422 lines
17 KiB
C
422 lines
17 KiB
C
/*
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FreeRTOS V6.0.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS eBook *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/*
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* Creates all the demo application tasks, then starts the scheduler. The WEB
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* documentation provides more details of the standard demo application tasks,
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* which provide no particular functionality but do provide a good example of
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* how to use the FreeRTOS API. In addition to the standard demo tasks, the
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* following tasks and tests are defined and/or created within this file:
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*
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* "Reg test" tasks - These fill the registers with known values, then check
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* that each register still contains its expected value. Each task uses
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* different values. The tasks run with very low priority so get preempted very
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* frequently. A register containing an unexpected value is indicative of an
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* error in the context switching mechanism. Both standard and floating point
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* registers are checked. The nature of the reg test tasks necessitates that
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* they are written in assembly code. They are defined in regtest.src.
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*
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* "math" tasks - These are a set of 8 tasks that perform various double
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* precision floating point calculations in order to check that the tasks
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* floating point registers are being correctly saved and restored during
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* context switches. The math tasks are defined in flop.c.
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*
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* "Check" task - This only executes every five seconds but has a high priority
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* to ensure it gets processor time. Its main function is to check that all the
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* standard demo tasks are still operational. While no errors have been
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* discovered the check task will toggle an LED every 5 seconds - the toggle
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* rate increasing to 500ms being a visual indication that at least one task has
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* reported unexpected behaviour.
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*
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* *NOTE 1* If LED5 is toggling every 5 seconds then all the demo application
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* tasks are executing as expected and no errors have been reported in any
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* tasks. The toggle rate increasing to 200ms indicates that at least one task
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* has reported unexpected behaviour.
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*
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* *NOTE 2* This file and flop.c both demonstrate the use of
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* xPortUsesFloatingPoint() which informs the kernel that a task should maintain
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* a floating point context.
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*
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* *NOTE 3* vApplicationSetupTimerInterrupt() is called by the kernel to let
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* the application set up a timer to generate the tick interrupt. In this
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* example a compare match timer is used for this purpose.
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* vApplicationTickHook() is used to clear the timer interrupt and relies on
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* configUSE_TICK_HOOK being set to 1 in FreeRTOSConfig.h.
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*
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* *NOTE 4* The traceTASK_SWITCHED_IN and traceTASK_SWITCHED_OUT trace hooks
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* are used to save and restore the floating point context respectively for
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* those tasks that require it (those for which xPortUsesFloatingPoint() has
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* been called).
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*
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* *NOTE 5* Any task that can cause a context switch requires an asm wrapper
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* and must be assigned an interrupt priority of portKERNEL_INTERRUPT_PRIORITY.
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*/
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo application includes. */
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#include "BlockQ.h"
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#include "death.h"
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#include "integer.h"
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#include "blocktim.h"
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#include "flash.h"
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#include "partest.h"
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#include "semtest.h"
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#include "PollQ.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "recmutex.h"
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#include "flop.h"
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/* Constants required to configure the hardware. */
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#define mainFRQCR_VALUE ( 0x0303 ) /* Input = 12.5MHz, I Clock = 200MHz, B Clock = 50MHz, P Clock = 50MHz */
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/* Task priorities. */
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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/* The LED toggle by the check task. */
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#define mainCHECK_LED ( 5 )
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/* The rate at which mainCHECK_LED will toggle when all the tasks are running
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without error. */
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#define mainNO_ERROR_CYCLE_TIME ( 5000 / portTICK_RATE_MS )
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/* The rate at which mainCHECK_LED will toggle when an error has been reported
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by at least one task. */
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#define mainERROR_CYCLE_TIME ( 200 / portTICK_RATE_MS )
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/*
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* vApplicationMallocFailedHook() will only be called if
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* configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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* function that will execute if a call to pvPortMalloc() fails.
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* pvPortMalloc() is called internally by the kernel whenever a task, queue or
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* semaphore is created. It is also called by various parts of the demo
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* application.
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*/
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void vApplicationMallocFailedHook( void );
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/*
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* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set to 1
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* in FreeRTOSConfig.h. It is a hook function that is called on each iteration
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* of the idle task. It is essential that code added to this hook function
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* never attempts to block in any way (for example, call xQueueReceive() with
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* a block time specified). If the application makes use of the vTaskDelete()
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* API function (as this demo application does) then it is also important that
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* vApplicationIdleHook() is permitted to return to its calling function because
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* it is the responsibility of the idle task to clean up memory allocated by the
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* kernel to any task that has since been deleted.
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*/
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void vApplicationIdleHook( void );
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/*
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* Just sets up clocks, ports, etc. used by the demo application.
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*/
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static void prvSetupHardware( void );
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/*
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* The check task as described at the top of this file.
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*/
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static void prvCheckTask( void *pvParameters );
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/*
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* The reg test tasks as described at the top of this file.
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*/
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extern void vRegTest1Task( void *pvParameters );
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extern void vRegTest2Task( void *pvParameters );
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/*-----------------------------------------------------------*/
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/* Variables that are incremented on each iteration of the reg test tasks -
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provided the tasks have not reported any errors. The check task inspects these
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variables to ensure they are still incrementing as expected. */
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volatile unsigned long ulRegTest1CycleCount = 0UL, ulRegTest2CycleCount = 0UL;
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/*-----------------------------------------------------------*/
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/*
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* Creates the majority of the demo application tasks before starting the
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* scheduler.
