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Richard Barry 2012-08-11 21:34:11 +00:00
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132
FreeRTOS/Demo/PPC440_SP_FPU_Xilinx_Virtex5_GCC/RTOSDemo/FreeRTOSConfig.h Normal file
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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.
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
#include <xparameters.h>
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 250 )
#define configCPU_CLOCK_HZ ( ( unsigned long ) XPAR_CPU_PPC440_CORE_CLOCK_FREQ_HZ ) /* Clock setup from start.asm in the demo application. */
#define configTICK_RATE_HZ ( (portTickType) 1000 )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 6 )
#define configTOTAL_HEAP_SIZE ( (size_t) (80 * 1024) )
#define configMAX_TASK_NAME_LEN ( 20 )
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
#define configUSE_MUTEXES 1
#define configUSE_TRACE_FACILITY 0
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_APPLICATION_TASK_TAG 1
#define configUSE_FPU 1
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 4 )
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vResumeFromISR 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
#define configUSE_RECURSIVE_MUTEXES 1
#if configUSE_FPU == 1
/* Include the header that define the traceTASK_SWITCHED_IN() and
traceTASK_SWITCHED_OUT() macros to save and restore the floating
point registers for tasks that have requested this behaviour. */
#include "FPU_Macros.h"
#endif
#endif /* FREERTOS_CONFIG_H */

226
FreeRTOS/Demo/PPC440_SP_FPU_Xilinx_Virtex5_GCC/RTOSDemo/RTOSDemo_linker_script.ld Normal file
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/*******************************************************************/
/* */
/* This file is automatically generated by linker script generator.*/
/* */
/* Version: Xilinx EDK 11.1 EDK_L.29.1 */
/* */
/* Copyright (c) 2004 Xilinx, Inc. All rights reserved. */
/* */
/* Description : PowerPC440 Linker Script */
/* */
/*******************************************************************/
_STACK_SIZE = DEFINED(_STACK_SIZE) ? _STACK_SIZE : 0x400;
_HEAP_SIZE = DEFINED(_HEAP_SIZE) ? _HEAP_SIZE : 0x400;
/* Define Memories in the system */
MEMORY
{
DDR2_SDRAM_C_MEM_BASEADDR : ORIGIN = 0x00000000, LENGTH = 0x10000000
SRAM_C_MEM0_BASEADDR : ORIGIN = 0xF8000000, LENGTH = 0x00100000
xps_bram_if_cntlr_1 : ORIGIN = 0xFFFFE000, LENGTH = 0x00001F00
}
/* Specify the default entry point to the program */
ENTRY(_boot)
STARTUP(boot.o)
/* Define the sections, and where they are mapped in memory */
SECTIONS
{
.vectors : {
__vectors_start = .;
*(.vectors)
__vectors_end = .;
} > SRAM_C_MEM0_BASEADDR
.text : {
*(.text)
*(.text.*)
*(.gnu.linkonce.t.*)
} > SRAM_C_MEM0_BASEADDR
.init : {
KEEP (*(.init))
} > SRAM_C_MEM0_BASEADDR
.fini : {
KEEP (*(.fini))
} > SRAM_C_MEM0_BASEADDR
.rodata : {
__rodata_start = .;
*(.rodata)
*(.rodata.*)
*(.gnu.linkonce.r.*)
__rodata_end = .;
} > SRAM_C_MEM0_BASEADDR
.rodata1 : {
__rodata1_start = .;
*(.rodata1)
*(.rodata1.*)
__rodata1_end = .;
} > SRAM_C_MEM0_BASEADDR
.sdata2 : {
__sdata2_start = .;
*(.sdata2)
*(.sdata2.*)
*(.gnu.linkonce.s2.*)
__sdata2_end = .;
} > SRAM_C_MEM0_BASEADDR
.sbss2 : {
__sbss2_start = .;
*(.sbss2)
*(.sbss2.*)
*(.gnu.linkonce.sb2.*)
__sbss2_end = .;
} > SRAM_C_MEM0_BASEADDR
.data : {
__data_start = .;
*(.data)
*(.data.*)
*(.gnu.linkonce.d.*)
__data_end = .;
} > SRAM_C_MEM0_BASEADDR
.data1 : {
__data1_start = .;
*(.data1)
*(.data1.*)
__data1_end = .;
} > SRAM_C_MEM0_BASEADDR
.got : {
*(.got)
} > SRAM_C_MEM0_BASEADDR
.got1 : {
*(.got1)
} > SRAM_C_MEM0_BASEADDR
.got2 : {
*(.got2)
} > SRAM_C_MEM0_BASEADDR
.ctors : {
__CTOR_LIST__ = .;
___CTORS_LIST___ = .;
KEEP (*crtbegin.o(.ctors))
KEEP (*(EXCLUDE_FILE(*crtend.o) .ctors))
KEEP (*(SORT(.ctors.*)))
KEEP (*(.ctors))
__CTOR_END__ = .;
___CTORS_END___ = .;
} > SRAM_C_MEM0_BASEADDR
.dtors : {
__DTOR_LIST__ = .;
___DTORS_LIST___ = .;
KEEP (*crtbegin.o(.dtors))
KEEP (*(EXCLUDE_FILE(*crtend.o) .dtors))
KEEP (*(SORT(.dtors.*)))
KEEP (*(.dtors))
__DTOR_END__ = .;
___DTORS_END___ = .;
} > SRAM_C_MEM0_BASEADDR
.fixup : {
__fixup_start = .;
*(.fixup)
__fixup_end = .;
} > SRAM_C_MEM0_BASEADDR
.eh_frame : {
*(.eh_frame)
} > SRAM_C_MEM0_BASEADDR
.jcr : {
*(.jcr)
} > SRAM_C_MEM0_BASEADDR
.gcc_except_table : {
*(.gcc_except_table)
} > SRAM_C_MEM0_BASEADDR
.sdata : {
__sdata_start = .;
*(.sdata)
*(.sdata.*)
*(.gnu.linkonce.s.*)
__sdata_end = .;
} > SRAM_C_MEM0_BASEADDR
.sbss : {
__sbss_start = .;
*(.sbss)
*(.sbss.*)
*(.gnu.linkonce.sb.*)
*(.scommon)
__sbss_end = .;
} > SRAM_C_MEM0_BASEADDR
.tdata : {
__tdata_start = .;
*(.tdata)
*(.tdata.*)
*(.gnu.linkonce.td.*)
__tdata_end = .;
} > SRAM_C_MEM0_BASEADDR
.tbss : {
__tbss_start = .;
*(.tbss)
*(.tbss.*)
*(.gnu.linkonce.tb.*)
__tbss_end = .;
} > SRAM_C_MEM0_BASEADDR
.bss : {
__bss_start = .;
*(.bss)
*(.bss.*)
*(.gnu.linkonce.b.*)
*(COMMON)
. = ALIGN(4);
__bss_end = .;
} > SRAM_C_MEM0_BASEADDR
.boot0 0xFFFFFF00 : {
__boot0_start = .;
*(.boot0)
__boot0_end = .;
}
.boot 0xFFFFFFFC : {
__boot_start = .;
*(.boot)
__boot_end = .;
}
/* Generate Stack and Heap Sections */
.stack : {
_stack_end = .;
. += _STACK_SIZE;
. = ALIGN(16);
__stack = .;
} > SRAM_C_MEM0_BASEADDR
.heap : {
. = ALIGN(16);
_heap_start = .;
. += _HEAP_SIZE;
. = ALIGN(16);
_heap_end = .;
_end = .;
} > SRAM_C_MEM0_BASEADDR
}

261
FreeRTOS/Demo/PPC440_SP_FPU_Xilinx_Virtex5_GCC/RTOSDemo/flop/flop-reg-test.c Normal file
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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.
*/
/*
* Tests the floating point context save and restore mechanism.
*
* Two tasks are created - each of which is allocated a buffer of
* portNO_FLOP_REGISTERS_TO_SAVE 32bit variables into which the flop context
* of the task is saved when the task is switched out, and from which the
