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Richard Barry 2012-08-11 21:34:11 +00:00
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/*
FreeRTOS V7.1.1 - Copyright (C) 2012 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!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
*/
/*
* Creates all the demo application tasks, then starts the scheduler. The WEB
* documentation provides more details of the demo application tasks.
*
* In addition to the standard demo tasks, the follow demo specific tasks are
* create:
*
* The "Check" task. This only executes every three seconds but has the highest
* priority so is guaranteed to get processor time. Its main function is to
* check that all the other tasks are still operational. Most tasks maintain
* a unique count that is incremented each time the task successfully completes
* its function. Should any error occur within such a task the count is
* permanently halted. The check task inspects the count of each task to ensure
* it has changed since the last time the check task executed. If all the count
* variables have changed all the tasks are still executing error free, and the
* check task toggles the onboard LED. Should any task contain an error at any time
* the LED toggle rate will change from 3 seconds to 500ms.
*
* The "Register Check" tasks. These tasks fill the CPU registers with known
* values, then check that each register still contains the expected value 0 the
* discovery of an unexpected value being indicative of an error in the RTOS
* context switch mechanism. The register check tasks operate at low priority
* so are switched in and out frequently.
*
* The "Trace Utility" task. This can be used to obtain trace and debug
* information via UART5.
*/
/* Hardware specific includes. */
#include "mb91467d.h"
#include "vectors.h"
#include "watchdog.h"
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo app includes. */
#include "flash.h"
#include "integer.h"
#include "comtest2.h"
#include "semtest.h"
#include "BlockQ.h"
#include "dynamic.h"
#include "flop.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "blocktim.h"
#include "death.h"
#include "taskutility.h"
#include "partest.h"
#include "crflash.h"
/* Demo task priorities. */
#define mainWATCHDOG_TASK_PRIORITY ( tskIDLE_PRIORITY + 5 )
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
#define mainUTILITY_TASK_PRIORITY ( tskIDLE_PRIORITY )
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
/* Baud rate used by the COM test tasks. */
#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
/* The frequency at which the 'Check' tasks executes. See the comments at the
top of the page. When the system is operating error free the 'Check' task
toggles an LED every three seconds. If an error is discovered in any task the
rate is increased to 500 milliseconds. [in this case the '*' characters on the
LCD represent LEDs]*/
#define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
#define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
/* The total number of LEDs available. */
#define mainNO_CO_ROUTINE_LEDs ( 8 )
/* The first LED used by the comtest tasks. */
#define mainCOM_TEST_LED ( 0x05 )
/* The LED used by the check task. */
#define mainCHECK_TEST_LED ( 0x07 )
/* The number of interrupt levels to use. */
#define mainINTERRUPT_LEVELS ( 31 )
/* The number of 'flash' co-routines to create - each toggles a different LED. */
#define mainNUM_FLASH_CO_ROUTINES ( 8 )
/*---------------------------------------------------------------------------*/
/*
* The function that implements the Check task. See the comments at the head
* of the page for implementation details.
*/
static void prvErrorChecks( void *pvParameters );
/*
* Called by the Check task. Returns pdPASS if all the other tasks are found
* to be operating without error - otherwise returns pdFAIL.
*/
static portSHORT prvCheckOtherTasksAreStillRunning( void );
/*
* Setup the microcontroller as used by this demo.
*/
static void prvSetupHardware( void );
/*
* Tasks that test the context switch mechanism by filling the CPU registers
* with known values then checking that each register contains the value
* expected. Each of the two tasks use different values, and as low priority
* tasks, get swapped in and out regularly.
