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Add PIC32MEC14xx port and demo application.

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Richard Barry 2015-09-12 20:47:59 +00:00
parent f19497c3d6
commit a29dc8d6c6
103 changed files with 49682 additions and 6 deletions
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151
FreeRTOS/Demo/PIC32MEC14xx_MPLAB/src/Full_Demo/IntQueueTimer.c Normal file
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/*
FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
/* FreeRTOS includes. */
#include "FreeRTOS.h"
/* Standard demo includes. */
#include "IntQueueTimer.h"
#include "IntQueue.h"
/* Microchip includes. */
#include "MEC14xx/mec14xx_timers.h"
#include "MEC14xx/mec14xx_jtvic.h"
#include "MEC14xx/mec14xx.h"
/* The frequency of the two timers is offset so the time between the timers
expiring is not always the same. */
#define timerINTERRUPT0_FREQUENCY ( 2000UL )
#define timerINTERRUPT1_FREQUENCY ( 2221UL )
/* MEC14xx JTVIC external interrupt controller is mapped to M14K closely-coupled
peripheral space. */
#define portMMCR_JTVIC_GIRQ23_PRIA *((volatile uint32_t *)(0xBFFFC3F0ul))
/*-----------------------------------------------------------*/
/* These are the C handlers called from the asm wrappers. */
void vT0InterruptHandler( void );
void vT1InterruptHandler( void );
/*-----------------------------------------------------------*/
void vInitialiseTimerForIntQueueTest( void )
{
/* Timer RT is used for the tick interrupt, timer 3 is used for the high
frequency interrupt test. This file therefore uses timers 0 and 1. */
uint32_t ulPreload = ( unsigned short ) ( ( configPERIPHERAL_CLOCK_HZ / ( unsigned long ) timerINTERRUPT0_FREQUENCY ) );
btmr_sleep_en( BTMR0_ID, 0 );
btmr_init( BTMR0_ID, BTMR_COUNT_DOWN + BTMR_AUTO_RESTART + BTMR_INT_EN, 0, ulPreload, ulPreload );
btmr_start( BTMR0_ID );
jtvic_clr_source( MEC14xx_GIRQ23_ID, 0 );
portMMCR_JTVIC_GIRQ23_PRIA &= ~( 0x0Ful << 0 );
portMMCR_JTVIC_GIRQ23_PRIA |= ( ( portIPL_TO_CODE( configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) << 0 );
jtvic_en_source( MEC14xx_GIRQ23_ID, 0, pdTRUE );
ulPreload = ( unsigned short ) ( ( configPERIPHERAL_CLOCK_HZ / ( unsigned long ) timerINTERRUPT1_FREQUENCY ) );
btmr_sleep_en( BTMR1_ID, 0 );
btmr_init( BTMR1_ID, BTMR_COUNT_DOWN + BTMR_AUTO_RESTART + BTMR_INT_EN, 0, ulPreload, ulPreload );
btmr_start( BTMR1_ID );
jtvic_clr_source( MEC14xx_GIRQ23_ID, 1 );
portMMCR_JTVIC_GIRQ23_PRIA &= ~( 0x0Ful << 4 );
portMMCR_JTVIC_GIRQ23_PRIA |= ( ( portIPL_TO_CODE( configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) << 4 );
jtvic_en_source( MEC14xx_GIRQ23_ID, 1, pdTRUE );
}
/*-----------------------------------------------------------*/
void vT0InterruptHandler( void )
{
/* Disable all interrupts because the source bit is shared with a bit used
by the other timer and the high frequency timer test. */
__asm volatile( "di" );
/* Clear the timer interrupt. */
jtvic_clr_source( MEC14xx_GIRQ23_ID, 0 );
__asm volatile( "ei" );
portEND_SWITCHING_ISR( xFirstTimerHandler() );
}
/*-----------------------------------------------------------*/
void vT1InterruptHandler( void )
{
/* Disable all interrupts because the source bit is shared with a bit used
by the other timer and the high frequency timer test. */