* flop context of the task is restored when the task is switch in. Prior to
* the tasks being created each position in the two buffers is filled with a
* unique value - this way the flop context of each task is different.
*
* The two test tasks never block so are always in either the Running or
* Ready state. They execute at the lowest priority so will get pre-empted
* regularly, although the yield frequently so will not get much execution
* time. The lack of execution time is not a problem as its only the
* switching in and out that is being tested.
*
* Whenever a task is moved from the Ready to the Running state its flop
* context will be loaded from the buffer, but while the task is in the
* Running state the buffer is not used and can contain any value - in this
* case and for test purposes the task itself clears the buffer to zero.
* The next time the task is moved out of the Running state into the
* Ready state the flop context will once more get saved to the buffer -
* overwriting the zeros.
*
* Therefore whenever the task is not in the Running state its buffer contains
* the most recent values of its floating point registers - the zeroing out
* of the buffer while the task was executing being used to ensure the values
* the buffer contains are not stale.
*
* When neither test task is in the Running state the buffers should contain
* the unique values allocated before the tasks were created. If so then
* the floating point context has been maintained. This check is performed
* by the 'check' task (defined in main.c) by calling
* xAreFlopRegisterTestsStillRunning().
*
* The test tasks also increment a value each time they execute.
* xAreFlopRegisterTestsStillRunning() also checks that this value has changed
* since it last ran to ensure the test tasks are still getting processing time.
*/
/* Standard includes files. */
#include <string.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/*-----------------------------------------------------------*/
#define flopNUMBER_OF_TASKS 2
#define flopSTART_VALUE ( 0x1 )
/*-----------------------------------------------------------*/
/* The two test tasks as described at the top of this file. */
static void vFlopTest1( void *pvParameters );
static void vFlopTest2( void *pvParameters );
/*-----------------------------------------------------------*/
/* Buffers into which the flop registers will be saved. There is a buffer for
both tasks. */
static volatile unsigned long ulFlopRegisters[ flopNUMBER_OF_TASKS ][ portNO_FLOP_REGISTERS_TO_SAVE ];
/* Variables that are incremented by the tasks to indicate that they are still
running. */
static volatile unsigned long ulFlop1CycleCount = 0, ulFlop2CycleCount = 0;
/*-----------------------------------------------------------*/
void vStartFlopRegTests( void )
{
xTaskHandle xTaskJustCreated;
unsigned portBASE_TYPE x, y, z = flopSTART_VALUE;
/* Fill the arrays into which the flop registers are to be saved with
known values. These are the values that will be written to the flop
registers when the tasks start, and as the tasks do not perform any
flop operations the values should never change. Each position in the
buffer contains a different value so the flop context of each task
will be different. */
for( x = 0; x < flopNUMBER_OF_TASKS; x++ )
{
for( y = 0; y < ( portNO_FLOP_REGISTERS_TO_SAVE - 1); y++ )
{
ulFlopRegisters[ x ][ y ] = z;
z++;
}
}
/* Create the first task. */
xTaskCreate( vFlopTest1, ( signed char * ) "flop1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTaskJustCreated );
/* The task tag value is a value that can be associated with a task, but
is not used by the scheduler itself. Its use is down to the application so
it makes a convenient place in this case to store the pointer to the buffer
into which the flop context of the task will be stored. The first created
task uses ulFlopRegisters[ 0 ], the second ulFlopRegisters[ 1 ]. */
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 0 ][ 0 ] ) );
/* Do the same for the second task. */
xTaskCreate( vFlopTest2, ( signed char * ) "flop2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTaskJustCreated );
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 1 ][ 0 ] ) );
}
/*-----------------------------------------------------------*/
static void vFlopTest1( void *pvParameters )
{
/* Just to remove compiler warning. */
( void ) pvParameters;
for( ;; )
{
/* The values from the buffer should have now been written to the flop
registers. Clear the buffer to ensure the same values then get written
back the next time the task runs. Being preempted during this memset
could cause the test to fail, hence the critical section. */
portENTER_CRITICAL();
memset( ( void * ) ulFlopRegisters[ 0 ], 0x00, ( portNO_FLOP_REGISTERS_TO_SAVE * sizeof( unsigned portBASE_TYPE ) ) );
portEXIT_CRITICAL();
/* We don't have to do anything other than indicate that we are
still running. */
ulFlop1CycleCount++;
taskYIELD();
}
}
/*-----------------------------------------------------------*/
static void vFlopTest2( void *pvParameters )
{
/* Just to remove compiler warning. */
( void ) pvParameters;
for( ;; )
{
/* The values from the buffer should have now been written to the flop
registers. Clear the buffer to ensure the same values then get written
back the next time the task runs. */
portENTER_CRITICAL();
memset( ( void * ) ulFlopRegisters[ 1 ], 0x00, ( portNO_FLOP_REGISTERS_TO_SAVE * sizeof( unsigned portBASE_TYPE ) ) );
portEXIT_CRITICAL();
/* We don't have to do anything other than indicate that we are
still running. */
ulFlop2CycleCount++;
taskYIELD();
}
}
/*-----------------------------------------------------------*/
portBASE_TYPE xAreFlopRegisterTestsStillRunning( void )
{
portBASE_TYPE xReturn = pdPASS;
unsigned portBASE_TYPE x, y, z = flopSTART_VALUE;
static unsigned long ulLastFlop1CycleCount = 0, ulLastFlop2CycleCount = 0;
/* Called from the 'check' task.
