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First version under SVN is V4.0.1
This commit is contained in:
Richard Barry
parent
243393860c
commit
b6df57c7e3
918 changed files with 269038 additions and 0 deletions
469
Demo/ARM7_AT91FR40008_GCC/main.c
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469
Demo/ARM7_AT91FR40008_GCC/main.c
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/*
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FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
|
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(at your option) any later version.
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FreeRTOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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||||
You should have received a copy of the GNU General Public License
|
||||
along with FreeRTOS; if not, write to the Free Software
|
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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See http://www.FreeRTOS.org for documentation, latest information, license
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and contact details. Please ensure to read the configuration and relevant
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port sections of the online documentation.
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***************************************************************************
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*/
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/*
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NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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The processor MUST be in supervisor mode when vTaskStartScheduler is
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called. The demo applications included in the FreeRTOS.org download switch
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to supervisor mode prior to main being called. If you are not using one of
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these demo application projects then ensure Supervisor mode is used.
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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 demo application tasks.
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*
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* Main.c also creates a task called "Check". This only executes every three
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* seconds but has the highest priority so is guaranteed to get processor time.
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* Its main function is to check that all the other tasks are still operational.
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* Each task (other than the "flash" tasks) maintains a unique count that is
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* incremented each time the task successfully completes its function. Should
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* any error occur within such a task the count is permanently halted. The
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* check task inspects the count of each task to ensure it has changed since
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* the last time the check task executed. If all the count variables have
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* changed all the tasks are still executing error free, and the check task
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* toggles the onboard LED. Should any task contain an error at any time
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* the LED toggle rate will change from 3 seconds to 500ms.
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*
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* To check the operation of the memory allocator the check task also
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* dynamically creates a task before delaying, and deletes it again when it
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* wakes. If memory cannot be allocated for the new task the call to xTaskCreate
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* will fail and an error is signalled. The dynamically created task itself
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* allocates and frees memory just to give the allocator a bit more exercise.
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*
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*/
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/* Standard includes. */
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#include <stdlib.h>
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#include <string.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo application includes. */
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#include "partest.h"
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#include "flash.h"
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#include "integer.h"
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#include "PollQ.h"
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#include "comtest2.h"
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#include "semtest.h"
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#include "flop.h"
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#include "dynamic.h"
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#include "BlockQ.h"
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#include "serial.h"
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/* Hardware specific definitions. */
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#include "aic.h"
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#include "ebi.h"
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/*-----------------------------------------------------------*/
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/* Constants for the ComTest tasks. */
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#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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#define mainCOM_TEST_LED ( 5 )
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/* Priorities for the demo application tasks. */
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#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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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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/* The rate at which the on board LED will toggle when there is/is not an
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error. */
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#define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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#define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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#define mainON_BOARD_LED_BIT ( ( unsigned portLONG ) 7 )
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/* Constants used by the vMemCheckTask() task. */
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#define mainCOUNT_INITIAL_VALUE ( ( unsigned portLONG ) 0 )
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#define mainNO_TASK ( 0 )
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/* The size of the memory blocks allocated by the vMemCheckTask() task. */
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#define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
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#define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
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#define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )
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#define MAX_WAIT_STATES 8
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static const unsigned portLONG ululCSRWaitValues[ MAX_WAIT_STATES + 1 ] =
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{
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WaitState1,/* There is no "zero wait state" value, so use one wait state */
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WaitState1,
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WaitState2,
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WaitState3,
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WaitState4,
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WaitState5,
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WaitState6,
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WaitState7,
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WaitState8
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};
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/*-----------------------------------------------------------*/
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/*
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* Checks that all the demo application tasks are still executing without error
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* - as described at the top of the file.
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*/
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static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount );
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/*
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* The task that executes at the highest priority and calls
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* prvCheckOtherTasksAreStillRunning(). See the description at the top
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* of the file.
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*/
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static void vErrorChecks( void *pvParameters );
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/*
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* Dynamically created and deleted during each cycle of the vErrorChecks()
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* task. This is done to check the operation of the memory allocator.
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* See the top of vErrorChecks for more details.
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*/
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static void vMemCheckTask( void *pvParameters );
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/*
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* Configure the processor for use with the Olimex demo board. This includes
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* setup for the I/O, system clock, and access timings.
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*/
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static void prvSetupHardware( void );
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/*-----------------------------------------------------------*/
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/*
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* Starts all the other tasks, then starts the scheduler.
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*/
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int main( void )
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{
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/* Setup the hardware for use with the Olimex demo board. */
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prvSetupHardware();
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/* Start the demo/test application tasks. */
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartMathTasks( tskIDLE_PRIORITY );
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartDynamicPriorityTasks();
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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/* Start the check task - which is defined in this file. */
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xTaskCreate( vErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Now all the tasks have been started - start the scheduler.
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NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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The processor MUST be in supervisor mode when vTaskStartScheduler is
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called. The demo applications included in the FreeRTOS.org download switch
|
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to supervisor mode prior to main being called. If you are not using one of
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these demo application projects then ensure Supervisor mode is used here. */
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vTaskStartScheduler();
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/* Should never reach here! */
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return 0;
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}
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/*-----------------------------------------------------------*/
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static void vErrorChecks( void *pvParameters )
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{
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portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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unsigned portLONG ulMemCheckTaskRunningCount;
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xTaskHandle xCreatedTask;
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/* Cycle for ever, delaying then checking all the other tasks are still
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operating without error. If an error is detected then the delay period
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is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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the on board LED flash rate will increase.
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In addition to the standard tests the memory allocator is tested through
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the dynamic creation and deletion of a task each cycle. Each time the
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task is created memory must be allocated for its stack. When the task is
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deleted this memory is returned to the heap. If the task cannot be created
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then it is likely that the memory allocation failed. */
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for( ;; )
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{
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/* Reset xCreatedTask. This is modified by the task about to be
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created so we can tell if it is executing correctly or not. */
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xCreatedTask = mainNO_TASK;
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/* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
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parameter. */
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ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
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if( xTaskCreate( vMemCheckTask, ( signed portCHAR * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
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{
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/* Could not create the task - we have probably run out of heap. */
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xDelayPeriod = mainERROR_FLASH_PERIOD;
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}
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/* Delay until it is time to execute again. */
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vTaskDelay( xDelayPeriod );
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/* Delete the dynamically created task. */
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if( xCreatedTask != mainNO_TASK )
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{
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vTaskDelete( xCreatedTask );
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}
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/* Check all the standard demo application tasks are executing without
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error. ulMemCheckTaskRunningCount is checked to ensure it was
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modified by the task just deleted. */
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if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
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{
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/* An error has been detected in one of the tasks - flash faster. */
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xDelayPeriod = mainERROR_FLASH_PERIOD;
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}
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/* The toggle rate of the LED depends on how long this task delays for.
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An error reduces the delay period and so increases the toggle rate. */
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vParTestToggleLED( mainON_BOARD_LED_BIT );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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portLONG lCount;
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#ifdef RUN_FROM_ROM
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{
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portFLOAT nsecsPerClockTick;
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portLONG lNumWaitStates;
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unsigned portLONG ulCSRWaitValue;
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/* We are compiling to run from ROM (either on-chip or off-chip flash).
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Leave the RAM/flash mapped the way they are on reset
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(flash @ 0x00000000, RAM @ 0x00300000), and set up the
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proper flash wait states (starts out at the maximum number
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of wait states on reset, so we should be able to reduce it).
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Most of this code will probably get removed by the compiler
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if optimization is enabled, since these calculations are
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based on constants. But the compiler should still produce
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a correct wait state register value. */
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nsecsPerClockTick = ( portFLOAT ) 1000000000 / configCPU_CLOCK_HZ;
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lNumWaitStates = ( portLONG )( ( configFLASH_SPEED_NSEC / nsecsPerClockTick ) + 0.5 ) - 1;
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if( lNumWaitStates < 0 )
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{
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lNumWaitStates = 0;
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}
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if( lNumWaitStates > MAX_WAIT_STATES )
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{
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lNumWaitStates = MAX_WAIT_STATES;
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}
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ulCSRWaitValue = ululCSRWaitValues[ lNumWaitStates ];
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ulCSRWaitValue = WaitState5;
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AT91C_BASE_EBI->EBI_CSR[ 0 ] = ulCSRWaitValue | DataBus16 | WaitStateEnable
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| PageSize1M | tDF_0cycle
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| ByteWriteAccessType | CSEnable