__asm volatile( "di" );
/* Clear the timer interrupt. */
jtvic_clr_source( MEC14xx_GIRQ23_ID, 1 );
__asm volatile( "ei" );
portEND_SWITCHING_ISR( xSecondTimerHandler() );
}

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FreeRTOS/Demo/PIC32MEC14xx_MPLAB/src/Full_Demo/IntQueueTimer.h Normal file
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/*
FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef INT_QUEUE_TIMER_H
#define INT_QUEUE_TIMER_H
void vInitialiseTimerForIntQueueTest( void );
portBASE_TYPE xTimer0Handler( void );
portBASE_TYPE xTimer1Handler( void );
#endif

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FreeRTOS/Demo/PIC32MEC14xx_MPLAB/src/Full_Demo/IntQueueTimer_isr.S Normal file
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/*
FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#include <xc.h>
#include <sys/asm.h>
#include "ISR_Support.h"
#define portEXC_CODE_MASK ( 0x1f << 2 )
.extern vT0InterruptHandler
.extern vT1InterruptHandler
.global vT0InterruptWrapper
.global vT1InterruptWrapper
/******************************************************************/
.set micromips
.set noreorder
.set noat
.ent vT0InterruptWrapper
.global girq23_b0
girq23_b0:
vT0InterruptWrapper:
portSAVE_CONTEXT
jal vT0InterruptHandler
nop
portRESTORE_CONTEXT
.end vT0InterruptWrapper
/******************************************************************/
.set micromips
.set noreorder
.set noat
.ent vT1InterruptWrapper
.global girq23_b1
girq23_b1:
vT1InterruptWrapper:
portSAVE_CONTEXT
jal vT1InterruptHandler
nop
portRESTORE_CONTEXT
.end vT1InterruptWrapper

257
FreeRTOS/Demo/PIC32MEC14xx_MPLAB/src/Full_Demo/RegisterTestTasks.S Normal file
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/*
FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#include <xc.h>
#include <sys/asm.h>
.global vRegTest1
.global vRegTest2
/* Reg test macro helper. Test a register for a known value branching to
error_loop if not correct otherwise continuing on */
.macro portREG_TEST work_reg, test_reg, test_value
.set micromips
.set noreorder
.set noat
/* Check each register maintains the value assigned to it for the lifetime
of the task. */
addiu \work_reg, $0, 0x00
addiu \work_reg, \test_reg, -\test_value
beq \work_reg, $0, 1f
nop
/* The register value was not that expected. Jump to the error loop so the
cycle counter stops incrementing. */
b error_loop
nop
1:
.endm
.set micromips
.set noreorder
.set noat
.ent error_loop
/* Reg test tasks call the error loop when they find an error. Sitting in the
tight error loop prevents them incrementing their ulRegTestnCycles counter, and
so allows the check softwate timer to know an error has been found. */
error_loop:
b error_loop
nop
.end error_loop
.set micromips
.set noreorder
.set noat
.ent vRegTest1
vRegTest1:
/* Fill the registers with known values. */
addiu $1, $0, 0x11
addiu $2, $0, 0x12
addiu $3, $0, 0x13
/* $4 contains the address of the loop counter - don't mess with $4. */
addiu $5, $0, 0x15
addiu $6, $0, 0x16
addiu $7, $0, 0x17
addiu $8, $0, 0x18
addiu $9, $0, 0x19
addiu $10, $0, 0x110
addiu $11, $0, 0x111
addiu $12, $0, 0x112
addiu $13, $0, 0x113
addiu $14, $0, 0x114
addiu $15, $0, 0x115
addiu $16, $0, 0x116
addiu $17, $0, 0x117
addiu $18, $0, 0x118
addiu $19, $0, 0x119
addiu $20, $0, 0x120
addiu $21, $0, 0x121