The flop tasks cannot be currently running, check their saved registers
are as expected. The tests tasks do not perform any flop operations so
their registers should be as per their initial setting. */
for( x = 0; x < flopNUMBER_OF_TASKS; x++ )
{
for( y = 0; y < ( portNO_FLOP_REGISTERS_TO_SAVE - 1 ); y++ )
{
if( ulFlopRegisters[ x ][ y ] != z )
{
xReturn = pdFAIL;
break;
}
z++;
}
}
/* Check both tasks have actually been swapped in and out since this function
last executed. */
if( ulFlop1CycleCount == ulLastFlop1CycleCount )
{
xReturn = pdFAIL;
}
if( ulFlop2CycleCount == ulLastFlop2CycleCount )
{
xReturn = pdFAIL;
}
ulLastFlop1CycleCount = ulFlop1CycleCount;
ulLastFlop2CycleCount = ulFlop2CycleCount;
return xReturn;
}

73
FreeRTOS/Demo/PPC440_SP_FPU_Xilinx_Virtex5_GCC/RTOSDemo/flop/flop-reg-test.h Normal file
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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.
*/
#ifndef FLOP_REG_TEST_H
#define FLOP_REG_TEST_H
void vStartFlopRegTests( void );
portBASE_TYPE xAreFlopRegisterTestsStillRunning( void );
#endif

417
FreeRTOS/Demo/PPC440_SP_FPU_Xilinx_Virtex5_GCC/RTOSDemo/flop/flop.c Normal file
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@ -0,0 +1,417 @@
/*
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 eight tasks, each of which loops continuously performing a
* floating point calculation.
*
* All the tasks run at the idle priority and never block or yield. This causes
* all eight tasks to time slice with the idle task. Running at the idle priority
* means that these tasks will get pre-empted any time another task is ready to run
* or a time slice occurs. More often than not the pre-emption will occur mid
* calculation, creating a good test of the schedulers context switch mechanism - a
* calculation producing an unexpected result could be a symptom of a corruption in
* the context of a task.
*
* This file demonstrates the use of the task tag and traceTASK_SWITCHED_IN and
* traceTASK_SWITCHED_OUT macros to save and restore the floating point context.
*/
#include <stdlib.h>
#include <math.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo program include files. */
#include "flop.h"
/* Misc. definitions. */
#define mathSTACK_SIZE configMINIMAL_STACK_SIZE
#define mathNUMBER_OF_TASKS ( 8 )
/* Four tasks, each of which performs a different floating point calculation.
Each of the four is created twice. */
static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters );
static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters );
static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );
static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters );
/* These variables are used to check that all the tasks are still running. If a
task gets a calculation wrong it will stop incrementing its check variable. */
static volatile unsigned short usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
/* Buffers into which the flop registers will be saved. There is a buffer for
each task created within this file. Zeroing out this array is the normal and
safe option as this will cause the task to start with all zeros in its flop
context. */
static unsigned long ulFlopRegisters[ mathNUMBER_OF_TASKS ][ portNO_FLOP_REGISTERS_TO_SAVE ];
/*-----------------------------------------------------------*/
void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
{
xTaskHandle xTaskJustCreated;
portBASE_TYPE x, y;
/* Place known values into the buffers into which the flop registers are
to be saved. This is for debug purposes only, it is not normally
required. The last position in each array is left at zero as the status
register will be loaded from there.