*/
static void vFirstRegisterTestTask( void *pvParameters );
static void vSecondRegisterTestTask( void *pvParameters );
/*---------------------------------------------------------------------------*/
/* The variable that is set to true should an error be found in one of the
register test tasks. */
unsigned portLONG ulRegTestError = pdFALSE;
/*---------------------------------------------------------------------------*/
/* Start all the demo application tasks, then start the scheduler. */
void main(void)
{
/* Initialise the hardware ready for the demo. */
prvSetupHardware();
/* Start the standard demo application tasks. */
vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
vStartIntegerMathTasks( tskIDLE_PRIORITY );
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED - 1 );
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
vStartBlockingQueueTasks ( mainQUEUE_BLOCK_PRIORITY );
vStartDynamicPriorityTasks();
vStartMathTasks( tskIDLE_PRIORITY );
vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
vStartQueuePeekTasks();
vCreateBlockTimeTasks();
vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
/* Start the 'Check' task which is defined in this file. */
xTaskCreate( prvErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Start the 'Register Test' tasks as described at the top of this file. */
xTaskCreate( vFirstRegisterTestTask, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
xTaskCreate( vSecondRegisterTestTask, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
/* Start the task that write trace information to the UART. */
vUtilityStartTraceTask( mainUTILITY_TASK_PRIORITY );
/* If we are going to service the watchdog from within a task, then create
the task here. */
#if WATCHDOG == WTC_IN_TASK
vStartWatchdogTask( mainWATCHDOG_TASK_PRIORITY );
#endif
/* The suicide tasks must be started last as they record the number of other
tasks that exist within the system. The value is then used to ensure at run
time the number of tasks that exists is within expected bounds. */
vCreateSuicidalTasks( mainDEATH_PRIORITY );
/* Now start the scheduler. Following this call the created tasks should
be executing. */
vTaskStartScheduler( );
/* vTaskStartScheduler() will only return if an error occurs while the
idle task is being created. */
for( ;; );
}
/*-----------------------------------------------------------*/
static void prvErrorChecks( void *pvParameters )
{
portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY, xLastExecutionTime;
/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
works correctly. */
xLastExecutionTime = xTaskGetTickCount();
/* Cycle for ever, delaying then checking all the other tasks are still
operating without error. */
for( ;; )
{
/* Wait until it is time to check again. The time we wait here depends
on whether an error has been detected or not. When an error is
detected the time is shortened resulting in a faster LED flash rate. */
/* Perform this check every mainCHECK_DELAY milliseconds. */
vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
/* See if the other tasks are all ok. */
if( prvCheckOtherTasksAreStillRunning() != pdPASS )
{
/* An error occurred in one of the tasks so shorten the delay
period - which has the effect of increasing the frequency of the
LED toggle. */
xDelayPeriod = mainERROR_CHECK_DELAY;
}
/* Flash! */
vParTestToggleLED( mainCHECK_TEST_LED );
}
}
/*-----------------------------------------------------------*/
static portSHORT prvCheckOtherTasksAreStillRunning( void )
{
portBASE_TYPE lReturn = pdPASS;
/* The demo tasks maintain a count that increments every cycle of the task
provided that the task has never encountered an error. This function
checks the counts maintained by the tasks to ensure they are still being
incremented. A count remaining at the same value between calls therefore
indicates that an error has been detected. */
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xAreComTestTasksStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xAreMathsTaskStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xIsCreateTaskStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if ( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
/* Have the register test tasks found any errors? */
if( ulRegTestError != pdFALSE )
{
lReturn = pdFAIL;
}
return lReturn;
}
/*-----------------------------------------------------------*/
static void prvSetupHardware( void )
{
/* Allow all interrupt levels. */
__set_il( mainINTERRUPT_LEVELS );
/* Initialise interrupts. */
InitIrqLevels();
/* Initialise the ports used by the LEDs. */
vParTestInitialise();
/* If we are going to use the watchdog, then initialise it now. */
#if WATCHDOG != WTC_NONE
InitWatchdog();
#endif
}
/*-----------------------------------------------------------*/
/* Idle hook function. */
#if configUSE_IDLE_HOOK == 1
void vApplicationIdleHook( void )
{
/* Are we using the idle task to kick the watchdog? See watchdog.h
for watchdog kicking options. Note this is for demonstration only
and is not a suggested method of servicing the watchdog in a real
application. */
#if WATCHDOG == WTC_IN_IDLE
Kick_Watchdog();
#endif
vCoRoutineSchedule();
}
#else
#if WATCHDOG == WTC_IN_IDLE
#error configUSE_IDLE_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the idle task hook.
#endif
#endif
/*-----------------------------------------------------------*/
/* Tick hook function. */
#if configUSE_TICK_HOOK == 1
void vApplicationTickHook( void )
{
/* Are we using the tick to kick the watchdog? See watchdog.h
for watchdog kicking options. Note this is for demonstration
only and is not a suggested method of servicing the watchdog in
a real application. */
#if WATCHDOG == WTC_IN_TICK
Kick_Watchdog();
#endif
}
#else
#if WATCHDOG == WTC_IN_TICK
#error configUSE_TICK_HOOK must be set to 1 in FreeRTOSConfig.h if the watchdog is being cleared in the tick hook.
#endif
#endif
/*-----------------------------------------------------------*/
static void vFirstRegisterTestTask( void *pvParameters )
{
extern volatile unsigned portLONG ulCriticalNesting;
/* Fills the registers with known values (different to the values
used in vSecondRegisterTestTask()), then checks that the registers still
all contain the expected value. This is done to test the context save
and restore mechanism as this task is swapped onto and off of the CPU. */
for( ;; )
{
#pragma asm
;Load known values into each register.
