blob: 170a46c9c626a839232626cfcd5cb07502c681a3 [file] [log] [blame]
/*
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.
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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:
*
* "uIP" task - This is the task that handles the uIP stack. All TCP/IP
* processing is performed in this task. It manages the WEB server functionality.
*
* "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. An error found in any task will be
* latched in the ulErrorCode variable for display through the WEB server (the
* error code is displayed at the foot of the table that contains information on
* the state of each task).
*
* "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 "blocktim.h"
#include "flash.h"
#include "partest.h"
#include "semtest.h"
#include "PollQ.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"
#include "IntQueue.h"
#include "comtest2.h"
/*-----------------------------------------------------------*/
/* The time between cycles of the 'check' functionality - as described at the
top of this file. */
#define mainCHECK_TASK_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
/* 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 mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
/* The WEB server task uses more stack than most other tasks because of its
reliance on using sprintf(). */
#define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 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 );
/*
* The task that implements the WEB server.
*/
extern void vuIP_Task( 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;
/* Any errors that the check task finds in any tasks are latched into
ulErrorCode, and then displayed via the WEB server. */
static unsigned long ulErrorCode = 0UL;
/*-----------------------------------------------------------*/
int main( void )
{
/* Setup the hardware ready for this demo. */
prvSetupHardware();
/* Create the WEB server task. */
xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
/* Start the standard demo tasks. */
vStartLEDFlashTasks( tskIDLE_PRIORITY );
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
vCreateBlockTimeTasks();
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
vStartQueuePeekTasks();
vStartRecursiveMutexTasks();
/* 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 );
/* Start the scheduler. */
vTaskStartScheduler();
/* Will only get here if there was insufficient heap to create the idle
task. */
for( ;; );
}
/*-----------------------------------------------------------*/
static void prvCheckTask( void *pvParameters )
{
unsigned ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
portTickType xLastExecutionTime;
/* To prevent compiler warnings. */
( 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, mainCHECK_TASK_PERIOD );
/* Has an error been found in any task? */
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
ulErrorCode |= 0x01UL;
}
if( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
ulErrorCode |= 0x02UL;
}
if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
ulErrorCode |= 0x04UL;
}
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
ulErrorCode |= 0x20UL;
}
if( xArePollingQueuesStillRunning() != pdTRUE )
{
ulErrorCode |= 0x40UL;
}
if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
ulErrorCode |= 0x80UL;
}
if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
{
ulErrorCode |= 0x100UL;
}
if( ulLastRegTest1Count == ulRegTest1Counter )
{
ulErrorCode |= 0x200UL;
}
if( ulLastRegTest2Count == ulRegTest2Counter )
{
ulErrorCode |= 0x200UL;
}
/* Remember the reg test counts so a stall in their values can be
detected next time around. */
ulLastRegTest1Count = ulRegTest1Counter;
ulLastRegTest2Count = ulRegTest2Counter;
}
}
/*-----------------------------------------------------------*/
unsigned long ulGetErrorCode( void )
{
/* Returns the error code for display via the WEB server. */
return ulErrorCode;
}
/*-----------------------------------------------------------*/
void prvSetupHardware( void )
{
__attribute__ ((section(".cfmconfig")))
static const unsigned long _cfm[6] = {
0, /* KEY_UPPER 0x00000400 */
0, /* KEY_LOWER 0x00000404 */
0, /* CFMPROT 0x00000408 */
0, /* CFMSACC 0x0000040C */
0, /* CFMDACC 0x00000410 */
0, /* CFMSEC 0x00000414 */
};
/* Just to stop compiler warnings. */
( void ) _cfm;
/* Ensure the watchdog is disabled. */
MCF_SCM_CWCR = 0;
/* Initialize IPSBAR (0x40000000). */
asm volatile(
"move.l #0x40000000,%d0 \n"
"andi.l #0xC0000000,%d0 \n"
"add.l #0x1,%d0 \n"
"move.l %d0,0x40000000 "
);
/* Initialize FLASHBAR (0x00) */
asm volatile(
"move.l #0x00,%d0 \n"
"andi.l #0xFFF80000,%d0 \n"
"add.l #0x41,%d0 \n"
"movec %d0,%FLASHBAR "
);
portDISABLE_INTERRUPTS();
/* RAMBAR. */
MCF_SCM_RAMBAR = MCF_SCM_RAMBAR_BA( RAMBAR_ADDRESS ) | MCF_SCM_RAMBAR_BDE;
/* Multiply 25MHz crystal by 12 to get 60MHz clock. */
MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD(4) | MCF_CLOCK_SYNCR_CLKSRC| MCF_CLOCK_SYNCR_PLLMODE | MCF_CLOCK_SYNCR_PLLEN ;
while (!(MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK))
{
}
/* Setup the port used to toggle LEDs. */
vParTestInitialise();
}
/*-----------------------------------------------------------*/
void vApplicationStackOverflowHook( xTaskHandle *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"
" movel ulRegTest1Counter, %d0 \n\t"
" addql #1, %d0 \n\t"
" movel %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"
" movel ulRegTest1Counter, %d0 \n\t"
" addql #1, %d0 \n\t"
" movel %d0, ulRegTest2Counter \n\t"
" bra reg_test_2_start \n\t"
"reg_test_2_error: \n\t"
" bra reg_test_2_error \n\t"
);
}
/*-----------------------------------------------------------*/