/* | |
FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that has become a de facto standard. * | |
* * | |
* Help yourself get started quickly and support the FreeRTOS * | |
* project by purchasing a FreeRTOS tutorial book, reference * | |
* manual, or both from: http://www.FreeRTOS.org/Documentation * | |
* * | |
* Thank you! * | |
* * | |
*************************************************************************** | |
This file is part of the FreeRTOS distribution. | |
FreeRTOS is free software; you can redistribute it and/or modify it under | |
the terms of the GNU General Public License (version 2) as published by the | |
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. | |
>>! NOTE: The modification to the GPL is included to allow you to !<< | |
>>! distribute a combined work that includes FreeRTOS without being !<< | |
>>! obliged to provide the source code for proprietary components !<< | |
>>! outside of the FreeRTOS kernel. !<< | |
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY | |
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS | |
FOR A PARTICULAR PURPOSE. Full license text is available from the following | |
link: http://www.freertos.org/a00114.html | |
1 tab == 4 spaces! | |
*************************************************************************** | |
* * | |
* Having a problem? Start by reading the FAQ "My application does * | |
* not run, what could be wrong?" * | |
* * | |
* http://www.FreeRTOS.org/FAQHelp.html * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
license and Real Time Engineers Ltd. contact details. | |
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
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mission critical applications that require provable dependability. | |
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*/ | |
/* | |
* Creates all the demo application tasks, then starts the scheduler. The WEB | |
* documentation provides more details of the demo application tasks. | |
* | |
* In addition to the standard demo tasks, the follow demo specific tasks are | |
* create: | |
* | |
* The "Check" task. This only executes every three seconds but has the highest | |
* priority so is guaranteed to get processor time. Its main function is to | |
* check that all the other tasks are still operational. Most tasks maintain | |
* a unique count that is incremented each time the task successfully completes | |
* its function. Should any error occur within such a task the count is | |
* permanently halted. The check task inspects the count of each task to ensure | |
* it has changed since the last time the check task executed. If all the count | |
* variables have changed all the tasks are still executing error free, and the | |
* check task toggles the onboard LED. Should any task contain an error at any time | |
* the LED toggle rate will change from 3 seconds to 500ms. | |
* | |
* The "Register Check" tasks. These tasks fill the CPU registers with known | |
* values, then check that each register still contains the expected value 0 the | |
* discovery of an unexpected value being indicative of an error in the RTOS | |
* context switch mechanism. The register check tasks operate at low priority | |
* so are switched in and out frequently. | |
* | |
* The "Trace Utility" task. This can be used to obtain trace and debug | |
* information via UART5. | |
*/ | |
/* Hardware specific includes. */ | |
#include "mb91467d.h" | |
#include "vectors.h" | |
#include "watchdog.h" | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Demo app includes. */ | |
#include "flash.h" | |
#include "integer.h" | |
#include "comtest2.h" | |
#include "semtest.h" | |
#include "BlockQ.h" | |
#include "dynamic.h" | |
#include "flop.h" | |
#include "GenQTest.h" | |
#include "QPeek.h" | |
#include "blocktim.h" | |
#include "death.h" | |
#include "taskutility.h" | |
#include "partest.h" | |
#include "crflash.h" | |
/* Demo task priorities. */ | |
#define mainWATCHDOG_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 ) | |
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 ) | |
#define mainUTILITY_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY ) | |
/* Baud rate used by the COM test tasks. */ | |
#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 ) | |
/* The frequency at which the 'Check' tasks executes. See the comments at the | |
top of the page. When the system is operating error free the 'Check' task | |
toggles an LED every three seconds. If an error is discovered in any task the | |
rate is increased to 500 milliseconds. [in this case the '*' characters on the | |
LCD represent LEDs]*/ | |
#define mainNO_ERROR_CHECK_DELAY ( ( TickType_t ) 3000 / portTICK_PERIOD_MS ) | |
#define mainERROR_CHECK_DELAY ( ( TickType_t ) 500 / portTICK_PERIOD_MS ) | |
/* The total number of LEDs available. */ | |
#define mainNO_CO_ROUTINE_LEDs ( 8 ) | |
/* The first LED used by the comtest tasks. */ | |
#define mainCOM_TEST_LED ( 0x05 ) | |
/* The LED used by the check task. */ | |
#define mainCHECK_TEST_LED ( 0x07 ) | |
/* The number of interrupt levels to use. */ | |
#define mainINTERRUPT_LEVELS ( 31 ) | |
/* The number of 'flash' co-routines to create - each toggles a different LED. */ | |
#define mainNUM_FLASH_CO_ROUTINES ( 8 ) | |
/*---------------------------------------------------------------------------*/ | |
/* | |
* The function that implements the Check task. See the comments at the head | |
* of the page for implementation details. | |
*/ | |
static void prvErrorChecks( void *pvParameters ); | |
/* | |
* Called by the Check task. Returns pdPASS if all the other tasks are found | |
* to be operating without error - otherwise returns pdFAIL. | |
*/ | |
static short prvCheckOtherTasksAreStillRunning( void ); | |
/* | |
* Setup the microcontroller as used by this demo. | |
*/ | |
static void prvSetupHardware( void ); | |
/* | |
* Tasks that test the context switch mechanism by filling the CPU registers | |
* with known values then checking that each register contains the value | |
* expected. Each of the two tasks use different values, and as low priority | |
* tasks, get swapped in and out regularly. | |
*/ | |
static void vFirstRegisterTestTask( void *pvParameters ); | |
static void vSecondRegisterTestTask( void *pvParameters ); | |
/*---------------------------------------------------------------------------*/ | |
/* The variable that is set to true should an error be found in one of the | |
register test tasks. */ | |
unsigned long ulRegTestError = pdFALSE; | |
/*---------------------------------------------------------------------------*/ | |
/* Start all the demo application tasks, then start the scheduler. */ | |
void main(void) | |
{ | |
/* Initialise the hardware ready for the demo. */ | |
prvSetupHardware(); | |
/* Start the standard demo application tasks. */ | |
vStartLEDFlashTasks( mainLED_TASK_PRIORITY ); | |
vStartIntegerMathTasks( tskIDLE_PRIORITY ); | |
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 ); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartBlockingQueueTasks ( mainQUEUE_BLOCK_PRIORITY ); | |
vStartDynamicPriorityTasks(); | |
vStartMathTasks( tskIDLE_PRIORITY ); | |
vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY ); | |
vStartQueuePeekTasks(); | |
vCreateBlockTimeTasks(); | |
vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES ); | |
/* Start the 'Check' task which is defined in this file. */ | |
xTaskCreate( prvErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* Start the 'Register Test' tasks as described at the top of this file. */ | |
xTaskCreate( vFirstRegisterTestTask, "Reg1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); | |
xTaskCreate( vSecondRegisterTestTask, "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); | |
/* Start the task that write trace information to the UART. */ | |
vUtilityStartTraceTask( mainUTILITY_TASK_PRIORITY ); | |
/* If we are going to service the watchdog from within a task, then create | |
the task here. */ | |
#if WATCHDOG == WTC_IN_TASK | |
vStartWatchdogTask( mainWATCHDOG_TASK_PRIORITY ); | |
#endif | |
/* The suicide tasks must be started last as they record the number of other | |
tasks that exist within the system. The value is then used to ensure at run | |
time the number of tasks that exists is within expected bounds. */ | |
