mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
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Lots of work on the RX200 demo. Blinky and Full/Debug build configurations are now tested, after adding the BussonAndLCD.c/h files. Full/Optimised is yet to be built or tested.
This commit is contained in:
Richard Barry
parent
025abf6f6a
commit
83f0af8764
15 changed files with 798 additions and 774 deletions
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@ -54,69 +54,66 @@
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/* ****************************************************************************
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* This project includes a lot of tasks and tests and is therefore complex.
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* If you would prefer a much simpler project to get started with then select
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* the 'Blinky' build configuration within the HEW IDE.
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* the 'Blinky' build configuration within the HEW IDE. The Blinky build
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* configuration uses main-blinky.c instead of main-full.c.
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* ****************************************************************************
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*
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* Creates all the demo application tasks, then starts the scheduler. The web
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* documentation provides more details of the standard demo application tasks,
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* which provide no particular functionality but do provide a good example of
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* how to use the FreeRTOS API. The tasks defined in flop.c are included in the
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* set of standard demo tasks to ensure the floating point unit gets some
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* exercise.
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* how to use the FreeRTOS API.
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*
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* In addition to the standard demo tasks, the following tasks and tests are
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* defined and/or created within this file:
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*
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* Webserver ("uIP") task - This serves a number of dynamically generated WEB
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* pages to a standard WEB browser. The IP and MAC addresses are configured by
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* constants defined at the bottom of FreeRTOSConfig.h. Use either a standard
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* Ethernet cable to connect through a hug, or a cross over (point to point)
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* cable to connect directly. Ensure the IP address used is compatible with the
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* IP address of the machine running the browser - the easiest way to achieve
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* this is to ensure the first three octets of the IP addresses are the same.
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* "Reg test" tasks - These fill the registers with known values, then
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* repeatedly check that each register still contains its expected value for
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* the lifetime of the tasks. Each task uses different values. The tasks run
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* with very low priority so get preempted very frequently. A check variable
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* is incremented on each iteration of the test loop. A register containing an
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* unexpected value is indicative of an error in the context switching
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* mechanism and will result in a branch to a null loop - which in turn will
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* prevent the check variable from incrementing any further and allow the check
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* timer (described below) to determine that an error has occurred. The nature
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* of the reg test tasks necessitates that they are written in assembly code.
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*
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* "Reg test" tasks - These fill the registers with known values, then check
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* that each register still contains its expected value. Each task uses
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* different values. The tasks run with very low priority so get preempted
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* very frequently. A check variable is incremented on each iteration of the
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* test loop. A register containing an unexpected value is indicative of an
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* error in the context switching mechanism and will result in a branch to a
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* null loop - which in turn will prevent the check variable from incrementing
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* any further and allow the check task (described below) to determine that an
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* error has occurred. The nature of the reg test tasks necessitates that they
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* are written in assembly code.
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*
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* "Check" task - This only executes every five seconds but has a high priority
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* to ensure it gets processor time. Its main function is to check that all the
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* standard demo tasks are still operational. While no errors have been
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* discovered the check task will toggle LED 5 every 5 seconds - the toggle
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* rate increasing to 200ms being a visual indication that at least one task has
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* reported unexpected behaviour.
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* "Check Timer" and Callback Function - The check timer period is initially
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* set to five seconds. The check timer callback function checks that all the
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* standard demo tasks are not only still executing, but are executing without
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* reporting any errors. If the check timer discovers that a task has either
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* stalled, or reported an error, then it changes its own period from the
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* initial three seconds, to just 200ms. The check timer callback function
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* also toggles LED 3 each time it is called. This provides a visual
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* indication of the system status: If the LED toggles every five seconds,
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* then no issues have been discovered. If the LED toggles every 200ms, then
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* an issue has been discovered with at least one task.
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*
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* "High frequency timer test" - A high frequency periodic interrupt is
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* generated using a timer - the interrupt is assigned a priority above
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* configMAX_SYSCALL_INTERRUPT_PRIORITY so should not be effected by anything
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* configMAX_SYSCALL_INTERRUPT_PRIORITY, so will not be effected by anything
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* the kernel is doing. The frequency and priority of the interrupt, in
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* combination with other standard tests executed in this demo, should result
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* combination with other standard tests executed in this demo, will result
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* in interrupts nesting at least 3 and probably 4 deep. This test is only
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* included in build configurations that have the optimiser switched on. In
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* optimised builds the count of high frequency ticks is used as the time base
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* for the run time stats.
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* included in build configurations that have the optimiser switched on.
