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Add a register test to the new MicroBlaze demo - still a work in progress.

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This commit is contained in:
Richard Barry 2011-06-10 09:43:12 +00:00
parent 4cda2df265
commit 3e07dd4a03
6 changed files with 948 additions and 155 deletions
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507
Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/.cproject
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@ -44,6 +44,7 @@
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<parser enabled="true"/>
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<buildOutputProvider>
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<parser enabled="true"/>
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<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="com.xilinx.managedbuilder.ui.MBGCCManagedMakePerProjectProfileC"/> <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="com.xilinx.managedbuilder.ui.MBGCCManagedMakePerProjectProfileC"/>
<profile id="com.xilinx.managedbuilder.ui.MBGCCManagedMakePerProjectProfileC"> <profile id="com.xilinx.managedbuilder.ui.MBGCCManagedMakePerProjectProfileC">
@ -1437,7 +1935,6 @@
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7
Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/FreeRTOSConfig.h
View file

@ -82,7 +82,7 @@
#define configUSE_TICK_HOOK 0 #define configUSE_TICK_HOOK 0
#define configCPU_CLOCK_HZ ( XPAR_MICROBLAZE_CORE_CLOCK_FREQ_HZ ) /* Not actually used in this demo as the timer is set up in main and uses the peripheral clock, not the CPU clock. */ #define configCPU_CLOCK_HZ ( XPAR_MICROBLAZE_CORE_CLOCK_FREQ_HZ ) /* Not actually used in this demo as the timer is set up in main and uses the peripheral clock, not the CPU clock. */
#define configTICK_RATE_HZ ( ( portTickType ) 1000 ) #define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 ) #define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 6 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 40 * 1024 ) ) #define configTOTAL_HEAP_SIZE ( ( size_t ) ( 40 * 1024 ) )
#define configMAX_TASK_NAME_LEN ( 10 ) #define configMAX_TASK_NAME_LEN ( 10 )
#define configUSE_TRACE_FACILITY 0 #define configUSE_TRACE_FACILITY 0
@ -96,7 +96,7 @@
#define configUSE_MALLOC_FAILED_HOOK 1 #define configUSE_MALLOC_FAILED_HOOK 1
#define configUSE_APPLICATION_TASK_TAG 0 #define configUSE_APPLICATION_TASK_TAG 0
#define configUSE_COUNTING_SEMAPHORES 1 #define configUSE_COUNTING_SEMAPHORES 1
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 180 ) #define configMINIMAL_STACK_SIZE ( ( unsigned short ) 230 )
#define configINTERRUPT_STACK_SIZE configMINIMAL_STACK_SIZE #define configINTERRUPT_STACK_SIZE configMINIMAL_STACK_SIZE
/* Co-routine definitions. */ /* Co-routine definitions. */
@ -119,7 +119,8 @@ to exclude the API function. */
#define INCLUDE_vTaskDelayUntil 1 #define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1 #define INCLUDE_vTaskDelay 1
#define configASSERT( x ) if( ( x ) == 0 ) { portDISABLE_INTERRUPTS(); for( ;; ); } extern void vAssertCalled( char *pcFile, long lLine );
#define configASSERT( x ) if( ( x ) == 0 ) vAssertCalled( __FILE__, __LINE__ );
#define configINTERRUPT_CONTROLLER_TO_USE XPAR_INTC_SINGLE_DEVICE_ID #define configINTERRUPT_CONTROLLER_TO_USE XPAR_INTC_SINGLE_DEVICE_ID

3
Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/FreeRTOS_Source/portable/GCC/MicroBlaze/port.c
View file

@ -239,6 +239,7 @@ extern void ( vStartFirstTask )( void );
/* Allocate the stack to be used by the interrupt handler. */ /* Allocate the stack to be used by the interrupt handler. */
pulISRStack = ( unsigned long * ) pvPortMalloc( configINTERRUPT_STACK_SIZE * sizeof( portSTACK_TYPE ) ); pulISRStack = ( unsigned long * ) pvPortMalloc( configINTERRUPT_STACK_SIZE * sizeof( portSTACK_TYPE ) );
configASSERT( pulISRStack != NULL );
/* Restore the context of the first task that is going to run. */ /* Restore the context of the first task that is going to run. */
if( pulISRStack != NULL ) if( pulISRStack != NULL )
@ -273,10 +274,12 @@ extern void VPortYieldASM( void );
not interrupted by the tick ISR. It is not a problem to do this as not interrupted by the tick ISR. It is not a problem to do this as
each task maintains it's own interrupt status. */ each task maintains it's own interrupt status. */
portENTER_CRITICAL(); portENTER_CRITICAL();
{
/* Jump directly to the yield function to ensure there is no /* Jump directly to the yield function to ensure there is no
compiler generated prologue code. */ compiler generated prologue code. */
asm volatile ( "bralid r14, VPortYieldASM \n\t" \ asm volatile ( "bralid r14, VPortYieldASM \n\t" \
"or r0, r0, r0 \n\t" ); "or r0, r0, r0 \n\t" );
}
portEXIT_CRITICAL(); portEXIT_CRITICAL();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

290
Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/RegisterTests.c Normal file
View file

