| /* | |
| 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 * | |
| * * | |
| * 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 | |
| WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS | |
| FOR A PARTICULAR PURPOSE. Full license text is available from the following | |
| link: http://www.freertos.org/a00114.html | |
| 1 tab == 4 spaces! | |
| *************************************************************************** | |
| * * | |
| * Having a problem? Start by reading the FAQ "My application does * | |
| * not run, what could be wrong?" * | |
| * * | |
| * http://www.FreeRTOS.org/FAQHelp.html * | |
| * * | |
| *************************************************************************** | |
| http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
| license and Real Time Engineers Ltd. contact details. | |
| http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
| including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
| compatible FAT file system, and our tiny thread aware UDP/IP stack. | |
| http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
| Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS | |
| licenses offer ticketed support, indemnification and middleware. | |
| http://www.SafeRTOS.com - High Integrity Systems also provide a safety | |
| engineered and independently SIL3 certified version for use in safety and | |
| mission critical applications that require provable dependability. | |
| 1 tab == 4 spaces! | |
| */ | |
| /* | |
| * 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 uIP 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. Sub | |
| * pages display some TCP/IP status information and permit LED3 to be turned on | |
| * and off using a check box. | |
| * | |
| * Tick hook function that implements a "Check" function - This is executed | |
| * every 5 seconds from the tick hook function. It checks to ensure that all | |
| * the standard demo tasks are still operational and running without error. | |
| * The system status (pass/fail) is then displayed underneith the task table on | |
| * the served WEB pages. | |
| * | |
| * "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 "GenQTest.h" | |
| #include "QPeek.h" | |
| #include "recmutex.h" | |
| /*-----------------------------------------------------------*/ | |
| /* 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 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 ) | |
| /* WEB server requires enough stack for the string handling functions. */ | |
| #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 ) | |
| /* | |
| * Configure the hardware for the demo. | |
| */ | |
| static void prvSetupHardware( void ); | |
| /* | |
| * Implements the 'check' function as described at the top of this file. | |
| */ | |
| static void prvCheckFunction( void ); | |
| /* | |
| * Implement the 'Reg test' functionality as described at the top of this file. | |
| */ | |
| static void vRegTest1Task( void *pvParameters ); | |
| static void vRegTest2Task( void *pvParameters ); | |
| /* | |
| * The task that handles the uIP stack. All TCP/IP processing is performed in | |
| * this task. | |
| */ | |
| extern void vuIP_Task( void *pvParameters ); | |
| /*-----------------------------------------------------------*/ | |
| /* Counters used to detect errors within the reg test tasks. */ | |
| static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222; | |
| /* Flag that latches any errors detected in the system. */ | |
| unsigned long ulCheckErrors = 0; | |
| /*-----------------------------------------------------------*/ | |
| int main( void ) | |
| { | |
| extern void vBasicWEBServer( void *pv ); | |
| /* Setup the hardware ready for this demo. */ | |
| prvSetupHardware(); | |
| xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL ); | |
| /* Start the standard demo tasks. */ | |
| vStartLEDFlashTasks( tskIDLE_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 ); | |
| /* Start the scheduler. */ | |
| vTaskStartScheduler(); | |
| /* Will only get here if there was insufficient memory to create the idle | |
| task. */ | |
| for( ;; ) | |
| { | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void vApplicationTickHook( void ) | |
| { | |
| static unsigned long ulExecutionCount = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0; | |
| const unsigned long ulExecutionRate = 5000 / portTICK_PERIOD_MS; | |
| /* Increment the count of how many times the tick hook has been called. */ | |
| ulExecutionCount++; | |
| /* Is it time to perform the check again? */ | |
| if( ulExecutionCount >= ulExecutionRate ) | |
| { | |
| /* Reset the execution count so this function is called again in 5 | |
| seconds time. */ | |
| ulExecutionCount = 0; | |
| /* Has an error been found in any task? */ | |
| if( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
| { | |
| ulCheckErrors |= 0x01UL; | |
| } | |
| if( xAreQueuePeekTasksStillRunning() != pdTRUE ) | |
| { | |
| ulCheckErrors |= 0x02UL; | |
| } | |
| if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
| { | |
| ulCheckErrors |= 0x04UL; | |
| } | |
| if( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) | |
| { | |
| ulCheckErrors |= 0x200UL; | |
| } | |
| if( ulLastRegTest1Count == ulRegTest1Counter ) | |
| { | |
| ulCheckErrors |= 0x1000UL; | |
| } | |
| if( ulLastRegTest2Count == ulRegTest2Counter ) | |
| { | |
| ulCheckErrors |= 0x1000UL; | |
| } | |
| ulLastRegTest1Count = ulRegTest1Counter; | |
| ulLastRegTest2Count = ulRegTest2Counter; | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static void prvSetupHardware( void ) | |
| { | |
| /* Disable the watchdog, STOP and WAIT modes. */ | |
| SOPT1 = 0; | |
| /* --- Setup clock to use external 25MHz source. --- */ | |
| /* Extal and xtal pin ON. */ | |
| PTDPF1_D4 = 0x03; | |
| PTDPF1_D5 = 0x03; | |
| /* Switch from FEI to FBE (FLL bypassed external) | |
| enable external clock source */ | |
| MCGC2 = MCGC2_ERCLKEN_MASK /* Activate external reference clock */ | |
| | MCGC2_EREFS_MASK /* Because crystal is being used */ | |
| | MCGC2_RANGE_MASK; /* High range */ | |
| /* Select clock mode and clear IREFs. */ | |
| MCGC1 = (0x02 << 6 ) /* CLKS = 10 -> external reference clock. */ | |
| | (0x04 << 3 ) /* RDIV = 2^4 -> 25MHz/16 = 1.5625 MHz */ | |
| | MCGC1_IRCLKEN_MASK; /* IRCLK to RTC enabled */ | |
| /* Wait for Reference and Clock status bits to update. */ | |
| while( MCGSC_IREFST | ( MCGSC_CLKST != 0x02 ) ) | |
| { | |
| /* Nothing to do here. */ | |
| } | |
| /* Switch from FBE to PBE (PLL bypassed internal) mode. */ | |
| MCGC3 = 0x08 /* Set PLL multi 50MHz. */ | |
| | MCGC3_PLLS_MASK; /* Select PLL. */ | |
| /* Wait for PLL status and lock bits to update. */ | |
| while( !MCGSC_PLLST | !MCGSC_LOCK ) | |
| { | |
| /* Nothing to do here. */ | |
| } | |
| /* Now in PBE Mode, finally switch from PBE to PEE (PLL enabled external | |
| mode). */ | |
| MCGC1_CLKS = 0b00; /* PLL clock to system (MCGOUT) */ | |
| /* Wait for the clock status bits to update. */ | |
| while( MCGSC_CLKST != 0x03 ) | |
| { | |
| /* Nothing to do here. */ | |
| } | |
| /* Setup the IO for the LED outputs. */ | |
| vParTestInitialise(); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void vApplicationStackOverflowHook( TaskHandle_t pxTask, 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 ) | |
| { | |
| /* Just to remove compiler warnings. */ | |
| ( void ) pvParameters; | |
| /* 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 #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 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 ) | |
| { | |
| /* Just to remove compiler warnings. */ | |
| ( void ) pvParameters; | |
| /* 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 #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 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" | |
| ); | |
| } | |
| /*-----------------------------------------------------------*/ | |