addiu $23, $0, 0x123
addiu $24, $0, 0x124
addiu $25, $0, 0x125
addiu $30, $0, 0x130
addiu $22, $0, 0x131
vRegTest1Loop:
portREG_TEST $22, $1, 0x11
portREG_TEST $22, $2, 0x12
portREG_TEST $22, $3, 0x13
portREG_TEST $22, $5, 0x15
portREG_TEST $22, $6, 0x16
portREG_TEST $22, $7, 0x17
portREG_TEST $22, $8, 0x18
portREG_TEST $22, $9, 0x19
portREG_TEST $22, $10, 0x110
portREG_TEST $22, $11, 0x111
portREG_TEST $22, $12, 0x112
portREG_TEST $22, $13, 0x113
portREG_TEST $22, $14, 0x114
portREG_TEST $22, $15, 0x115
portREG_TEST $22, $16, 0x116
portREG_TEST $22, $17, 0x117
portREG_TEST $22, $18, 0x118
portREG_TEST $22, $19, 0x119
portREG_TEST $22, $20, 0x120
portREG_TEST $22, $21, 0x121
portREG_TEST $22, $23, 0x123
portREG_TEST $22, $24, 0x124
portREG_TEST $22, $25, 0x125
portREG_TEST $22, $30, 0x130
/* No errors detected. Increment the loop count so the check timer knows
this task is still running without error, then loop back to do it all
again. The address of the loop counter is in $4. */
lw $22, 0( $4 )
addiu $22, $22, 0x01
sw $22, 0( $4 )
b vRegTest1Loop
nop
.end vRegTest1
.set micromips
.set noreorder
.set noat
.ent vRegTest2
vRegTest2:
addiu $1, $0, 0x21
addiu $2, $0, 0x22
addiu $3, $0, 0x23
/* $4 contains the address of the loop counter - don't mess with $4. */
addiu $5, $0, 0x25
addiu $6, $0, 0x26
addiu $7, $0, 0x27
addiu $8, $0, 0x28
addiu $9, $0, 0x29
addiu $10, $0, 0x210
addiu $11, $0, 0x211
addiu $12, $0, 0x212
addiu $13, $0, 0x213
addiu $14, $0, 0x214
addiu $15, $0, 0x215
addiu $16, $0, 0x216
addiu $17, $0, 0x217
addiu $18, $0, 0x218
addiu $19, $0, 0x219
addiu $20, $0, 0x220
addiu $21, $0, 0x221
addiu $23, $0, 0x223
addiu $24, $0, 0x224
addiu $25, $0, 0x225
addiu $30, $0, 0x230
addiu $22, $0, 0x231
vRegTest2Loop:
portREG_TEST $22, $1, 0x21
portREG_TEST $22, $2, 0x22
portREG_TEST $22, $3, 0x23
portREG_TEST $22, $5, 0x25
portREG_TEST $22, $6, 0x26
portREG_TEST $22, $7, 0x27
portREG_TEST $22, $8, 0x28
portREG_TEST $22, $9, 0x29
portREG_TEST $22, $10, 0x210
portREG_TEST $22, $11, 0x211
portREG_TEST $22, $12, 0x212
portREG_TEST $22, $13, 0x213
portREG_TEST $22, $14, 0x214
portREG_TEST $22, $15, 0x215
portREG_TEST $22, $16, 0x216
portREG_TEST $22, $17, 0x217
portREG_TEST $22, $18, 0x218
portREG_TEST $22, $19, 0x219
portREG_TEST $22, $20, 0x220
portREG_TEST $22, $21, 0x221
portREG_TEST $22, $23, 0x223
portREG_TEST $22, $24, 0x224
portREG_TEST $22, $25, 0x225
portREG_TEST $22, $30, 0x230
/* No errors detected. Increment the loop count so the check timer knows
this task is still running without error, then loop back to do it all
again. The address of the loop counter is in $4. */
lw $22, 0( $4 )
addiu $22, $22, 0x01
sw $22, 0( $4 )
b vRegTest2Loop
nop
.end vRegTest2

378
FreeRTOS/Demo/PIC32MEC14xx_MPLAB/src/Full_Demo/main_full.c Normal file
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/*
FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
/******************************************************************************
* NOTE 1: This project provides two demo applications. A simple blinky style
* project, and a more comprehensive test and demo application. The
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
* between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
* in main.c. This file implements the comprehensive test and demo version.