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*
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* *NOTE 1* If LED5 is toggling every 5 seconds then all the demo application
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* tasks are executing as expected and no errors have been reported in any
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* tasks. The toggle rate increasing to 200ms indicates that at least one task
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* has reported unexpected behaviour.
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* "Button and LCD test" - This creates two tasks. The first simply scrolls
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* a message back and forth along the top line of the LCD display. If no
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* buttons are pushed, the second also scrolls a message back and forth, but
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* along the bottom line of the display. The automatic scrolling of the second
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* line of the display can be started and stopped using button SW2. Once
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* stopped it can then be manually nudged left using button SW3, and manually
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* nudged right using button SW1. Button pushes generate an interrupt, and the
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* interrupt communicates with the task using a queue.
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*
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* *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
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* *NOTE 1* vApplicationSetupTimerInterrupt() is called by the kernel to let
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* the application set up a timer to generate the tick interrupt. In this
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* example a compare match timer is used for this purpose.
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*
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* *NOTE 3* The CPU must be in Supervisor mode when the scheduler is started.
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* *NOTE 2* The CPU must be in Supervisor mode when the scheduler is started.
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* The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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* Change_PSW_PM_to_UserMode() commented out to ensure this is the case.
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*
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* *NOTE 4* The IntQueue common demo tasks test interrupt nesting and make use
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* *NOTE 3* The IntQueue common demo tasks test interrupt nesting and make use
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* of all the 8bit timers (as two cascaded 16bit units).
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*/
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@ -129,6 +126,7 @@
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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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#include "semphr.h"
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/* Standard demo includes. */
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@ -145,43 +143,42 @@
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#include "QPeek.h"
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#include "recmutex.h"
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/* Demo specific tasks. */
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#include "ButtonAndLCD.h"
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/* Peripheral includes. */
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#include "lcd.h"
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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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/* Values that are passed into the reg test tasks using the task parameter.
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The 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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#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 mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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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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#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1)
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/* The WEB server uses string handling functions, which in turn use a bit more
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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 ( 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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/* The period at which the check timer will expire, in ms, provided no errors
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have been reported by any of the standard demo tasks. ms are converted to the
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equivalent in ticks using the portTICK_RATE_MS constant. */
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#define mainCHECK_TIMER_PERIOD_MS ( 5000UL / 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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/* The period at which the check timer will expire, in ms, if an error has been
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reported in one of the standard demo tasks. ms are converted to the equivalent
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in ticks using the portTICK_RATE_MS constant. */
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#define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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/* A block time of zero simple means "Don't Block". */
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#define mainDONT_BLOCK ( 0UL )
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/*
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* vApplicationMallocFailedHook() will only be called if
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@ -229,9 +226,9 @@ static void prvRegTest1Implementation( void );
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static void prvRegTest2Implementation( void );
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/*
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* The check task as described at the top of this file.
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* The check timer callback function, as described at the top of this file.
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*/
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static void prvCheckTask( void *pvParameters );
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static void prvCheckTimerCallback( xTimerHandle xTimer );
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/*-----------------------------------------------------------*/
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@ -242,20 +239,9 @@ 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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const char *pcStatusMessage = "All tasks executing without error.";
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extern void SwitchSetup(void);
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extern xQueueHandle SwitchQueue;
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extern xSemaphoreHandle LCD_Mutex;
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extern struct _LCD_Params Line1;
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extern struct _LCD_Params Line2;
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/* The check timer. This uses prvCheckTimerCallback() as its callback
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function. */
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static xTimerHandle xCheckTimer = NULL;
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/*-----------------------------------------------------------*/
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/* Renesas provided CPU configuration routine. The clocks are configured in
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here. */
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HardwareSetup();
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SwitchSetup();
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/* Turn all LEDs off. */
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vParTestInitialise();
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@ -275,17 +260,8 @@ extern void HardwareSetup( void );
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xTaskCreate( prvRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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xTaskCreate( prvRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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/* LCD task */
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LCD_Mutex = xSemaphoreCreateMutex();
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xTaskCreate( prvLCDTaskLine1, "LCD1", configMINIMAL_STACK_SIZE * 3, ( void *)&Line1, mainLCD_TASK_PRIORITY, NULL );
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xTaskCreate( prvLCDTaskLine2, "LCD2", configMINIMAL_STACK_SIZE * 3, ( void *)&Line2, mainLCD_TASK_PRIORITY + 1, NULL );
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/* Switch Queue to handle switch presses */
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SwitchQueue = xQueueCreate(32, 1);
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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 * 3, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* The button and LCD tasks, as described at the top of this file. */
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vStartButtonAndLCDDemo();
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/* Create the standard demo tasks. */
