| 1 |
586 |
jeremybenn |
/*
|
| 2 |
|
|
FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
| 3 |
|
|
|
| 4 |
|
|
***************************************************************************
|
| 5 |
|
|
* *
|
| 6 |
|
|
* If you are: *
|
| 7 |
|
|
* *
|
| 8 |
|
|
* + New to FreeRTOS, *
|
| 9 |
|
|
* + Wanting to learn FreeRTOS or multitasking in general quickly *
|
| 10 |
|
|
* + Looking for basic training, *
|
| 11 |
|
|
* + Wanting to improve your FreeRTOS skills and productivity *
|
| 12 |
|
|
* *
|
| 13 |
|
|
* then take a look at the FreeRTOS books - available as PDF or paperback *
|
| 14 |
|
|
* *
|
| 15 |
|
|
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
|
| 16 |
|
|
* http://www.FreeRTOS.org/Documentation *
|
| 17 |
|
|
* *
|
| 18 |
|
|
* A pdf reference manual is also available. Both are usually delivered *
|
| 19 |
|
|
* to your inbox within 20 minutes to two hours when purchased between 8am *
|
| 20 |
|
|
* and 8pm GMT (although please allow up to 24 hours in case of *
|
| 21 |
|
|
* exceptional circumstances). Thank you for your support! *
|
| 22 |
|
|
* *
|
| 23 |
|
|
***************************************************************************
|
| 24 |
|
|
|
| 25 |
|
|
This file is part of the FreeRTOS distribution.
|
| 26 |
|
|
|
| 27 |
|
|
FreeRTOS is free software; you can redistribute it and/or modify it under
|
| 28 |
|
|
the terms of the GNU General Public License (version 2) as published by the
|
| 29 |
|
|
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
| 30 |
|
|
***NOTE*** The exception to the GPL is included to allow you to distribute
|
| 31 |
|
|
a combined work that includes FreeRTOS without being obliged to provide the
|
| 32 |
|
|
source code for proprietary components outside of the FreeRTOS kernel.
|
| 33 |
|
|
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
|
| 34 |
|
|
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
| 35 |
|
|
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
| 36 |
|
|
more details. You should have received a copy of the GNU General Public
|
| 37 |
|
|
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
| 38 |
|
|
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
| 39 |
|
|
by writing to Richard Barry, contact details for whom are available on the
|
| 40 |
|
|
FreeRTOS WEB site.
|
| 41 |
|
|
|
| 42 |
|
|
1 tab == 4 spaces!
|
| 43 |
|
|
|
| 44 |
|
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
| 45 |
|
|
contact details.
|
| 46 |
|
|
|
| 47 |
|
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
| 48 |
|
|
critical systems.
|
| 49 |
|
|
|
| 50 |
|
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
| 51 |
|
|
licensing and training services.
|
| 52 |
|
|
*/
|
| 53 |
|
|
|
| 54 |
|
|
/*
|
| 55 |
|
|
* Creates all the demo application tasks, then starts the scheduler. The WEB
|
| 56 |
|
|
* documentation provides more details of the demo application tasks.
|
| 57 |
|
|
*
|
| 58 |
|
|
* In addition to the standard demo tasks, the follow demo specific tasks are
|
| 59 |
|
|
* create:
|
| 60 |
|
|
*
|
| 61 |
|
|
* The "Check" task. This only executes every three seconds but has the highest
|
| 62 |
|
|
* priority so is guaranteed to get processor time. Its main function is to
|
| 63 |
|
|
* check that all the other tasks are still operational. Most tasks maintain
|
| 64 |
|
|
* a unique count that is incremented each time the task successfully completes
|
| 65 |
|
|
* its function. Should any error occur within such a task the count is
|
| 66 |
|
|
* permanently halted. The check task inspects the count of each task to ensure
|
| 67 |
|
|
* it has changed since the last time the check task executed. If all the count
|
| 68 |
|
|
* variables have changed all the tasks are still executing error free, and the
|
| 69 |
|
|
* check task toggles the onboard LED. Should any task contain an error at any time
|
| 70 |
|
|
* the LED toggle rate will change from 3 seconds to 500ms.
|
| 71 |
|
|
*
|
| 72 |
|
|
* The "Register Check" tasks. These tasks fill the CPU registers with known
|
| 73 |
|
|
* values, then check that each register still contains the expected value, the
|
| 74 |
|
|
* discovery of an unexpected value being indicative of an error in the RTOS
|
| 75 |
|
|
* context switch mechanism. The register check tasks operate at low priority
|
| 76 |
|
|
* so are switched in and out frequently.