LDI #0x11111111, R0
LDI #0x22222222, R1
LDI #0x33333333, R2
LDI #0x44444444, R3
LDI #0x55555555, R4
LDI #0x66666666, R5
LDI #0x77777777, R6
LDI #0x88888888, R7
LDI #0x99999999, R8
LDI #0xaaaaaaaa, R9
LDI #0xbbbbbbbb, R10
LDI #0xcccccccc, R11
LDI #0xdddddddd, R12
;Check each register still contains the expected value.
LDI #0x11111111, R13
CMP R13, R0
BNE First_Set_Error
LDI #0x22222222, R13
CMP R13, R1
BNE First_Set_Error
LDI #0x33333333, R13
CMP R13, R2
BNE First_Set_Error
LDI #0x44444444, R13
CMP R13, R3
BNE First_Set_Error
LDI #0x55555555, R13
CMP R13, R4
BNE First_Set_Error
LDI #0x66666666, R13
CMP R13, R5
BNE First_Set_Error
LDI #0x77777777, R13
CMP R13, R6
BNE First_Set_Error
LDI #0x88888888, R13
CMP R13, R7
BNE First_Set_Error
LDI #0x99999999, R13
CMP R13, R8
BNE First_Set_Error
LDI #0xaaaaaaaa, R13
CMP R13, R9
BNE First_Set_Error
LDI #0xbbbbbbbb, R13
CMP R13, R10
BNE First_Set_Error
LDI #0xcccccccc, R13
CMP R13, R11
BNE First_Set_Error
LDI #0xdddddddd, R13
CMP R13, R12
BNE First_Set_Error
BRA First_Start_Next_Loop
First_Set_Error:
; Latch that an error has occurred.
LDI #_ulRegTestError, R0
LDI #0x00000001, R1
ST R1, @R0
First_Start_Next_Loop:
#pragma endasm
}
}
/*-----------------------------------------------------------*/
static void vSecondRegisterTestTask( void *pvParameters )
{
extern volatile unsigned portLONG ulCriticalNesting;
/* Fills the registers with known values (different to the values
used in vFirstRegisterTestTask()), then checks that the registers still
all contain the expected value. This is done to test the context save
and restore mechanism as this task is swapped onto and off of the CPU. */
for( ;; )
{
#pragma asm
;Load known values into each register.
LDI #0x11111111, R1
LDI #0x22222222, R2
INT #40H
LDI #0x33333333, R3
LDI #0x44444444, R4
LDI #0x55555555, R5
LDI #0x66666666, R6
LDI #0x77777777, R7
LDI #0x88888888, R8
LDI #0x99999999, R9
INT #40H
LDI #0xaaaaaaaa, R10
LDI #0xbbbbbbbb, R11
LDI #0xcccccccc, R12
LDI #0xdddddddd, R0
;Check each register still contains the expected value.
LDI #0x11111111, R13
CMP R13, R1
BNE Second_Set_Error
LDI #0x22222222, R13
CMP R13, R2
BNE Second_Set_Error
LDI #0x33333333, R13
CMP R13, R3
BNE Second_Set_Error
LDI #0x44444444, R13
CMP R13, R4
BNE Second_Set_Error
LDI #0x55555555, R13
CMP R13, R5
BNE Second_Set_Error
INT #40H
LDI #0x66666666, R13
CMP R13, R6
BNE Second_Set_Error
LDI #0x77777777, R13
CMP R13, R7
BNE Second_Set_Error
LDI #0x88888888, R13
CMP R13, R8
BNE Second_Set_Error
LDI #0x99999999, R13
CMP R13, R9
BNE Second_Set_Error
INT #40H
LDI #0xaaaaaaaa, R13
CMP R13, R10
BNE Second_Set_Error
LDI #0xbbbbbbbb, R13
CMP R13, R11
BNE Second_Set_Error
LDI #0xcccccccc, R13
CMP R13, R12
BNE Second_Set_Error
LDI #0xdddddddd, R13
CMP R13, R0
BNE Second_Set_Error
BRA Second_Start_Next_Loop
Second_Set_Error:
; Latch that an error has occurred.
LDI #_ulRegTestError, R0
LDI #0x00000001, R1
ST R1, @R0
Second_Start_Next_Loop:
#pragma endasm
}
}
/*-----------------------------------------------------------*/