It is intended that these values can be viewed being loaded into the
flop registers when a task is started - however the Insight debugger
does not seem to want to show the flop register values. */
for( x = 0; x < mathNUMBER_OF_TASKS; x++ )
{
for( y = 0; y < ( portNO_FLOP_REGISTERS_TO_SAVE - 1 ); y++ )
{
ulFlopRegisters[ x ][ y ] = ( x + 1 );
}
}
/* Create the first task - passing it the address of the check variable
that it is going to increment. This check variable is used as an
indication that the task is still running. */
xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, &xTaskJustCreated );
/* The task tag value is a value that can be associated with a task, but
is not used by the scheduler itself. Its use is down to the application so
it makes a convenient place in this case to store the pointer to the buffer
into which the flop context of the task will be stored. The first created
task uses ulFlopRegisters[ 0 ], the second ulFlopRegisters[ 1 ], etc. */
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 0 ][ 0 ] ) );
/* Create another 7 tasks, allocating a buffer for each. */
xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, &xTaskJustCreated );
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 1 ][ 0 ] ) );
xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, &xTaskJustCreated );
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 2 ][ 0 ] ) );
xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, &xTaskJustCreated );
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 3 ][ 0 ] ) );
xTaskCreate( vCompetingMathTask1, ( signed char * ) "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, &xTaskJustCreated );
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 4 ][ 0 ] ) );
xTaskCreate( vCompetingMathTask2, ( signed char * ) "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, &xTaskJustCreated );
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 5 ][ 0 ] ) );
xTaskCreate( vCompetingMathTask3, ( signed char * ) "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, &xTaskJustCreated );
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 6 ][ 0 ] ) );
xTaskCreate( vCompetingMathTask4, ( signed char * ) "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, &xTaskJustCreated );
vTaskSetApplicationTaskTag( xTaskJustCreated, ( void * ) &( ulFlopRegisters[ 7 ][ 0 ] ) );
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )
{
volatile portFLOAT ff1, ff2, ff3, ff4;
volatile unsigned short *pusTaskCheckVariable;
volatile portFLOAT fAnswer;
short sError = pdFALSE;
ff1 = 123.4567F;
ff2 = 2345.6789F;
ff3 = -918.222F;
fAnswer = ( ff1 + ff2 ) * ff3;
/* The variable this task increments to show it is still running is passed in
as the parameter. */
pusTaskCheckVariable = ( unsigned short * ) pvParameters;
/* Keep performing a calculation and checking the result against a constant. */
for(;;)
{
ff1 = 123.4567F;
ff2 = 2345.6789F;
ff3 = -918.222F;
ff4 = ( ff1 + ff2 ) * ff3;
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* If the calculation does not match the expected constant, stop the
increment of the check variable. */
if( fabs( ff4 - fAnswer ) > 0.001F )
{
sError = pdTRUE;
}
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
variable so we know this task is still running okay. */
( *pusTaskCheckVariable )++;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )
{
volatile portFLOAT ff1, ff2, ff3, ff4;
volatile unsigned short *pusTaskCheckVariable;
volatile portFLOAT fAnswer;
short sError = pdFALSE;
ff1 = -389.38F;
ff2 = 32498.2F;
ff3 = -2.0001F;
fAnswer = ( ff1 / ff2 ) * ff3;
/* The variable this task increments to show it is still running is passed in
as the parameter. */
pusTaskCheckVariable = ( unsigned short * ) pvParameters;
/* Keep performing a calculation and checking the result against a constant. */
for( ;; )
{
ff1 = -389.38F;
ff2 = 32498.2F;
ff3 = -2.0001F;
ff4 = ( ff1 / ff2 ) * ff3;
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* If the calculation does not match the expected constant, stop the
increment of the check variable. */
if( fabs( ff4 - fAnswer ) > 0.001F )
{
sError = pdTRUE;
}
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
variable so we know
this task is still running okay. */
( *pusTaskCheckVariable )++;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )
{
volatile portFLOAT *pfArray, fTotal1, fTotal2, fDifference;
volatile unsigned short *pusTaskCheckVariable;
const size_t xArraySize = 10;
size_t xPosition;
short sError = pdFALSE;
/* The variable this task increments to show it is still running is passed in
as the parameter. */
pusTaskCheckVariable = ( unsigned short * ) pvParameters;
pfArray = ( portFLOAT * ) pvPortMalloc( xArraySize * sizeof( portFLOAT ) );
/* Keep filling an array, keeping a running total of the values placed in the
array. Then run through the array adding up all the values. If the two totals
do not match, stop the check variable from incrementing. */
for( ;; )
{
fTotal1 = 0.0F;
fTotal2 = 0.0F;
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
pfArray[ xPosition ] = ( portFLOAT ) xPosition + 5.5F;
fTotal1 += ( portFLOAT ) xPosition + 5.5F;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
fTotal2 += pfArray[ xPosition ];
}
fDifference = fTotal1 - fTotal2;
if( fabs( fDifference ) > 0.001F )
{
sError = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
variable so we know this task is still running okay. */
( *pusTaskCheckVariable )++;
}
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )
{
volatile portFLOAT *pfArray, fTotal1, fTotal2, fDifference;
volatile unsigned short *pusTaskCheckVariable;
const size_t xArraySize = 10;
size_t xPosition;
short sError = pdFALSE;
/* The variable this task increments to show it is still running is passed in
as the parameter. */
pusTaskCheckVariable = ( unsigned short * ) pvParameters;
pfArray = ( portFLOAT * ) pvPortMalloc( xArraySize * sizeof( portFLOAT ) );
/* Keep filling an array, keeping a running total of the values placed in the
array. Then run through the array adding up all the values. If the two totals
do not match, stop the check variable from incrementing. */
for( ;; )
{
fTotal1 = 0.0F;
fTotal2 = 0.0F;
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
pfArray[ xPosition ] = ( portFLOAT ) xPosition * 12.123F;
fTotal1 += ( portFLOAT ) xPosition * 12.123F;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
fTotal2 += pfArray[ xPosition ];
}
fDifference = fTotal1 - fTotal2;
if( fabs( fDifference ) > 0.001F )
{
sError = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
variable so we know this task is still running okay. */
( *pusTaskCheckVariable )++;
}
}
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */
portBASE_TYPE xAreMathsTaskStillRunning( void )
{
/* Keep a history of the check variables so we know if they have been incremented
since the last call. */
static unsigned short usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned short ) 0 };
portBASE_TYPE xReturn = pdTRUE, xTask;
/* Check the maths tasks are still running by ensuring their check variables
are still incrementing. */
for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
{
if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
{
/* The check has not incremented so an error exists. */
xReturn = pdFALSE;
}
usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
}
return xReturn;
}

716
FreeRTOS/Demo/PPC440_SP_FPU_Xilinx_Virtex5_GCC/RTOSDemo/main.c Normal file
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@ -0,0 +1,716 @@
/*
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, 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.
*
*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Xilinx library includes. */
#include "xcache_l.h"
#include "xintc.h"
/* Demo application includes. */
#include "flash.h"
#include "integer.h"
#include "comtest2.h"
#include "semtest.h"
#include "BlockQ.h"
#include "dynamic.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "blocktim.h"
#include "death.h"
#include "partest.h"
#include "countsem.h"
#include "recmutex.h"
#include "flop.h"
#include "flop-reg-test.h"
/* Priorities assigned to the demo tasks. */
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainFLOP_PRIORITY ( tskIDLE_PRIORITY )
/* The first LED used by the COM test and check tasks respectively. */
#define mainCOM_TEST_LED ( 4 )
#define mainCHECK_TEST_LED ( 3 )
/* The baud rate used by the comtest tasks is set by the hardware, so the
baud rate parameters passed into the comtest initialisation has no effect. */
#define mainBAUD_SET_IN_HARDWARE ( 0 )
/* Delay periods used by the check task. If no errors have been found then
the check LED will toggle every mainNO_ERROR_CHECK_DELAY milliseconds. If an
error has been found at any time then the toggle rate will increase to
mainERROR_CHECK_DELAY milliseconds. */
#define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
#define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
/*
* The tasks defined within this file - described within the comments at the
* head of this page.
*/
static void prvRegTestTask1( void *pvParameters );
static void prvRegTestTask2( void *pvParameters );
static void prvErrorChecks( void *pvParameters );
/*
* Called by the 'check' task to inspect all the standard demo tasks within
* the system, as described within the comments at the head of this page.
*/
static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void );
/*
* Perform any hardware initialisation required by the demo application.
*/
static void prvSetupHardware( void );
/*-----------------------------------------------------------*/
/* xRegTestStatus will get set to pdFAIL by the regtest tasks if they
discover an unexpected value. */
static volatile unsigned portBASE_TYPE xRegTestStatus = pdPASS;
/* Counters used to ensure the regtest tasks are still running. */
static volatile unsigned long ulRegTest1Counter = 0UL, ulRegTest2Counter = 0UL;
/*-----------------------------------------------------------*/
int main( void )
{
/* Must be called prior to installing any interrupt handlers! */
vPortSetupInterruptController();
/* In this case prvSetupHardware() just enables the caches and and
configures the IO ports for the LED outputs. */
prvSetupHardware();
/* Start the standard demo application tasks. Note that the baud rate used
by the comtest tasks is set by the hardware, so the baud rate parameter
passed has no effect. */
vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
vStartIntegerMathTasks( tskIDLE_PRIORITY );
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_SET_IN_HARDWARE, mainCOM_TEST_LED );
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
vStartBlockingQueueTasks ( mainQUEUE_BLOCK_PRIORITY );
vStartDynamicPriorityTasks();
vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
vStartQueuePeekTasks();
vCreateBlockTimeTasks();
vStartCountingSemaphoreTasks();
vStartRecursiveMutexTasks();
#if ( configUSE_FPU == 1 )
vStartMathTasks( mainFLOP_PRIORITY );
vStartFlopRegTests();
#endif
/* Create the tasks defined within this file. */
xTaskCreate( prvRegTestTask1, ( signed char * ) "Regtest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
xTaskCreate( prvRegTestTask2, ( signed char * ) "Regtest2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
xTaskCreate( prvErrorChecks, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* 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( ;; );
return 0;
}
/*-----------------------------------------------------------*/
static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
{
portBASE_TYPE lReturn = pdPASS;
static unsigned long ulLastRegTest1Counter= 0UL, ulLastRegTest2Counter = 0UL;
/* 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( xIsCreateTaskStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
#if ( configUSE_FPU == 1 )
if( xAreMathsTaskStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
if( xAreFlopRegisterTestsStillRunning() != pdTRUE )
{
lReturn = pdFAIL;
}
#endif
/* Have the register test tasks found any errors? */
if( xRegTestStatus != pdPASS )
{
lReturn = pdFAIL;
}
/* Are the register test tasks still looping? */
if( ulLastRegTest1Counter == ulRegTest1Counter )
{
lReturn = pdFAIL;
}
else
{
ulLastRegTest1Counter = ulRegTest1Counter;
}
if( ulLastRegTest2Counter == ulRegTest2Counter )
{
lReturn = pdFAIL;
}
else
{
ulLastRegTest2Counter = ulRegTest2Counter;
}
return lReturn;
}
/*-----------------------------------------------------------*/
static void prvErrorChecks( void *pvParameters )
{
portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY, xLastExecutionTime;
volatile unsigned portBASE_TYPE uxFreeStack;
/* Just to remove compiler warning. */
( void ) pvParameters;
/* This call is just to demonstrate the use of the function - nothing is
done with the value. You would expect the stack high water mark to be
lower (the function to return a larger value) here at function entry than
later following calls to other functions. */
uxFreeStack = uxTaskGetStackHighWaterMark( NULL );
/* 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( ;; )
{
/* Again just for demo purposes - uxFreeStack should have a lower value
here than following the call to uxTaskGetStackHighWaterMark() on the
task entry. */
uxFreeStack = uxTaskGetStackHighWaterMark( NULL );
/* 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. */
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 void prvSetupHardware( void )
{
XCache_EnableICache( 0x80000000 );
XCache_EnableDCache( 0x80000000 );
/* Setup the IO port for use with the LED outputs. */
vParTestInitialise();
}
/*-----------------------------------------------------------*/
void prvRegTest1Pass( void )
{
/* Called from the inline assembler - this cannot be static
otherwise it can get optimised away. */
ulRegTest1Counter++;
}
/*-----------------------------------------------------------*/
void prvRegTest2Pass( void )
{
/* Called from the inline assembler - this cannot be static
otherwise it can get optimised away. */
ulRegTest2Counter++;
}
/*-----------------------------------------------------------*/
void prvRegTestFail( void )
{
/* Called from the inline assembler - this cannot be static
otherwise it can get optimised away. */
xRegTestStatus = pdFAIL;
}
/*-----------------------------------------------------------*/
static void prvRegTestTask1( void *pvParameters )
{
/* Just to remove compiler warning. */
( void ) pvParameters;
/* The first register test task as described at the top of this file. The
values used in the registers are different to those use in the second