|
| 77 |
|
|
*
|
| 78 |
|
|
*/
|
| 79 |
|
|
|
| 80 |
|
|
/* Scheduler includes. */
|
| 81 |
|
|
#include "FreeRTOS.h"
|
| 82 |
|
|
#include "task.h"
|
| 83 |
|
|
|
| 84 |
|
|
/* Xilinx library includes. */
|
| 85 |
|
|
#include "xcache_l.h"
|
| 86 |
|
|
#include "xintc.h"
|
| 87 |
|
|
|
| 88 |
|
|
/* Demo application includes. */
|
| 89 |
|
|
#include "flash.h"
|
| 90 |
|
|
#include "integer.h"
|
| 91 |
|
|
#include "comtest2.h"
|
| 92 |
|
|
#include "semtest.h"
|
| 93 |
|
|
#include "BlockQ.h"
|
| 94 |
|
|
#include "dynamic.h"
|
| 95 |
|
|
#include "GenQTest.h"
|
| 96 |
|
|
#include "QPeek.h"
|
| 97 |
|
|
#include "blocktim.h"
|
| 98 |
|
|
#include "death.h"
|
| 99 |
|
|
#include "partest.h"
|
| 100 |
|
|
#include "countsem.h"
|
| 101 |
|
|
#include "recmutex.h"
|
| 102 |
|
|
#include "flop.h"
|
| 103 |
|
|
#include "flop-reg-test.h"
|
| 104 |
|
|
|
| 105 |
|
|
/* Priorities assigned to the demo tasks. */
|
| 106 |
|
|
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
|
| 107 |
|
|
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
|
| 108 |
|
|
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
|
| 109 |
|
|
#define mainQUEUE_BLOCK_PRIORITY ( tskIDLE_PRIORITY + 1 )
|
| 110 |
|
|
#define mainDEATH_PRIORITY ( tskIDLE_PRIORITY + 1 )
|
| 111 |
|
|
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
|
| 112 |
|
|
#define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
|
| 113 |
|
|
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
|
| 114 |
|
|
#define mainFLOP_PRIORITY ( tskIDLE_PRIORITY )
|
| 115 |
|
|
|
| 116 |
|
|
/* The first LED used by the COM test and check tasks respectively. */
|
| 117 |
|
|
#define mainCOM_TEST_LED ( 4 )
|
| 118 |
|
|
#define mainCHECK_TEST_LED ( 3 )
|
| 119 |
|
|
|
| 120 |
|
|
/* The baud rate used by the comtest tasks is set by the hardware, so the
|
| 121 |
|
|
baud rate parameters passed into the comtest initialisation has no effect. */
|
| 122 |
|
|
#define mainBAUD_SET_IN_HARDWARE ( 0 )
|
| 123 |
|
|
|
| 124 |
|
|
/* Delay periods used by the check task. If no errors have been found then
|
| 125 |
|
|
the check LED will toggle every mainNO_ERROR_CHECK_DELAY milliseconds. If an
|
| 126 |
|
|
error has been found at any time then the toggle rate will increase to
|
| 127 |
|
|
mainERROR_CHECK_DELAY milliseconds. */
|
| 128 |
|
|
#define mainNO_ERROR_CHECK_DELAY ( ( portTickType ) 3000 / portTICK_RATE_MS )
|
| 129 |
|
|
#define mainERROR_CHECK_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
|
| 130 |
|
|
|
| 131 |
|
|
|
| 132 |
|
|
/*
|
| 133 |
|
|
* The tasks defined within this file - described within the comments at the
|
| 134 |
|
|
* head of this page.
|
| 135 |
|
|
*/
|
| 136 |
|
|
static void prvRegTestTask1( void *pvParameters );
|
| 137 |
|
|
static void prvRegTestTask2( void *pvParameters );
|
| 138 |
|
|
static void prvErrorChecks( void *pvParameters );
|
| 139 |
|
|
|
| 140 |
|
|
/*
|
| 141 |
|
|
* Called by the 'check' task to inspect all the standard demo tasks within
|
| 142 |
|
|
* the system, as described within the comments at the head of this page.
|
| 143 |
|
|
*/
|
| 144 |
|
|
static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void );
|
| 145 |
|
|
|
| 146 |
|
|
/*
|
| 147 |
|
|
* Perform any hardware initialisation required by the demo application.
|
| 148 |
|
|
*/
|
| 149 |
|
|
static void prvSetupHardware( void );
|
| 150 |
|
|
|
| 151 |
|
|
/*-----------------------------------------------------------*/
|
| 152 |
|
|
|
| 153 |
|
|
/* xRegTestStatus will get set to pdFAIL by the regtest tasks if they
|
| 154 |
|
|
discover an unexpected value. */
|
| 155 |
|
|
static volatile unsigned portBASE_TYPE xRegTestStatus = pdPASS;
|
| 156 |
|
|
|
| 157 |
|
|
/* Counters used to ensure the regtest tasks are still running. */
|
| 158 |
|
|
static volatile unsigned portLONG ulRegTest1Counter = 0UL, ulRegTest2Counter = 0UL;
