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jeremybenn |
/*
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FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/*
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* Creates all the demo application tasks, then starts the scheduler. The WEB
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* documentation provides more details of the standard demo application tasks.
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* In addition to the standard demo tasks, the following tasks and tests are
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* defined and/or created within this file:
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*
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* "Web server" - Very basic demonstration of the uIP stack. The WEB server
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* simply generates a page that shows the current state of all the tasks within
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* the system, including the high water mark of each task stack. The high water
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* mark is displayed as the amount of stack that has never been used, so the
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* closer the value is to zero the closer the task has come to overflowing its
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* stack. The IP address and net mask are set within FreeRTOSConfig.h. Sub
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* pages display some TCP/IP status information and permit LED3 to be turned on
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* and off using a check box.
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*
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* Tick hook function that implements a "Check" function - This is executed
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* every 5 seconds from the tick hook function. It checks to ensure that all
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* the standard demo tasks are still operational and running without error.
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* The system status (pass/fail) is then displayed underneith the task table on
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* the served WEB pages.
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*
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* "Reg test" tasks - These fill the registers with known values, then check
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* that each register still contains its expected value. Each task uses
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* different values. The tasks run with very low priority so get preempted very
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* frequently. A register containing an unexpected value is indicative of an
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* error in the context switching mechanism.
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*
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*/
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/* Standard includes. */
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#include <stdio.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "semphr.h"
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/* Demo app includes. */
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#include "BlockQ.h"
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#include "death.h"
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#include "flash.h"
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#include "partest.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "recmutex.h"
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/*-----------------------------------------------------------*/
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/* ComTest constants - there is no free LED for the comtest tasks. */
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#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
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#define mainCOM_TEST_LED ( 5 )
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/* Task priorities. */
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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/* WEB server requires enough stack for the string handling functions. */
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#define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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/*
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* Configure the hardware for the demo.
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*/
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static void prvSetupHardware( void );
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/*
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* Implements the 'check' function as described at the top of this file.
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*/
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static void prvCheckFunction( void );
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/*
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* Implement the 'Reg test' functionality as described at the top of this file.
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*/
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static void vRegTest1Task( void *pvParameters );
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static void vRegTest2Task( void *pvParameters );
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/*
