FreeRTOS-Kernel/Demo/PPC405_Xilinx_Virtex4_GCC/RTOSDemo/main.c

/*
	FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.

	This file is part of the FreeRTOS.org distribution.

	FreeRTOS.org is free software; you can redistribute it and/or modify
	it under the terms of the GNU General Public License as published by
	the Free Software Foundation; either version 2 of the License, or
	(at your option) any later version.

	FreeRTOS.org 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
	along with FreeRTOS.org; if not, write to the Free Software
	Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

	A special exception to the GPL can be applied should you wish to distribute
	a combined work that includes FreeRTOS.org, without being obliged to provide
	the source code for any proprietary components.  See the licensing section
	of http://www.FreeRTOS.org for full details of how and when the exception
	can be applied.

	***************************************************************************

	Please ensure to read the configuration and relevant port sections of the 
	online documentation.

	+++ 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.

	***************************************************************************
*/

/*
 * 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.
 *
 */


/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#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 "partest.h"
#include "xcache_l.h"

#define mainCHECK_TASK_PRIORITY			( tskIDLE_PRIORITY + 4 )
#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 )

#define mainCOM_TEST_BAUD_RATE			( 115200UL )
#define mainCOM_TEST_LED				( 4 )

#define mainNO_ERROR_CHECK_DELAY		( ( portTickType ) 3000 / portTICK_RATE_MS  )
#define mainERROR_CHECK_DELAY			( ( portTickType ) 500 / portTICK_RATE_MS  )

#define mainCHECK_TEST_LED		( 3 )

static void prvRegTestTask1( void *pvParameters );
static void prvRegTestTask2( void *pvParameters );
static void prvFlashTask( void *pvParameters );
static void prvErrorChecks( void *pvParameters );

static unsigned portBASE_TYPE xRegTestStatus = pdPASS;
static portSHORT prvCheckOtherTasksAreStillRunning( void );

int main( void )
{
   XCache_EnableICache( 0x80000000 );
   XCache_EnableDCache( 0x80000000 );
	vParTestInitialise();

	/* 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();

	xTaskCreate( prvRegTestTask1, "Regtest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
	xTaskCreate( prvRegTestTask2, "Regtest2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
	xTaskCreate( prvErrorChecks, "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 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( xRegTestStatus != pdPASS )
	{
		lReturn = pdFAIL;
	}

	return lReturn;
}
/*-----------------------------------------------------------*/

static void prvErrorChecks( void *pvParameters )
{
portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY, xLastExecutionTime;
volatile unsigned portBASE_TYPE uxFreeStack;

	uxFreeStack = uxTaskGetStackHighWaterMark();

	/* 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( ;; )
	{
		uxFreeStack = uxTaskGetStackHighWaterMark();

		/* 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 void prvRegTestTask1( void *pvParameters )
{
	asm volatile
	(
		"RegTest1Start:					\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" \
		"	b RegTest1Start				\n\t" \
		"								\n\t" \
		"RegTest1Fail:					\n\t" \
		"								\n\t" \
		"	xor		0, 0, 0				\n\t" \
		"	stw		0, xRegTestStatus( 0 ) \n\t" \
		"								\n\t" \
		"	b RegTest1Start				\n\t" \
	);
}

static void prvRegTestTask2( void *pvParameters )
{
	asm volatile
	(
		"RegTest2Start:					\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" \
		"	sc							\n\t" \
		"	nop							\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" \
		"	b RegTest2Start				\n\t" \
		"								\n\t" \
		"RegTest2Fail:					\n\t" \
		"								\n\t" \
		"	xor		0, 0, 0				\n\t" \
		"	stw		0, xRegTestStatus( 0 ) \n\t" \
		"								\n\t" \
		"	b RegTest2Start				\n\t" \
	);
}


#if 0

static void prvRegTestTask2( void *pvParameters )
{
volatile unsigned int i= 0;

	for( ;; )
	{
		i++;
		taskYIELD();
	}
}

static void prvRegTestTask1( void *pvParameters )
{
volatile unsigned int i= 0;

	for( ;; )
	{
		i++;
		taskYIELD();
	}
}

#endif

void vApplicationStackOverflowHook( xTaskHandle xTask, signed portCHAR *pcTaskName );
void vApplicationStackOverflowHook( xTaskHandle xTask, signed portCHAR *pcTaskName )
{
	for( ;; );
}