|
| 159 |
|
|
|
| 160 |
|
|
/*-----------------------------------------------------------*/
|
| 161 |
|
|
|
| 162 |
|
|
int main( void )
|
| 163 |
|
|
{
|
| 164 |
|
|
|
| 165 |
|
|
/* Must be called prior to installing any interrupt handlers! */
|
| 166 |
|
|
vPortSetupInterruptController();
|
| 167 |
|
|
|
| 168 |
|
|
/* In this case prvSetupHardware() just enables the caches and and
|
| 169 |
|
|
configures the IO ports for the LED outputs. */
|
| 170 |
|
|
prvSetupHardware();
|
| 171 |
|
|
|
| 172 |
|
|
/* Start the standard demo application tasks. Note that the baud rate used
|
| 173 |
|
|
by the comtest tasks is set by the hardware, so the baud rate parameter
|
| 174 |
|
|
passed has no effect. */
|
| 175 |
|
|
vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
|
| 176 |
|
|
vStartIntegerMathTasks( tskIDLE_PRIORITY );
|
| 177 |
|
|
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_SET_IN_HARDWARE, mainCOM_TEST_LED );
|
| 178 |
|
|
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
|
| 179 |
|
|
vStartBlockingQueueTasks ( mainQUEUE_BLOCK_PRIORITY );
|
| 180 |
|
|
vStartDynamicPriorityTasks();
|
| 181 |
|
|
vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
|
| 182 |
|
|
vStartQueuePeekTasks();
|
| 183 |
|
|
vCreateBlockTimeTasks();
|
| 184 |
|
|
vStartCountingSemaphoreTasks();
|
| 185 |
|
|
vStartRecursiveMutexTasks();
|
| 186 |
|
|
|
| 187 |
|
|
#if ( configUSE_FPU == 1 )
|
| 188 |
|
|
vStartMathTasks( mainFLOP_PRIORITY );
|
| 189 |
|
|
vStartFlopRegTests();
|
| 190 |
|
|
#endif
|
| 191 |
|
|
|
| 192 |
|
|
/* Create the tasks defined within this file. */
|
| 193 |
|
|
xTaskCreate( prvRegTestTask1, ( signed portCHAR * ) "Regtest1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
|
| 194 |
|
|
xTaskCreate( prvRegTestTask2, ( signed portCHAR * ) "Regtest2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
|
| 195 |
|
|
xTaskCreate( prvErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
|
| 196 |
|
|
|
| 197 |
|
|
/* The suicide tasks must be started last as they record the number of other
|
| 198 |
|
|
tasks that exist within the system. The value is then used to ensure at run
|
| 199 |
|
|
time the number of tasks that exists is within expected bounds. */
|
| 200 |
|
|
vCreateSuicidalTasks( mainDEATH_PRIORITY );
|
| 201 |
|
|
|
| 202 |
|
|
/* Now start the scheduler. Following this call the created tasks should
|
| 203 |
|
|
be executing. */
|
| 204 |
|
|
vTaskStartScheduler();
|
| 205 |
|
|
|
| 206 |
|
|
/* vTaskStartScheduler() will only return if an error occurs while the
|
| 207 |
|
|
idle task is being created. */
|
| 208 |
|
|
for( ;; );
|
| 209 |
|
|
|
| 210 |
|
|
return 0;
|
| 211 |
|
|
}
|
| 212 |
|
|
/*-----------------------------------------------------------*/
|
| 213 |
|
|
|
| 214 |
|
|
static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
|
| 215 |
|
|
{
|
| 216 |
|
|
portBASE_TYPE lReturn = pdPASS;
|
| 217 |
|
|
static unsigned portLONG ulLastRegTest1Counter= 0UL, ulLastRegTest2Counter = 0UL;
|
| 218 |
|
|
|
| 219 |
|
|
/* The demo tasks maintain a count that increments every cycle of the task
|
| 220 |
|
|
provided that the task has never encountered an error. This function
|
| 221 |
|
|
checks the counts maintained by the tasks to ensure they are still being
|
| 222 |
|
|
incremented. A count remaining at the same value between calls therefore
|
| 223 |
|
|
indicates that an error has been detected. */
|
| 224 |
|
|
|
| 225 |
|
|
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
|
| 226 |
|
|
{
|
| 227 |
|
|
lReturn = pdFAIL;
|
| 228 |
|
|
}
|
| 229 |
|
|
|
| 230 |
|
|
if( xAreComTestTasksStillRunning() != pdTRUE )
|
| 231 |
|
|
{
|
| 232 |
|
|
lReturn = pdFAIL;
|
| 233 |
|
|
}
|
| 234 |
|
|
|
| 235 |
|
|
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
|
| 236 |
|
|
{
|
| 237 |
|
|
lReturn = pdFAIL;
|
| 238 |
|
|
}
|
| 239 |
|
|
|
