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Update to V4.3.0 as described in http://www.FreeRTOS.org/History.txt

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Richard Barry 2007-06-05 09:44:58 +00:00
parent 45410fcd3a
commit 67d0d1ec3b
38 changed files with 1173 additions and 756 deletions
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346
Demo/dsPIC_MPLAB/main.c
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@ -1,5 +1,5 @@
/*
FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry.
FreeRTOS.org V4.3.0 - Copyright (C) 2003-2007 Richard Barry.
This file is part of the FreeRTOS.org distribution.
@ -36,40 +36,42 @@
/*
* Creates all the demo application tasks, then starts the scheduler. The WEB
* documentation provides more details of the standard demo application tasks.
* In addition to the standard demo tasks, the following tasks are defined
* within this file:
*
* "Register test" tasks - These tasks first set all the general purpose
* registers to a known value (with each register containing a different value)
* then test each general purpose register to ensure it still contains the
* set value. There are two register test tasks, with different values being
* used by each. The register test tasks will be preempted frequently due to
* their low priority. Setting then testing the value of each register in this
* manner ensures the context of the tasks is being correctly saved and then
* restored as the preemptive context switches occur. An error is flagged
* should any register be found to contain an unexpected value. In addition
* the register test tasks maintain a count of the number of times they cycle,
* so an error can also be flagged should the cycle count not increment as
* expected (indicating the the tasks are not executing at all).
* In addition to the standard demo tasks, the following tasks and tests are
* defined and/or created within this file:
*
* "Fast Interrupt Test" - A high frequency periodic interrupt is generated
* using a free running timer to demonstrate the use of the
* configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
* service routine measures the number of processor clocks that occur between
* each interrupt - and in so doing measures the jitter in the interrupt
* timing. The maximum measured jitter time is latched in the usMaxJitter
* variable, and displayed on the LCD by the 'Check' as described below.
* The fast interrupt is configured and handled in the timer_test.c source
* file.
*
* "LCD" task - the LCD task is a 'gatekeeper' task. It is the only task that
* is permitted to access the LCD directly. Other tasks wishing to write a
* message to the LCD send the message on a queue to the LCD task instead of
* accessing the LCD themselves. The LCD task just blocks on the queue waiting
* for messages - waking and displaying the messages as they arrive. The LCD
* task is defined in lcd.c.
*
* "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. Each task maintains 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 check task cycle frequency is increased to 500ms,
* causing the LED toggle rate to increase from 3 seconds to 500ms and in so
* doing providing visual feedback that an error has occurred.
*
* check that all the standard demo tasks are still operational. Should any
* unexpected behaviour within a demo task be discovered the 'check' task will
* write "FAIL #n" to the LCD (via the LCD task). If all the demo tasks are
* executing with their expected behaviour then the check task writes the max
* jitter time to the LCD (again via the LCD task), as described above.
*/
/* Standard includes. */
#include <stdio.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "croutine.h"
/* Demo application includes. */
@ -79,37 +81,46 @@
#include "integer.h"
#include "comtest2.h"
#include "partest.h"
#include "lcd.h"
#include "timertest.h"
/* Demo task priorities. */
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
#define mainCOM_TEST_PRIORITY ( 2 )
/* Delay between check task cycles when an error has/has not been detected. */
#define mainNO_ERROR_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
#define mainERROR_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
/* The check task may require a bit more stack as it calls sprintf(). */
#define mainCHECK_TAKS_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
/* The execution period of the check task. */
#define mainCHECK_TASK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
/* The number of flash co-routines to create. */
#define mainNUM_FLASH_COROUTINES ( 3 )
#define mainNUM_FLASH_COROUTINES ( 5 )
/* Baud rate used by the comtest tasks. */
#define mainCOM_TEST_BAUD_RATE ( 19200 )
/* The LED used by the comtest tasks. mainCOM_TEST_LED + 1 is also used.
See the comtest.c file for more information. */
#define mainCOM_TEST_LED ( 4 )
#define mainCOM_TEST_LED ( 6 )
/* The LED used by the check task. */
#define mainCHECK_LED ( 7 )
/* The frequency at which the "fast interrupt test" interrupt will occur. */
#define mainTEST_INTERRUPT_FREQUENCY ( 20000 )
/* The number of processor clocks we expect to occur between each "fast
interrupt test" interrupt. */
#define mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ( configCPU_CLOCK_HZ / mainTEST_INTERRUPT_FREQUENCY )
/* The number of nano seconds between each processor clock. */
#define mainNS_PER_CLOCK ( ( unsigned portSHORT ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
/* Dimension the buffer used to hold the value of the maximum jitter time when
it is converted to a string. */
#define mainMAX_STRING_LENGTH ( 20 )
/*-----------------------------------------------------------*/
/*
* The register test tasks as described at the top of this file.
*/
void xRegisterTest1( void *pvParameters );
void xRegisterTest2( void *pvParameters );
/*
* The check task as described at the top of this file.
*/
@ -122,13 +133,8 @@ static void prvSetupHardware( void );
/*-----------------------------------------------------------*/
/* Variables used to detect errors within the register test tasks. */
static volatile unsigned portSHORT usTest1CycleCounter = 0, usTest2CycleCounter = 0;
static unsigned portSHORT usPreviousTest1Count = 0, usPreviousTest2Count = 0;
/* Set to pdTRUE should an error be detected in any of the standard demo tasks
or tasks defined within this file. */
static unsigned portSHORT usErrorDetected = pdFALSE;
/* The queue used to send messages to the LCD task. */
static xQueueHandle xLCDQueue;
/*-----------------------------------------------------------*/
@ -148,9 +154,14 @@ int main( void )
vCreateBlockTimeTasks();
/* Create the test tasks defined within this file. */
xTaskCreate( xRegisterTest1, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &usTest1CycleCounter, tskIDLE_PRIORITY, NULL );
xTaskCreate( xRegisterTest2, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &usTest2CycleCounter, tskIDLE_PRIORITY, NULL );
xTaskCreate( vCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
xTaskCreate( vCheckTask, ( signed portCHAR * ) "Check", mainCHECK_TAKS_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Start the task that will control the LCD. This returns the handle
to the queue used to write text out to the task. */
xLCDQueue = xStartLCDTask();
/* Start the high frequency interrupt test. */
vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );
/* Finally start the scheduler. */
vTaskStartScheduler();
@ -169,11 +180,23 @@ static void prvSetupHardware( void )
static void vCheckTask( void *pvParameters )
{
portTickType xLastExecutionTime;
/* Used to wake the task at the correct frequency. */
portTickType xLastExecutionTime;
/* Start with the no error delay. The long delay will cause the LED to flash
slowly. */
portTickType xDelay = mainNO_ERROR_DELAY;
/* The maximum jitter time measured by the fast interrupt test. */
extern unsigned portSHORT usMaxJitter ;
/* Buffer into which the maximum jitter time is written as a string. */
static portCHAR cStringBuffer[ mainMAX_STRING_LENGTH ];
/* The message that is sent on the queue to the LCD task. The first
parameter is the minimum time (in ticks) that the message should be
left on the LCD without being overwritten. The second parameter is a pointer
