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https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-09-04 05:13:51 -04:00
Added IntQueue demo/test to the RX demo.
This commit is contained in:
Richard Barry
parent
27683e7360
commit
cc7c4acf02
8 changed files with 567 additions and 61 deletions
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@ -65,6 +65,31 @@
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#include "FreeRTOS.h"
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#include "task.h"
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/* Standard demo includes. */
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#include "partest.h"
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#include "flash.h"
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#include "IntQueue.h"
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/* Values that are passed into the reg test tasks using the task parameter. The
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tasks then check that the values are passed in correctly. */
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#define mainREG_TEST_1_PARAMETER ( 0x12121212UL )
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#define mainREG_TEST_2_PARAMETER ( 0x12345678UL )
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/* Priorities at which the tasks are created. */
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#define mainFLASH_TASK_PRIORITY 1
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#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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/* The LED toggled by the check task. */
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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. */
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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. */
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#define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )
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/*
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* vApplicationMallocFailedHook() will only be called if
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* configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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@ -103,6 +128,23 @@ void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName
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void vRegTest1Task( void *pvParameters );
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void vRegTest2Task( void *pvParameters );
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/*
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* The actual implementatio of the reg test functionality, which, because of
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* the direct register access, have to be in assembly.
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*/
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static void prvRegTest1Implementation( void );
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static void prvRegTest2Implementation( void );
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/*
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* The check task as described at the top of this file.
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*/
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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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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. */
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unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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/*-----------------------------------------------------------*/
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void main(void)
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@ -116,9 +158,16 @@ extern void HardwareSetup( void );
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/* Turn all LEDs off. */
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vParTestInitialise();
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/* Start the common demo tasks. */
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vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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vStartInterruptQueueTasks();
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/* Start the reg test tasks which test the context switching mechanism. */
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xTaskCreate( vRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vRegTest1Task, "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vRegTest2Task, "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) mainREG_TEST_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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/* Start the check task as described at the top of this file. */
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xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Start the tasks running. */
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vTaskStartScheduler();
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@ -130,6 +179,48 @@ extern void HardwareSetup( void );
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTask( void *pvParameters )
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{
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static volatile unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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portTickType xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;
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/* Initialise xNextWakeTime - this only needs to be done once. */
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xNextWakeTime = xTaskGetTickCount();
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for( ;; )
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{
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/* Place this task in the blocked state until it is time to run again. */
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vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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/* Check the standard demo tasks are running without error. */
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if( xAreIntQueueTasksStillRunning() != pdPASS )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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/* Check the reg test tasks are still cycling. They will stop incrementing
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their loop counters if they encounter an error. */
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if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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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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}
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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 the
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LED toggles every 5 seconds then everything is ok. A faster toggle indicates
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an error. */
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vParTestToggleLED( mainCHECK_LED );
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}
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}
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/*-----------------------------------------------------------*/
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void vApplicationSetupTimerInterrupt( void )
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{
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/* Enable compare match timer 0. */
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@ -145,10 +236,10 @@ void vApplicationSetupTimerInterrupt( void )
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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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_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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_IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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/* Start the timer. */
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CMT.CMSTR0.BIT.STR0 = 1;
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@ -175,32 +266,205 @@ void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName
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of this file. */
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void vApplicationIdleHook( void )
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{
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taskENTER_CRITICAL();
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taskEXIT_CRITICAL();
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}
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/*-----------------------------------------------------------*/
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void vRegTest1Task( void *pvParameters )
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{
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volatile unsigned long ul = 0;
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for( ;; )
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if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_1_PARAMETER )
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{
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ul += 2;
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ul -= 1;
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}
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/* The parameter did not contain the expected value. */
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for( ;; )
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{
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/* Stop the tick interrupt so its obvious something has gone wrong. */
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taskDISABLE_INTERRUPTS();
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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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}
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/*-----------------------------------------------------------*/
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void vRegTest2Task( void *pvParameters )
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{
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volatile unsigned long ul = 0;
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for( ;; )
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if( ( ( unsigned long ) pvParameters ) != mainREG_TEST_2_PARAMETER )
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{
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ul += 4;
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ul -= 2;
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}
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/* The parameter did not contain the expected value. */
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for( ;; )
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{
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/* Stop the tick interrupt so its obvious something has gone wrong. */
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taskDISABLE_INTERRUPTS();
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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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}
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/*-----------------------------------------------------------*/
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#pragma inline_asm prvRegTest1Implementation
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static void prvRegTest1Implementation( void )
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{
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; Put a known value in each register.
