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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [ColdFire_MCF51CN128_CodeWarrior/] [Sources/] [main.c] - Rev 592
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/* FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd. *************************************************************************** * * * If you are: * * * * + New to FreeRTOS, * * + Wanting to learn FreeRTOS or multitasking in general quickly * * + Looking for basic training, * * + Wanting to improve your FreeRTOS skills and productivity * * * * then take a look at the FreeRTOS books - available as PDF or paperback * * * * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * * http://www.FreeRTOS.org/Documentation * * * * A pdf reference manual is also available. Both are usually delivered * * to your inbox within 20 minutes to two hours when purchased between 8am * * and 8pm GMT (although please allow up to 24 hours in case of * * exceptional circumstances). Thank you for your support! * * * *************************************************************************** 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 exception 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. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License and the FreeRTOS license exception along with FreeRTOS; if not it can be viewed here: http://www.freertos.org/a00114.html and also obtained by writing to Richard Barry, contact details for whom are available on the FreeRTOS WEB site. 1 tab == 4 spaces! 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. */ /* * 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: * * "Web server" - Very basic demonstration of the uIP stack. The WEB server * simply generates a page that shows the current state of all the tasks within * the system, including the high water mark of each task stack. The high water * mark is displayed as the amount of stack that has never been used, so the * closer the value is to zero the closer the task has come to overflowing its * stack. The IP address and net mask are set within FreeRTOSConfig.h. Sub * pages display some TCP/IP status information and permit LED3 to be turned on * and off using a check box. * * Tick hook function that implements a "Check" function - This is executed * every 5 seconds from the tick hook function. It checks to ensure that all * the standard demo tasks are still operational and running without error. * The system status (pass/fail) is then displayed underneith the task table on * the served WEB pages. * * "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 "flash.h" #include "partest.h" #include "GenQTest.h" #include "QPeek.h" #include "recmutex.h" /*-----------------------------------------------------------*/ /* 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 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 ) #define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) /* WEB server requires enough stack for the string handling functions. */ #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 ) /* * Configure the hardware for the demo. */ static void prvSetupHardware( void ); /* * Implements the 'check' function as described at the top of this file. */ static void prvCheckFunction( void ); /* * Implement the 'Reg test' functionality as described at the top of this file. */ static void vRegTest1Task( void *pvParameters ); static void vRegTest2Task( void *pvParameters ); /* * The task that handles the uIP stack. All TCP/IP processing is performed in * this task. */ extern void vuIP_Task( void *pvParameters ); /*-----------------------------------------------------------*/ /* Counters used to detect errors within the reg test tasks. */ static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222; /* Flag that latches any errors detected in the system. */ unsigned long ulCheckErrors = 0; /*-----------------------------------------------------------*/ int main( void ) { extern void vBasicWEBServer( void *pv ); /* Setup the hardware ready for this demo. */ prvSetupHardware(); xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL ); /* Start the standard demo tasks. */ vStartLEDFlashTasks( tskIDLE_PRIORITY ); vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY ); vStartQueuePeekTasks(); vStartRecursiveMutexTasks(); vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); /* Start the reg test tasks - defined in this file. */ xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL ); xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL ); /* Start the scheduler. */ vTaskStartScheduler(); /* Will only get here if there was insufficient memory to create the idle task. */ for( ;; ) { } } /*-----------------------------------------------------------*/ void vApplicationTickHook( void ) { static unsigned long ulExecutionCount = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0; const unsigned long ulExecutionRate = 5000 / portTICK_RATE_MS; /* Increment the count of how many times the tick hook has been called. */ ulExecutionCount++; /* Is it time to perform the check again? */ if( ulExecutionCount >= ulExecutionRate ) { /* Reset the execution count so this function is called again in 5 seconds time. */ ulExecutionCount = 0; /* Has an error been found in any task? */ if( xAreGenericQueueTasksStillRunning() != pdTRUE ) { ulCheckErrors |= 0x01UL; } if( xAreQueuePeekTasksStillRunning() != pdTRUE ) { ulCheckErrors |= 0x02UL; } if( xAreBlockingQueuesStillRunning() != pdTRUE ) { ulCheckErrors |= 0x04UL; } if( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) { ulCheckErrors |= 0x200UL; } if( ulLastRegTest1Count == ulRegTest1Counter ) { ulCheckErrors |= 0x1000UL; } if( ulLastRegTest2Count == ulRegTest2Counter ) { ulCheckErrors |= 0x1000UL; } ulLastRegTest1Count = ulRegTest1Counter; ulLastRegTest2Count = ulRegTest2Counter; } } /*-----------------------------------------------------------*/ static void prvSetupHardware( void ) { /* Disable the watchdog, STOP and WAIT modes. */ SOPT1 = 0; /* --- Setup clock to use external 25MHz source. --- */ /* Extal and xtal pin ON. */ PTDPF1_D4 = 0x03; PTDPF1_D5 = 0x03; /* Switch from FEI to FBE (FLL bypassed external) enable external clock source */ MCGC2 = MCGC2_ERCLKEN_MASK /* Activate external reference clock */ | MCGC2_EREFS_MASK /* Because crystal is being used */ | MCGC2_RANGE_MASK; /* High range */ /* Select clock mode and clear IREFs. */ MCGC1 = (0x02 << 6 ) /* CLKS = 10 -> external reference clock. */ | (0x04 << 3 ) /* RDIV = 2^4 -> 25MHz/16 = 1.5625 MHz */ | MCGC1_IRCLKEN_MASK; /* IRCLK to RTC enabled */ /* Wait for Reference and Clock status bits to update. */ while( MCGSC_IREFST | ( MCGSC_CLKST != 0x02 ) ) { /* Nothing to do here. */ } /* Switch from FBE to PBE (PLL bypassed internal) mode. */ MCGC3 = 0x08 /* Set PLL multi 50MHz. */ | MCGC3_PLLS_MASK; /* Select PLL. */ /* Wait for PLL status and lock bits to update. */ while( !MCGSC_PLLST | !MCGSC_LOCK ) { /* Nothing to do here. */ } /* Now in PBE Mode, finally switch from PBE to PEE (PLL enabled external mode). */ MCGC1_CLKS = 0b00; /* PLL clock to system (MCGOUT) */ /* Wait for the clock status bits to update. */ while( MCGSC_CLKST != 0x03 ) { /* Nothing to do here. */ } /* Setup the IO for the LED outputs. */ 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 ) { /* Just to remove compiler warnings. */ ( void ) pvParameters; /* 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 #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 a6, d0 \n\t" " cmpi.l #15, d0 \n\t" " bne reg_test_1_error \n\t" " move ulRegTest1Counter, d0 \n\t" " addq #1, d0 \n\t" " move 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 ) { /* Just to remove compiler warnings. */ ( void ) pvParameters; /* 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 #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 a6, d0 \n\t" " cmpi.l #150, d0 \n\t" " bne reg_test_2_error \n\t" " move ulRegTest1Counter, d0 \n\t" " addq #1, d0 \n\t" " move d0, ulRegTest2Counter \n\t" " bra reg_test_2_start \n\t" "reg_test_2_error: \n\t" " bra reg_test_2_error \n\t" ); } /*-----------------------------------------------------------*/
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