to the message to display itself. */
xLCDMessage xMessage = { 0, cStringBuffer };
/* Set to pdTRUE should an error be detected in any of the standard demo tasks. */
unsigned portSHORT usErrorDetected = pdFALSE;
/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
works correctly. */
@ -182,235 +205,43 @@ portTickType xDelay = mainNO_ERROR_DELAY;
for( ;; )
{
/* Wait until it is time for the next cycle. */
vTaskDelayUntil( &xLastExecutionTime, xDelay );
vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_PERIOD );
/* Has an error been found in any of the standard demo tasks? */
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
usErrorDetected = pdTRUE;
sprintf( cStringBuffer, "FAIL #1" );
}
if( xAreComTestTasksStillRunning() != pdTRUE )
{
usErrorDetected = pdTRUE;
sprintf( cStringBuffer, "FAIL #2" );
}
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
usErrorDetected = pdTRUE;
sprintf( cStringBuffer, "FAIL #3" );
}
if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
usErrorDetected = pdTRUE;
sprintf( cStringBuffer, "FAIL #4" );
}
/* Are the register test tasks still cycling? */
if( usTest1CycleCounter == usPreviousTest1Count )
if( usErrorDetected == pdFALSE )
{
usErrorDetected = pdTRUE;
/* No errors have been discovered, so display the maximum jitter
timer discovered by the "fast interrupt test". */
sprintf( cStringBuffer, "%dns max jitter", ( portSHORT ) ( usMaxJitter - mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ) * mainNS_PER_CLOCK );
}
if( usTest2CycleCounter == usPreviousTest2Count )
{
usErrorDetected = pdTRUE;
}
usPreviousTest2Count = usTest2CycleCounter;
usPreviousTest1Count = usTest1CycleCounter;
/* If an error has been detected in any task then the delay will be
reduced to increase the cycle rate of this task. This has the effect
of causing the LED to flash much faster giving a visual indication of
the error condition. */
if( usErrorDetected != pdFALSE )
{
xDelay = mainERROR_DELAY;
}
/* Finally, toggle the LED before returning to delay to wait for the
next cycle. */
vParTestToggleLED( mainCHECK_LED );
}
}
/*-----------------------------------------------------------*/
void xRegisterTest1( void *pvParameters )
{
/* This static so as not to use the frame pointer. They are volatile
also to avoid it being stored in a register that we clobber during the test. */
static unsigned portSHORT * volatile pusParameter;
/* The variable incremented by this task is passed in as the parameter
even though it is defined within this file. This is just to test the
parameter passing mechanism. */
pusParameter = pvParameters;
for( ;; )
{
/* Increment the variable to show this task is still cycling. */
( *pusParameter )++;
/* Set the w registers to known values, then check that each register
contains the expected value. See the explanation at the top of this
file for more information. */
asm volatile( "mov.w #0x0101, W0 \n" \
"mov.w #0x0102, W1 \n" \
"mov.w #0x0103, W2 \n" \
"mov.w #0x0104, W3 \n" \
"mov.w #0x0105, W4 \n" \
"mov.w #0x0106, W5 \n" \
"mov.w #0x0107, W6 \n" \
"mov.w #0x0108, W7 \n" \
"mov.w #0x0109, W8 \n" \
"mov.w #0x010a, W9 \n" \
"mov.w #0x010b, W10 \n" \
"mov.w #0x010c, W11 \n" \
"mov.w #0x010d, W12 \n" \
"mov.w #0x010e, W13 \n" \
"mov.w #0x010f, W14 \n" \
"sub #0x0101, W0 \n" \
"cp0.w W0 \n" \
"bra NZ, ERROR_TEST1 \n" \
"sub #0x0102, W1 \n" \
"cp0.w W1 \n" \
"bra NZ, ERROR_TEST1 \n" \
"sub #0x0103, W2 \n" \
"cp0.w W2 \n" \
"bra NZ, ERROR_TEST1 \n" \
"sub #0x0104, W3 \n" \
"cp0.w W3 \n" \
