/* | |
FreeRTOS V4.6.1 - copyright (C) 2003-2006 Richard Barry. | |
MCF5235 Port - Copyright (C) 2006 Christian Walter. | |
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** as published by | |
the Free Software Foundation; either version 2 of the License, or | |
(at your option) any later version. | |
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. See the | |
GNU General Public License for more details. | |
You should have received a copy of the GNU General Public License | |
along with FreeRTOS; if not, write to the Free Software | |
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA | |
A special exception to the GPL can be applied should you wish to distribute | |
a combined work that includes FreeRTOS, without being obliged to provide | |
the source code for any proprietary components. See the licensing section | |
of http://www.FreeRTOS.org for full details of how and when the exception | |
can be applied. | |
*************************************************************************** | |
*************************************************************************** | |
* * | |
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation * | |
* * | |
* This is a concise, step by step, 'hands on' guide that describes both * | |
* general multitasking concepts and FreeRTOS specifics. It presents and * | |
* explains numerous examples that are written using the FreeRTOS API. * | |
* Full source code for all the examples is provided in an accompanying * | |
* .zip file. * | |
* * | |
*************************************************************************** | |
*************************************************************************** | |
Please ensure to read the configuration and relevant port sections of the | |
online documentation. | |
http://www.FreeRTOS.org - Documentation, latest information, license and | |
contact details. | |
http://www.SafeRTOS.com - A version that is certified for use in safety | |
critical systems. | |
http://www.OpenRTOS.com - Commercial support, development, porting, | |
licensing and training services. | |
*/ | |
/* ------------------------ System includes ------------------------------- */ | |
#include <stdlib.h> | |
#include <stdio.h> | |
#include <string.h> | |
#include <assert.h> | |
/* ------------------------ FreeRTOS includes ----------------------------- */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* ------------------------ LWIP includes --------------------------------- */ | |
#include "lwip/api.h" | |
#include "lwip/tcpip.h" | |
#include "lwip/memp.h" | |
/* ------------------------ Project includes ------------------------------ */ | |
#include "mcf5xxx.h" | |
#include "mcf523x.h" | |
#include "serial.h" | |
#include "web.h" | |
#include "integer.h" | |
#include "PollQ.h" | |
#include "semtest.h" | |
#include "BlockQ.h" | |
#include "dynamic.h" | |
#include "flop.h" | |
/* ------------------------ Defines --------------------------------------- */ | |
#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 38400 ) | |
/* Priorities for the demo application tasks. */ | |
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 ) | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
#define STACK_DEFAULT ( 1024 ) | |
/* Interval in which tasks are checked. */ | |
#define mainCHECK_PERIOD ( ( TickType_t ) 2000 / portTICK_PERIOD_MS ) | |
/* Constants used by the vMemCheckTask() task. */ | |
#define mainCOUNT_INITIAL_VALUE ( ( unsigned long ) 0 ) | |
#define mainNO_TASK ( 0 ) | |
/* The size of the memory blocks allocated by the vMemCheckTask() task. */ | |
#define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 ) | |
#define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 ) | |
#define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 ) | |
/* ------------------------ Static variables ------------------------------ */ | |
xComPortHandle xSTDComPort = NULL; | |
/* ------------------------ Static functions ------------------------------ */ | |
static portTASK_FUNCTION( vErrorChecks, pvParameters ); | |
static long prvCheckOtherTasksAreStillRunning( unsigned long | |
ulMemCheckTaskCount ); | |
static portTASK_FUNCTION( vMemCheckTask, pvParameters ); | |
/* ------------------------ Implementation -------------------------------- */ | |
int | |
main( int argc, char *argv[] ) | |
{ | |
asm volatile ( "move.w #0x2000, %sr\n\t" ); | |
xSTDComPort = xSerialPortInitMinimal( 38400, 8 ); | |
vlwIPInit( ); | |
/* Start the demo/test application tasks. */ | |
vStartIntegerMathTasks( tskIDLE_PRIORITY ); | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
//vStartMathTasks( tskIDLE_PRIORITY ); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartDynamicPriorityTasks( ); | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
/* Start the webserver. */ | |
( void )sys_thread_new( vBasicWEBServer, NULL, mainWEB_TASK_PRIORITY ); | |
/* Start the check task - which is defined in this file. */ | |
xTaskCreate( vErrorChecks, "Check", 512, NULL, | |
mainCHECK_TASK_PRIORITY, NULL ); | |
/* Now all the tasks have been started - start the scheduler. */ | |
vTaskStartScheduler( ); | |
/* Should never get here! */ | |
return 0; | |
} | |
static | |
portTASK_FUNCTION( vErrorChecks, pvParameters ) | |
{ | |
unsigned long ulMemCheckTaskRunningCount; | |
TaskHandle_t xCreatedTask; | |
/* The parameters are not used in this function. */ | |
( void )pvParameters; | |
for( ;; ) | |
{ | |
ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE; | |
xCreatedTask = mainNO_TASK; | |
if( xTaskCreate( vMemCheckTask, "MEM", | |
configMINIMAL_STACK_SIZE, ( void * )&ulMemCheckTaskRunningCount, | |
tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS ) | |
{ | |
xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY ); | |
} | |
/* Delay until it is time to execute again. */ | |
vTaskDelay( mainCHECK_PERIOD ); | |
/* Delete the dynamically created task. */ | |
if( xCreatedTask != mainNO_TASK ) | |
{ | |
vTaskDelete( xCreatedTask ); | |
} | |
if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS ) | |
{ | |
xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY ); | |
} | |
else | |
{ | |
xSerialPutChar( xSTDComPort, '.', portMAX_DELAY ); | |
} | |
} | |
} | |
static long | |
prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount ) | |
{ | |
long lReturn = ( long ) pdPASS; | |
/* Check all the demo tasks (other than the flash tasks) to ensure | |
* that they are all still running, and that none of them have detected | |
* an error. | |
*/ | |
if( xAreIntegerMathsTaskStillRunning( ) != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xArePollingQueuesStillRunning( ) != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xAreSemaphoreTasksStillRunning( ) != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xAreDynamicPriorityTasksStillRunning( ) != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( xAreBlockingQueuesStillRunning( ) != pdTRUE ) | |
{ | |
lReturn = ( long ) pdFAIL; | |
} | |
if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE ) | |
{ | |
/* The vMemCheckTask did not increment the counter - it must | |
* have failed. | |
*/ | |
lReturn = ( long ) pdFAIL; | |
} | |
return lReturn; | |
} | |
static void | |
vMemCheckTask( void *pvParameters ) | |
{ | |
unsigned long *pulMemCheckTaskRunningCounter; | |
void *pvMem1, *pvMem2, *pvMem3; | |
static long lErrorOccurred = pdFALSE; | |
/* This task is dynamically created then deleted during each cycle of the | |
vErrorChecks task to check the operation of the memory allocator. Each time | |
the task is created memory is allocated for the stack and TCB. Each time | |
the task is deleted this memory is returned to the heap. This task itself | |
exercises the allocator by allocating and freeing blocks. | |
The task executes at the idle priority so does not require a delay. | |
pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the | |
vErrorChecks() task that this task is still executing without error. */ | |
pulMemCheckTaskRunningCounter = ( unsigned long * )pvParameters; | |
for( ;; ) | |
{ | |
if( lErrorOccurred == pdFALSE ) | |
{ | |
/* We have never seen an error so increment the counter. */ | |
( *pulMemCheckTaskRunningCounter )++; | |
} | |
/* Allocate some memory - just to give the allocator some extra | |
exercise. This has to be in a critical section to ensure the | |
task does not get deleted while it has memory allocated. */ | |
vTaskSuspendAll( ); | |
{ | |
pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 ); | |
if( pvMem1 == NULL ) | |
{ | |
lErrorOccurred = pdTRUE; | |
} | |
else | |
{ | |
memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 ); | |
vPortFree( pvMem1 ); | |
} | |
} | |
xTaskResumeAll( ); | |
/* Again - with a different size block. */ | |
vTaskSuspendAll( ); | |
{ | |
pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 ); | |
if( pvMem2 == NULL ) | |
{ | |
lErrorOccurred = pdTRUE; | |
} | |
else | |
{ | |
memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 ); | |
vPortFree( pvMem2 ); | |
} | |
} | |
xTaskResumeAll( ); | |
/* Again - with a different size block. */ | |
vTaskSuspendAll( ); | |
{ | |
pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 ); | |
if( pvMem3 == NULL ) | |
{ | |
lErrorOccurred = pdTRUE; | |
} | |
else | |
{ | |
memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 ); | |
vPortFree( pvMem3 ); | |
} | |
} | |
xTaskResumeAll( ); | |
} | |
} |