@ -0,0 +1,290 @@
/*
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and thank you for your support! *
* *
***************************************************************************
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. See the GNU General Public License for
more details. You should have received a copy of the GNU General Public
License and the FreeRTOS license exception along with FreeRTOS; if not it
can be viewed here: http://www.freertos.org/a00114.html and also obtained
by writing to Richard Barry, contact details for whom are available on the
FreeRTOS WEB site.
1 tab == 4 spaces!
http://www.FreeRTOS.org - Documentation, latest information, license and
contact details.
http://www.SafeRTOS.com - A version that is certified for use in safety
critical systems.
http://www.OpenRTOS.com - Commercial support, development, porting,
licensing and training services.
*/
/* Scheduler includes. */
#include "FreeRTOS.h"
/*
* The register test task as described at the top of this file.
*/
void vRegisterTest1( void *pvParameters );
void vRegisterTest2( void *pvParameters );
/* Variables that are incremented on each iteration of the reg test tasks -
provided the tasks have not reported any errors. The check task inspects these
variables to ensure they are still incrementing as expected. If a variable
stops incrementing then it is likely that its associate task has stalled. */
volatile unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
/*-----------------------------------------------------------*/
void vRegisterTest1( void *pvParameters )
{
//_RB_ Why can R5 not be used in this test?
/* This task uses an infinite loop that is implemented in the assembly
code.
First fill the registers with known values. */
asm volatile ( " addi r3, r0, 3 \n\t" \
" addi r4, r0, 4 \n\t" \
" addi r6, r0, 6 \n\t" \
" addi r7, r0, 7 \n\t" \
" addi r8, r0, 8 \n\t" \
" addi r9, r0, 9 \n\t" \
" addi r10, r0, 10 \n\t" \
" addi r11, r0, 11 \n\t" \
" addi r12, r0, 12 \n\t" \
" addi r16, r0, 16 \n\t" \
" addi r19, r0, 19 \n\t" \
" addi r20, r0, 20 \n\t" \
" addi r21, r0, 21 \n\t" \
" addi r22, r0, 22 \n\t" \
" addi r23, r0, 23 \n\t" \
" addi r24, r0, 24 \n\t" \
" addi r25, r0, 25 \n\t" \
" addi r26, r0, 26 \n\t" \
" addi r27, r0, 27 \n\t" \
" addi r28, r0, 28 \n\t" \
" addi r29, r0, 29 \n\t" \
" addi r30, r0, 30 \n\t" \
" addi r31, r0, 31 \n\t"
);
/* Now test the register values to ensure they contain the same value that
was written to them above. This task will get preempted frequently so
other tasks are likely to have executed since the register values were
written. */
asm volatile ( "Loop_Start_1: \n\t" \
" xori r18, r3, 3 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r4, 4 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r6, 6 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r7, 7 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r8, 8 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r9, 9 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r10, 10 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r11, 11 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r12, 12 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r16, 16 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r19, 19 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r20, 20 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r21, 21 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r22, 22 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r23, 23 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r24, 24 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r25, 25 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r26, 26 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r27, 27 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r28, 28 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r29, 29 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r30, 30 \n\t" \
" bnei r18, Error_Loop_1 \n\t" \
" xori r18, r31, 31 \n\t" \
" bnei r18, Error_Loop_1 \n\t"
);
/* If this task has not branched to the error loop, then everything is ok,
and the check variable should be incremented to indicate that this task
is still running. Then, brach back to the top to check the registers
again. */
asm volatile ( " lwi r18, r0, ulRegTest1CycleCount \n\t" \
" addik r18, r18, 1 \n\t" \
" swi r18, r0, ulRegTest1CycleCount \n\t" \
" \n\t" \
" bri Loop_Start_1 "
);
/* The test function will branch here if it discovers an error. This part
of the code just sits in a NULL loop, which prevents the check variable
incrementing any further to allow the check timer to recognize that this
test has failed. */
asm volatile ( "Error_Loop_1: \n\t" \
" bri 0 \n\t" \
" nop \n\t" \
);
}
/*-----------------------------------------------------------*/
void vRegisterTest2( void *pvParameters )
{
/* This task uses an infinite loop that is implemented in the assembly
code.
First fill the registers with known values. */
asm volatile ( " addi r3, r0, 103 \n\t" \
" addi r4, r0, 104 \n\t" \
" addi r6, r0, 106 \n\t" \
" addi r7, r0, 107 \n\t" \
" addi r8, r0, 108 \n\t" \
" addi r9, r0, 109 \n\t" \
" addi r10, r0, 1010 \n\t" \
" addi r11, r0, 1011 \n\t" \
" addi r12, r0, 1012 \n\t" \
" addi r16, r0, 1016 \n\t" \
" addi r19, r0, 1019 \n\t" \
" addi r20, r0, 1020 \n\t" \
" addi r21, r0, 1021 \n\t" \
" addi r22, r0, 1022 \n\t" \
" addi r23, r0, 1023 \n\t" \
" addi r24, r0, 1024 \n\t" \
" addi r25, r0, 1025 \n\t" \
" addi r26, r0, 1026 \n\t" \
" addi r27, r0, 1027 \n\t" \
" addi r28, r0, 1028 \n\t" \
" addi r29, r0, 1029 \n\t" \
" addi r30, r0, 1030 \n\t" \
" addi r31, r0, 1031 \n\t"
);
/* Now test the register values to ensure they contain the same value that
was written to them above. This task will get preempted frequently so
other tasks are likely to have executed since the register values were
written. */
asm volatile ( "Loop_Start_2: \n\t" \
" xori r18, r3, 103 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r4, 104 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r6, 106 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r7, 107 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r8, 108 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r9, 109 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r10, 1010 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r11, 1011 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r12, 1012 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r16, 1016 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r19, 1019 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r20, 1020 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r21, 1021 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r22, 1022 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r23, 1023 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r24, 1024 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r25, 1025 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r26, 1026 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r27, 1027 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r28, 1028 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r29, 1029 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r30, 1030 \n\t" \
" bnei r18, Error_Loop_2 \n\t" \
" xori r18, r31, 1031 \n\t" \
" bnei r18, Error_Loop_2 \n\t"
);
/* If this task has not branched to the error loop, then everything is ok,
and the check variable should be incremented to indicate that this task
is still running. Then, brach back to the top to check the registers
again. */
asm volatile ( " lwi r18, r0, ulRegTest2CycleCount \n\t" \
" addik r18, r18, 1 \n\t" \
" swi r18, r0, ulRegTest2CycleCount \n\t" \
" \n\t" \
" bri Loop_Start_2 "
);
/* The test function will branch here if it discovers an error. This part
of the code just sits in a NULL loop, which prevents the check variable
incrementing any further to allow the check timer to recognize that this
test has failed. */
asm volatile ( "Error_Loop_2: \n\t" \
" bri 0 \n\t" \
" nop \n\t" \
);
}

2
Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/main-blinky.c
View file

@ -178,7 +178,7 @@ static const unsigned portBASE_TYPE uxGPIOOutputChannel = 1UL, uxGPIOInputChanne
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
int main(void) int main( void )
{ {
/* Configure the interrupt controller, LED outputs and button inputs. */ /* Configure the interrupt controller, LED outputs and button inputs. */
prvSetupHardware(); prvSetupHardware();

294
Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/main-full.c
View file

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