"bra NZ, ERROR_TEST1 \n" \
"sub #0x0105, W4 \n" \
"cp0.w W4 \n" \
"bra NZ, ERROR_TEST1 \n" \
"sub #0x0106, W5 \n" \
"cp0.w W5 \n" \
"bra NZ, ERROR_TEST1 \n" \
"sub #0x0107, W6 \n" \
"cp0.w W6 \n" \
"bra NZ, ERROR_TEST1 \n" \
"sub #0x0108, W7 \n" \
"cp0.w W7 \n" \
"bra NZ, ERROR_TEST1 \n" \
"sub #0x0109, W8 \n" \
"cp0.w W8 \n" \
"bra NZ, ERROR_TEST1 \n" \
"sub #0x010a, W9 \n" \
"cp0.w W9 \n" \
"bra NZ, ERROR_TEST1 \n" \
"sub #0x010b, W10 \n" \
"cp0.w W10 \n" \
"bra NZ, ERROR_TEST1 \n" \
"sub #0x010c, W11 \n" \
"cp0.w W11 \n" \
"bra NZ, ERROR_TEST1 \n" \
"sub #0x010d, W12 \n" \
"cp0.w W12 \n" \
"bra NZ, ERROR_TEST1 \n" \
"sub #0x010e, W13 \n" \
"cp0.w W13 \n" \
"bra NZ, ERROR_TEST1 \n" \
"sub #0x010f, W14 \n" \
"cp0.w W14 \n" \
"bra NZ, ERROR_TEST1 \n" \
"bra NO_ERROR1 \n" \
"ERROR_TEST1: \n" \
"mov.w #1, W0 \n" \
"mov.w W0, _usErrorDetected\n" \
"NO_ERROR1: \n" );
}
}
/*-----------------------------------------------------------*/
void xRegisterTest2( void *pvParameters )
{
/* This static so as not to use the frame pointer. They are volatile
also to avoid it being stored in a register that we clobber during the test. */
static unsigned portSHORT * volatile pusParameter;
/* The variable incremented by this task is passed in as the parameter
even though it is defined within this file. This is just to test the
parameter passing mechanism. */
pusParameter = pvParameters;
for( ;; )
{
/* Increment the variable to show this task is still cycling. */
( *pusParameter )++;
/* Set the w registers to known values, then check that each register
contains the expected value. See the explanation at the top of this
file for more information. */
asm volatile( "mov.w #0x0100, W0 \n" \
"mov.w #0x0101, W1 \n" \
"mov.w #0x0102, W2 \n" \
"mov.w #0x0103, W3 \n" \
"mov.w #0x0104, W4 \n" \
"mov.w #0x0105, W5 \n" \
"mov.w #0x0106, W6 \n" \
"mov.w #0x0107, W7 \n" \
"mov.w #0x0108, W8 \n" \
"mov.w #0x0109, W9 \n" \
"mov.w #0x010a, W10 \n" \
"mov.w #0x010b, W11 \n" \
"mov.w #0x010c, W12 \n" \
"mov.w #0x010d, W13 \n" \
"mov.w #0x010e, W14 \n" \
"sub #0x0100, W0 \n" \
"cp0.w W0 \n" \
"bra NZ, ERROR_TEST2 \n" \
"sub #0x0101, W1 \n" \
"cp0.w W1 \n" \
"bra NZ, ERROR_TEST2 \n" \
"sub #0x0102, W2 \n" \
"cp0.w W2 \n" \
"bra NZ, ERROR_TEST2 \n" \
"sub #0x0103, W3 \n" \
"cp0.w W3 \n" \
"bra NZ, ERROR_TEST2 \n" \
"sub #0x0104, W4 \n" \
"cp0.w W4 \n" \
"bra NZ, ERROR_TEST2 \n" \
"sub #0x0105, W5 \n" \
"cp0.w W5 \n" \
"bra NZ, ERROR_TEST2 \n" \
"sub #0x0106, W6 \n" \
"cp0.w W6 \n" \
"bra NZ, ERROR_TEST2 \n" \
"sub #0x0107, W7 \n" \
"cp0.w W7 \n" \
"bra NZ, ERROR_TEST2 \n" \
"sub #0x0108, W8 \n" \
"cp0.w W8 \n" \
"bra NZ, ERROR_TEST2 \n" \
"sub #0x0109, W9 \n" \
"cp0.w W9 \n" \
"bra NZ, ERROR_TEST2 \n" \
"sub #0x010a, W10 \n" \
"cp0.w W10 \n" \
"bra NZ, ERROR_TEST2 \n" \
"sub #0x010b, W11 \n" \
"cp0.w W11 \n" \
"bra NZ, ERROR_TEST2 \n" \
"sub #0x010c, W12 \n" \
"cp0.w W12 \n" \
"bra NZ, ERROR_TEST2 \n" \
"sub #0x010d, W13 \n" \
"cp0.w W13 \n" \
"bra NZ, ERROR_TEST2 \n" \
"sub #0x010e, W14 \n" \
"cp0.w W14 \n" \
"bra NZ, ERROR_TEST2 \n" \
"bra NO_ERROR2 \n" \
"ERROR_TEST2: \n" \
"mov.w #1, W0 \n" \
"mov.w W0, _usErrorDetected\n" \
"NO_ERROR2: \n" );
/* Send the message to the LCD gatekeeper for display. */
xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
}
}
/*-----------------------------------------------------------*/
@ -421,3 +252,4 @@ void vApplicationIdleHook( void )
vCoRoutineSchedule();
}
/*-----------------------------------------------------------*/