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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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* "Check" task - This only executes every five seconds but has a high priority
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* to ensure it gets processor time. Its main function is to check that all the
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* standard demo tasks are still operational. While no errors have been
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* discovered the check task will toggle an LED every 5 seconds - the toggle
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* rate increasing to 500ms being a visual indication that at least one task has
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* reported unexpected behaviour.
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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 "integer.h"
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#include "flash.h"
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#include "partest.h"
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#include "semtest.h"
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#include "PollQ.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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#include "IntQueue.h"
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#include "comtest2.h"
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/*-----------------------------------------------------------*/
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/* The time between cycles of the 'check' functionality - as described at the
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top of this file. */
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#define mainNO_ERROR_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
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/* The rate at which the LED controlled by the 'check' task will flash should an
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error have been detected. */
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#define mainERROR_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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/* The LED controlled by the 'check' task. */
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#define mainCHECK_LED ( 3 )
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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 portLONG ) 19200 )
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#define mainCOM_TEST_LED ( 5 )
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/* Task priorities. */
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#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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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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/*
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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' task functionality as described at the top of this
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* file.
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*/
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static void prvCheckTask( void *pvParameters );
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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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/* Counters used to detect errors within the reg test tasks. */
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static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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/*-----------------------------------------------------------*/
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int main( void )
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{
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/* Setup the hardware ready for this demo. */
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prvSetupHardware();
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/* Start the standard demo tasks. */
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vStartLEDFlashTasks( tskIDLE_PRIORITY );
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartQueuePeekTasks();
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vStartRecursiveMutexTasks();
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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vStartInterruptQueueTasks();
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/* Start the reg test tasks - defined in this file. */
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xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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/* Create the check task. */
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xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* The suicide tasks must be created last as they need to know how many
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tasks were running prior to their creation in order to ascertain whether
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or not the correct/expected number of tasks are running at any given time. */
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vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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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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static void prvCheckTask( void *pvParameters )
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{
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unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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portTickType xLastExecutionTime;
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( void ) pvParameters;
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/* Initialise the variable used to control our iteration rate prior to
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its first use. */
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xLastExecutionTime = xTaskGetTickCount();
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for( ;; )
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{
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/* Wait until it is time to run the tests again. */
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vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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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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ulError |= 0x01UL;
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}
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if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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ulError |= 0x02UL;
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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ulError |= 0x04UL;
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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ulError |= 0x20UL;
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}
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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ulError |= 0x40UL;
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}
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if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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ulError |= 0x80UL;
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}
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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ulError |= 0x100UL;
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}
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if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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ulError |= 0x200UL;
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}
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if( xAreComTestTasksStillRunning() != pdTRUE )
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{
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ulError |= 0x400UL;
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}
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if( xAreIntQueueTasksStillRunning() != pdTRUE )
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{
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ulError |= 0x800UL;
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}
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if( ulLastRegTest1Count == ulRegTest1Counter )
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{
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ulError |= 0x1000UL;
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}
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if( ulLastRegTest2Count == ulRegTest2Counter )
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{
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ulError |= 0x1000UL;
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}
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ulLastRegTest1Count = ulRegTest1Counter;
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ulLastRegTest2Count = ulRegTest2Counter;
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/* If an error has been found then increase our cycle rate, and in so
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going increase the rate at which the check task LED toggles. */
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if( ulError != 0 )
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{
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ulTicksToWait = mainERROR_PERIOD;
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}
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/* Toggle the LED each itteration. */
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vParTestToggleLED( mainCHECK_LED );
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}
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}
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/*-----------------------------------------------------------*/
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void prvSetupHardware( void )
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{
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extern void mcf5xxx_wr_cacr( unsigned portLONG );
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portDISABLE_INTERRUPTS();
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/* Enable the cache. */
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mcf5xxx_wr_cacr( MCF5XXX_CACR_CENB | MCF5XXX_CACR_CINV | MCF5XXX_CACR_DISD | MCF5XXX_CACR_CEIB | MCF5XXX_CACR_CLNF_00 );
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asm volatile( "NOP" ); /* As per errata. */
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/* Multiply 8Mhz reference crystal by 8 to achieve system clock of 64Mhz. */
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MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD( 2 );
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/* Wait for PLL to lock. */
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while( !( MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK ) )
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{
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__asm__ volatile ( "NOP" );
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}
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/* Setup the port used to toggle LEDs. */
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vParTestInitialise();
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *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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static void vRegTest1Task( void *pvParameters )
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{
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/* Sanity check - did we receive the parameter expected? */
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if( pvParameters != &ulRegTest1Counter )
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{
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/* Change here so the check task can detect that an error occurred. */
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for( ;; );
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}
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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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| 335 |
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" moveq #3, %d2 \n\t"
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| 336 |
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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"
|
| 339 |
|
|
" moveq #7, %d6 \n\t"
|
| 340 |
|
|
" moveq #8, %d7 \n\t"
|
| 341 |
|
|
" move #9, %a0 \n\t"
|
| 342 |
|
|
" move #10, %a1 \n\t"
|
| 343 |
|
|
" move #11, %a2 \n\t"
|
| 344 |
|
|
" move #12, %a3 \n\t"
|
| 345 |
|
|
" move #13, %a4 \n\t"
|
| 346 |
|
|
" move #14, %a5 \n\t"
|
| 347 |
|
|
" move #15, %a6 \n\t"
|
| 348 |
|
|
" \n\t"
|
| 349 |
|
|
" cmpi.l #1, %d0 \n\t"
|
| 350 |
|
|
" bne reg_test_1_error \n\t"
|
| 351 |
|
|
" cmpi.l #2, %d1 \n\t"
|
| 352 |
|
|
" bne reg_test_1_error \n\t"
|
| 353 |
|
|
" cmpi.l #3, %d2 \n\t"
|
| 354 |
|
|
" bne reg_test_1_error \n\t"
|
| 355 |
|
|
" cmpi.l #4, %d3 \n\t"
|
| 356 |
|
|
" bne reg_test_1_error \n\t"
|
| 357 |
|
|
" cmpi.l #5, %d4 \n\t"
|
| 358 |
|
|
" bne reg_test_1_error \n\t"
|
| 359 |
|
|
" cmpi.l #6, %d5 \n\t"
|
| 360 |
|
|
" bne reg_test_1_error \n\t"
|
| 361 |
|
|
" cmpi.l #7, %d6 \n\t"
|
| 362 |
|
|
" bne reg_test_1_error \n\t"
|
| 363 |
|
|
" cmpi.l #8, %d7 \n\t"
|
| 364 |
|
|
" bne reg_test_1_error \n\t"
|
| 365 |
|
|
" move %a0, %d0 \n\t"
|
| 366 |
|
|
" cmpi.l #9, %d0 \n\t"
|
| 367 |
|
|
" bne reg_test_1_error \n\t"
|
| 368 |
|
|
" move %a1, %d0 \n\t"
|
| 369 |
|
|
" cmpi.l #10, %d0 \n\t"
|
| 370 |
|
|
" bne reg_test_1_error \n\t"
|
| 371 |
|
|
" move %a2, %d0 \n\t"
|
| 372 |
|
|
" cmpi.l #11, %d0 \n\t"
|
| 373 |
|
|
" bne reg_test_1_error \n\t"
|
| 374 |
|
|
" move %a3, %d0 \n\t"
|
| 375 |
|
|
" cmpi.l #12, %d0 \n\t"
|
| 376 |
|
|
" bne reg_test_1_error \n\t"
|
| 377 |
|
|
" move %a4, %d0 \n\t"
|
| 378 |
|
|
" cmpi.l #13, %d0 \n\t"
|
| 379 |
|
|
" bne reg_test_1_error \n\t"
|
| 380 |
|
|
" move %a5, %d0 \n\t"
|
| 381 |
|
|
" cmpi.l #14, %d0 \n\t"
|
| 382 |
|
|
" bne reg_test_1_error \n\t"
|
| 383 |
|
|
" move %a6, %d0 \n\t"
|
| 384 |
|
|
" cmpi.l #15, %d0 \n\t"
|
| 385 |
|
|
" bne reg_test_1_error \n\t"
|
| 386 |
|
|
" movel ulRegTest1Counter, %d0 \n\t"
|
| 387 |
|
|
" addql #1, %d0 \n\t"
|
| 388 |
|
|
" movel %d0, ulRegTest1Counter \n\t"
|
| 389 |
|
|
" bra reg_test_1_start \n\t"
|
| 390 |
|
|
"reg_test_1_error: \n\t"
|
| 391 |
|
|
" bra reg_test_1_error \n\t"
|
| 392 |
|
|
);
|
| 393 |
|
|
}
|
| 394 |
|
|
/*-----------------------------------------------------------*/
|
| 395 |
|
|
|
| 396 |
|
|
static void vRegTest2Task( void *pvParameters )
|
| 397 |
|
|
{
|
| 398 |
|
|
/* Sanity check - did we receive the parameter expected? */
|
| 399 |
|
|
if( pvParameters != &ulRegTest2Counter )
|
| 400 |
|
|
{
|
| 401 |
|
|
/* Change here so the check task can detect that an error occurred. */
|
| 402 |
|
|
for( ;; );
|
| 403 |
|
|
}
|
| 404 |
|
|
|
| 405 |
|
|
/* Set all the registers to known values, then check that each retains its
|
| 406 |
|
|
expected value - as described at the top of this file. If an error is
|
| 407 |
|
|
found then the loop counter will no longer be incremented allowing the check
|
| 408 |
|
|
task to recognise the error. */
|
| 409 |
|
|
asm volatile ( "reg_test_2_start: \n\t"
|
| 410 |
|
|
" moveq #10, %d0 \n\t"
|
| 411 |
|
|
" moveq #20, %d1 \n\t"
|
| 412 |
|
|
" moveq #30, %d2 \n\t"
|
| 413 |
|
|
" moveq #40, %d3 \n\t"
|
| 414 |
|
|
" moveq #50, %d4 \n\t"
|
| 415 |
|
|
" moveq #60, %d5 \n\t"
|
| 416 |
|
|
" moveq #70, %d6 \n\t"
|
| 417 |
|
|
" moveq #80, %d7 \n\t"
|
| 418 |
|
|
" move #90, %a0 \n\t"
|
| 419 |
|
|
" move #100, %a1 \n\t"
|
| 420 |
|
|
" move #110, %a2 \n\t"
|
| 421 |
|
|
" move #120, %a3 \n\t"
|
| 422 |
|
|
" move #130, %a4 \n\t"
|
| 423 |
|
|
" move #140, %a5 \n\t"
|
| 424 |
|
|
" move #150, %a6 \n\t"
|
| 425 |
|
|
" \n\t"
|
| 426 |
|
|
" cmpi.l #10, %d0 \n\t"
|
| 427 |
|
|
" bne reg_test_2_error \n\t"
|
| 428 |
|
|
" cmpi.l #20, %d1 \n\t"
|
| 429 |
|
|
" bne reg_test_2_error \n\t"
|
| 430 |
|
|
" cmpi.l #30, %d2 \n\t"
|
| 431 |
|
|
" bne reg_test_2_error \n\t"
|
| 432 |
|
|
" cmpi.l #40, %d3 \n\t"
|
| 433 |
|
|
" bne reg_test_2_error \n\t"
|
| 434 |
|
|
" cmpi.l #50, %d4 \n\t"
|
| 435 |
|
|
" bne reg_test_2_error \n\t"
|
| 436 |
|
|
" cmpi.l #60, %d5 \n\t"
|
| 437 |
|
|
" bne reg_test_2_error \n\t"
|
| 438 |
|
|
" cmpi.l #70, %d6 \n\t"
|
| 439 |
|
|
" bne reg_test_2_error \n\t"
|
| 440 |
|
|
" cmpi.l #80, %d7 \n\t"
|
| 441 |
|
|
" bne reg_test_2_error \n\t"
|
| 442 |
|
|
" move %a0, %d0 \n\t"
|
| 443 |
|
|
" cmpi.l #90, %d0 \n\t"
|
| 444 |
|
|
" bne reg_test_2_error \n\t"
|
| 445 |
|
|
" move %a1, %d0 \n\t"
|
| 446 |
|
|
" cmpi.l #100, %d0 \n\t"
|
| 447 |
|
|
" bne reg_test_2_error \n\t"
|
| 448 |
|
|
" move %a2, %d0 \n\t"
|
| 449 |
|
|
" cmpi.l #110, %d0 \n\t"
|
| 450 |
|
|
" bne reg_test_2_error \n\t"
|
| 451 |
|
|
" move %a3, %d0 \n\t"
|
| 452 |
|
|
" cmpi.l #120, %d0 \n\t"
|
| 453 |
|
|
" bne reg_test_2_error \n\t"
|
| 454 |
|
|
" move %a4, %d0 \n\t"
|
| 455 |
|
|
" cmpi.l #130, %d0 \n\t"
|
| 456 |
|
|
" bne reg_test_2_error \n\t"
|
| 457 |
|
|
" move %a5, %d0 \n\t"
|
| 458 |
|
|
" cmpi.l #140, %d0 \n\t"
|
| 459 |
|
|
" bne reg_test_2_error \n\t"
|
| 460 |
|
|
" move %a6, %d0 \n\t"
|
| 461 |
|
|
" cmpi.l #150, %d0 \n\t"
|
| 462 |
|
|
" bne reg_test_2_error \n\t"
|
| 463 |
|
|
" movel ulRegTest1Counter, %d0 \n\t"
|
| 464 |
|
|
" addql #1, %d0 \n\t"
|
| 465 |
|
|
" movel %d0, ulRegTest2Counter \n\t"
|
| 466 |
|
|
" bra reg_test_2_start \n\t"
|
| 467 |
|
|
"reg_test_2_error: \n\t"
|
| 468 |
|
|
" bra reg_test_2_error \n\t"
|
| 469 |
|
|
);
|
| 470 |
|
|
}
|
| 471 |
|
|
/*-----------------------------------------------------------*/
|
| 472 |
|
|
|