| 240 |
|
|
if( xAreBlockingQueuesStillRunning() != pdTRUE )
|
| 241 |
|
|
{
|
| 242 |
|
|
lReturn = pdFAIL;
|
| 243 |
|
|
}
|
| 244 |
|
|
|
| 245 |
|
|
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
|
| 246 |
|
|
{
|
| 247 |
|
|
lReturn = pdFAIL;
|
| 248 |
|
|
}
|
| 249 |
|
|
|
| 250 |
|
|
if( xIsCreateTaskStillRunning() != pdTRUE )
|
| 251 |
|
|
{
|
| 252 |
|
|
lReturn = pdFAIL;
|
| 253 |
|
|
}
|
| 254 |
|
|
|
| 255 |
|
|
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
|
| 256 |
|
|
{
|
| 257 |
|
|
lReturn = pdFAIL;
|
| 258 |
|
|
}
|
| 259 |
|
|
|
| 260 |
|
|
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
|
| 261 |
|
|
{
|
| 262 |
|
|
lReturn = pdFAIL;
|
| 263 |
|
|
}
|
| 264 |
|
|
|
| 265 |
|
|
if( xAreQueuePeekTasksStillRunning() != pdTRUE )
|
| 266 |
|
|
{
|
| 267 |
|
|
lReturn = pdFAIL;
|
| 268 |
|
|
}
|
| 269 |
|
|
|
| 270 |
|
|
if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
|
| 271 |
|
|
{
|
| 272 |
|
|
lReturn = pdFAIL;
|
| 273 |
|
|
}
|
| 274 |
|
|
|
| 275 |
|
|
if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
|
| 276 |
|
|
{
|
| 277 |
|
|
lReturn = pdFAIL;
|
| 278 |
|
|
}
|
| 279 |
|
|
|
| 280 |
|
|
#if ( configUSE_FPU == 1 )
|
| 281 |
|
|
if( xAreMathsTaskStillRunning() != pdTRUE )
|
| 282 |
|
|
{
|
| 283 |
|
|
lReturn = pdFAIL;
|
| 284 |
|
|
}
|
| 285 |
|
|
|
| 286 |
|
|
if( xAreFlopRegisterTestsStillRunning() != pdTRUE )
|
| 287 |
|
|
{
|
| 288 |
|
|
lReturn = pdFAIL;
|
| 289 |
|
|
}
|
| 290 |
|
|
#endif
|
| 291 |
|
|
|
| 292 |
|
|
/* Have the register test tasks found any errors? */
|
| 293 |
|
|
if( xRegTestStatus != pdPASS )
|
| 294 |
|
|
{
|
| 295 |
|
|
lReturn = pdFAIL;
|
| 296 |
|
|
}
|
| 297 |
|
|
|
| 298 |
|
|
/* Are the register test tasks still looping? */
|
| 299 |
|
|
if( ulLastRegTest1Counter == ulRegTest1Counter )
|
| 300 |
|
|
{
|
| 301 |
|
|
lReturn = pdFAIL;
|
| 302 |
|
|
}
|
| 303 |
|
|
else
|
| 304 |
|
|
{
|
| 305 |
|
|
ulLastRegTest1Counter = ulRegTest1Counter;
|
| 306 |
|
|
}
|
| 307 |
|
|
|
| 308 |
|
|
if( ulLastRegTest2Counter == ulRegTest2Counter )
|
| 309 |
|
|
{
|
| 310 |
|
|
lReturn = pdFAIL;
|
| 311 |
|
|
}
|
| 312 |
|
|
else
|
| 313 |
|
|
{
|
| 314 |
|
|
ulLastRegTest2Counter = ulRegTest2Counter;
|
| 315 |
|
|
}
|
| 316 |
|
|
|
| 317 |
|
|
return lReturn;
|
| 318 |
|
|
}
|
| 319 |
|
|
/*-----------------------------------------------------------*/
|
| 320 |
|
|
|
| 321 |
|
|
static void prvErrorChecks( void *pvParameters )
|
| 322 |
|
|
{
|
| 323 |
|
|
portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY, xLastExecutionTime;
|
| 324 |
|
|
volatile unsigned portBASE_TYPE uxFreeStack;
|
| 325 |
|
|
|
| 326 |
|
|
/* Just to remove compiler warning. */
|
| 327 |
|
|
( void ) pvParameters;
|
| 328 |
|
|
|
| 329 |
|
|
/* This call is just to demonstrate the use of the function - nothing is
|
| 330 |
|
|
done with the value. You would expect the stack high water mark to be
|
| 331 |
|
|
lower (the function to return a larger value) here at function entry than
|
| 332 |
|
|
later following calls to other functions. */
|
| 333 |
|
|
uxFreeStack = uxTaskGetStackHighWaterMark( NULL );
|
| 334 |
|
|
|
| 335 |
|
|
/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
|
| 336 |
|
|
works correctly. */
|
| 337 |
|
|
xLastExecutionTime = xTaskGetTickCount();
|
| 338 |
|
|
|
| 339 |
|
|
/* Cycle for ever, delaying then checking all the other tasks are still
|
| 340 |
|
|
operating without error. */
|
| 341 |
|
|
for( ;; )
|
| 342 |
|
|
{
|
| 343 |
|
|
/* Again just for demo purposes - uxFreeStack should have a lower value
|
| 344 |
|
|
here than following the call to uxTaskGetStackHighWaterMark() on the
|
| 345 |
|
|
task entry. */
|
| 346 |
|
|
uxFreeStack = uxTaskGetStackHighWaterMark( NULL );
|
| 347 |
|
|
|
| 348 |
|
|
/* Wait until it is time to check again. The time we wait here depends
|
| 349 |
|
|
on whether an error has been detected or not. When an error is
|
| 350 |
|
|
detected the time is shortened resulting in a faster LED flash rate. */
|
| 351 |
|
|
vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
|
| 352 |
|
|
|
| 353 |
|
|
/* See if the other tasks are all ok. */
|
| 354 |
|
|
if( prvCheckOtherTasksAreStillRunning() != pdPASS )
|
| 355 |
|
|
{
|
| 356 |
|
|
/* An error occurred in one of the tasks so shorten the delay
|
| 357 |
|
|
period - which has the effect of increasing the frequency of the
|
| 358 |
|
|
LED toggle. */
|
| 359 |
|
|
xDelayPeriod = mainERROR_CHECK_DELAY;
|
| 360 |
|
|
}
|
| 361 |
|
|
|
| 362 |
|
|
/* Flash! */
|
| 363 |
|
|
vParTestToggleLED( mainCHECK_TEST_LED );
|
| 364 |
|
|
}
|
| 365 |
|
|
}
|
| 366 |
|
|
/*-----------------------------------------------------------*/
|
| 367 |
|
|
|
| 368 |
|
|
static void prvSetupHardware( void )
|
| 369 |
|
|
{
|
| 370 |
|
|
XCache_EnableICache( 0x80000000 );
|
| 371 |
|
|
XCache_EnableDCache( 0x80000000 );
|
| 372 |
|
|
|
| 373 |
|
|
/* Setup the IO port for use with the LED outputs. */
|
| 374 |
|
|
vParTestInitialise();
|
| 375 |
|
|
}
|
| 376 |
|
|
/*-----------------------------------------------------------*/
|
| 377 |
|
|
|
| 378 |
|
|
void prvRegTest1Pass( void )
|
| 379 |
|
|
{
|
| 380 |
|
|
/* Called from the inline assembler - this cannot be static
|
| 381 |
|
|
otherwise it can get optimised away. */
|
| 382 |
|
|
ulRegTest1Counter++;
|
| 383 |
|
|
}
|
| 384 |
|
|
/*-----------------------------------------------------------*/
|
| 385 |
|
|
|
| 386 |
|
|
void prvRegTest2Pass( void )
|
| 387 |
|
|
{
|
| 388 |
|
|
/* Called from the inline assembler - this cannot be static
|
| 389 |
|
|
otherwise it can get optimised away. */
|
| 390 |
|
|
ulRegTest2Counter++;
|
| 391 |
|
|
}
|
| 392 |
|
|
/*-----------------------------------------------------------*/
|
| 393 |
|
|
|
| 394 |
|
|
void prvRegTestFail( void )
|
| 395 |
|
|
{
|
| 396 |
|
|
/* Called from the inline assembler - this cannot be static
|
| 397 |
|
|
otherwise it can get optimised away. */
|
| 398 |
|
|
xRegTestStatus = pdFAIL;
|
| 399 |
|
|
}
|
| 400 |
|
|
/*-----------------------------------------------------------*/
|
| 401 |
|
|
|
| 402 |
|
|
static void prvRegTestTask1( void *pvParameters )
|
| 403 |
|
|
{
|
| 404 |
|
|
/* Just to remove compiler warning. */
|
| 405 |
|
|
( void ) pvParameters;
|
| 406 |
|
|
|
| 407 |
|
|
/* The first register test task as described at the top of this file. The
|
| 408 |
|
|
values used in the registers are different to those use in the second
|
| 409 |
|
|
register test task. Also, unlike the second register test task, this task
|
| 410 |
|
|
yields between setting the register values and subsequently checking the
|
| 411 |
|
|
register values. */
|
| 412 |
|
|
asm volatile
|
| 413 |
|
|
(
|
| 414 |
|
|
"RegTest1Start: \n\t" \
|
| 415 |
|
|
" \n\t" \
|
| 416 |
|
|
" li 0, 301 \n\t" \
|
| 417 |
|
|
" mtspr 256, 0 #USPRG0 \n\t" \
|
| 418 |
|
|
" li 0, 501 \n\t" \
|
| 419 |
|
|
" mtspr 8, 0 #LR \n\t" \
|
| 420 |
|
|
" li 0, 4 \n\t" \
|
| 421 |
|
|
" mtspr 1, 0 #XER \n\t" \
|
| 422 |
|
|
" \n\t" \
|
| 423 |
|
|
" li 0, 1 \n\t" \
|
| 424 |
|
|
" li 2, 2 \n\t" \
|
| 425 |
|
|
" li 3, 3 \n\t" \
|
| 426 |
|
|
" li 4, 4 \n\t" \
|
| 427 |
|
|
" li 5, 5 \n\t" \
|
| 428 |
|
|
" li 6, 6 \n\t" \
|
| 429 |
|
|
" li 7, 7 \n\t" \
|
| 430 |
|
|
" li 8, 8 \n\t" \
|
| 431 |
|
|
" li 9, 9 \n\t" \
|
| 432 |
|
|
" li 10, 10 \n\t" \
|
| 433 |
|
|
" li 11, 11 \n\t" \
|
| 434 |
|
|
" li 12, 12 \n\t" \
|
| 435 |
|
|
" li 13, 13 \n\t" \
|
| 436 |
|
|
" li 14, 14 \n\t" \
|
| 437 |
|
|
" li 15, 15 \n\t" \
|
| 438 |
|
|
" li 16, 16 \n\t" \
|
| 439 |
|
|
" li 17, 17 \n\t" \
|
| 440 |
|
|
" li 18, 18 \n\t" \
|
| 441 |
|
|
" li 19, 19 \n\t" \
|
| 442 |
|
|
" li 20, 20 \n\t" \
|
| 443 |
|
|
" li 21, 21 \n\t" \
|
| 444 |
|
|
" li 22, 22 \n\t" \
|
| 445 |
|
|
" li 23, 23 \n\t" \
|
| 446 |
|
|
" li 24, 24 \n\t" \
|
| 447 |
|
|
" li 25, 25 \n\t" \
|
| 448 |
|
|
" li 26, 26 \n\t" \
|
| 449 |
|
|
" li 27, 27 \n\t" \
|
| 450 |
|
|
" li 28, 28 \n\t" \
|
| 451 |
|
|
" li 29, 29 \n\t" \
|
| 452 |
|
|
" li 30, 30 \n\t" \
|
| 453 |
|
|
" li 31, 31 \n\t" \
|
| 454 |
|
|
" \n\t" \
|
| 455 |
|
|
" sc \n\t" \
|
| 456 |
|
|
" nop \n\t" \
|
| 457 |
|
|
" \n\t" \
|
| 458 |
|
|
" cmpwi 0, 1 \n\t" \
|
| 459 |
|
|
" bne RegTest1Fail \n\t" \
|
| 460 |
|
|
" cmpwi 2, 2 \n\t" \
|
| 461 |
|
|
" bne RegTest1Fail \n\t" \
|
| 462 |
|
|
" cmpwi 3, 3 \n\t" \
|
| 463 |
|
|
" bne RegTest1Fail \n\t" \
|
| 464 |
|
|
" cmpwi 4, 4 \n\t" \
|
| 465 |
|
|
" bne RegTest1Fail \n\t" \
|
| 466 |
|
|
" cmpwi 5, 5 \n\t" \
|
| 467 |
|
|
" bne RegTest1Fail \n\t" \
|
| 468 |
|
|
" cmpwi 6, 6 \n\t" \
|
| 469 |
|
|
" bne RegTest1Fail \n\t" \
|
| 470 |
|
|
" cmpwi 7, 7 \n\t" \
|
| 471 |
|
|
" bne RegTest1Fail \n\t" \
|
| 472 |
|
|
" cmpwi 8, 8 \n\t" \
|
| 473 |
|
|
" bne RegTest1Fail \n\t" \
|
| 474 |
|
|
" cmpwi 9, 9 \n\t" \
|
| 475 |
|
|
" bne RegTest1Fail \n\t" \
|
| 476 |
|
|
" cmpwi 10, 10 \n\t" \
|
| 477 |
|
|
" bne RegTest1Fail \n\t" \
|
| 478 |
|
|
" cmpwi 11, 11 \n\t" \
|
| 479 |
|
|
" bne RegTest1Fail \n\t" \
|
| 480 |
|
|
" cmpwi 12, 12 \n\t" \
|
| 481 |
|
|
" bne RegTest1Fail \n\t" \
|
| 482 |
|
|
" cmpwi 13, 13 \n\t" \
|
| 483 |
|
|
" bne RegTest1Fail \n\t" \
|
| 484 |
|
|
" cmpwi 14, 14 \n\t" \
|
| 485 |
|
|
" bne RegTest1Fail \n\t" \
|
| 486 |
|
|
" cmpwi 15, 15 \n\t" \
|
| 487 |
|
|
" bne RegTest1Fail \n\t" \
|
| 488 |
|
|
" cmpwi 16, 16 \n\t" \
|
| 489 |
|
|
" bne RegTest1Fail \n\t" \
|
| 490 |
|
|
" cmpwi 17, 17 \n\t" \
|
| 491 |
|
|
" bne RegTest1Fail \n\t" \
|
| 492 |
|
|
" cmpwi 18, 18 \n\t" \
|
| 493 |
|
|
" bne RegTest1Fail \n\t" \
|
| 494 |
|
|
" cmpwi 19, 19 \n\t" \
|
| 495 |
|
|
" bne RegTest1Fail \n\t" \
|
| 496 |
|
|
" cmpwi 20, 20 \n\t" \
|
| 497 |
|
|
" bne RegTest1Fail \n\t" \
|
| 498 |
|
|
" cmpwi 21, 21 \n\t" \
|
| 499 |
|
|
" bne RegTest1Fail \n\t" \
|
| 500 |
|
|
" cmpwi 22, 22 \n\t" \
|
| 501 |
|
|
" bne RegTest1Fail \n\t" \
|
| 502 |
|
|
" cmpwi 23, 23 \n\t" \
|
| 503 |
|
|
" bne RegTest1Fail \n\t" \
|
| 504 |
|
|
" cmpwi 24, 24 \n\t" \
|
| 505 |
|
|
" bne RegTest1Fail \n\t" \
|
| 506 |
|
|
" cmpwi 25, 25 \n\t" \
|
| 507 |
|
|
" bne RegTest1Fail \n\t" \
|
| 508 |
|
|
" cmpwi 26, 26 \n\t" \
|
| 509 |
|
|
" bne RegTest1Fail \n\t" \
|
| 510 |
|
|
" cmpwi 27, 27 \n\t" \
|
| 511 |
|
|
" bne RegTest1Fail \n\t" \
|
| 512 |
|
|
" cmpwi 28, 28 \n\t" \
|
| 513 |
|
|
" bne RegTest1Fail \n\t" \
|
| 514 |
|
|
" cmpwi 29, 29 \n\t" \
|
| 515 |
|
|
" bne RegTest1Fail \n\t" \
|
| 516 |
|
|
" cmpwi 30, 30 \n\t" \
|
| 517 |
|
|
" bne RegTest1Fail \n\t" \
|
| 518 |
|
|
" cmpwi 31, 31 \n\t" \
|
| 519 |
|
|
" bne RegTest1Fail \n\t" \
|
| 520 |
|
|
" \n\t" \
|
| 521 |
|
|
" mfspr 0, 256 #USPRG0 \n\t" \
|
| 522 |
|
|
" cmpwi 0, 301 \n\t" \
|
| 523 |
|
|
" bne RegTest1Fail \n\t" \
|
| 524 |
|
|
" mfspr 0, 8 #LR \n\t" \
|
| 525 |
|
|
" cmpwi 0, 501 \n\t" \
|
| 526 |
|
|
" bne RegTest1Fail \n\t" \
|
| 527 |
|
|
" mfspr 0, 1 #XER \n\t" \
|
| 528 |
|
|
" cmpwi 0, 4 \n\t" \
|
| 529 |
|
|
" bne RegTest1Fail \n\t" \
|
| 530 |
|
|
" \n\t" \
|
| 531 |
|
|
" bl prvRegTest1Pass \n\t" \
|
| 532 |
|
|
" b RegTest1Start \n\t" \
|
| 533 |
|
|
" \n\t" \
|
| 534 |
|
|
"RegTest1Fail: \n\t" \
|
| 535 |
|
|
" \n\t" \
|
| 536 |
|
|
" \n\t" \
|
| 537 |
|
|
" bl prvRegTestFail \n\t" \
|
| 538 |
|
|
" b RegTest1Start \n\t" \
|
| 539 |
|
|
);
|
| 540 |
|
|
}
|
| 541 |
|
|
/*-----------------------------------------------------------*/
|
| 542 |
|
|
|
| 543 |
|
|
static void prvRegTestTask2( void *pvParameters )
|
| 544 |
|
|
{
|
| 545 |
|
|
/* Just to remove compiler warning. */
|
| 546 |
|
|
( void ) pvParameters;
|
| 547 |
|
|
|
| 548 |
|
|
/* The second register test task as described at the top of this file.
|
| 549 |
|
|
Note that this task fills the registers with different values to the
|
| 550 |
|
|
first register test task. */
|
| 551 |
|
|
asm volatile
|
| 552 |
|
|
(
|
| 553 |
|
|
"RegTest2Start: \n\t" \
|
| 554 |
|
|
" \n\t" \
|
| 555 |
|
|
" li 0, 300 \n\t" \
|
| 556 |
|
|
" mtspr 256, 0 #USPRG0 \n\t" \
|
| 557 |
|
|
" li 0, 500 \n\t" \
|
| 558 |
|
|
" mtspr 8, 0 #LR \n\t" \
|
| 559 |
|
|
" li 0, 4 \n\t" \
|
| 560 |
|
|
" mtspr 1, 0 #XER \n\t" \
|
| 561 |
|
|
" \n\t" \
|
| 562 |
|
|
" li 0, 11 \n\t" \
|
| 563 |
|
|
" li 2, 12 \n\t" \
|
| 564 |
|
|
" li 3, 13 \n\t" \
|
| 565 |
|
|
" li 4, 14 \n\t" \
|
| 566 |
|
|
" li 5, 15 \n\t" \
|
| 567 |
|
|
" li 6, 16 \n\t" \
|
| 568 |
|
|
" li 7, 17 \n\t" \
|
| 569 |
|
|
" li 8, 18 \n\t" \
|
| 570 |
|
|
" li 9, 19 \n\t" \
|
| 571 |
|
|
" li 10, 110 \n\t" \
|
| 572 |
|
|
" li 11, 111 \n\t" \
|
| 573 |
|
|
" li 12, 112 \n\t" \
|
| 574 |
|
|
" li 13, 113 \n\t" \
|
| 575 |
|
|
" li 14, 114 \n\t" \
|
| 576 |
|
|
" li 15, 115 \n\t" \
|
| 577 |
|
|
" li 16, 116 \n\t" \
|
| 578 |
|
|
" li 17, 117 \n\t" \
|
| 579 |
|
|
" li 18, 118 \n\t" \
|
| 580 |
|
|
" li 19, 119 \n\t" \
|
| 581 |
|
|
" li 20, 120 \n\t" \
|
| 582 |
|
|
" li 21, 121 \n\t" \
|
| 583 |
|
|
" li 22, 122 \n\t" \
|
| 584 |
|
|
" li 23, 123 \n\t" \
|
| 585 |
|
|
" li 24, 124 \n\t" \
|
| 586 |
|
|
" li 25, 125 \n\t" \
|
| 587 |
|
|
" li 26, 126 \n\t" \
|
| 588 |
|
|
" li 27, 127 \n\t" \
|
| 589 |
|
|
" li 28, 128 \n\t" \
|
| 590 |
|
|
" li 29, 129 \n\t" \
|
| 591 |
|
|
" li 30, 130 \n\t" \
|
| 592 |
|
|
" li 31, 131 \n\t" \
|
| 593 |
|
|
" \n\t" \
|
| 594 |
|
|
" cmpwi 0, 11 \n\t" \
|
| 595 |
|
|
" bne RegTest2Fail \n\t" \
|
| 596 |
|
|
" cmpwi 2, 12 \n\t" \
|
| 597 |
|
|
" bne RegTest2Fail \n\t" \
|
| 598 |
|
|
" cmpwi 3, 13 \n\t" \
|
| 599 |
|
|
" bne RegTest2Fail \n\t" \
|
| 600 |
|
|
" cmpwi 4, 14 \n\t" \
|
| 601 |
|
|
" bne RegTest2Fail \n\t" \
|
| 602 |
|
|
" cmpwi 5, 15 \n\t" \
|
| 603 |
|
|
" bne RegTest2Fail \n\t" \
|
| 604 |
|
|
" cmpwi 6, 16 \n\t" \
|
| 605 |
|
|
" bne RegTest2Fail \n\t" \
|
| 606 |
|
|
" cmpwi 7, 17 \n\t" \
|
| 607 |
|
|
" bne RegTest2Fail \n\t" \
|
| 608 |
|
|
" cmpwi 8, 18 \n\t" \
|
| 609 |
|
|
" bne RegTest2Fail \n\t" \
|
| 610 |
|
|
" cmpwi 9, 19 \n\t" \
|
| 611 |
|
|
" bne RegTest2Fail \n\t" \
|
| 612 |
|
|
" cmpwi 10, 110 \n\t" \
|
| 613 |
|
|
" bne RegTest2Fail \n\t" \
|
| 614 |
|
|
" cmpwi 11, 111 \n\t" \
|
| 615 |
|
|
" bne RegTest2Fail \n\t" \
|
| 616 |
|
|
" cmpwi 12, 112 \n\t" \
|
| 617 |
|
|
" bne RegTest2Fail \n\t" \
|
| 618 |
|
|
" cmpwi 13, 113 \n\t" \
|
| 619 |
|
|
" bne RegTest2Fail \n\t" \
|
| 620 |
|
|
" cmpwi 14, 114 \n\t" \
|
| 621 |
|
|
" bne RegTest2Fail \n\t" \
|
| 622 |
|
|
" cmpwi 15, 115 \n\t" \
|
| 623 |
|
|
" bne RegTest2Fail \n\t" \
|
| 624 |
|
|
" cmpwi 16, 116 \n\t" \
|
| 625 |
|
|
" bne RegTest2Fail \n\t" \
|
| 626 |
|
|
" cmpwi 17, 117 \n\t" \
|
| 627 |
|
|
" bne RegTest2Fail \n\t" \
|
| 628 |
|
|
" cmpwi 18, 118 \n\t" \
|
| 629 |
|
|
" bne RegTest2Fail \n\t" \
|
| 630 |
|
|
" cmpwi 19, 119 \n\t" \
|
| 631 |
|
|
" bne RegTest2Fail \n\t" \
|
| 632 |
|
|
" cmpwi 20, 120 \n\t" \
|
| 633 |
|
|
" bne RegTest2Fail \n\t" \
|
| 634 |
|
|
" cmpwi 21, 121 \n\t" \
|
| 635 |
|
|
" bne RegTest2Fail \n\t" \
|
| 636 |
|
|
" cmpwi 22, 122 \n\t" \
|
| 637 |
|
|
" bne RegTest2Fail \n\t" \
|
| 638 |
|
|
" cmpwi 23, 123 \n\t" \
|
| 639 |
|
|
" bne RegTest2Fail \n\t" \
|
| 640 |
|
|
" cmpwi 24, 124 \n\t" \
|
| 641 |
|
|
" bne RegTest2Fail \n\t" \
|
| 642 |
|
|
" cmpwi 25, 125 \n\t" \
|
| 643 |
|
|
" bne RegTest2Fail \n\t" \
|
| 644 |
|
|
" cmpwi 26, 126 \n\t" \
|
| 645 |
|
|
" bne RegTest2Fail \n\t" \
|
| 646 |
|
|
" cmpwi 27, 127 \n\t" \
|
| 647 |
|
|
" bne RegTest2Fail \n\t" \
|
| 648 |
|
|
" cmpwi 28, 128 \n\t" \
|
| 649 |
|
|
" bne RegTest2Fail \n\t" \
|
| 650 |
|
|
" cmpwi 29, 129 \n\t" \
|
| 651 |
|
|
" bne RegTest2Fail \n\t" \
|
| 652 |
|
|
" cmpwi 30, 130 \n\t" \
|
| 653 |
|
|
" bne RegTest2Fail \n\t" \
|
| 654 |
|
|
" cmpwi 31, 131 \n\t" \
|
| 655 |
|
|
" bne RegTest2Fail \n\t" \
|
| 656 |
|
|
" \n\t" \
|
| 657 |
|
|
" mfspr 0, 256 #USPRG0 \n\t" \
|
| 658 |
|
|
" cmpwi 0, 300 \n\t" \
|
| 659 |
|
|
" bne RegTest2Fail \n\t" \
|
| 660 |
|
|
" mfspr 0, 8 #LR \n\t" \
|
| 661 |
|
|
" cmpwi 0, 500 \n\t" \
|
| 662 |
|
|
" bne RegTest2Fail \n\t" \
|
| 663 |
|
|
" mfspr 0, 1 #XER \n\t" \
|
| 664 |
|
|
" cmpwi 0, 4 \n\t" \
|
| 665 |
|
|
" bne RegTest2Fail \n\t" \
|
| 666 |
|
|
" \n\t" \
|
| 667 |
|
|
" bl prvRegTest2Pass \n\t" \
|
| 668 |
|
|
" b RegTest2Start \n\t" \
|
| 669 |
|
|
" \n\t" \
|
| 670 |
|
|
"RegTest2Fail: \n\t" \
|
| 671 |
|
|
" \n\t" \
|
| 672 |
|
|
" \n\t" \
|
| 673 |
|
|
" bl prvRegTestFail \n\t" \
|
| 674 |
|
|
" b RegTest2Start \n\t" \
|
| 675 |
|
|
);
|
| 676 |
|
|
}
|
| 677 |
|
|
/*-----------------------------------------------------------*/
|
| 678 |
|
|
|
| 679 |
|
|
/* This hook function will get called if there is a suspected stack overflow.
|
| 680 |
|
|
An overflow can cause the task name to be corrupted, in which case the task
|
| 681 |
|
|
handle needs to be used to determine the offending task. */
|
| 682 |
|
|
void vApplicationStackOverflowHook( xTaskHandle xTask, signed portCHAR *pcTaskName );
|
| 683 |
|
|
void vApplicationStackOverflowHook( xTaskHandle xTask, signed portCHAR *pcTaskName )
|
| 684 |
|
|
{
|
| 685 |
|
|
/* To prevent the optimiser removing the variables. */
|
| 686 |
|
|
volatile xTaskHandle xTaskIn = xTask;
|
| 687 |
|
|
volatile signed portCHAR *pcTaskNameIn = pcTaskName;
|
| 688 |
|
|
|
| 689 |
|
|
/* Remove compiler warnings. */
|
| 690 |
|
|
( void ) xTaskIn;
|
| 691 |
|
|
( void ) pcTaskNameIn;
|
| 692 |
|
|
|
| 693 |
|
|
/* The following three calls are simply to stop compiler warnings about the
|
| 694 |
|
|
functions not being used - they are called from the inline assembly. */
|
| 695 |
|
|
prvRegTest1Pass();
|
| 696 |
|
|
prvRegTest2Pass();
|
| 697 |
|
|
prvRegTestFail();
|
| 698 |
|
|
|
| 699 |
|
|
for( ;; );
|
| 700 |
|
|
}
|
| 701 |
|
|
|
| 702 |
|
|
|
| 703 |
|
|
|
