Add in interrupt nesting test - not yet complete.

Demo/TriCore_TC1782_TriBoard_GCC/RTOSDemo/FreeRTOSConfig.h

@@ -75,7 +75,7 @@ peripheral clock. */
 #define configCPU_CLOCK_HZ					( ( unsigned long ) 150000000UL )
 #define configPERIPHERAL_CLOCK_HZ			( ( unsigned long ) configCPU_CLOCK_HZ / 2UL )
 #define configTICK_RATE_HZ					( ( portTickType ) 1000UL )
-#define configMAX_PRIORITIES				( ( unsigned portBASE_TYPE ) 5 )
+#define configMAX_PRIORITIES				( ( unsigned portBASE_TYPE ) 6 )
 #define configMINIMAL_STACK_SIZE			( ( unsigned short ) 128 )
 #define configTOTAL_HEAP_SIZE				( ( size_t ) ( 32 * 1024 ) )
 #define configMAX_TASK_NAME_LEN				( 16 )
@@ -110,8 +110,7 @@ runs from RAM. */
 #define configTIMER_TASK_STACK_DEPTH			configMINIMAL_STACK_SIZE
 
 /* Set the following definitions to 1 to include the API function, or zero
- to exclude the API function.
+ to exclude the API function. */
- We use --gc-sections when linking, so there is no harm is setting all of these to 1 */
 
 #define INCLUDE_vTaskPrioritySet				1
 #define INCLUDE_uxTaskPriorityGet				1
@@ -125,7 +124,7 @@ runs from RAM. */
 #define configKERNEL_INTERRUPT_PRIORITY			1
 
 /* Default definition of configASSERT(). */
-//#define configASSERT( x ) if( ( x ) == 0 ) { portDISABLE_INTERRUPTS(); for( ;; ); }
+#define configASSERT( x ) if( ( x ) == 0 ) 		{ portDISABLE_INTERRUPTS(); for( ;; ); }
 
