/* | |
FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
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* * | |
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*************************************************************************** | |
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* * | |
* Having a problem? Start by reading the FAQ "My application does * | |
* not run, what could be wrong?" * | |
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* http://www.FreeRTOS.org/FAQHelp.html * | |
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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: | |
* | |
* "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 "integer.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 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 ) | |
/* | |
* 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 ) | |
{ | |
/* Setup the hardware ready for this demo. */ | |
prvSetupHardware(); | |
/* Start the standard demo tasks. */ | |
vStartLEDFlashTasks( tskIDLE_PRIORITY ); | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY ); | |
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY ); | |
vStartQueuePeekTasks(); | |
vStartRecursiveMutexTasks(); | |
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED ); | |
vStartInterruptQueueTasks(); | |
/* 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( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
ulError |= 0x100UL; | |
} | |
if( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) | |
{ | |
ulError |= 0x200UL; | |
} | |
if( xAreComTestTasksStillRunning() != pdTRUE ) | |
{ | |
ulError |= 0x400UL; | |
} | |
if( xAreIntQueueTasksStillRunning() != pdTRUE ) | |
{ | |
ulError |= 0x800UL; | |
} | |
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 ) | |
{ | |
extern void mcf5xxx_wr_cacr( unsigned long ); | |
portDISABLE_INTERRUPTS(); | |
/* Enable the cache. */ | |
mcf5xxx_wr_cacr( MCF5XXX_CACR_CENB | MCF5XXX_CACR_CINV | MCF5XXX_CACR_DISD | MCF5XXX_CACR_CEIB | MCF5XXX_CACR_CLNF_00 ); | |
asm volatile( "NOP" ); /* As per errata. */ | |
/* Multiply 8Mhz reference crystal by 8 to achieve system clock of 64Mhz. */ | |
MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD( 2 ); | |
/* Wait for PLL to lock. */ | |
while( !( MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK ) ) | |
{ | |
__asm__ volatile ( "NOP" ); | |
} | |
/* 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" | |
" 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" | |
); | |
} | |
/*-----------------------------------------------------------*/ | |