register test task. Also, unlike the second register test task, this task
yields between setting the register values and subsequently checking the
register values. */
asm volatile
(
"RegTest1Start: \n\t" \
" \n\t" \
" li 0, 301 \n\t" \
" mtspr 256, 0 #USPRG0 \n\t" \
" li 0, 501 \n\t" \
" mtspr 8, 0 #LR \n\t" \
" li 0, 4 \n\t" \
" mtspr 1, 0 #XER \n\t" \
" \n\t" \
" li 0, 1 \n\t" \
" li 2, 2 \n\t" \
" li 3, 3 \n\t" \
" li 4, 4 \n\t" \
" li 5, 5 \n\t" \
" li 6, 6 \n\t" \
" li 7, 7 \n\t" \
" li 8, 8 \n\t" \
" li 9, 9 \n\t" \
" li 10, 10 \n\t" \
" li 11, 11 \n\t" \
" li 12, 12 \n\t" \
" li 13, 13 \n\t" \
" li 14, 14 \n\t" \
" li 15, 15 \n\t" \
" li 16, 16 \n\t" \
" li 17, 17 \n\t" \
" li 18, 18 \n\t" \
" li 19, 19 \n\t" \
" li 20, 20 \n\t" \
" li 21, 21 \n\t" \
" li 22, 22 \n\t" \
" li 23, 23 \n\t" \
" li 24, 24 \n\t" \
" li 25, 25 \n\t" \
" li 26, 26 \n\t" \
" li 27, 27 \n\t" \
" li 28, 28 \n\t" \
" li 29, 29 \n\t" \
" li 30, 30 \n\t" \
" li 31, 31 \n\t" \
" \n\t" \
" sc \n\t" \
" nop \n\t" \
" \n\t" \
" cmpwi 0, 1 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 2, 2 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 3, 3 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 4, 4 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 5, 5 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 6, 6 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 7, 7 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 8, 8 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 9, 9 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 10, 10 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 11, 11 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 12, 12 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 13, 13 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 14, 14 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 15, 15 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 16, 16 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 17, 17 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 18, 18 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 19, 19 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 20, 20 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 21, 21 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 22, 22 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 23, 23 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 24, 24 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 25, 25 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 26, 26 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 27, 27 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 28, 28 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 29, 29 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 30, 30 \n\t" \
" bne RegTest1Fail \n\t" \
" cmpwi 31, 31 \n\t" \
" bne RegTest1Fail \n\t" \
" \n\t" \
" mfspr 0, 256 #USPRG0 \n\t" \
" cmpwi 0, 301 \n\t" \
" bne RegTest1Fail \n\t" \
" mfspr 0, 8 #LR \n\t" \
" cmpwi 0, 501 \n\t" \
" bne RegTest1Fail \n\t" \
" mfspr 0, 1 #XER \n\t" \
" cmpwi 0, 4 \n\t" \
" bne RegTest1Fail \n\t" \
" \n\t" \
" bl prvRegTest1Pass \n\t" \
" b RegTest1Start \n\t" \
" \n\t" \
"RegTest1Fail: \n\t" \
" \n\t" \
" \n\t" \
" bl prvRegTestFail \n\t" \
" b RegTest1Start \n\t" \
);
}
/*-----------------------------------------------------------*/
static void prvRegTestTask2( void *pvParameters )
{
/* Just to remove compiler warning. */
( void ) pvParameters;
/* The second register test task as described at the top of this file.
Note that this task fills the registers with different values to the
first register test task. */
asm volatile
(
"RegTest2Start: \n\t" \
" \n\t" \
" li 0, 300 \n\t" \
" mtspr 256, 0 #USPRG0 \n\t" \
" li 0, 500 \n\t" \
" mtspr 8, 0 #LR \n\t" \
" li 0, 4 \n\t" \
" mtspr 1, 0 #XER \n\t" \
" \n\t" \
" li 0, 11 \n\t" \
" li 2, 12 \n\t" \
" li 3, 13 \n\t" \
" li 4, 14 \n\t" \
" li 5, 15 \n\t" \
" li 6, 16 \n\t" \
" li 7, 17 \n\t" \
" li 8, 18 \n\t" \
" li 9, 19 \n\t" \
" li 10, 110 \n\t" \
" li 11, 111 \n\t" \
" li 12, 112 \n\t" \
" li 13, 113 \n\t" \
" li 14, 114 \n\t" \
" li 15, 115 \n\t" \
" li 16, 116 \n\t" \
" li 17, 117 \n\t" \
" li 18, 118 \n\t" \
" li 19, 119 \n\t" \
" li 20, 120 \n\t" \
" li 21, 121 \n\t" \
" li 22, 122 \n\t" \
" li 23, 123 \n\t" \
" li 24, 124 \n\t" \
" li 25, 125 \n\t" \
" li 26, 126 \n\t" \
" li 27, 127 \n\t" \
" li 28, 128 \n\t" \
" li 29, 129 \n\t" \
" li 30, 130 \n\t" \
" li 31, 131 \n\t" \
" \n\t" \
" cmpwi 0, 11 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 2, 12 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 3, 13 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 4, 14 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 5, 15 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 6, 16 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 7, 17 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 8, 18 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 9, 19 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 10, 110 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 11, 111 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 12, 112 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 13, 113 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 14, 114 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 15, 115 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 16, 116 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 17, 117 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 18, 118 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 19, 119 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 20, 120 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 21, 121 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 22, 122 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 23, 123 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 24, 124 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 25, 125 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 26, 126 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 27, 127 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 28, 128 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 29, 129 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 30, 130 \n\t" \
" bne RegTest2Fail \n\t" \
" cmpwi 31, 131 \n\t" \
" bne RegTest2Fail \n\t" \
" \n\t" \
" mfspr 0, 256 #USPRG0 \n\t" \
" cmpwi 0, 300 \n\t" \
" bne RegTest2Fail \n\t" \
" mfspr 0, 8 #LR \n\t" \
" cmpwi 0, 500 \n\t" \
" bne RegTest2Fail \n\t" \
" mfspr 0, 1 #XER \n\t" \
" cmpwi 0, 4 \n\t" \
" bne RegTest2Fail \n\t" \
" \n\t" \
" bl prvRegTest2Pass \n\t" \
" b RegTest2Start \n\t" \
" \n\t" \
"RegTest2Fail: \n\t" \
" \n\t" \
" \n\t" \
" bl prvRegTestFail \n\t" \
" b RegTest2Start \n\t" \
);
}
/*-----------------------------------------------------------*/
/* This hook function will get called if there is a suspected stack overflow.