 #endif /* FREERTOS_CONFIG_H */
 

Demo/TriCore_TC1782_TriBoard_GCC/RTOSDemo/InterruptNestTest.c

@@ -0,0 +1,203 @@
+/*
+    FreeRTOS V7.0.2 - Copyright (C) 2011 Real Time Engineers Ltd.
+
+
+    ***************************************************************************
+     *                                                                       *
+     *    FreeRTOS tutorial books are available in pdf and paperback.        *
+     *    Complete, revised, and edited pdf reference manuals are also       *
+     *    available.                                                         *
+     *                                                                       *
+     *    Purchasing FreeRTOS documentation will not only help you, by       *
+     *    ensuring you get running as quickly as possible and with an        *
+     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
+     *    the FreeRTOS project to continue with its mission of providing     *
+     *    professional grade, cross platform, de facto standard solutions    *
+     *    for microcontrollers - completely free of charge!                  *
+     *                                                                       *
+     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
+     *                                                                       *
+     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *                                                                       *
+    ***************************************************************************
+
+
+    This file is part of the FreeRTOS distribution.
+
+    FreeRTOS is free software; you can redistribute it and/or modify it under
+    the terms of the GNU General Public License (version 2) as published by the
+    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
+    >>>NOTE<<< The modification to the GPL is included to allow you to
+    distribute a combined work that includes FreeRTOS without being obliged to
+    provide the source code for proprietary components outside of the FreeRTOS
+    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
+    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
+    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
+    can be viewed here: http://www.freertos.org/a00114.html and also obtained
+    by writing to Richard Barry, contact details for whom are available on the
+    FreeRTOS WEB site.
+
+    1 tab == 4 spaces!
+
+    http://www.FreeRTOS.org - Documentation, latest information, license and
+    contact details.
+
+    http://www.SafeRTOS.com - A version that is certified for use in safety
+    critical systems.
+
+    http://www.OpenRTOS.com - Commercial support, development, porting,
+    licensing and training services.
+*/
+
+/* Standard includes. */
+#include <stdlib.h>
+#include <string.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "semphr.h"
+
+/* Demo application includes. */
+#include "InterruptNestTest.h"
+
+/* TriCore specific includes. */
+#include <tc1782.h>
+#include <machine/intrinsics.h>
+#include <machine/cint.h>
+#include <machine/wdtcon.h>
+
+/* This constant is specific to this test application.  It allows the high
+frequency (interrupt nesting test) timer to know how often to trigger, and the
+check task to know how many iterations to expect at any given time. */
+#define tmrtestHIGH_FREQUENCY_TIMER_TEST_HZ		( 1931UL )
+
+static void prvPortHighFrequencyTimerHandler( int iArg ) __attribute__((longcall));
+static void prvHighFrequencyTimerTask( void *pvParameters );
+
+static const unsigned long ulCompareMatchValue = configPERIPHERAL_CLOCK_HZ / tmrtestHIGH_FREQUENCY_TIMER_TEST_HZ;
+static const unsigned long ulInterruptsPer10ms = tmrtestHIGH_FREQUENCY_TIMER_TEST_HZ / 100UL;
+static const unsigned long ulSemaphoreGiveRate_ms = 10UL;
+
+static xSemaphoreHandle xHighFrequencyTimerSemaphore = NULL;
+static unsigned long ulHighFrequencyCounterIterations = 0UL;
+
+/*-----------------------------------------------------------*/
+
+void vSetupInterruptNestingTest( void )
+{
+unsigned long ulCompareMatchBits;
+
+	/* Create the semaphore used to communicate between the high frequency
+	interrupt and the task. */
+	vSemaphoreCreateBinary( xHighFrequencyTimerSemaphore );
+	configASSERT( xHighFrequencyTimerSemaphore );
+	
+	/* Create the task that pends on the semaphore that is given by the
+	high frequency interrupt. */
+	xTaskCreate( prvHighFrequencyTimerTask, ( signed char * ) "HFTmr", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
+	
+	/* Setup the interrupt itself.	The STM module clock divider is setup when 
+	the tick interrupt is configured - which is when the scheduler is started - 
+	so there is no need	to do it here. */
+
+	unlock_wdtcon();
+	{
+		/* Wait until access to Endint protected register is enabled. */
+		while( 0 != ( WDT_CON0.reg & 0x1UL ) );
+
+		/* RMC == 1 so STM Clock == FPI */
+		STM_CLC.reg = ( 1UL << 8 );
+	}
+	lock_wdtcon();
+
+	/* The tick interrupt uses compare match 0, so this test uses compare match
+	1, which means shifting up the values by 16 before writing them to the
+	register. */
+	ulCompareMatchBits = ( 0x1fUL - __CLZ( ulCompareMatchValue ) );
+	ulCompareMatchBits <<= 16UL;
+	
+	/* Write the values to the relevant SMT registers, without changing other
+	bits. */
+	taskENTER_CRITICAL();
+	{
+		STM_CMCON.reg &= ~( 0x1fUL << 16UL );
+		STM_CMCON.reg |= ulCompareMatchBits;
+		STM_CMP1.reg = ulCompareMatchValue;
+
+		if( 0 != _install_int_handler( configMAX_SYSCALL_INTERRUPT_PRIORITY - 5, prvPortHighFrequencyTimerHandler, 0 ) )
+		{
+			/* Set-up the interrupt. */
+			STM_SRC1.reg = ( ( configMAX_SYSCALL_INTERRUPT_PRIORITY - 5 ) | 0x00005000UL );
+	
+			/* Enable the Interrupt. */
+			STM_ISRR.reg &= ~( 0x03UL << 2UL );
+			STM_ISRR.reg |= ( 0x1UL << 2UL );
+			STM_ICR.reg &= ~( 0x07UL << 4UL );
+			STM_ICR.reg |= ( 0x5UL << 4UL );
+		}
+		else
+		{
+			/* Failed to install the interrupt. */
+			configASSERT( ( ( volatile void * ) NULL ) );
+		}
+	}
+	taskEXIT_CRITICAL();
+}
+/*-----------------------------------------------------------*/
+
+unsigned long ulInterruptNestingTestGetIterationCount( unsigned long *pulExpectedIncFrequency_ms )
+{
+	*pulExpectedIncFrequency_ms = ulSemaphoreGiveRate_ms;
+	return ulHighFrequencyCounterIterations;
+}
+/*-----------------------------------------------------------*/
+
+static void prvHighFrequencyTimerTask( void *pvParameters )
+{
+	/* Just to remove compiler warnings about the unused parameter. */
+	( void ) pvParameters;
+
+	for( ;; )
+	{
+		/* Wait for the next trigger from the high frequency timer interrupt. */
+		xSemaphoreTake( xHighFrequencyTimerSemaphore, portMAX_DELAY );
+		
+		/* Just count how many times the task has been unblocked before
+		returning to wait for the semaphore again. */
+		ulHighFrequencyCounterIterations++;
+	}
+}
+/*-----------------------------------------------------------*/
+
+static void prvPortHighFrequencyTimerHandler( int iArg )
+{
+static volatile unsigned long ulExecutionCounter = 0UL;
+unsigned long ulHigherPriorityTaskWoken = pdFALSE;
+
+	/* Just to avoid compiler warnings about unused parameters. */
+	( void ) iArg;
+
+	/* Clear the interrupt source. */
+	STM_ISRR.reg = 1UL << 2UL;
+
+	/* Reload the Compare Match register for X ticks into the future.*/
+	STM_CMP1.reg += ulCompareMatchValue;
+
+	ulExecutionCounter++;
+	
+	if( ulExecutionCounter >= ulInterruptsPer10ms )
+	{
+		ulExecutionCounter = xSemaphoreGiveFromISR( xHighFrequencyTimerSemaphore, &ulHigherPriorityTaskWoken );
+		
+		/* If the semaphore was given ulExeuctionCounter will now be pdTRUE. */
+		configASSERT( ulExecutionCounter == pdTRUE );
+		
+		/* Start counting again. */
+		ulExecutionCounter = 0UL;
+	}
+	
+	portYIELD_FROM_ISR( ulHigherPriorityTaskWoken );
+}