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* The task that handles the uIP stack. All TCP/IP processing is performed in
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* this task.
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*/
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extern void vuIP_Task( void *pvParameters );
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/*-----------------------------------------------------------*/
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/* Counters used to detect errors within the reg test tasks. */
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static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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/* Flag that latches any errors detected in the system. */
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unsigned long ulCheckErrors = 0;
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/*-----------------------------------------------------------*/
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int main( void )
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{
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extern void vBasicWEBServer( void *pv );
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/* Setup the hardware ready for this demo. */
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prvSetupHardware();
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xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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/* Start the standard demo tasks. */
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vStartLEDFlashTasks( tskIDLE_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartQueuePeekTasks();
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vStartRecursiveMutexTasks();
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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/* Start the reg test tasks - defined in this file. */
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xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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/* Start the scheduler. */
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vTaskStartScheduler();
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/* Will only get here if there was insufficient memory to create the idle
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task. */
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for( ;; )
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{
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}
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}
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/*-----------------------------------------------------------*/
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void vApplicationTickHook( void )
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{
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static unsigned long ulExecutionCount = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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const unsigned long ulExecutionRate = 5000 / portTICK_RATE_MS;
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/* Increment the count of how many times the tick hook has been called. */
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ulExecutionCount++;
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/* Is it time to perform the check again? */
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if( ulExecutionCount >= ulExecutionRate )
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{
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/* Reset the execution count so this function is called again in 5
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seconds time. */
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ulExecutionCount = 0;
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/* Has an error been found in any task? */
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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ulCheckErrors |= 0x01UL;
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}
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if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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ulCheckErrors |= 0x02UL;
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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ulCheckErrors |= 0x04UL;
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}
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if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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ulCheckErrors |= 0x200UL;
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}
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if( ulLastRegTest1Count == ulRegTest1Counter )
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{
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ulCheckErrors |= 0x1000UL;
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}
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if( ulLastRegTest2Count == ulRegTest2Counter )
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{
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ulCheckErrors |= 0x1000UL;
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}
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ulLastRegTest1Count = ulRegTest1Counter;
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ulLastRegTest2Count = ulRegTest2Counter;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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/* Disable the watchdog, STOP and WAIT modes. */