An overflow can cause the task name to be corrupted, in which case the task
handle needs to be used to determine the offending task. */
void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName )
{
/* To prevent the optimiser removing the variables. */
volatile xTaskHandle xTaskIn = xTask;
volatile signed char *pcTaskNameIn = pcTaskName;
/* Remove compiler warnings. */
( void ) xTaskIn;
( void ) pcTaskNameIn;
/* The following three calls are simply to stop compiler warnings about the
functions not being used - they are called from the inline assembly. */
prvRegTest1Pass();
prvRegTest2Pass();
prvRegTestFail();
for( ;; );
}

185
FreeRTOS/Demo/PPC440_SP_FPU_Xilinx_Virtex5_GCC/RTOSDemo/partest/partest.c Normal file
View file

@ -0,0 +1,185 @@
/*
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.
*/
/* Scheduler includes. */
#include "FreeRTOS.h"
/* Demo application includes. */
#include "partest.h"
/* Library includes. */
#include "xparameters.h"
#include "xgpio_l.h"
/* Misc hardware specific definitions. */
#define partstALL_AS_OUTPUT 0x00
#define partstCHANNEL_1 0x01
#define partstMAX_8BIT_LED 0x07
/* The outputs are split into two IO sections, these variables maintain the
current value of either section. */
static unsigned portBASE_TYPE uxCurrentOutput8Bit, uxCurrentOutput5Bit;
/*-----------------------------------------------------------*/
/*
* Setup the IO for the LED outputs.
*/
void vParTestInitialise( void )
{
/* Set both sets of LED's on the demo board to outputs. */
XGpio_mSetDataDirection( XPAR_LEDS_8BIT_BASEADDR, partstCHANNEL_1, partstALL_AS_OUTPUT );
XGpio_mSetDataDirection( XPAR_LEDS_POSITIONS_BASEADDR, partstCHANNEL_1, partstALL_AS_OUTPUT );
/* Start with all outputs off. */
uxCurrentOutput8Bit = 0;
XGpio_mSetDataReg( XPAR_LEDS_8BIT_BASEADDR, partstCHANNEL_1, 0x00 );
uxCurrentOutput5Bit = 0;
XGpio_mSetDataReg( XPAR_LEDS_POSITIONS_BASEADDR, partstCHANNEL_1, 0x00 );
}
/*-----------------------------------------------------------*/
void vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
{
unsigned portBASE_TYPE uxBaseAddress, *puxCurrentValue;
portENTER_CRITICAL();
{
/* Which IO section does the LED being set/cleared belong to? The
4 bit or 5 bit outputs? */
if( uxLED <= partstMAX_8BIT_LED )
{
uxBaseAddress = XPAR_LEDS_8BIT_BASEADDR;
puxCurrentValue = &uxCurrentOutput5Bit;
}
else
{
uxBaseAddress = XPAR_LEDS_POSITIONS_BASEADDR;
puxCurrentValue = &uxCurrentOutput8Bit;
uxLED -= partstMAX_8BIT_LED;
}
/* Setup the bit mask accordingly. */
uxLED = 0x01 << uxLED;
/* Maintain the current output value. */
if( xValue )
{
*puxCurrentValue |= uxLED;
}
else
{
*puxCurrentValue &= ~uxLED;
}
/* Write the value to the port. */
XGpio_mSetDataReg( uxBaseAddress, partstCHANNEL_1, *puxCurrentValue );
}
portEXIT_CRITICAL();
}
/*-----------------------------------------------------------*/
void vParTestToggleLED( unsigned portBASE_TYPE uxLED )
{
unsigned portBASE_TYPE uxBaseAddress, *puxCurrentValue;
portENTER_CRITICAL();
{
/* Which IO section does the LED being toggled belong to? The
4 bit or 5 bit outputs? */
if( uxLED <= partstMAX_8BIT_LED )
{
uxBaseAddress = XPAR_LEDS_8BIT_BASEADDR;
puxCurrentValue = &uxCurrentOutput5Bit;
}
else
{
uxBaseAddress = XPAR_LEDS_POSITIONS_BASEADDR;
puxCurrentValue = &uxCurrentOutput8Bit;
uxLED -= partstMAX_8BIT_LED;
}
/* Setup the bit mask accordingly. */
uxLED = 0x01 << uxLED;
/* Maintain the current output value. */
if( *puxCurrentValue & uxLED )
{
*puxCurrentValue &= ~uxLED;
}
else
{
*puxCurrentValue |= uxLED;
}
/* Write the value to the port. */
XGpio_mSetDataReg(uxBaseAddress, partstCHANNEL_1, *puxCurrentValue );
}
portEXIT_CRITICAL();
}

250
FreeRTOS/Demo/PPC440_SP_FPU_Xilinx_Virtex5_GCC/RTOSDemo/serial/serial.c Normal file
View file

@ -0,0 +1,250 @@
/*
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.