Demo/TriCore_TC1782_TriBoard_GCC/RTOSDemo/InterruptNestTest.h

@@ -0,0 +1,61 @@
+/*
+    FreeRTOS V7.0.2 - Copyright (C) 2011 Real Time Engineers Ltd.
+
+
+    ***************************************************************************
+     *                                                                       *
+     *    FreeRTOS tutorial books are available in pdf and paperback.        *
+     *    Complete, revised, and edited pdf reference manuals are also       *
+     *    available.                                                         *
+     *                                                                       *
+     *    Purchasing FreeRTOS documentation will not only help you, by       *
+     *    ensuring you get running as quickly as possible and with an        *
+     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
+     *    the FreeRTOS project to continue with its mission of providing     *
+     *    professional grade, cross platform, de facto standard solutions    *
+     *    for microcontrollers - completely free of charge!                  *
+     *                                                                       *
+     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
+     *                                                                       *
+     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *                                                                       *
+    ***************************************************************************
+
+
+    This file is part of the FreeRTOS distribution.
+
+    FreeRTOS is free software; you can redistribute it and/or modify it under
+    the terms of the GNU General Public License (version 2) as published by the
+    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
+    >>>NOTE<<< The modification to the GPL is included to allow you to
+    distribute a combined work that includes FreeRTOS without being obliged to
+    provide the source code for proprietary components outside of the FreeRTOS
+    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
+    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
+    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
+    can be viewed here: http://www.freertos.org/a00114.html and also obtained
+    by writing to Richard Barry, contact details for whom are available on the
+    FreeRTOS WEB site.
+
+    1 tab == 4 spaces!
+
+    http://www.FreeRTOS.org - Documentation, latest information, license and
+    contact details.
+
+    http://www.SafeRTOS.com - A version that is certified for use in safety
+    critical systems.
+
+    http://www.OpenRTOS.com - Commercial support, development, porting,
+    licensing and training services.
+*/
+
+#ifndef INTERRUPT_NEST_TEST_H
+#define INTERRUPT_NEST_TEST_H
+
+void vSetupInterruptNestingTest( void );
+unsigned long ulInterruptNestingTestGetIterationCount( unsigned long *pulExpectedIncFrequency_ms );
+
+#endif /* INTERRUPT_NEST_TEST_H */
+

Demo/TriCore_TC1782_TriBoard_GCC/RTOSDemo/main.c

@@ -123,6 +123,7 @@
 #include "serial.h"
 #include "death.h"
 #include "TimerDemo.h"
+#include "InterruptNestTest.h"
 
 /*-----------------------------------------------------------*/
 
@@ -141,9 +142,9 @@
 
 /* The rate at which the on board LED will toggle when there is/is not an
 error. */
-#define mainNO_ERROR_FLASH_PERIOD	( ( portTickType ) 5000 / portTICK_RATE_MS	)
+#define mainNO_ERROR_FLASH_PERIOD_MS	( ( portTickType ) 5000 / portTICK_RATE_MS	)
-#define mainERROR_FLASH_PERIOD		( ( portTickType ) 500 / portTICK_RATE_MS  )
+#define mainERROR_FLASH_PERIOD_MS		( ( portTickType ) 500 / portTICK_RATE_MS  )
-#define mainON_BOARD_LED_BIT		( ( unsigned long ) 7 )
+#define mainON_BOARD_LED_BIT			( ( unsigned long ) 7 )
 
