mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-04-20 05:21:59 -04:00
Some changes to the RX/Renesas main-full.c file to tidy up a bit.
This commit is contained in:
Richard Barry
parent
c1dca1a069
commit
bb26ea557f
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@ -33,9 +33,9 @@
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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more details. You should have received a copy of the GNU General Public
|
||||
License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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@ -51,32 +51,31 @@
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licensing and training services.
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*/
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/*
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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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*
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* Creates all the demo application tasks, then starts the scheduler. The WEB
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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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* exercise.
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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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* 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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* "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 very
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* frequently. A register containing an unexpected value is indicative of an
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* error in the context switching mechanism and will result in interrupts being
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* disabled and a branch to a null loop. This has the effect of stopping
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* execution of all the tests and tasks, which in turn results in all LED
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* activity stopping too. The nature of the reg test tasks necessitates that
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* they are written in assembly code. The check task (described below) checks
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* that the reg test tasks are still executing and will indicate an error if
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* either reg test task is found to have stalled.
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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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@ -85,24 +84,24 @@
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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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*
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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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* "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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* the kernel is doing. The interrupt service routine measures the number of
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* counts a separate timer performs between each interrupt to determine the
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* the kernel is doing. The interrupt service routine measures the number of
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* counts a separate timer performs between each interrupt to determine the
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* jitter in the interrupt timing.
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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 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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*
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*
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* *NOTE 2* 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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* 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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* The PowerON_Reset_PC() supplied in resetprg.c with this demo has
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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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@ -131,7 +130,7 @@
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#include "recmutex.h"
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#include "flop.h"
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/* Values that are passed into the reg test tasks using the task parameter. The
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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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#define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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#define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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@ -149,22 +148,22 @@ tasks check that the values are passed in correctly. */
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#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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/* The LED toggled by the check task. */
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#define mainCHECK_LED ( 5 )
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#define mainCHECK_LED ( 5 )
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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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#define mainNO_ERROR_CYCLE_TIME ( 5000 / 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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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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#define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )
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/* The period of the peripheral clock in nano seconds. This is used to calculate
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the jitter time in nano seconds as part of the high frequency timer test. The
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clock driving the timer is divided by 8. */
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#define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( ( double ) configPERIPHERAL_CLOCK_HZ ) / 8.0 ) * 1000000000.0 ) )
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#define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( ( double ) configPERIPHERAL_CLOCK_HZ ) / 8.0 ) * 1000000000.0 ) )
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/*
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* vApplicationMallocFailedHook() will only be called if
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@ -172,7 +171,7 @@ clock driving the timer is divided by 8. */
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* function that will execute if a call to pvPortMalloc() fails.
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* pvPortMalloc() is called internally by the kernel whenever a task, queue or
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* semaphore is created. It is also called by various parts of the demo
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* application.
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* application.
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*/
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void vApplicationMallocFailedHook( void );
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@ -190,8 +189,8 @@ void vApplicationMallocFailedHook( void );
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void vApplicationIdleHook( void );
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/*
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* vApplicationStackOverflowHook() will only be called if
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* configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and
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* vApplicationStackOverflowHook() will only be called if
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* configCHECK_FOR_STACK_OVERFLOW is set to a non-zero value. The handle and
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* name of the offending task should be passed in the function parameters, but
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* it is possible that the stack overflow will have corrupted these - in which
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* case pxCurrentTCB can be inspected to find the same information.
