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https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-08-31 15:38:40 -04:00
Still a work in progress. Need to add flop support.
This commit is contained in:
Richard Barry
parent
188a2c0cc1
commit
559e2a850f
10 changed files with 505 additions and 97 deletions
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@ -1,5 +1,5 @@
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/*
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FreeRTOS V6.0.1 - Copyright (C) 2009 Real Time Engineers Ltd.
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FreeRTOS V6.0.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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***************************************************************************
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* *
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@ -51,21 +51,56 @@
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licensing and training services.
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*/
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo application includes. */
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#include "BlockQ.h"
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#include "death.h"
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#include "integer.h"
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#include "blocktim.h"
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#include "flash.h"
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#include "partest.h"
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#include "semtest.h"
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#include "PollQ.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "recmutex.h"
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/* Constants required to configure the hardware. */
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#define mainFRQCR_VALUE ( 0x0303 ) /* Input = 12.5MHz, I Clock = 200MHz, B Clock = 50MHz, P Clock = 50MHz */
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/* Task priorities. */
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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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 mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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/* The LED toggle by the check task. */
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#define mainCHECK_LED ( 5 )
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/* The rate at which mainCHECK_LED will toggle when all the tasks are running
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without error. */
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#define mainNO_ERROR_CYCLE_TIME ( 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. */
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#define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )
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void vApplicationMallocFailedHook( void );
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void vApplicationIdleHook( void );
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static void prvSetupHardware( void );
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static void prvCheckTask( void *pvParameters );
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extern void vRegTest1Task( void *pvParameters );
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extern void vRegTest2Task( void *pvParameters );
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unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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volatile unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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/*-----------------------------------------------------------*/
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@ -73,15 +108,116 @@ void main(void)
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{
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prvSetupHardware();
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xTaskCreate( vRegTest1Task, "RegTest1", configMINIMAL_STACK_SIZE, ( void * ) 0x12345678UL, 1, NULL );
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xTaskCreate( vRegTest2Task, "RegTest2", configMINIMAL_STACK_SIZE, ( void * ) 0x11223344UL, 1, NULL );
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/* Start the reg test tasks which test the context switching mechanism. */
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xTaskCreate( vRegTest1Task, "RegTest1", configMINIMAL_STACK_SIZE, ( void * ) 0x12345678UL, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vRegTest2Task, "RegTest2", configMINIMAL_STACK_SIZE, ( void * ) 0x11223344UL, tskIDLE_PRIORITY, NULL );
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/* Start the check task as described at the top of this file. */
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xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Start the standard demo tasks. These don't perform any particular useful
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functionality, other than to demonstrate the FreeRTOS API being used. */
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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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vStartIntegerMathTasks( mainINTEGER_TASK_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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/* 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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/* Start the tasks running. */
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vTaskStartScheduler();
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/* Will only get here if there was insufficient heap memory to create the idle
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task. Increase the configTOTAL_HEAP_SIZE setting in FreeRTOSConfig.h. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTask( void *pvParameter )
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{
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portTickType xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;
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unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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/* Initialise xNextWakeTime - this only needs to be done once. */
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xNextWakeTime = xTaskGetTickCount();
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for( ;; )
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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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/* Inspect all the other tasks to esnure none have experienced any errors. */
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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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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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else if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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// else if( xIsCreateTaskStillRunning() != pdTRUE )
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// {
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// xCycleFrequency = mainERROR_CYCLE_TIME;
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// }
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else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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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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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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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 the
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LED toggles every 5 seconds then everything is ok. A faster toggle indicates
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an error. */
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vParTestToggleLED( mainCHECK_LED );
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}
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}
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/*-----------------------------------------------------------*/
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void vApplicationMallocFailedHook( void )
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{
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/* A call to vPortMalloc() failed, probably during the creation of a task,
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@ -100,6 +236,12 @@ void vApplicationIdleHook( void )
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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{
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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volatile unsigned long ul;
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@ -154,25 +296,8 @@ unsigned long ulCompareMatch = ( configPERIPHERAL_CLOCK_HZ / ( configTICK_RATE_H
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}
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/*-----------------------------------------------------------*/
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void INT_CMT_CMI0( void )
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void vApplicationTickHook( void )
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{
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static unsigned long ul = 0;
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ul++;
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if( ul >= 1000 )
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{
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if( PE.DR.WORD & ( 0x01 << 9 ) )
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{
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PE.DR.WORD &= ~( 0x01 << 9 );
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}
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else
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{
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PE.DR.WORD |= ( 0x01 << 9 );
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}
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ul = 0;
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}
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CMT0.CMCSR.BIT.CMF = 0;
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}
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/*-----------------------------------------------------------*/
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