 /* Constant used by the standard timer test functions. */
 #define mainTIMER_TEST_PERIOD		( 50 )
@@ -238,7 +239,7 @@ int main( void )
 
 static void prvCheckTask( void *pvParameters )
 {
-portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
+portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD_MS;
 portTickType xLastExecutionTime;
 
 	/* Just to stop compiler warnings. */
@@ -250,7 +251,7 @@ portTickType xLastExecutionTime;
 
 	/* Cycle for ever, delaying then checking all the other tasks are still
 	operating without error.  If an error is detected then the delay period
-	is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
+	is decreased from mainNO_ERROR_FLASH_PERIOD_MS to mainERROR_FLASH_PERIOD_MS so
 	the on board LED flash rate will increase.  NOTE:  This task could easily
 	be replaced by a software timer callback to remove the overhead of having
 	an extra task. */
@@ -268,7 +269,7 @@ portTickType xLastExecutionTime;
 			at a higher frequency to give visible feedback that something has
 			gone wrong (it might just be that the loop back connector required
 			by the comtest tasks has not been fitted). */
-			xDelayPeriod = mainERROR_FLASH_PERIOD;
+			xDelayPeriod = mainERROR_FLASH_PERIOD_MS;
 		}
 
 		/* The toggle rate of the LED depends on how long this task delays for.
@@ -281,6 +282,7 @@ portTickType xLastExecutionTime;
 static long prvCheckOtherTasksAreStillRunning( void )
 {
 long lReturn = pdPASS;
+unsigned long ulHighFrequencyTimerTaskIterations, ulExpectedIncFrequency_ms;
 
 	/* Check all the demo tasks (other than the flash tasks) to ensure
 	that they are all still running, and that none have detected an error. */
@@ -340,11 +342,23 @@ long lReturn = pdPASS;
 		lReturn = pdFAIL;
 	}
 
+	/* Obtain the number of times the task associated with the high frequency
+	(interrupt nesting) timer test has increment since the check task last
+	executed, and the frequency at which it is expected to execute in ms. */
+	ulHighFrequencyTimerTaskIterations = ulInterruptNestingTestGetIterationCount( &ulExpectedIncFrequency_ms );
+	if( ulHighFrequencyTimerTaskIterations < ( ( mainNO_ERROR_FLASH_PERIOD_MS / ulExpectedIncFrequency_ms ) - 1 ) )
+	{
+		/* Would have expected the high frequency timer task to have
+		incremented its execution count more times that reported. */
+		lReturn = pdFAIL;
+	}
+
+
 	#if configUSE_TIMERS == 1
 	{
 		/* For space constraint reasons, do not include the timer demo in
 		builds that execute from RAM. */
-		if( xAreTimerDemoTasksStillRunning( mainNO_ERROR_FLASH_PERIOD ) != pdTRUE )
+		if( xAreTimerDemoTasksStillRunning( mainNO_ERROR_FLASH_PERIOD_MS ) != pdTRUE )
 		{
 			lReturn = pdFAIL;
 		}
@@ -670,6 +684,7 @@ static void prvOptionallyCreateComprehensveTestApplication( void )
 		vStartGenericQueueTasks( tskIDLE_PRIORITY );
 		vStartRecursiveMutexTasks();
 		vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
+		vSetupInterruptNestingTest();
 
 		#if configUSE_TIMERS == 1
 		{

Demo/TriCore_TC1782_TriBoard_GCC/RTOSDemo/serial.c

@@ -99,9 +99,6 @@ static xQueueHandle xSerialTransmitQueue = NULL;
 static xQueueHandle xSerialReceiveQueue = NULL;
 static volatile portBASE_TYPE xTransmitStatus = 0UL;
 
-/* This reference is required by the Save/Restore Context Macros. */
-extern volatile unsigned portBASE_TYPE * pxCurrentTCB;
-
 /*-----------------------------------------------------------*/
 
 xComPortHandle xSerialPortInitMinimal( unsigned long ulWantedBaud, unsigned portBASE_TYPE uxQueueLength )