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Richard Barry 2010-01-17 15:45:37 +00:00
parent 8dd9c7dfd9
commit 73b49130c6
3 changed files with 137 additions and 64 deletions
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106
Demo/SuperH_SH7216_Renesas/RTOSDemo/main.c
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@ -51,6 +51,57 @@
licensing and training services.
*/
/*
* Creates all the demo application tasks, then starts the scheduler. The WEB
* documentation provides more details of the standard demo application tasks,
* which provide no particular functionality but do provide a good example of
* how to use the FreeRTOS API. In addition to the standard demo tasks, the
* following tasks and tests are defined and/or created within this file:
*
* "Reg test" tasks - These fill the registers with known values, then check
* that each register still contains its expected value. Each task uses
* different values. The tasks run with very low priority so get preempted very
* frequently. A register containing an unexpected value is indicative of an
* error in the context switching mechanism. Both standard and floating point
* registers are checked. The nature of the reg test tasks necessitates that
* they are written in assembly code. They are defined in regtest.src.
*
* "math" tasks - These are a set of 8 tasks that perform various double
* precision floating point calculations in order to check that the tasks
* floating point registers are being correctly saved and restored during
* context switches. The math tasks are defined in flop.c.
*
* "Check" task - This only executes every five seconds but has a high priority
* to ensure it gets processor time. Its main function is to check that all the
* standard demo tasks are still operational. While no errors have been
* discovered the check task will toggle an LED every 5 seconds - the toggle
* rate increasing to 500ms being a visual indication that at least one task has
* reported unexpected behaviour.
*
* *NOTE 1* If LED5 is toggling every 5 seconds then all the demo application
* tasks are executing as expected and no errors have been reported in any
* tasks. The toggle rate increasing to 200ms indicates that at least one task
* has reported unexpected behaviour.
*
* *NOTE 2* This file and flop.c both demonstrate the use of
* xPortUsesFloatingPoint() which informs the kernel that a task should maintain
* a floating point context.
*
* *NOTE 3* vApplicationSetupTimerInterrupt() is called by the kernel to let
* the application set up a timer to generate the tick interrupt. In this
* example a compare match timer is used for this purpose.
* vApplicationTickHook() is used to clear the timer interrupt and relies on
* configUSE_TICK_HOOK being set to 1 in FreeRTOSConfig.h.
*
* *NOTE 4* The traceTASK_SWITCHED_IN and traceTASK_SWITCHED_OUT trace hooks
* are used to save and restore the floating point context respectively for
* those tasks that require it (those for which xPortUsesFloatingPoint() has
* been called).
*
*/
/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
@ -94,18 +145,58 @@ without error. */
by at least one task. */
#define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )
/*
* vApplicationMallocFailedHook() will only be called if
* configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
* function that will execute if a call to pvPortMalloc() fails.
* pvPortMalloc() is called internally by the kernel whenever a task, queue or
* semaphore is created. It is also called by various parts of the demo
* application.
*/
void vApplicationMallocFailedHook( void );
/*
* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1
* in FreeRTOSConfig.h. It is a hook function that is called on each iteration
* of the idle task. It is essential that code added to this hook function
* never attempts to block in any way (for example, call xQueueReceive() with
* a block time specified). If the application makes use of the vTaskDelete()
* API function (as this demo application does) then it is also important that
* vApplicationIdleHook() is permitted to return to its calling function because
* it is the responsibility of the idle task to clean up memory allocated by the
* kernel to any task that has since been deleted.
*/
void vApplicationIdleHook( void );
/*
* Just sets up clocks, ports, etc. used by the demo application.
*/
static void prvSetupHardware( void );
/*
* The check task as described at the top of this file.
*/
static void prvCheckTask( void *pvParameters );
/*
* The reg test tasks as described at the top of this file.
*/
extern void vRegTest1Task( void *pvParameters );
extern void vRegTest2Task( 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. */
volatile unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
/*-----------------------------------------------------------*/
/*
* Creates the majority of the demo application tasks before starting the
* scheduler.
*/
void main(void)
{
xTaskHandle xCreatedTask;
@ -113,10 +204,10 @@ xTaskHandle xCreatedTask;
prvSetupHardware();
/* Start the reg test tasks which test the context switching mechanism. */
xTaskCreate( vRegTest1Task, "RegTest1", configMINIMAL_STACK_SIZE, ( void * ) 0x12345678UL, tskIDLE_PRIORITY, &xCreatedTask );
xTaskCreate( vRegTest1Task, "RegTest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xCreatedTask );
xPortUsesFloatingPoint( xCreatedTask );
xTaskCreate( vRegTest2Task, "RegTest2", configMINIMAL_STACK_SIZE, ( void * ) 0x11223344UL, tskIDLE_PRIORITY, &xCreatedTask );
xTaskCreate( vRegTest2Task, "RegTest2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xCreatedTask );
xPortUsesFloatingPoint( xCreatedTask );
/* Start the check task as described at the top of this file. */
@ -133,6 +224,8 @@ xTaskHandle xCreatedTask;
vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
vStartQueuePeekTasks();
vStartRecursiveMutexTasks();
/* Start the math tasks as described at the top of this file. */
vStartMathTasks( mainFLOP_TASK_PRIORITY );
/* The suicide tasks must be created last as they need to know how many
@ -165,7 +258,7 @@ unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
/* Place this task in the blocked state until it is time to run again. */
vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
/* Inspect all the other tasks to esnure none have experienced any errors. */
/* Inspect all the other tasks to ensure none have experienced any errors. */
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
/* Increase the rate at which this task cycles, which will increase the
@ -253,7 +346,10 @@ void vApplicationIdleHook( void )
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
{
/* Just to remove compiler warnings. */
/* Just to remove compiler warnings. This function will only actually
get called if configCHECK_FOR_STACK_OVERFLOW is set to a non zero value.
By default this demo does not use the stack overflow checking functionality
as the SuperH will normally execute an exception if the stack overflows. */
( void ) pxTask;
( void ) pcTaskName;
@ -282,7 +378,7 @@ volatile unsigned long ul;
void vApplicationSetupTimerInterrupt( void )
{
/* The peripheral clock is divided by 32 before feeding the compare match
periphersl (CMT). */
peripheral (CMT). */
unsigned long ulCompareMatch = ( configPERIPHERAL_CLOCK_HZ / ( configTICK_RATE_HZ * 32 ) ) + 1;
/* Configure a timer to create the RTOS tick interrupt. This example uses