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*/
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void main(void)
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{
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xTaskHandle xCreatedTask;
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prvSetupHardware();
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/* Start the reg test tasks which test the context switching mechanism. */
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xTaskCreate( vRegTest1Task, "RegTest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xCreatedTask );
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xPortUsesFloatingPoint( xCreatedTask );
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xTaskCreate( vRegTest2Task, "RegTest2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xCreatedTask );
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xPortUsesFloatingPoint( xCreatedTask );
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/* Start the check task as described at the top of this file. */
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xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Start the standard demo tasks. These don't perform any particular useful
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functionality, other than to demonstrate the FreeRTOS API being used. */
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vCreateBlockTimeTasks();
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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vStartQueuePeekTasks();
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vStartRecursiveMutexTasks();
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/* Start the math tasks as described at the top of this file. */
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vStartMathTasks( mainFLOP_TASK_PRIORITY );
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/* The suicide tasks must be created last as they need to know how many
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tasks were running prior to their creation in order to ascertain whether
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or not the correct/expected number of tasks are running at any given time. */
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vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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/* Start the tasks running. */
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vTaskStartScheduler();
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/* Will only get here if there was insufficient heap memory to create the idle
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task. Increase the configTOTAL_HEAP_SIZE setting in FreeRTOSConfig.h. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTask( void *pvParameter )
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{
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portTickType xNextWakeTime, xCycleFrequency = mainNO_ERROR_CYCLE_TIME;
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unsigned long ulLastRegTest1CycleCount = 0UL, ulLastRegTest2CycleCount = 0UL;
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/* Just to remove compiler warning. */
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( void ) pvParameter;
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/* Initialise xNextWakeTime - this only needs to be done once. */
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xNextWakeTime = xTaskGetTickCount();
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for( ;; )
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{
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/* Place this task in the blocked state until it is time to run again. */
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vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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/* Inspect all the other tasks to ensure none have experienced any errors. */
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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/* Increase the rate at which this task cycles, which will increase the
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rate at which mainCHECK_LED flashes to give visual feedback that an error
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has occurred. */
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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else if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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else if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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else if( xAreMathsTaskStillRunning() != pdTRUE )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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/* Check the reg test tasks are still cycling. They will stop incrementing
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their loop counters if they encounter an error. */
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if( ulRegTest1CycleCount == ulLastRegTest1CycleCount )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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if( ulRegTest2CycleCount == ulLastRegTest2CycleCount )
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{
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xCycleFrequency = mainERROR_CYCLE_TIME;
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}
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ulLastRegTest1CycleCount = ulRegTest1CycleCount;
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ulLastRegTest2CycleCount = ulRegTest2CycleCount;
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/* Toggle the check LED to give an indication of the system status. If the
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LED toggles every 5 seconds then everything is ok. A faster toggle indicates
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an error. */
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vParTestToggleLED( mainCHECK_LED );
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}
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}
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/*-----------------------------------------------------------*/
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void vApplicationMallocFailedHook( void )
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{
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/* A call to vPortMalloc() failed, probably during the creation of a task,
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queue or semaphore. Inspect pxCurrentTCB to find which task is currently
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executing. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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void vApplicationIdleHook( void )
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{
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/* Code can be added to the idle task here. This function must *NOT* attempt
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to block. Also, if the application uses the vTaskDelete() API function then
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this function must return regularly to ensure the idle task gets a chance to
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clean up the memory used by deleted tasks. */
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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{
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/* Just to remove compiler warnings. This function will only actually
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get called if configCHECK_FOR_STACK_OVERFLOW is set to a non zero value.
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By default this demo does not use the stack overflow checking functionality
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as the SuperH will normally execute an exception if the stack overflows. */
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( void ) pxTask;
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( void ) pcTaskName;
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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volatile unsigned long ul;
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/* Set the CPU and peripheral clocks. */
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CPG.FRQCR.WORD = mainFRQCR_VALUE;
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/* Wait for the clock to settle. */
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for( ul = 0; ul < 99; ul++ )
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{
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nop();
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}
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/* Initialise the ports used to toggle LEDs. */
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vParTestInitialise();
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}
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/*-----------------------------------------------------------*/
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void vApplicationSetupTimerInterrupt( void )
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{
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/* The peripheral clock is divided by 32 before feeding the compare match
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peripheral (CMT). */
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unsigned long ulCompareMatch = ( configPERIPHERAL_CLOCK_HZ / ( configTICK_RATE_HZ * 32 ) ) + 1;
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/* Configure a timer to create the RTOS tick interrupt. This example uses
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the compare match timer, but the multi function timer or possible even the
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watchdog timer could also be used. Ensure vPortTickInterrupt() is installed
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as the interrupt handler for whichever peripheral is used. */
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/* Turn the CMT on. */
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STB.CR4.BIT._CMT = 0;
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/* Set the compare match value for the required tick frequency. */
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CMT0.CMCOR = ( unsigned short ) ulCompareMatch;
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/* Divide the peripheral clock by 32. */
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CMT0.CMCSR.BIT.CKS = 0x01;
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/* Set the CMT interrupt priority - the interrupt priority must be
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configKERNEL_INTERRUPT_PRIORITY no matter which peripheral is used to generate
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the tick interrupt. */
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INTC.IPR08.BIT._CMT0 = portKERNEL_INTERRUPT_PRIORITY;
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/* Clear the interrupt flag. */
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CMT0.CMCSR.BIT.CMF = 0;
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/* Enable the compare match interrupt. */
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CMT0.CMCSR.BIT.CMIE = 0x01;
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/* Start the timer. */
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CMT.CMSTR.BIT.STR0 = 0x01;
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}
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/*-----------------------------------------------------------*/
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void vApplicationTickHook( void )
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{
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CMT0.CMCSR.BIT.CMF = 0;
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}
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/*-----------------------------------------------------------*/
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