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@ -216,9 +215,9 @@ static void prvRegTest2Implementation( void );
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*/
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static void prvCheckTask( void *pvParameters );
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/* Variables that are incremented on each iteration of the reg test tasks -
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/* Variables that are incremented on each iteration of the reg test tasks -
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provided the tasks have not reported any errors. The check task inspects these
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variables to ensure they are still incrementing as expected. If a variable
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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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@ -231,10 +230,10 @@ extern void HardwareSetup( void );
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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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/* Turn all LEDs off. */
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vParTestInitialise();
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/* Start the reg test tasks which test the context switching mechanism. */
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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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@ -245,12 +244,12 @@ extern void HardwareSetup( void );
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/* Create the standard demo tasks. */
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vCreateBlockTimeTasks();
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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vStartQueuePeekTasks();
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vStartQueuePeekTasks();
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vStartRecursiveMutexTasks();
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vStartInterruptQueueTasks();
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vStartMathTasks( mainFLOP_TASK_PRIORITY );
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@ -258,11 +257,11 @@ extern void HardwareSetup( void );
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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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vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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/* Start the tasks running. */
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vTaskStartScheduler();
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/* If all is well we will never reach here as the scheduler will now be
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running. If we do reach here then it is likely that there was insufficient
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heap available for the idle task to be created. */
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@ -277,9 +276,10 @@ portTickType xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;
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extern void vSetupHighFrequencyTimer( void );
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extern volatile unsigned short usMaxJitter;
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volatile unsigned long ulActualJitter = 0;
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static char cErrorText[ 100 ];
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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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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. */
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#ifdef INCLUDE_HIGH_FREQUENCY_TIMER_TEST
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@ -301,46 +301,57 @@ volatile unsigned long ulActualJitter = 0;
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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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strcpy( cErrorText, "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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strcpy( cErrorText, "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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strcpy( cErrorText, "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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strcpy( cErrorText, "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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strcpy( cErrorText, "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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strcpy( cErrorText, "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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strcpy( cErrorText, "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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strcpy( cErrorText, "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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strcpy( cErrorText, "Error: RecMutex" );
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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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}
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else if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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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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}
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else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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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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}
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else if( xAreIntQueueTasksStillRunning() != pdPASS )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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strcpy( cErrorText, "Error: IntQueue" );
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}
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else if( xAreMathsTaskStillRunning() != pdPASS )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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strcpy( cErrorText, "Error: Flop" );
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}
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/* Check the reg test tasks are still cycling. They will stop incrementing
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@ -348,23 +359,25 @@ volatile unsigned long ulActualJitter = 0;
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if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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strcpy( cErrorText, "Error: RegTest1" );
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}
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if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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strcpy( cErrorText, "Error: RegTest2" );
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}
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ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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/* Toggle the check LED to give an indication of the system status. If
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the LED toggles every 5 seconds then everything is ok. A faster toggle
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/* Toggle the check LED to give an indication of the system status. If
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the LED toggles every 5 seconds then everything is ok. A faster toggle
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indicates an error. */
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vParTestToggleLED( mainCHECK_LED );
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/* Calculate the maximum jitter experienced by the high frequency timer
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test and print it out. It is ok to use printf without worrying about
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/* Calculate the maximum jitter experienced by the high frequency timer
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test and print it out. It is ok to use printf without worrying about
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mutual exclusion as it is not used anywhere else in this demo. */
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//sprintf( cTempBuf, "%s [%fns]\n", "Max Jitter = ", ( ( float ) usMaxJitter ) * mainNS_PER_CLOCK );
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ulActualJitter = ( ( unsigned long ) usMaxJitter ) * mainNS_PER_CLOCK;
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@ -372,28 +385,28 @@ volatile unsigned long ulActualJitter = 0;
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}
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/*-----------------------------------------------------------*/
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/* The RX port uses this callback function to configure its tick interrupt.
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/* The RX port uses this callback function to configure its tick interrupt.
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This allows the application to choose the tick interrupt source. */
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void vApplicationSetupTimerInterrupt( void )
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{
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/* Enable compare match timer 0. */
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MSTP( CMT0 ) = 0;
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/* Interrupt on compare match. */
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CMT0.CMCR.BIT.CMIE = 1;
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/* Set the compare match value. */
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CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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/* Divide the PCLK by 8. */
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CMT0.CMCR.BIT.CKS = 0;
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/* Enable the interrupt... */
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_IEN( _CMT0_CMI0 ) = 1;
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/* ...and set its priority to the application defined kernel priority. */
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_IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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|
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/* Start the timer. */
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CMT.CMSTR0.BIT.STR0 = 1;
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}
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|
|
@ -434,9 +447,9 @@ static void prvRegTest1Task( void *pvParameters )
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taskDISABLE_INTERRUPTS();
|
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}
|
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}
|
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|
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|
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/* This is an inline asm function that never returns. */
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prvRegTest1Implementation();
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prvRegTest1Implementation();
|
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}
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/*-----------------------------------------------------------*/
|
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|
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|
|
@ -452,9 +465,9 @@ static void prvRegTest2Task( void *pvParameters )
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taskDISABLE_INTERRUPTS();
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}
|
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}
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|
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|
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/* This is an inline asm function that never returns. */
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prvRegTest2Implementation();
|
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prvRegTest2Implementation();
|
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}
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/*-----------------------------------------------------------*/
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|
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|
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@ -478,70 +491,69 @@ static void prvRegTest1Implementation( void )
|
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MOV.L #13, R13
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MOV.L #14, R14
|
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MOV.L #15, R15
|
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|
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|
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; Loop, checking each itteration that each register still contains the
|
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; expected value.
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TestLoop1:
|
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TestLoop1:
|
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|
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; Push the registers that are going to get clobbered.
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PUSHM R14-R15
|
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|
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; Increment the loop counter to show this task is still getting CPU time.