*
* NOTE 2: This file only contains the source code that is specific to the
* full demo. Generic functions, such as FreeRTOS hook functions, and functions
* required to configure the hardware, are defined in main.c.
******************************************************************************
*
* main_full() creates all the demo application tasks and software timers, 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 and tests are also defined:
*
* "Register test" tasks - These tasks are used in part to test the kernel port.
* They set each processor register to a known value, then check that the
* register still contains that value. Each of the tasks sets the registers
* to different values, and will get swapping in and out between setting and
* then subsequently checking the register values. Discovery of an incorrect
* value would be indicative of an error in the task switching mechanism.
*
* "High Frequency Timer Test" - The high frequency timer is created to test
* the interrupt nesting method. The standard demo interrupt nesting test tasks
* are created with priorities at or below configMAX_SYSCALL_INTERRUPT_PRIORITY
* because they use interrupt safe FreeRTOS API functions. The high frequency
* time is created with a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY,
* so cannot us the same API functions.
*
* "Check" timer - The check software timer period is initially set to three
* seconds. The callback function associated with the check software timer
* checks that all the standard demo tasks, and the register check tasks, are
* not only still executing, but are executing without reporting any errors. If
* the check software timer discovers that a task has either stalled, or
* reported an error, then it changes its own execution period from the initial
* three seconds, to just 200ms. The check software timer also toggle LED
* mainCHECK_LED; If mainCHECK_LED toggles every 3 seconds, no errors have
* been detected. If mainCHECK_LED toggles every 200ms then an error has been
* detected in at least one task.
*
*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
#include "timers.h"
/* Demo application includes. */
#include "blocktim.h"
#include "semtest.h"
#include "GenQTest.h"
#include "IntQueue.h"
#include "countsem.h"
/*-----------------------------------------------------------*/
/* The period after which the check timer will expire, in ms, provided no errors
have been reported by any of the standard demo tasks. ms are converted to the
equivalent in ticks using the portTICK_PERIOD_MS constant. */
#define mainCHECK_TIMER_PERIOD_MS pdMS_TO_TICKS( 3000UL )
/* The period at which the check timer will expire, in ms, if an error has been
reported in one of the standard demo tasks. ms are converted to the equivalent
in ticks using the portTICK_PERIOD_MS constant. */
#define mainERROR_CHECK_TIMER_PERIOD_MS pdMS_TO_TICKS( 200UL )
/* The priorities of the various demo application tasks. */
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
/* The LED controlled by the 'check' software timer. */
#define mainCHECK_LED ( 2 )
/* Misc. */
#define mainDONT_BLOCK ( 0 )
/* The frequency at which the "high frequency interrupt" interrupt will
occur. */
#define mainTEST_INTERRUPT_FREQUENCY ( 20000 )
/*-----------------------------------------------------------*/
/*
* The check timer callback function, as described at the top of this file.
*/
static void prvCheckTimerCallback( TimerHandle_t xTimer );
/*
* It is important to ensure the high frequency timer test does not start before
* the kernel. It is therefore started from inside a software timer callback
* function, which will not execute until the timer service/daemon task is
* executing. A one-shot timer is used, so the callback function will only
* execute once (unless it is manually reset/restarted).
*/
static void prvSetupHighFrequencyTimerTest( TimerHandle_t xTimer );
/*
* Tasks that test the context switch mechanism by filling the processor
* registers with known values, then checking that the values contained
* within the registers is as expected. The tasks are likely to get swapped
* in and out between setting the register values and checking the register
* values.
*/
static void prvRegTestTask1( void *pvParameters );
static void prvRegTestTask2( void *pvParameters );
/*
* LED toggle function that uses a critical section to ensure thread safety.
*/
extern void vToggleLED( uint8_t ucLED );
/*-----------------------------------------------------------*/
/* Variables incremented by prvRegTestTask1() and prvRegTestTask2() respectively
on each iteration of their function. These are used to detect errors in the
reg test tasks. */
volatile unsigned long ulRegTest1Cycles = 0, ulRegTest2Cycles = 0;
/*-----------------------------------------------------------*/
/*
* Create the demo tasks then start the scheduler.
*/
int main_full( void )
{
TimerHandle_t xTimer = NULL;
/* Create all the other standard demo tasks. */
vCreateBlockTimeTasks();
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
vStartInterruptQueueTasks();
vStartCountingSemaphoreTasks();
/* Create the tasks defined within this file. */
xTaskCreate( prvRegTestTask1, /* The function that implements the task. */
"Reg1", /* Text name for the task to assist debugger - not used by FreeRTOS itself. */
configMINIMAL_STACK_SIZE, /* The stack size to allocate for the task - specified in words not bytes. */
NULL, /* The parameter to pass into the task - not used in this case so set to NULL. */
tskIDLE_PRIORITY, /* The priority to assign to the task. */
NULL ); /* Used to obtain a handle to the task being created - not used in this case so set to NULL. */
xTaskCreate( prvRegTestTask2, "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
/* Create the software timer that performs the 'check' functionality, as
described at the top of this file. */
xTimer = xTimerCreate( "CheckTimer",/* A text name, purely to help debugging. */
( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
( void * ) 0, /* The ID is not used, so can be set to anything. */
prvCheckTimerCallback ); /* The callback function that inspects the status of all the other tasks. */
if( xTimer != NULL )
{
xTimerStart( xTimer, mainDONT_BLOCK );
}
/* A software timer is also used to start the high frequency timer test.
This is to ensure the test does not start before the kernel. This time a
one shot software timer is used. */
xTimer = xTimerCreate( "HighHzTimerSetup", 1, pdFALSE, ( void * ) 0, prvSetupHighFrequencyTimerTest );
if( xTimer != NULL )
{
xTimerStart( xTimer, mainDONT_BLOCK );
}
/* Finally start the scheduler. */
vTaskStartScheduler();
/* If all is well, the scheduler will now be running, and the following line
will never be reached. If the following line does execute, then there was
insufficient FreeRTOS heap memory available for the idle and/or timer tasks
to be created. See the memory management section on the FreeRTOS web site
for more details. http://www.freertos.org/a00111.html */
for( ;; );
}
/*-----------------------------------------------------------*/
static void prvRegTestTask1( void *pvParameters )
{
extern void vRegTest1( volatile unsigned long * );
/* Avoid compiler warnings. */
( void ) pvParameters;
/* Pass the address of the RegTest1 loop counter into the test function,
which is necessarily implemented in assembler. */
vRegTest1( &ulRegTest1Cycles );
/* vRegTest1 should never exit! */
vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/
static void prvRegTestTask2( void *pvParameters )
{
extern void vRegTest2( volatile unsigned long * );
/* Avoid compiler warnings. */
( void ) pvParameters;
/* Pass the address of the RegTest2 loop counter into the test function,
which is necessarily implemented in assembler. */
vRegTest2( &ulRegTest2Cycles );
/* vRegTest1 should never exit! */
vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/
static void prvCheckTimerCallback( TimerHandle_t xTimer )
{
static long lChangedTimerPeriodAlready = pdFALSE;
static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0, ulLastHighFrequencyTimerInterrupts = 0;
static const unsigned long ulExpectedHighFrequencyInterrupts = ( ( mainTEST_INTERRUPT_FREQUENCY / 1000UL ) * mainCHECK_TIMER_PERIOD_MS ) - 10; /* 10 allows for a margin of error. */
unsigned long ulErrorOccurred = pdFALSE;
/* The count of the high frequency timer interrupts. */
extern unsigned long ulHighFrequencyTimerInterrupts;
/* Avoid compiler warnings. */
( void ) xTimer;
/* Check that the register test 1 task is still running. */
if( ulLastRegTest1Value == ulRegTest1Cycles )
{
ulErrorOccurred |= ( 0x01UL << 1UL );
}
ulLastRegTest1Value = ulRegTest1Cycles;
/* Check that the register test 2 task is still running. */
if( ulLastRegTest2Value == ulRegTest2Cycles )
{
ulErrorOccurred |= ( 0x01UL << 2UL );
}
ulLastRegTest2Value = ulRegTest2Cycles;
/* Have any of the standard demo tasks detected an error in their
operation? */
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 3UL );
}
else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 4UL );
}
else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 5UL );
}
else if( xAreIntQueueTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 6UL );
}
else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
{
ulErrorOccurred |= ( 0x01UL << 7UL );
}
/* Ensure the expected number of high frequency interrupts have occurred. */
if( ulLastHighFrequencyTimerInterrupts != 0 )
{
if( ( ulHighFrequencyTimerInterrupts - ulLastHighFrequencyTimerInterrupts ) < ulExpectedHighFrequencyInterrupts )
{
ulErrorOccurred |= ( 0x01UL << 8UL );
}
}
ulLastHighFrequencyTimerInterrupts = ulHighFrequencyTimerInterrupts;
if( ulErrorOccurred != pdFALSE )
{
/* An error occurred. Increase the frequency at which the check timer
toggles its LED to give visual feedback of the potential error
condition. */
if( lChangedTimerPeriodAlready == pdFALSE )
{
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 as to do so could impact other software
timers. */
xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
}
}
vToggleLED( mainCHECK_LED );
}
/*-----------------------------------------------------------*/
static void prvSetupHighFrequencyTimerTest( TimerHandle_t xTimer )
{
void vSetupTimerTest( unsigned short usFrequencyHz );
/* Prevent compiler warnings */
(void) xTimer;
/* Setup the high frequency, high priority, timer test. It is setup in this
software timer callback to ensure it does not start before the kernel does.
This is a one shot timer - so the setup routine will only be executed once. */
vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );
}
/*-----------------------------------------------------------*/

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/*
FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that has become a de facto standard. *
* *
* Help yourself get started quickly and support the FreeRTOS *
* project by purchasing a FreeRTOS tutorial book, reference *
* manual, or both from: http://www.FreeRTOS.org/Documentation *
* *
* Thank you! *
* *
***************************************************************************
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. Full license text is available from the following
link: http://www.freertos.org/a00114.html
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
/* High speed timer test as described in main.c. */
/* System port includes */
#include "appcfg.h"
#include "platform.h"
#include "MEC14xx/mec14xx.h"
#include "MEC14xx/mec14xx_girqs.h"
/* Scheduler includes. */
#include "FreeRTOS.h"
/* The priority of the high speed timer interrupt. */
#define timerTEST_INT_PRIORITY ( 7 )
/* MEC14xx Timer 3 Timer MMCR's */
#define portMMCR_TMR3_COUNT *((volatile uint32_t *)(0xA0000C60ul))
#define portMMCR_TMR3_PRELOAD *((volatile uint32_t *)(0xA0000C64ul))
#define portMMCR_TMR3_STATUS *((volatile uint32_t *)(0xA0000C68ul))
#define portMMCR_TMR3_INTEN *((volatile uint32_t *)(0xA0000C6Cul))
#define portMMCR_TMR3_CONTROL *((volatile uint32_t *)(0xA0000C70ul))
/* MEC14xx JTVIC external interrupt controller
* is mapped to M14K closely-coupled peripheral space.
*/
#define portGIRQ23_TMR3_TIMER_BITPOS (3)
#define portGIRQ23_TMR3_TIMER_MASK (1ul << (portGIRQ23_TMR3_TIMER_BITPOS))
#define portMMCR_JTVIC_GIRQ23_SRC *((volatile uint32_t *)(0xBFFFC0F0ul))
#define portMMCR_JTVIC_GIRQ23_SETEN *((volatile uint32_t *)(0xBFFFC0F4ul))
#define portMMCR_JTVIC_GIRQ23_PRIA *((volatile uint32_t *)(0xBFFFC3F0ul))
/*-----------------------------------------------------------*/
/* Incremented every 20,000 interrupts, so should count in seconds. */
unsigned long ulHighFrequencyTimerInterrupts = 0;
/*-----------------------------------------------------------*/
void vSetupTimerTest( unsigned short usFrequencyHz )
{
/* Timer 3 is going to interrupt at usFrequencyHz Hz. */
const uint32_t ulPreload = ( unsigned short ) ( ( configPERIPHERAL_CLOCK_HZ / ( unsigned long ) usFrequencyHz ) - 1 );
/* Timer 3 is used to generate interrupts above the kernel and max syscall
interrupt priorities. No system library calls are used here as they are not
guaranteed to be re-entrant. */
portMMCR_TMR3_CONTROL = 1ul;
portMMCR_TMR3_PRELOAD = ulPreload;
portMMCR_TMR3_COUNT = ulPreload;
portMMCR_TMR3_INTEN = 0x0001ul;
portMMCR_TMR3_STATUS = 0x0001ul;
/* Enable Timer 3, and set for auto restart, counting down. */
portMMCR_TMR3_CONTROL |= 0x0008;
portMMCR_TMR3_CONTROL |= 0x0020;
/* Configure interrupts from the Timer 3. */
portMMCR_JTVIC_GIRQ23_SRC = ( portGIRQ23_TMR3_TIMER_MASK );
portMMCR_JTVIC_GIRQ23_PRIA &= ~( 0x0Ful << 12 );
portMMCR_JTVIC_GIRQ23_PRIA |= ( ( portIPL_TO_CODE( timerTEST_INT_PRIORITY ) ) << 12 );
portMMCR_JTVIC_GIRQ23_SETEN = ( portGIRQ23_TMR3_TIMER_MASK );
}
/*-----------------------------------------------------------*/
/* Interrupt handler for Timer 3 interrupts, no library functions are used
here as they may not be re-entrant. */
void __attribute__((interrupt, nomips16)) girq23_b3( void )
{
ulHighFrequencyTimerInterrupts++;
/* The interrupt flag registered is shared with the lower priority timer
interrupts and the RTOS timer so disable interrupts here. This is not
strictly necessary since this is the highest priority interrupt. */
__asm volatile( "di" );
/* Clear the timer interrupt. */
portMMCR_JTVIC_GIRQ23_SRC = portGIRQ23_TMR3_TIMER_MASK;
__asm volatile( "ei" );
}

75
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@ -0,0 +1,75 @@
/*
FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that has become a de facto standard. *
* *
* Help yourself get started quickly and support the FreeRTOS *
* project by purchasing a FreeRTOS tutorial book, reference *
* manual, or both from: http://www.FreeRTOS.org/Documentation *
* *
* Thank you! *
* *
***************************************************************************
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. Full license text is available from the following
link: http://www.freertos.org/a00114.html
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef TIMER_TEST_H
#define TIMER_TEST_H
/* Setup the high frequency timer interrupt. */
void vSetupTimerTest( unsigned short usFrequencyHz );
#endif /* TIMER_TEST_H */