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MOV.L #1, R1
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MOV.L #2, R2
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MOV.L #3, R3
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MOV.L #4, R4
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MOV.L #5, R5
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MOV.L #6, R6
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MOV.L #7, R7
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MOV.L #8, R8
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MOV.L #9, R9
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MOV.L #10, R10
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MOV.L #11, R11
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MOV.L #12, R12
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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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; 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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; Push the registers that are going to get clobbered.
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PUSHM R14-R15
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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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; 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]
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NOP
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NOP
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; Restore the clobbered registers.
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POPM R14-R15
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; Now compare each register to ensure it still contains the value that was
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; set before this loop was entered.
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CMP #1, R1
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BNE RegTest2Error
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CMP #2, R2
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BNE RegTest2Error
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CMP #3, R3
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BNE RegTest2Error
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CMP #4, R4
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BNE RegTest2Error
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CMP #5, R5
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BNE RegTest2Error
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CMP #6, R6
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BNE RegTest2Error
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CMP #7, R7
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BNE RegTest2Error
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CMP #8, R8
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BNE RegTest2Error
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CMP #9, R9
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BNE RegTest2Error
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CMP #10, R10
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BNE RegTest2Error
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CMP #11, R11
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BNE RegTest2Error
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CMP #12, R12
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BNE RegTest2Error
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CMP #13, R13
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BNE RegTest2Error
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CMP #14, R14
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BNE RegTest2Error
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CMP #15, R15
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BNE RegTest2Error
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; All comparisons passed, start a new itteratio of this loop.
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BRA TestLoop1
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RegTest1Error:
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; A compare failed, something has gone wrong. Stop the tick and any other
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; interrupts to make it obvious that things have halted.
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CLRPSW I
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BRA RegTest1Error
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}
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/*-----------------------------------------------------------*/
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#pragma inline_asm prvRegTest2Implementation
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static void prvRegTest2Implementation( void )
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{
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; Put a known value in each register.
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MOV.L #10, R1
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MOV.L #20, R2
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MOV.L #30, R3
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MOV.L #40, R4
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MOV.L #50, R5
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MOV.L #60, R6
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MOV.L #70, R7
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MOV.L #80, R8
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MOV.L #90, R9
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MOV.L #100, R10
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MOV.L #110, R11
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MOV.L #120, R12
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MOV.L #130, R13
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MOV.L #140, R14
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MOV.L #150, R15
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; Loop, checking on each itteration that each register still contains the
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; expected value.
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TestLoop2:
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; Push the registers that are going to get clobbered.
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PUSHM R14-R15
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; Increment the loop counter to show this task is still getting CPU time.
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MOV.L #_ulRegTest2CycleCount, 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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; Restore the clobbered registers.
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POPM R14-R15
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CMP #10, R1
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BNE RegTest2Error
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CMP #20, R2
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BNE RegTest2Error
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CMP #30, R3
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BNE RegTest2Error
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CMP #40, R4
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BNE RegTest2Error
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CMP #50, R5
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BNE RegTest2Error
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CMP #60, R6
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BNE RegTest2Error
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CMP #70, R7
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BNE RegTest2Error
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CMP #80, R8
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BNE RegTest2Error
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CMP #90, R9
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BNE RegTest2Error
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CMP #100, R10
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BNE RegTest2Error
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CMP #110, R11
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BNE RegTest2Error
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CMP #120, R12
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BNE RegTest2Error
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CMP #130, R13
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BNE RegTest2Error
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CMP #140, R14
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BNE RegTest2Error
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CMP #150, R15
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BNE RegTest2Error
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; All comparisons passed, start a new itteratio of this loop.
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BRA TestLoop2
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RegTest2Error:
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; A compare failed, something went wrong. Stop the tick and any other
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; interrupts to make it obvious that things have halted.
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CLRPSW I
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BRA RegTest2Error
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}
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