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MOV.L #_ulRegTest1CycleCount, R14
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MOV.L [ R14 ], R15
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ADD #1, R15
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MOV.L R15, [ R14 ]
|
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|
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|
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; Yield to extend the text coverage. Set the bit in the ITU SWINTR register.
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MOV.L #1, R14
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MOV.L #0872E0H, R15
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MOV.B R14, [R15]
|
||||
NOP
|
||||
NOP
|
||||
|
||||
|
||||
; Restore the clobbered registers.
|
||||
POPM R14-R15
|
||||
|
||||
|
||||
; Now compare each register to ensure it still contains the value that was
|
||||
; set before this loop was entered.
|
||||
CMP #1, R1
|
||||
BNE RegTest2Error
|
||||
BNE RegTest1Error
|
||||
CMP #2, R2
|
||||
BNE RegTest2Error
|
||||
BNE RegTest1Error
|
||||
CMP #3, R3
|
||||
BNE RegTest2Error
|
||||
BNE RegTest1Error
|
||||
CMP #4, R4
|
||||
BNE RegTest2Error
|
||||
BNE RegTest1Error
|
||||
CMP #5, R5
|
||||
BNE RegTest2Error
|
||||
BNE RegTest1Error
|
||||
CMP #6, R6
|
||||
BNE RegTest2Error
|
||||
BNE RegTest1Error
|
||||
CMP #7, R7
|
||||
BNE RegTest2Error
|
||||
BNE RegTest1Error
|
||||
CMP #8, R8
|
||||
BNE RegTest2Error
|
||||
BNE RegTest1Error
|
||||
CMP #9, R9
|
||||
BNE RegTest2Error
|
||||
BNE RegTest1Error
|
||||
CMP #10, R10
|
||||
BNE RegTest2Error
|
||||
BNE RegTest1Error
|
||||
CMP #11, R11
|
||||
BNE RegTest2Error
|
||||
BNE RegTest1Error
|
||||
CMP #12, R12
|
||||
BNE RegTest2Error
|
||||
BNE RegTest1Error
|
||||
CMP #13, R13
|
||||
BNE RegTest2Error
|
||||
BNE RegTest1Error
|
||||
CMP #14, R14
|
||||
BNE RegTest2Error
|
||||
BNE RegTest1Error
|
||||
CMP #15, R15
|
||||
BNE RegTest2Error
|
||||
BNE RegTest1Error
|
||||
|
||||
; All comparisons passed, start a new itteratio of this loop.
|
||||
BRA TestLoop1
|
||||
|
||||
|
||||
RegTest1Error:
|
||||
; A compare failed, something has gone wrong. Stop the tick and any other
|
||||
; interrupts to make it obvious that things have halted.
|
||||
CLRPSW I
|
||||
; A compare failed, just loop here so the loop counter stops incrementing
|
||||
; causing the check task to indicate the error.
|
||||
BRA RegTest1Error
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
|
@ -566,23 +578,23 @@ static void prvRegTest2Implementation( void )
|
|||
MOV.L #130, R13
|
||||
MOV.L #140, R14
|
||||
MOV.L #150, R15
|
||||
|
||||
|
||||
; Loop, checking on each itteration that each register still contains the
|
||||
; expected value.
|
||||
TestLoop2:
|
||||
|
||||
TestLoop2:
|
||||
|
||||
; Push the registers that are going to get clobbered.
|
||||
PUSHM R14-R15
|
||||
|
||||
|
||||
; Increment the loop counter to show this task is still getting CPU time.
|
||||
MOV.L #_ulRegTest2CycleCount, R14
|
||||
MOV.L [ R14 ], R15
|
||||
ADD #1, R15
|
||||
MOV.L R15, [ R14 ]
|
||||
|
||||
|
||||
; Restore the clobbered registers.
|
||||
POPM R14-R15
|
||||
|
||||
POPM R14-R15
|
||||
|
||||
CMP #10, R1
|
||||
BNE RegTest2Error
|
||||
CMP #20, R2
|
||||
|
|
@ -616,11 +628,10 @@ TestLoop2:
|
|||
|
||||
; All comparisons passed, start a new itteratio of this loop.
|
||||
BRA TestLoop2
|
||||
|
||||
|
||||
RegTest2Error:
|
||||
; A compare failed, something went wrong. Stop the tick and any other
|
||||
; interrupts to make it obvious that things have halted.
|
||||
CLRPSW I
|
||||
; A compare failed, just loop here so the loop counter stops incrementing
|
||||
; - causing the check task to indicate the error.
|
||||
BRA RegTest2Error
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue