/* | |
FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that has become a de facto standard. * | |
* * | |
* Help yourself get started quickly and support the FreeRTOS * | |
* project by purchasing a FreeRTOS tutorial book, reference * | |
* manual, or both from: http://www.FreeRTOS.org/Documentation * | |
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* Thank you! * | |
* * | |
*************************************************************************** | |
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 | |
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FOR A PARTICULAR PURPOSE. Full license text is available from the following | |
link: http://www.freertos.org/a00114.html | |
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*************************************************************************** | |
* * | |
* Having a problem? Start by reading the FAQ "My application does * | |
* not run, what could be wrong?" * | |
* * | |
* http://www.FreeRTOS.org/FAQHelp.html * | |
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*************************************************************************** | |
http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
license and Real Time Engineers Ltd. contact details. | |
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*/ | |
/* | |
* Creates all the demo application tasks, then starts the scheduler. The WEB | |
* documentation provides more details of the standard demo application tasks. | |
* In addition to the standard demo tasks, the following tasks and tests are | |
* defined and/or created within this file: | |
* | |
* "Web server" - Very basic demonstration of the lwIP stack. The WEB server | |
* simply generates a page that shows the current state of all the tasks within | |
* the system, including the high water mark of each task stack. The high water | |
* mark is displayed as the amount of stack that has never been used, so the | |
* closer the value is to zero the closer the task has come to overflowing its | |
* stack. The IP address and net mask are set within FreeRTOSConfig.h. | |
* | |
* "Check" task - This only executes every five seconds but has a high priority | |
* to ensure it gets processor time. Its main function is to check that all the | |
* standard demo tasks are still operational. While no errors have been | |
* discovered the check task will toggle an LED every 5 seconds - the toggle | |
* rate increasing to 500ms being a visual indication that at least one task has | |
* reported unexpected behaviour. | |
* | |
* "Reg test" tasks - These fill the registers with known values, then check | |
* that each register still contains its expected value. Each task uses | |
* different values. The tasks run with very low priority so get preempted very | |
* frequently. A register containing an unexpected value is indicative of an | |
* error in the context switching mechanism. | |
* | |
*/ | |
/* Standard includes. */ | |
#include <stdio.h> | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "queue.h" | |
#include "semphr.h" | |
/* Demo app includes. */ | |
#include "BlockQ.h" | |
#include "death.h" | |
#include "flash.h" | |
#include "partest.h" | |
#include "semtest.h" | |
#include "PollQ.h" | |
#include "GenQTest.h" | |
#include "QPeek.h" | |
#include "recmutex.h" | |
/*-----------------------------------------------------------*/ | |
/* The time between cycles of the 'check' functionality - as described at the | |
top of this file. */ | |
#define mainNO_ERROR_PERIOD ( ( TickType_t ) 5000 / portTICK_PERIOD_MS ) | |
/* The rate at which the LED controlled by the 'check' task will flash should an | |
error have been detected. */ | |
#define mainERROR_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS ) | |
/* The LED controlled by the 'check' task. */ | |
#define mainCHECK_LED ( 3 ) | |
/* ComTest constants - there is no free LED for the comtest tasks. */ | |
#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 ) | |
#define mainCOM_TEST_LED ( 5 ) | |
/* Task priorities. */ | |
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
/* | |
* Configure the hardware for the demo. | |
*/ | |
static void prvSetupHardware( void ); | |
/* | |
* Implements the 'check' task functionality as described at the top of this | |
* file. | |
*/ | |
static void prvCheckTask( void *pvParameters ); | |
/* | |
* Implement the 'Reg test' functionality as described at the top of this file. | |
*/ | |
static void vRegTest1Task( void *pvParameters ); | |
static void vRegTest2Task( void *pvParameters ); | |
/*-----------------------------------------------------------*/ | |
/* Counters used to detect errors within the reg test tasks. */ | |
static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222; | |
/*-----------------------------------------------------------*/ | |
int main( void ) | |
{ | |
extern void vBasicWEBServer( void *pv ); | |
/* Setup the hardware ready for this demo. */ | |
prvSetupHardware(); | |
( void )sys_thread_new("HTTPD", vBasicWEBServer, NULL, 320, mainWEB_TASK_PRIORITY ); | |
/* Start the standard demo tasks. */ | |
vStartLEDFlashTasks( tskIDLE_PRIORITY ); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY ); | |
vStartQueuePeekTasks(); | |
vStartRecursiveMutexTasks(); | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
/* Start the reg test tasks - defined in this file. */ | |
xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL ); | |
xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL ); | |
/* Create the check task. */ | |
xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* The suicide tasks must be created last as they need to know how many | |
tasks were running prior to their creation in order to ascertain whether | |
or not the correct/expected number of tasks are running at any given time. */ | |
vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY ); | |
/* Start the scheduler. */ | |
vTaskStartScheduler(); | |
/* Will only get here if there was insufficient memory to create the idle | |
task. */ | |
for( ;; ) | |
{ | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvCheckTask( void *pvParameters ) | |
{ | |
unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0; | |
TickType_t xLastExecutionTime; | |
( void ) pvParameters; | |
/* Initialise the variable used to control our iteration rate prior to | |
its first use. */ | |
xLastExecutionTime = xTaskGetTickCount(); | |
for( ;; ) | |
{ | |
/* Wait until it is time to run the tests again. */ | |
vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait ); | |
/* Has an error been found in any task? */ | |
if( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
{ | |
ulError |= 0x01UL; | |
} | |
if( xAreQueuePeekTasksStillRunning() != pdTRUE ) | |
{ | |
ulError |= 0x02UL; | |
} | |
if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
ulError |= 0x04UL; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
ulError |= 0x20UL; | |
} | |
if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
ulError |= 0x40UL; | |
} | |
if( xIsCreateTaskStillRunning() != pdTRUE ) | |
{ | |
ulError |= 0x80UL; | |
} | |
if( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) | |
{ | |
ulError |= 0x200UL; | |
} | |
if( ulLastRegTest1Count == ulRegTest1Counter ) | |
{ | |
ulError |= 0x1000UL; | |
} | |
if( ulLastRegTest2Count == ulRegTest2Counter ) | |
{ | |
ulError |= 0x1000UL; | |
} | |
ulLastRegTest1Count = ulRegTest1Counter; | |
ulLastRegTest2Count = ulRegTest2Counter; | |
/* If an error has been found then increase our cycle rate, and in so | |
going increase the rate at which the check task LED toggles. */ | |
if( ulError != 0 ) | |
{ | |
ulTicksToWait = mainERROR_PERIOD; | |
} | |
/* Toggle the LED each itteration. */ | |
vParTestToggleLED( mainCHECK_LED ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
void prvSetupHardware( void ) | |
{ | |
portDISABLE_INTERRUPTS(); | |
/* Setup the port used to toggle LEDs. */ | |
vParTestInitialise(); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *pcTaskName ) | |
{ | |
/* This will get called if a stack overflow is detected during the context | |
switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack | |
problems within nested interrupts, but only do this for debug purposes as | |
it will increase the context switch time. */ | |
( void ) pxTask; | |
( void ) pcTaskName; | |
for( ;; ) | |
{ | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void vRegTest1Task( void *pvParameters ) | |
{ | |
/* Sanity check - did we receive the parameter expected? */ | |
if( pvParameters != &ulRegTest1Counter ) | |
{ | |
/* Change here so the check task can detect that an error occurred. */ | |
for( ;; ) | |
{ | |
} | |
} | |
/* Set all the registers to known values, then check that each retains its | |
expected value - as described at the top of this file. If an error is | |
found then the loop counter will no longer be incremented allowing the check | |
task to recognise the error. */ | |
asm volatile ( "reg_test_1_start: \n\t" | |
" moveq #1, d0 \n\t" | |
" moveq #2, d1 \n\t" | |
" moveq #3, d2 \n\t" | |
" moveq #4, d3 \n\t" | |
" moveq #5, d4 \n\t" | |
" moveq #6, d5 \n\t" | |
" moveq #7, d6 \n\t" | |
" moveq #8, d7 \n\t" | |
" move #9, a0 \n\t" | |
" move #10, a1 \n\t" | |
" move #11, a2 \n\t" | |
" move #12, a3 \n\t" | |
" move #13, a4 \n\t" | |
" move #14, a5 \n\t" | |
" move #15, a6 \n\t" | |
" \n\t" | |
" cmpi.l #1, d0 \n\t" | |
" bne reg_test_1_error \n\t" | |
" cmpi.l #2, d1 \n\t" | |
" bne reg_test_1_error \n\t" | |
" cmpi.l #3, d2 \n\t" | |
" bne reg_test_1_error \n\t" | |
" cmpi.l #4, d3 \n\t" | |
" bne reg_test_1_error \n\t" | |
" cmpi.l #5, d4 \n\t" | |
" bne reg_test_1_error \n\t" | |
" cmpi.l #6, d5 \n\t" | |
" bne reg_test_1_error \n\t" | |
" cmpi.l #7, d6 \n\t" | |
" bne reg_test_1_error \n\t" | |
" cmpi.l #8, d7 \n\t" | |
" bne reg_test_1_error \n\t" | |
" move a0, d0 \n\t" | |
" cmpi.l #9, d0 \n\t" | |
" bne reg_test_1_error \n\t" | |
" move a1, d0 \n\t" | |
" cmpi.l #10, d0 \n\t" | |
" bne reg_test_1_error \n\t" | |
" move a2, d0 \n\t" | |
" cmpi.l #11, d0 \n\t" | |
" bne reg_test_1_error \n\t" | |
" move a3, d0 \n\t" | |
" cmpi.l #12, d0 \n\t" | |
" bne reg_test_1_error \n\t" | |
" move a4, d0 \n\t" | |
" cmpi.l #13, d0 \n\t" | |
" bne reg_test_1_error \n\t" | |
" move a5, d0 \n\t" | |
" cmpi.l #14, d0 \n\t" | |
" bne reg_test_1_error \n\t" | |
" move a6, d0 \n\t" | |
" cmpi.l #15, d0 \n\t" | |
" bne reg_test_1_error \n\t" | |
" move ulRegTest1Counter, d0 \n\t" | |
" addq #1, d0 \n\t" | |
" move d0, ulRegTest1Counter \n\t" | |
" bra reg_test_1_start \n\t" | |
"reg_test_1_error: \n\t" | |
" bra reg_test_1_error \n\t" | |
); | |
} | |
/*-----------------------------------------------------------*/ | |
static void vRegTest2Task( void *pvParameters ) | |
{ | |
/* Sanity check - did we receive the parameter expected? */ | |
if( pvParameters != &ulRegTest2Counter ) | |
{ | |
/* Change here so the check task can detect that an error occurred. */ | |
for( ;; ) | |
{ | |
} | |
} | |
/* Set all the registers to known values, then check that each retains its | |
expected value - as described at the top of this file. If an error is | |
found then the loop counter will no longer be incremented allowing the check | |
task to recognise the error. */ | |
asm volatile ( "reg_test_2_start: \n\t" | |
" moveq #10, d0 \n\t" | |
" moveq #20, d1 \n\t" | |
" moveq #30, d2 \n\t" | |
" moveq #40, d3 \n\t" | |
" moveq #50, d4 \n\t" | |
" moveq #60, d5 \n\t" | |
" moveq #70, d6 \n\t" | |
" moveq #80, d7 \n\t" | |
" move #90, a0 \n\t" | |
" move #100, a1 \n\t" | |
" move #110, a2 \n\t" | |
" move #120, a3 \n\t" | |
" move #130, a4 \n\t" | |
" move #140, a5 \n\t" | |
" move #150, a6 \n\t" | |
" \n\t" | |
" cmpi.l #10, d0 \n\t" | |
" bne reg_test_2_error \n\t" | |
" cmpi.l #20, d1 \n\t" | |
" bne reg_test_2_error \n\t" | |
" cmpi.l #30, d2 \n\t" | |
" bne reg_test_2_error \n\t" | |
" cmpi.l #40, d3 \n\t" | |
" bne reg_test_2_error \n\t" | |
" cmpi.l #50, d4 \n\t" | |
" bne reg_test_2_error \n\t" | |
" cmpi.l #60, d5 \n\t" | |
" bne reg_test_2_error \n\t" | |
" cmpi.l #70, d6 \n\t" | |
" bne reg_test_2_error \n\t" | |
" cmpi.l #80, d7 \n\t" | |
" bne reg_test_2_error \n\t" | |
" move a0, d0 \n\t" | |
" cmpi.l #90, d0 \n\t" | |
" bne reg_test_2_error \n\t" | |
" move a1, d0 \n\t" | |
" cmpi.l #100, d0 \n\t" | |
" bne reg_test_2_error \n\t" | |
" move a2, d0 \n\t" | |
" cmpi.l #110, d0 \n\t" | |
" bne reg_test_2_error \n\t" | |
" move a3, d0 \n\t" | |
" cmpi.l #120, d0 \n\t" | |
" bne reg_test_2_error \n\t" | |
" move a4, d0 \n\t" | |
" cmpi.l #130, d0 \n\t" | |
" bne reg_test_2_error \n\t" | |
" move a5, d0 \n\t" | |
" cmpi.l #140, d0 \n\t" | |
" bne reg_test_2_error \n\t" | |
" move a6, d0 \n\t" | |
" cmpi.l #150, d0 \n\t" | |
" bne reg_test_2_error \n\t" | |
" move ulRegTest1Counter, d0 \n\t" | |
" addq #1, d0 \n\t" | |
" move d0, ulRegTest2Counter \n\t" | |
" bra reg_test_2_start \n\t" | |
"reg_test_2_error: \n\t" | |
" bra reg_test_2_error \n\t" | |
); | |
} | |
/*-----------------------------------------------------------*/ | |