mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-08-30 23:18:37 -04:00
Add a register test to the new MicroBlaze demo - still a work in progress.
This commit is contained in:
Richard Barry
parent
4cda2df265
commit
3e07dd4a03
6 changed files with 948 additions and 155 deletions
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@ -134,6 +134,7 @@
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "timers.h"
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/* Standard demo includes. */
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#include "partest.h"
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@ -151,11 +152,6 @@
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#define xPrintf( x )
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/* Values that are passed into the reg test tasks using the task parameter. The
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tasks check that the values are passed in correctly. */
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#define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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#define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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/* Priorities at which the tasks are created. */
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#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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@ -173,17 +169,20 @@ stack than most of the other tasks. */
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#define mainuIP_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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/* The LED toggled by the check task. */
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#define mainCHECK_LED ( 5 )
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#define mainCHECK_LED ( 3 )
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/* The rate at which mainCHECK_LED will toggle when all the tasks are running
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without error. Controlled by the check task as described at the top of this
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file. */
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#define mainNO_ERROR_CYCLE_TIME ( 5000 / portTICK_RATE_MS )
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#define mainNO_ERROR_CHECK_TIMER_PERIOD ( 5000 / portTICK_RATE_MS )
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/* The rate at which mainCHECK_LED will toggle when an error has been reported
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by at least one task. Controlled by the check task as described at the top of
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this file. */
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#define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )
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#define mainERROR_CHECK_TIMER_PERIOD ( 200 / portTICK_RATE_MS )
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/* A block time of zero means "don't block". */
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#define mainDONT_BLOCK ( ( portTickType ) 0 )
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/*
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* vApplicationMallocFailedHook() will only be called if
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@ -220,13 +219,15 @@ void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName
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/*
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* The reg test tasks as described at the top of this file.
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*/
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static void prvRegTest1Task( void *pvParameters );
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static void prvRegTest2Task( void *pvParameters );
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extern void vRegisterTest1( void *pvParameters );
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extern void vRegisterTest2( void *pvParameters );
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/*
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* The check task as described at the top of this file.
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* Defines the 'check' functionality as described at the top of this file. This
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* function is the callback function for the 'check' timer.
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*/
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static void prvCheckTask( void *pvParameters );
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static void vCheckTimerCallback( xTimerHandle xTimer );
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static void prvSetupHardware( void );
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@ -237,12 +238,6 @@ static void prvSetupHardware( void );
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/*-----------------------------------------------------------*/
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/* Variables that are incremented on each iteration of the reg test tasks -
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provided the tasks have not reported any errors. The check task inspects these
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variables to ensure they are still incrementing as expected. If a variable
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stops incrementing then it is likely that its associate task has stalled. */
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unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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/* The status message that is displayed at the bottom of the "task stats" web
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page, which is served by the uIP task. This will report any errors picked up
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by the reg test task. */
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@ -250,38 +245,52 @@ static const char *pcStatusMessage = NULL;
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static XTmrCtr xTimer0Instance;
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/*-----------------------------------------------------------*/
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/* The 'check' timer, as described at the top of this file. */
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static xTimerHandle xCheckTimer = NULL;
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int main(void)
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/*-----------------------------------------------------------*/
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volatile int xyz = 1;
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int main( void )
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{
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/* Configure the interrupt controller, LED outputs and button inputs. */
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prvSetupHardware();
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/* Start the reg test tasks which test the context switching mechanism. */
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xTaskCreate( prvRegTest1Task, ( const signed char * const ) "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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xTaskCreate( prvRegTest2Task, ( const signed char * const ) "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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// xTaskCreate( vRegisterTest1, ( const signed char * const ) "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) 0, tskIDLE_PRIORITY, NULL );
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// xTaskCreate( vRegisterTest2, ( const signed char * const ) "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) 0, tskIDLE_PRIORITY, NULL );
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/* The web server task. */
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//_RB_ xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
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/* Start the check task as described at the top of this file. */
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xTaskCreate( prvCheckTask, ( const signed char * const ) "Check", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Create the standard demo tasks. */
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vCreateBlockTimeTasks();
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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// vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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// vCreateBlockTimeTasks();
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// vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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// vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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vStartQueuePeekTasks();
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vStartRecursiveMutexTasks();
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vStartMathTasks( mainFLOP_TASK_PRIORITY );
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// vStartQueuePeekTasks();
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// vStartRecursiveMutexTasks();
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// vStartMathTasks( mainFLOP_TASK_PRIORITY );
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/* The suicide tasks must be created last as they need to know how many
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tasks were running prior to their creation in order to ascertain whether
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or not the correct/expected number of tasks are running at any given time. */
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vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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// vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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/* Create the 'check' timer - the timer that periodically calls the
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check function as described at the top of this file. Note that, for
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the reasons stated in the comments above the call to
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vStartTimerDemoTask(), that the check timer is not actually started
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until after the scheduler has been started. */
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xCheckTimer = xTimerCreate( ( const signed char * ) "Check timer", mainNO_ERROR_CHECK_TIMER_PERIOD, pdTRUE, ( void * ) 0, vCheckTimerCallback );
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/* Ensure the check timer will start running as soon as the scheduler
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starts. The block time is set to 0 (mainDONT_BLOCK), but would be
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ingnored at this point anyway as block times can only be specified when
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the scheduler is running. */
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xTimerStart( xCheckTimer, mainDONT_BLOCK );
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/* Start the tasks running. */
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vTaskStartScheduler();
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@ -293,104 +302,107 @@ int main(void)
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTask( void *pvParameters )
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static void vCheckTimerCallback( xTimerHandle xTimer )
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{
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extern unsigned long ulRegTest1CycleCount, ulRegTest2CycleCount;
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static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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portTickType xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;
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extern void vSetupHighFrequencyTimer( void );
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static long lErrorAlreadyLatched = pdFALSE;
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/* Initialise xNextWakeTime - this only needs to be done once. */
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xNextWakeTime = xTaskGetTickCount();
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/* This is the callback function used by the 'check' timer, as described
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at the top of this file. */
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for( ;; )
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#if 0
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/* Check the standard demo tasks are running without error. */
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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/* Place this task in the blocked state until it is time to run again. */
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vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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/* Increase the rate at which this task cycles, which will increase the
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rate at which mainCHECK_LED flashes to give visual feedback that an error
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has occurred. */
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pcStatusMessage = "Error: GenQueue";
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xPrintf( pcStatusMessage );
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}
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/* Check the standard demo tasks are running without error. */
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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/* Increase the rate at which this task cycles, which will increase the
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rate at which mainCHECK_LED flashes to give visual feedback that an error
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has occurred. */
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pcStatusMessage = "Error: GenQueue";
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xPrintf( pcStatusMessage );
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}
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if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: QueuePeek\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: BlockQueue\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: BlockTime\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: SemTest\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: PollQueue\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: Death\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: RecMutex\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreMathsTaskStillRunning() != pdPASS )
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{
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pcStatusMessage = "Error: Flop\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: QueuePeek\r\n";
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xPrintf( pcStatusMessage );
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}
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/* Check the reg test tasks are still cycling. They will stop incrementing
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their loop counters if they encounter an error. */
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if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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{
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pcStatusMessage = "Error: RegTest1\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: BlockQueue\r\n";
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xPrintf( pcStatusMessage );
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}
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if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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{
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pcStatusMessage = "Error: RegTest2\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: BlockTime\r\n";
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xPrintf( pcStatusMessage );
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}
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ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: SemTest\r\n";
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xPrintf( pcStatusMessage );
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}
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/* Toggle the check LED to give an indication of the system status. If
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the LED toggles every 5 seconds then everything is ok. A faster toggle
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indicates an error. */
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vParTestToggleLED( mainCHECK_LED );
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/* Ensure the LED toggles at a faster rate if an error has occurred. */
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if( pcStatusMessage != NULL )
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: PollQueue\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: Death\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: RecMutex\r\n";
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xPrintf( pcStatusMessage );
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}
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if( xAreMathsTaskStillRunning() != pdPASS )
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{
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pcStatusMessage = "Error: Flop\r\n";
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xPrintf( pcStatusMessage );
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}
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#endif //_RB_
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/* Check the reg test tasks are still cycling. They will stop incrementing
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their loop counters if they encounter an error. */
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if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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{
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pcStatusMessage = "Error: RegTest1\r\n";
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xPrintf( pcStatusMessage );
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}
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if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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{
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pcStatusMessage = "Error: RegTest2\r\n";
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xPrintf( pcStatusMessage );
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}
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ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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/* Toggle the check LED to give an indication of the system status. If
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the LED toggles every 5 seconds then everything is ok. A faster toggle
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indicates an error. */
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vParTestToggleLED( mainCHECK_LED );
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if( pcStatusMessage != NULL )
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{
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if( lErrorAlreadyLatched == pdFALSE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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/* Ensure the LED toggles at a faster rate if an error has occurred.
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This is called from a timer callback so must not attempt to block. */
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xTimerChangePeriod( xTimer, mainERROR_CHECK_TIMER_PERIOD, mainDONT_BLOCK );
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/* Just to ensure the timer period is not changed on each execution
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of the callback. */
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lErrorAlreadyLatched = pdTRUE;
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}
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}
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}
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@ -400,7 +412,8 @@ void vApplicationSetupTimerInterrupt( void )
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{
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portBASE_TYPE xStatus;
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const unsigned char ucTimerCounterNumber = ( unsigned char ) 0U;
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const unsigned long ulCounterValue = ( ( XPAR_AXI_TIMER_0_CLOCK_FREQ_HZ / configTICK_RATE_HZ ) - 1UL );
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//const unsigned long ulCounterValue = ( ( XPAR_AXI_TIMER_0_CLOCK_FREQ_HZ / configTICK_RATE_HZ ) - 1UL );
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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.
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extern void vTickISR( void *pvUnused );
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/* Initialise the timer/counter. */
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@ -472,30 +485,6 @@ void vApplicationIdleHook( void )
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}
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/*-----------------------------------------------------------*/
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/* This function is explained in the comments at the top of this file. */
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static void prvRegTest1Task( void *pvParameters )
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{
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configASSERT( pvParameters == ( void * ) mainREG_TEST_1_PARAMETER );
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for( ;; )
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{
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vTaskDelay( 10000 );
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}
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}
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/*-----------------------------------------------------------*/
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/* This function is explained in the comments at the top of this file. */
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static void prvRegTest2Task( void *pvParameters )
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{
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configASSERT( pvParameters == ( void * ) mainREG_TEST_2_PARAMETER );
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for( ;; )
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{
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vTaskDelay( 10000 );
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}
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}
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/*-----------------------------------------------------------*/
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char *pcGetTaskStatusMessage( void )
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{
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/* Not bothered about a critical section here although technically because of
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@ -552,8 +541,21 @@ const unsigned char ucSetToOutput = 0U;
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#endif //_RB_
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#ifdef MICROBLAZE_EXCEPTIONS_ENABLED
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microblaze_enable_exceptions();
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//_RB_ microblaze_enable_exceptions();
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#endif
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}
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/*-----------------------------------------------------------*/
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extern void vAssertCalled( char *pcFile, long lLine )
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{
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volatile unsigned long ul = 1;
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taskDISABLE_INTERRUPTS();
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while( ul == 1 )
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{
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/* Just for somewhere to put a breakpoint. */
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portNOP();
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}
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taskENABLE_INTERRUPTS();
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}
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