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| 0x00000000 /* Base Address */;
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}
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#else /* else we are compiling to run from on-chip RAM */
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{
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/* If compiling to run from RAM, we expect the on-chip RAM to already
|
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be mapped at 0x00000000. This is typically done with an initialization
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script for the JTAG emulator you are using to download and run the
|
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demo application. So there is nothing to do here in this case. */
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}
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#endif
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/* Disable all interrupts at the AIC level initially... */
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AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;
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/* Set all SVR and SMR entries to default values (start with a clean slate)... */
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for( lCount = 0; lCount < 32; lCount++ )
|
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{
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AT91C_BASE_AIC->AIC_SVR[ lCount ] = (unsigned long) 0;
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AT91C_BASE_AIC->AIC_SMR[ lCount ] = AIC_SRCTYPE_INT_EDGE_TRIGGERED;
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}
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/* Disable clocks to all peripherals initially... */
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AT91C_BASE_PS->PS_PCDR = 0xFFFFFFFF;
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|
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/* Clear all interrupts at the AIC level initially... */
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AT91C_BASE_AIC->AIC_ICCR = 0xFFFFFFFF;
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/* Perform 8 "End Of Interrupt" cmds to make sure AIC will not Lock out
|
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nIRQ */
|
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for( lCount = 0; lCount < 8; lCount++ )
|
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{
|
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AT91C_BASE_AIC->AIC_EOICR = 0;
|
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}
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/* Initialise LED outputs. */
|
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vParTestInitialise();
|
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}
|
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/*-----------------------------------------------------------*/
|
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|
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static portLONG prvCheckOtherTasksAreStillRunning( unsigned portLONG ulMemCheckTaskCount )
|
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{
|
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portLONG lReturn = ( portLONG ) pdPASS;
|
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|
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/* Check all the demo tasks (other than the flash tasks) to ensure
|
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that they are all still running, and that none of them have detected
|
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an error. */
|
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|
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
|
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{
|
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lReturn = ( portLONG ) pdFAIL;
|
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}
|
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|
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if( xAreComTestTasksStillRunning() != pdTRUE )
|
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{
|
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lReturn = ( portLONG ) pdFAIL;
|
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}
|
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|
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if( xArePollingQueuesStillRunning() != pdTRUE )
|
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{
|
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lReturn = ( portLONG ) pdFAIL;
|
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}
|
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|
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if( xAreMathsTaskStillRunning() != pdTRUE )
|
||||
{
|
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lReturn = ( portLONG ) pdFAIL;
|
||||
}
|
||||
|
||||
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
|
||||
{
|
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lReturn = ( portLONG ) pdFAIL;
|
||||
}
|
||||
|
||||
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
|
||||
{
|
||||
lReturn = ( portLONG ) pdFAIL;
|
||||
}
|
||||
|
||||
if( xAreBlockingQueuesStillRunning() != pdTRUE )
|
||||
{
|
||||
lReturn = ( portLONG ) pdFAIL;
|
||||
}
|
||||
|
||||
if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
|
||||
{
|
||||
/* The vMemCheckTask did not increment the counter - it must
|
||||
have failed. */
|
||||
lReturn = ( portLONG ) pdFAIL;
|
||||
}
|
||||
|
||||
return lReturn;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void vMemCheckTask( void *pvParameters )
|
||||
{
|
||||
unsigned portLONG *pulMemCheckTaskRunningCounter;
|
||||
void *pvMem1, *pvMem2, *pvMem3;
|
||||
static portLONG lErrorOccurred = pdFALSE;
|
||||
|
||||
/* This task is dynamically created then deleted during each cycle of the
|
||||
vErrorChecks task to check the operation of the memory allocator. Each time
|
||||
the task is created memory is allocated for the stack and TCB. Each time
|
||||
the task is deleted this memory is returned to the heap. This task itself
|
||||
exercises the allocator by allocating and freeing blocks.
|
||||
|
||||
The task executes at the idle priority so does not require a delay.
|
||||
|
||||
pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
|
||||
vErrorChecks() task that this task is still executing without error. */
|
||||
|
||||
pulMemCheckTaskRunningCounter = ( unsigned portLONG * ) pvParameters;
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
if( lErrorOccurred == pdFALSE )
|
||||
{
|
||||
/* We have never seen an error so increment the counter. */
|
||||
( *pulMemCheckTaskRunningCounter )++;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* There has been an error so reset the counter so the check task
|
||||
can tell that an error occurred. */
|
||||
*pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
|
||||
}
|
||||
|
||||
/* Allocate some memory - just to give the allocator some extra
|
||||
exercise. This has to be in a critical section to ensure the
|
||||
task does not get deleted while it has memory allocated. */
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
|
||||
if( pvMem1 == NULL )
|
||||
{
|
||||
lErrorOccurred = pdTRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
|
||||
vPortFree( pvMem1 );
|
||||
}
|
||||
}
|
||||
xTaskResumeAll();
|
||||
|
||||
/* Again - with a different size block. */
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
|
||||
if( pvMem2 == NULL )
|
||||
{
|
||||
lErrorOccurred = pdTRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
|
||||
vPortFree( pvMem2 );
|
||||
}
|
||||
}
|
||||
xTaskResumeAll();
|
||||
|
||||
/* Again - with a different size block. */
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
|
||||
if( pvMem3 == NULL )
|
||||
{
|
||||
lErrorOccurred = pdTRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
|
||||
vPortFree( pvMem3 );
|
||||
}
|
||||
}
|
||||
xTaskResumeAll();
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue