |= 0x01UL;
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}
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if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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ulError |= 0x02UL;
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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ulError |= 0x04UL;
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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ulError |= 0x20UL;
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}
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if( xAreComTestTasksStillRunning() != pdTRUE )
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{
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ulError |= 0x40UL;
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}
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if( ulLastRegTest1Count == ulRegTest1Counter )
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{
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ulError |= 0x1000UL;
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}
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if( ulLastRegTest2Count == ulRegTest2Counter )
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{
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ulError |= 0x1000UL;
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}
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ulLastRegTest1Count = ulRegTest1Counter;
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ulLastRegTest2Count = ulRegTest2Counter;
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/* If an error has been found then increase our cycle rate, and in so
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doing increase the rate at which the check task LED toggles. */
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if( ulError != 0 )
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{
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ulTicksToWait = mainERROR_PERIOD;
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}
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/* Toggle the LED each itteration. */
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vParTestToggleLED( mainCHECK_LED );
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/* For demo only - how much unused stack does this task have? */
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uxUnusedStack = uxTaskGetStackHighWaterMark( NULL );
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}
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}
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/*-----------------------------------------------------------*/
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void prvSetupHardware( void )
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{
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portDISABLE_INTERRUPTS();
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/* Setup the port used to toggle LEDs. */
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vParTestInitialise();
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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{
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/* This will get called if a stack overflow is detected during the context
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switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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problems within nested interrupts, but only do this for debug purposes as
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it will increase the context switch time. */
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( void ) pxTask;
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( void ) pcTaskName;
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for( ;; )
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{
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}
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}
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/*-----------------------------------------------------------*/
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void vApplicationIdleHook( void );
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void vApplicationIdleHook( void )
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{
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/* The co-routines run in the idle task. */
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vCoRoutineSchedule();
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}
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/*-----------------------------------------------------------*/
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void exit( int n )
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{
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/* To keep the linker happy only as the libraries have been removed from
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the build. */
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( void ) n;
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for( ;; ) {}
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}
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/*-----------------------------------------------------------*/
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static void vRegTest1Task( void *pvParameters )
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{
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/* Sanity check - did we receive the parameter expected? */
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if( pvParameters != &ulRegTest1Counter )
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{
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/* Change here so the check task can detect that an error occurred. */
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for( ;; )
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{
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}
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}
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/* Set all the registers to known values, then check that each retains its
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expected value - as described at the top of this file. If an error is
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found then the loop counter will no longer be incremented allowing the check
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task to recognise the error. */
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asm volatile ( "reg_test_1_start: \n\t"
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" moveq #1, d0 \n\t"
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" moveq #2, d1 \n\t"
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" moveq #3, d2 \n\t"
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" moveq #4, d3 \n\t"
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" moveq #5, d4 \n\t"
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" moveq #6, d5 \n\t"
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" moveq #7, d6 \n\t"
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" moveq #8, d7 \n\t"
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" move #9, a0 \n\t"
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" move #10, a1 \n\t"
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" move #11, a2 \n\t"
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" move #12, a3 \n\t"
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" move #13, a4 \n\t"
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" move #14, a5 \n\t"
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" move #15, a6 \n\t"
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" \n\t"
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" cmpi.l #1, d0 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #2, d1 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #3, d2 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #4, d3 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #5, d4 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #6, d5 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #7, d6 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #8, d7 \n\t"
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" bne reg_test_1_error \n\t"
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" move a0, d0 \n\t"
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" cmpi.l #9, d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move a1, d0 \n\t"
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" cmpi.l #10, d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move a2, d0 \n\t"
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" cmpi.l #11, d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move a3, d0 \n\t"
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" cmpi.l #12, d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move a4, d0 \n\t"
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" cmpi.l #13, d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move a5, d0 \n\t"
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" cmpi.l #14, d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move a6, d0 \n\t"
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" cmpi.l #15, d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move ulRegTest1Counter, d0 \n\t"
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" addq #1, d0 \n\t"
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" move d0, ulRegTest1Counter \n\t"
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" bra reg_test_1_start \n\t"
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"reg_test_1_error: \n\t"
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" bra reg_test_1_error \n\t"
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);
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}
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/*-----------------------------------------------------------*/
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static void vRegTest2Task( void *pvParameters )
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{
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/* Sanity check - did we receive the parameter expected? */
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if( pvParameters != &ulRegTest2Counter )
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{
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/* Change here so the check task can detect that an error occurred. */
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for( ;; )
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{
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}
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}
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/* Set all the registers to known values, then check that each retains its
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expected value - as described at the top of this file. If an error is
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found then the loop counter will no longer be incremented allowing the check
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task to recognise the error. */
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asm volatile ( "reg_test_2_start: \n\t"
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" moveq #10, d0 \n\t"
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" moveq #20, d1 \n\t"
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" moveq #30, d2 \n\t"
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" moveq #40, d3 \n\t"
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" moveq #50, d4 \n\t"
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" moveq #60, d5 \n\t"
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" moveq #70, d6 \n\t"
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" moveq #80, d7 \n\t"
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" move #90, a0 \n\t"
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" move #100, a1 \n\t"
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" move #110, a2 \n\t"
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" move #120, a3 \n\t"
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" move #130, a4 \n\t"
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" move #140, a5 \n\t"
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" move #150, a6 \n\t"
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" \n\t"
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" cmpi.l #10, d0 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #20, d1 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #30, d2 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #40, d3 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #50, d4 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #60, d5 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #70, d6 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #80, d7 \n\t"
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" bne reg_test_2_error \n\t"
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" move a0, d0 \n\t"
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" cmpi.l #90, d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move a1, d0 \n\t"
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" cmpi.l #100, d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move a2, d0 \n\t"
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" cmpi.l #110, d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move a3, d0 \n\t"
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" cmpi.l #120, d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move a4, d0 \n\t"
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" cmpi.l #130, d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move a5, d0 \n\t"
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" cmpi.l #140, d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move a6, d0 \n\t"
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" cmpi.l #150, d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move ulRegTest1Counter, d0 \n\t"
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" addq #1, d0 \n\t"
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" move d0, ulRegTest2Counter \n\t"
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" bra reg_test_2_start \n\t"
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"reg_test_2_error: \n\t"
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" bra reg_test_2_error \n\t"
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);
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}
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/*-----------------------------------------------------------*/
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