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SOPT1 = 0;
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/* --- Setup clock to use external 25MHz source. --- */
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/* Extal and xtal pin ON. */
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PTDPF1_D4 = 0x03;
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PTDPF1_D5 = 0x03;
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/* Switch from FEI to FBE (FLL bypassed external)
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enable external clock source */
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MCGC2 = MCGC2_ERCLKEN_MASK /* Activate external reference clock */
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| MCGC2_EREFS_MASK /* Because crystal is being used */
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| MCGC2_RANGE_MASK; /* High range */
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/* Select clock mode and clear IREFs. */
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MCGC1 = (0x02 << 6 ) /* CLKS = 10 -> external reference clock. */
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| (0x04 << 3 ) /* RDIV = 2^4 -> 25MHz/16 = 1.5625 MHz */
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| MCGC1_IRCLKEN_MASK; /* IRCLK to RTC enabled */
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/* Wait for Reference and Clock status bits to update. */
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while( MCGSC_IREFST | ( MCGSC_CLKST != 0x02 ) )
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{
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/* Nothing to do here. */
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}
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/* Switch from FBE to PBE (PLL bypassed internal) mode. */
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MCGC3 = 0x08 /* Set PLL multi 50MHz. */
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| MCGC3_PLLS_MASK; /* Select PLL. */
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/* Wait for PLL status and lock bits to update. */
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while( !MCGSC_PLLST | !MCGSC_LOCK )
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{
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/* Nothing to do here. */
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}
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/* Now in PBE Mode, finally switch from PBE to PEE (PLL enabled external
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mode). */
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MCGC1_CLKS = 0b00; /* PLL clock to system (MCGOUT) */
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/* Wait for the clock status bits to update. */
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while( MCGSC_CLKST != 0x03 )
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{
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/* Nothing to do here. */
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}
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/* Setup the IO for the LED outputs. */
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vParTestInitialise();
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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{
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/* This will get called if a stack overflow is detected during the context
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switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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problems within nested interrupts, but only do this for debug purposes as
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it will increase the context switch time. */
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( void ) pxTask;
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( void ) pcTaskName;
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for( ;; )
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{
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}
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}
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/*-----------------------------------------------------------*/
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| 306 |
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static void vRegTest1Task( void *pvParameters )
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{
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| 308 |
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/* Just to remove compiler warnings. */
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( void ) pvParameters;
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| 310 |
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| 311 |
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/* Set all the registers to known values, then check that each retains its
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expected value - as described at the top of this file. If an error is
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found then the loop counter will no longer be incremented allowing the check
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task to recognise the error. */
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asm volatile ( "reg_test_1_start: \n\t"
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" moveq #1, d0 \n\t"
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" moveq #2, d1 \n\t"
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" moveq #3, d2 \n\t"
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" moveq #4, d3 \n\t"
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" moveq #5, d4 \n\t"
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" moveq #6, d5 \n\t"
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" moveq #7, d6 \n\t"
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" moveq #8, d7 \n\t"
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" move #9, a0 \n\t"
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" move #10, a1 \n\t"
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" move #11, a2 \n\t"
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" move #12, a3 \n\t"
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" move #13, a4 \n\t"
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" move #15, a6 \n\t"
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" \n\t"
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" cmpi.l #1, d0 \n\t"
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" bne reg_test_1_error \n\t"
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| 333 |
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" cmpi.l #2, d1 \n\t"
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| 334 |
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" bne reg_test_1_error \n\t"
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| 335 |
|
|
" cmpi.l #3, d2 \n\t"
|
| 336 |
|
|
" bne reg_test_1_error \n\t"
|
| 337 |
|
|
" cmpi.l #4, d3 \n\t"
|
| 338 |
|
|
" bne reg_test_1_error \n\t"
|
| 339 |
|
|
" cmpi.l #5, d4 \n\t"
|
| 340 |
|
|
" bne reg_test_1_error \n\t"
|
| 341 |
|
|
" cmpi.l #6, d5 \n\t"
|
| 342 |
|
|
" bne reg_test_1_error \n\t"
|
| 343 |
|
|
" cmpi.l #7, d6 \n\t"
|
| 344 |
|
|
" bne reg_test_1_error \n\t"
|
| 345 |
|
|
" cmpi.l #8, d7 \n\t"
|
| 346 |
|
|
" bne reg_test_1_error \n\t"
|
| 347 |
|
|
" move a0, d0 \n\t"
|
| 348 |
|
|
" cmpi.l #9, d0 \n\t"
|
| 349 |
|
|
" bne reg_test_1_error \n\t"
|
| 350 |
|
|
" move a1, d0 \n\t"
|
| 351 |
|
|
" cmpi.l #10, d0 \n\t"
|
| 352 |
|
|
" bne reg_test_1_error \n\t"
|
| 353 |
|
|
" move a2, d0 \n\t"
|
| 354 |
|
|
" cmpi.l #11, d0 \n\t"
|
| 355 |
|
|
" bne reg_test_1_error \n\t"
|
| 356 |
|
|
" move a3, d0 \n\t"
|
| 357 |
|
|
" cmpi.l #12, d0 \n\t"
|
| 358 |
|
|
" bne reg_test_1_error \n\t"
|
| 359 |
|
|
" move a4, d0 \n\t"
|
| 360 |
|
|
" cmpi.l #13, d0 \n\t"
|
| 361 |
|
|
" bne reg_test_1_error \n\t"
|
| 362 |
|
|
" move a6, d0 \n\t"
|
| 363 |
|
|
" cmpi.l #15, d0 \n\t"
|
| 364 |
|
|
" bne reg_test_1_error \n\t"
|
| 365 |
|
|
" move ulRegTest1Counter, d0 \n\t"
|
| 366 |
|
|
" addq #1, d0 \n\t"
|
| 367 |
|
|
" move d0, ulRegTest1Counter \n\t"
|
| 368 |
|
|
" bra reg_test_1_start \n\t"
|
| 369 |
|
|
"reg_test_1_error: \n\t"
|
| 370 |
|
|
" bra reg_test_1_error \n\t"
|
| 371 |
|
|
);
|
| 372 |
|
|
}
|
| 373 |
|
|
/*-----------------------------------------------------------*/
|
| 374 |
|
|
|
| 375 |
|
|
static void vRegTest2Task( void *pvParameters )
|
| 376 |
|
|
{
|
| 377 |
|
|
/* Just to remove compiler warnings. */
|
| 378 |
|
|
( void ) pvParameters;
|
| 379 |
|
|
|
| 380 |
|
|
/* Set all the registers to known values, then check that each retains its
|
| 381 |
|
|
expected value - as described at the top of this file. If an error is
|
| 382 |
|
|
found then the loop counter will no longer be incremented allowing the check
|
| 383 |
|
|
task to recognise the error. */
|
| 384 |
|
|
asm volatile ( "reg_test_2_start: \n\t"
|
| 385 |
|
|
" moveq #10, d0 \n\t"
|
| 386 |
|
|
" moveq #20, d1 \n\t"
|
| 387 |
|
|
" moveq #30, d2 \n\t"
|
| 388 |
|
|
" moveq #40, d3 \n\t"
|
| 389 |
|
|
" moveq #50, d4 \n\t"
|
| 390 |
|
|
" moveq #60, d5 \n\t"
|
| 391 |
|
|
" moveq #70, d6 \n\t"
|
| 392 |
|
|
" moveq #80, d7 \n\t"
|
| 393 |
|
|
" move #90, a0 \n\t"
|
| 394 |
|
|
" move #100, a1 \n\t"
|
| 395 |
|
|
" move #110, a2 \n\t"
|
| 396 |
|
|
" move #120, a3 \n\t"
|
| 397 |
|
|
" move #130, a4 \n\t"
|
| 398 |
|
|
" move #150, a6 \n\t"
|
| 399 |
|
|
" \n\t"
|
| 400 |
|
|
" cmpi.l #10, d0 \n\t"
|
| 401 |
|
|
" bne reg_test_2_error \n\t"
|
| 402 |
|
|
" cmpi.l #20, d1 \n\t"
|
| 403 |
|
|
" bne reg_test_2_error \n\t"
|
| 404 |
|
|
" cmpi.l #30, d2 \n\t"
|
| 405 |
|
|
" bne reg_test_2_error \n\t"
|
| 406 |
|
|
" cmpi.l #40, d3 \n\t"
|
| 407 |
|
|
" bne reg_test_2_error \n\t"
|
| 408 |
|
|
" cmpi.l #50, d4 \n\t"
|
| 409 |
|
|
" bne reg_test_2_error \n\t"
|
| 410 |
|
|
" cmpi.l #60, d5 \n\t"
|
| 411 |
|
|
" bne reg_test_2_error \n\t"
|
| 412 |
|
|
" cmpi.l #70, d6 \n\t"
|
| 413 |
|
|
" bne reg_test_2_error \n\t"
|
| 414 |
|
|
" cmpi.l #80, d7 \n\t"
|
| 415 |
|
|
" bne reg_test_2_error \n\t"
|
| 416 |
|
|
" move a0, d0 \n\t"
|
| 417 |
|
|
" cmpi.l #90, d0 \n\t"
|
| 418 |
|
|
" bne reg_test_2_error \n\t"
|
| 419 |
|
|
" move a1, d0 \n\t"
|
| 420 |
|
|
" cmpi.l #100, d0 \n\t"
|
| 421 |
|
|
" bne reg_test_2_error \n\t"
|
| 422 |
|
|
" move a2, d0 \n\t"
|
| 423 |
|
|
" cmpi.l #110, d0 \n\t"
|
| 424 |
|
|
" bne reg_test_2_error \n\t"
|
| 425 |
|
|
" move a3, d0 \n\t"
|
| 426 |
|
|
" cmpi.l #120, d0 \n\t"
|
| 427 |
|
|
" bne reg_test_2_error \n\t"
|
| 428 |
|
|
" move a4, d0 \n\t"
|
| 429 |
|
|
" cmpi.l #130, d0 \n\t"
|
| 430 |
|
|
" bne reg_test_2_error \n\t"
|
| 431 |
|
|
" move a6, d0 \n\t"
|
| 432 |
|
|
" cmpi.l #150, d0 \n\t"
|
| 433 |
|
|
" bne reg_test_2_error \n\t"
|
| 434 |
|
|
" move ulRegTest1Counter, d0 \n\t"
|
| 435 |
|
|
" addq #1, d0 \n\t"
|
| 436 |
|
|
" move d0, ulRegTest2Counter \n\t"
|
| 437 |
|
|
" bra reg_test_2_start \n\t"
|
| 438 |
|
|
"reg_test_2_error: \n\t"
|
| 439 |
|
|
" bra reg_test_2_error \n\t"
|
| 440 |
|
|
);
|
| 441 |
|
|
}
|
| 442 |
|
|
/*-----------------------------------------------------------*/
|
| 443 |
|
|
|