vCreateSuicidalTasks( mainDEATH_PRIORITY ); | |
/* Now start the scheduler. Following this call the created tasks should | |
be executing. */ | |
vTaskStartScheduler( ); | |
/* vTaskStartScheduler() will only return if an error occurs while the | |
idle task is being created. */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvErrorChecks( void *pvParameters ) | |
{ | |
TickType_t xDelayPeriod = mainNO_ERROR_CHECK_DELAY, xLastExecutionTime; | |
/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil() | |
works correctly. */ | |
xLastExecutionTime = xTaskGetTickCount(); | |
/* Cycle for ever, delaying then checking all the other tasks are still | |
operating without error. */ | |
for( ;; ) | |
{ | |
/* Wait until it is time to check again. The time we wait here depends | |
on whether an error has been detected or not. When an error is | |
detected the time is shortened resulting in a faster LED flash rate. */ | |
/* Perform this check every mainCHECK_DELAY milliseconds. */ | |
vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod ); | |
/* See if the other tasks are all ok. */ | |
if( prvCheckOtherTasksAreStillRunning() != pdPASS ) | |
{ | |
/* An error occurred in one of the tasks so shorten the delay | |
period - which has the effect of increasing the frequency of the | |
LED toggle. */ | |
xDelayPeriod = mainERROR_CHECK_DELAY; | |
} | |
/* Flash! */ | |
vParTestToggleLED( mainCHECK_TEST_LED ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static short prvCheckOtherTasksAreStillRunning( void ) | |
{ | |
portBASE_TYPE lReturn = pdPASS; | |
/* The demo tasks maintain a count that increments every cycle of the task | |
provided that the task has never encountered an error. This function | |
checks the counts maintained by the tasks to ensure they are still being | |
incremented. A count remaining at the same value between calls therefore | |
indicates that an error has been detected. */ | |
if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
if( xAreComTestTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
if( xAreMathsTaskStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
if( xIsCreateTaskStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
if ( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
if ( xAreQueuePeekTasksStillRunning() != pdTRUE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
/* Have the register test tasks found any errors? */ | |
if( ulRegTestError != pdFALSE ) | |
{ | |
lReturn = pdFAIL; | |
} | |
return lReturn; | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHardware( void ) | |
{ | |
/* Allow all interrupt levels. */ | |
__set_il( mainINTERRUPT_LEVELS ); | |
/* Initialise interrupts. */ | |
InitIrqLevels(); | |
/* Initialise the ports used by the LEDs. */ | |
vParTestInitialise(); | |
/* If we are going to use the watchdog, then initialise it now. */ | |
#if WATCHDOG != WTC_NONE | |
InitWatchdog(); | |
#endif | |
} | |
/*-----------------------------------------------------------*/ | |
/* Idle hook function. */ | |
#if configUSE_IDLE_HOOK == 1 | |
void vApplicationIdleHook( void ) | |
{ | |
/* Are we using the idle task to kick the watchdog? See watchdog.h | |
for watchdog kicking options. Note this is for demonstration only | |
and is not a suggested method of servicing the watchdog in a real | |
application. */ | |
#if WATCHDOG == WTC_IN_IDLE | |
Kick_Watchdog(); | |
#endif | |
vCoRoutineSchedule(); | |
} | |
#else | |
#if WATCHDOG == WTC_IN_IDLE | |
#error configUSE_IDLE_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the idle task hook. | |
#endif | |
#endif | |
/*-----------------------------------------------------------*/ | |
/* Tick hook function. */ | |
#if configUSE_TICK_HOOK == 1 | |
void vApplicationTickHook( void ) | |
{ | |
/* Are we using the tick to kick the watchdog? See watchdog.h | |
for watchdog kicking options. Note this is for demonstration | |
only and is not a suggested method of servicing the watchdog in | |
a real application. */ | |
#if WATCHDOG == WTC_IN_TICK | |
Kick_Watchdog(); | |
#endif | |
} | |
#else | |
#if WATCHDOG == WTC_IN_TICK | |
#error configUSE_TICK_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the tick hook. | |
#endif | |
#endif | |
/*-----------------------------------------------------------*/ | |
static void vFirstRegisterTestTask( void *pvParameters ) | |
{ | |
extern volatile unsigned long ulCriticalNesting; | |
/* Fills the registers with known values (different to the values | |
used in vSecondRegisterTestTask()), then checks that the registers still | |
all contain the expected value. This is done to test the context save | |
and restore mechanism as this task is swapped onto and off of the CPU. */ | |
for( ;; ) | |
{ | |
#pragma asm | |
;Load known values into each register. | |
LDI #0x11111111, R0 | |
LDI #0x22222222, R1 | |
LDI #0x33333333, R2 | |
LDI #0x44444444, R3 | |
LDI #0x55555555, R4 | |
LDI #0x66666666, R5 | |
LDI #0x77777777, R6 | |
LDI #0x88888888, R7 | |
LDI #0x99999999, R8 | |
LDI #0xaaaaaaaa, R9 | |
LDI #0xbbbbbbbb, R10 | |
LDI #0xcccccccc, R11 | |
LDI #0xdddddddd, R12 | |
;Check each register still contains the expected value. | |
LDI #0x11111111, R13 | |
CMP R13, R0 | |
BNE First_Set_Error | |
LDI #0x22222222, R13 | |
CMP R13, R1 | |
BNE First_Set_Error | |
LDI #0x33333333, R13 | |
CMP R13, R2 | |
BNE First_Set_Error | |
LDI #0x44444444, R13 | |
CMP R13, R3 | |
BNE First_Set_Error | |
LDI #0x55555555, R13 | |
CMP R13, R4 | |
BNE First_Set_Error | |
LDI #0x66666666, R13 | |
CMP R13, R5 | |
BNE First_Set_Error | |
LDI #0x77777777, R13 | |
CMP R13, R6 | |
BNE First_Set_Error | |
LDI #0x88888888, R13 | |
CMP R13, R7 | |
BNE First_Set_Error | |
LDI #0x99999999, R13 | |
CMP R13, R8 | |
BNE First_Set_Error | |
LDI #0xaaaaaaaa, R13 | |
CMP R13, R9 | |
BNE First_Set_Error | |
LDI #0xbbbbbbbb, R13 | |
CMP R13, R10 | |
BNE First_Set_Error | |
LDI #0xcccccccc, R13 | |
CMP R13, R11 | |
BNE First_Set_Error | |
LDI #0xdddddddd, R13 | |
CMP R13, R12 | |
BNE First_Set_Error | |
BRA First_Start_Next_Loop | |
First_Set_Error: | |
; Latch that an error has occurred. | |
LDI #_ulRegTestError, R0 | |
LDI #0x00000001, R1 | |
ST R1, @R0 | |
First_Start_Next_Loop: | |
#pragma endasm | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void vSecondRegisterTestTask( void *pvParameters ) | |
{ | |
extern volatile unsigned long ulCriticalNesting; | |
/* Fills the registers with known values (different to the values | |
used in vFirstRegisterTestTask()), then checks that the registers still | |
all contain the expected value. This is done to test the context save | |
and restore mechanism as this task is swapped onto and off of the CPU. */ | |
for( ;; ) | |
{ | |
#pragma asm | |
;Load known values into each register. | |
LDI #0x11111111, R1 | |
LDI #0x22222222, R2 | |
INT #40H | |
LDI #0x33333333, R3 | |
LDI #0x44444444, R4 | |
LDI #0x55555555, R5 | |
LDI #0x66666666, R6 | |
LDI #0x77777777, R7 | |
LDI #0x88888888, R8 | |
LDI #0x99999999, R9 | |
INT #40H | |
LDI #0xaaaaaaaa, R10 | |
LDI #0xbbbbbbbb, R11 | |
LDI #0xcccccccc, R12 | |
LDI #0xdddddddd, R0 | |
;Check each register still contains the expected value. | |
LDI #0x11111111, R13 | |
CMP R13, R1 | |
BNE Second_Set_Error | |
LDI #0x22222222, R13 | |
CMP R13, R2 | |
BNE Second_Set_Error | |
LDI #0x33333333, R13 | |
CMP R13, R3 | |
BNE Second_Set_Error | |
LDI #0x44444444, R13 | |
CMP R13, R4 | |
BNE Second_Set_Error | |
LDI #0x55555555, R13 | |
CMP R13, R5 | |
BNE Second_Set_Error | |
INT #40H | |
LDI #0x66666666, R13 | |
CMP R13, R6 | |
BNE Second_Set_Error | |
LDI #0x77777777, R13 | |
CMP R13, R7 | |
BNE Second_Set_Error | |
LDI #0x88888888, R13 | |
CMP R13, R8 | |
BNE Second_Set_Error | |
LDI #0x99999999, R13 | |
CMP R13, R9 | |
BNE Second_Set_Error | |
INT #40H | |
LDI #0xaaaaaaaa, R13 | |
CMP R13, R10 | |
BNE Second_Set_Error | |
LDI #0xbbbbbbbb, R13 | |
CMP R13, R11 | |
BNE Second_Set_Error | |
LDI #0xcccccccc, R13 | |
CMP R13, R12 | |
BNE Second_Set_Error | |
LDI #0xdddddddd, R13 | |
CMP R13, R0 | |
BNE Second_Set_Error | |
BRA Second_Start_Next_Loop | |
Second_Set_Error: | |
; Latch that an error has occurred. | |
LDI #_ulRegTestError, R0 | |
LDI #0x00000001, R1 | |
ST R1, @R0 | |
Second_Start_Next_Loop: | |
#pragma endasm | |
} | |
} | |
/*-----------------------------------------------------------*/ | |