*/
/*
BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER FOR UART
*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "queue.h"
#include "task.h"
/* Demo application includes. */
#include "serial.h"
/* Library includes. */
#include "xparameters.h"
#include "xuartlite.h"
#include "xuartlite_l.h"
/*-----------------------------------------------------------*/
/* Queues used to hold received characters, and characters waiting to be
transmitted. */
static xQueueHandle xRxedChars;
static xQueueHandle xCharsForTx;
/* Structure that maintains information on the UART being used. */
static XUartLite xUART;
/*
* Sample UART interrupt handler. Note this is used to demonstrate the kernel
* features and test the port - it is not intended to represent an efficient
* implementation.
*/
static void vSerialISR( XUartLite *pxUART );
/*-----------------------------------------------------------*/
xComPortHandle xSerialPortInitMinimal( unsigned long ulWantedBaud, unsigned portBASE_TYPE uxQueueLength )
{
/* NOTE: The baud rate used by this driver is determined by the hardware
parameterization of the UART Lite peripheral, and the baud value passed to
this function has no effect. */
( void ) ulWantedBaud;
/* Create the queues used to hold Rx and Tx characters. */
xRxedChars = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
xCharsForTx = xQueueCreate( uxQueueLength + 1, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
/* Only initialise the UART if the queues were created correctly. */
if( ( xRxedChars != NULL ) && ( xCharsForTx != NULL ) )
{
XUartLite_Initialize( &xUART, XPAR_RS232_UART_1_DEVICE_ID );
XUartLite_ResetFifos( &xUART );
XUartLite_DisableInterrupt( &xUART );
if( xPortInstallInterruptHandler( XPAR_XPS_INTC_0_RS232_UART_1_INTERRUPT_INTR, ( XInterruptHandler )vSerialISR, (void *)&xUART ) == pdPASS )
{
/* xPortInstallInterruptHandler() could fail if
vPortSetupInterruptController() has not been called prior to this
function. */
XUartLite_EnableInterrupt( &xUART );
}
}
/* There is only one port so the handle is not used. */
return ( xComPortHandle ) 0;
}
/*-----------------------------------------------------------*/
signed portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, signed char *pcRxedChar, portTickType xBlockTime )
{
/* The port handle is not required as this driver only supports one UART. */
( void ) pxPort;
/* Get the next character from the buffer. Return false if no characters
are available, or arrive before xBlockTime expires. */
if( xQueueReceive( xRxedChars, pcRxedChar, xBlockTime ) )
{
return pdTRUE;
}
else
{
return pdFALSE;
}
}
/*-----------------------------------------------------------*/
signed portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, signed char cOutChar, portTickType xBlockTime )
{
portBASE_TYPE xReturn = pdTRUE;
/* Just to remove compiler warning. */
( void ) pxPort;
portENTER_CRITICAL();
{
/* If the UART FIFO is full we can block posting the new data on the
Tx queue. */
if( XUartLite_mIsTransmitFull( XPAR_RS232_UART_1_BASEADDR ) )
{
if( xQueueSend( xCharsForTx, &cOutChar, xBlockTime ) != pdPASS )
{
xReturn = pdFAIL;
}
}
/* Otherwise, if there is data already in the queue we should add the
new data to the back of the queue to ensure the sequencing is
maintained. */
else if( uxQueueMessagesWaiting( xCharsForTx ) )
{
if( xQueueSend( xCharsForTx, &cOutChar, xBlockTime ) != pdPASS )
{
xReturn = pdFAIL;
}
}
/* If the UART FIFO is not full and there is no data already in the
queue we can write directly to the FIFO without disrupting the
sequence. */
else
{
XIo_Out32( XPAR_RS232_UART_1_BASEADDR + XUL_TX_FIFO_OFFSET, cOutChar );
}
}
portEXIT_CRITICAL();
return xReturn;
}
/*-----------------------------------------------------------*/
void vSerialClose( xComPortHandle xPort )
{
/* Not supported as not required by the demo application. */
( void ) xPort;
}
/*-----------------------------------------------------------*/
static void vSerialISR( XUartLite *pxUART )
{
unsigned long ulISRStatus;
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE, lDidSomething;
char cChar;
/* Just to remove compiler warning. */
( void ) pxUART;
do
{
lDidSomething = pdFALSE;
ulISRStatus = XIo_In32( XPAR_RS232_UART_1_BASEADDR + XUL_STATUS_REG_OFFSET );
if( ( ulISRStatus & XUL_SR_RX_FIFO_VALID_DATA ) != 0 )
{
/* A character is available - place it in the queue of received
characters. This might wake a task that was blocked waiting for
data. */
cChar = ( char ) XIo_In32( XPAR_RS232_UART_1_BASEADDR + XUL_RX_FIFO_OFFSET );
xQueueSendFromISR( xRxedChars, &cChar, &xHigherPriorityTaskWoken );
lDidSomething = pdTRUE;
}
if( ( ulISRStatus & XUL_SR_TX_FIFO_EMPTY ) != 0 )
{
/* There is space in the FIFO - if there are any characters queue for
transmission they can be sent to the UART now. This might unblock a
task that was waiting for space to become available on the Tx queue. */
if( xQueueReceiveFromISR( xCharsForTx, &cChar, &xHigherPriorityTaskWoken ) == pdTRUE )
{
XIo_Out32( XPAR_RS232_UART_1_BASEADDR + XUL_TX_FIFO_OFFSET, cChar );
lDidSomething = pdTRUE;
}
}
} while( lDidSomething == pdTRUE );
/* If we woke any tasks we may require a context switch. */
if( xHigherPriorityTaskWoken )
{
portYIELD_FROM_ISR();
}
}