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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@ -299,12 +275,26 @@ extern void HardwareSetup( void );
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vStartRecursiveMutexTasks();
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vStartInterruptQueueTasks();
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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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/* Create the software timer that performs the 'check' functionality,
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as described at the top of this file. */
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xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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( void * ) 0, /* The ID is not used, so can be set to anything. */
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prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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);
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configASSERT( xCheckTimer );
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/* Start the check timer. It will actually start when the scheduler is
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started. */
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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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@ -315,104 +305,85 @@ extern void HardwareSetup( void );
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTask( void *pvParameters )
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static void prvCheckTimerCallback( xTimerHandle xTimer )
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{
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static long lChangedTimerPeriodAlready = pdFALSE, lErrorStatus = pdPASS;
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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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/* If this is being executed then the kernel has been started. Start the high
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frequency timer test as described at the top of this file. This is only
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included in the optimised build configuration - otherwise it takes up too much
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CPU time and can disrupt other tests. */
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#ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
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vSetupHighFrequencyTimer();
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#endif
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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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/* 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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/* 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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xCycleFrequency = mainERROR_CYCLE_TIME;
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pcStatusMessage = "Error: GenQueue";
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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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pcStatusMessage = "Error: QueuePeek";
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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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pcStatusMessage = "Error: BlockQueue";
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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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pcStatusMessage = "Error: BlockTime";
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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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pcStatusMessage = "Error: SemTest";
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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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pcStatusMessage = "Error: PollQueue";
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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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pcStatusMessage = "Error: Death";
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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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pcStatusMessage = "Error: IntMath";
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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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pcStatusMessage = "Error: RecMutex";
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}
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else if( xAreIntQueueTasksStillRunning() != pdPASS )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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pcStatusMessage = "Error: IntQueue";
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}
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lErrorStatus = pdFAIL;
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}
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else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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lErrorStatus = pdFAIL;
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}
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else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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lErrorStatus = pdFAIL;
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}
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else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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lErrorStatus = pdFAIL;
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}
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else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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lErrorStatus = pdFAIL;
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}
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else if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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lErrorStatus = pdFAIL;
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}
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else if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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lErrorStatus = pdFAIL;
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}
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else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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lErrorStatus = pdFAIL;
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}
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else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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lErrorStatus = pdFAIL;
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}
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else if( xAreIntQueueTasksStillRunning() != pdPASS )
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{
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lErrorStatus = pdFAIL;
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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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/* 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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lErrorStatus = pdFAIL;
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}
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if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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{
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lErrorStatus = pdFAIL;
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}
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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 );
|
||||
|
||||
/* Was an error detected this time through the callback execution? */
|
||||
if( lErrorStatus != pdPASS )
|
||||
{
|
||||
if( lChangedTimerPeriodAlready == pdFALSE )
|
||||
{
|
||||
xCycleFrequency = mainERROR_CYCLE_TIME;
|
||||
pcStatusMessage = "Error: RegTest1";
|
||||
lChangedTimerPeriodAlready = pdTRUE;
|
||||
|
||||
/* This call to xTimerChangePeriod() uses a zero block time.
|
||||
Functions called from inside of a timer callback function must
|
||||
*never* attempt to block. */
|
||||
xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
|
||||
}
|
||||
|
||||
if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
|
||||
{
|
||||
xCycleFrequency = mainERROR_CYCLE_TIME;
|
||||
pcStatusMessage = "Error: RegTest2";
|
||||
}
|
||||
|
||||
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 );
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
|
@ -464,6 +435,19 @@ void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName
|
|||
of this file. */
|
||||
void vApplicationIdleHook( void )
|
||||
{
|
||||
/* If this is being executed then the kernel has been started. Start the high
|
||||
frequency timer test as described at the top of this file. This is only
|
||||
included in the optimised build configuration - otherwise it takes up too much
|
||||
CPU time and can disrupt other tests. */
|
||||
#ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
|
||||
static portBASE_TYPE xTimerTestStarted = pdFALSE;
|
||||
extern void vSetupHighFrequencyTimer( void );
|
||||
if( xTimerTestStarted == pdFALSE )
|
||||
{
|
||||
vSetupHighFrequencyTimer();
|
||||
xTimerTestStarted = pdTRUE;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
|
|
@ -668,14 +652,3 @@ RegTest2Error:
|
|||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
char *pcGetTaskStatusMessage( void )
|
||||
{
|
||||
/* Not bothered about a critical section here although technically because of
|
||||
the task priorities the pointer could change it will be atomic if not near
|
||||
atomic and its not critical. */
|
||||
return ( char * ) pcStatusMessage;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue