2 FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
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4 This file is part of the FreeRTOS distribution.
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6 FreeRTOS is free software; you can redistribute it and/or modify it under
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7 the terms of the GNU General Public License (version 2) as published by the
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8 Free Software Foundation and modified by the FreeRTOS exception.
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9 **NOTE** The exception to the GPL is included to allow you to distribute a
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10 combined work that includes FreeRTOS without being obliged to provide the
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11 source code for proprietary components outside of the FreeRTOS kernel.
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12 Alternative commercial license and support terms are also available upon
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13 request. See the licensing section of http://www.FreeRTOS.org for full
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16 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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18 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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21 You should have received a copy of the GNU General Public License along
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22 with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
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23 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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26 ***************************************************************************
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28 * The FreeRTOS eBook and reference manual are available to purchase for a *
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29 * small fee. Help yourself get started quickly while also helping the *
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30 * FreeRTOS project! See http://www.FreeRTOS.org/Documentation for details *
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32 ***************************************************************************
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36 Please ensure to read the configuration and relevant port sections of the
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37 online documentation.
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39 http://www.FreeRTOS.org - Documentation, latest information, license and
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42 http://www.SafeRTOS.com - A version that is certified for use in safety
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45 http://www.OpenRTOS.com - Commercial support, development, porting,
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46 licensing and training services.
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51 * Creates all the demo application tasks, then starts the scheduler. The WEB
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52 * documentation provides more details of the standard demo application tasks.
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53 * In addition to the standard demo tasks, the following tasks and tests are
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54 * defined and/or created within this file:
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56 * "Web server" - Very basic demonstration of the uIP stack. The WEB server
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57 * simply generates a page that shows the current state of all the tasks within
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58 * the system, including the high water mark of each task stack. The high water
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59 * mark is displayed as the amount of stack that has never been used, so the
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60 * closer the value is to zero the closer the task has come to overflowing its
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61 * stack. The IP address and net mask are set within FreeRTOSConfig.h. Sub
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62 * pages display some TCP/IP status information and permit LED3 to be turned on
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63 * and off using a check box.
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65 * Tick hook function that implements a "Check" function - This is executed
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66 * every 5 seconds from the tick hook function. It checks to ensure that all
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67 * the standard demo tasks are still operational and running without error.
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68 * The system status (pass/fail) is then displayed underneith the task table on
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69 * the served WEB pages.
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71 * "Reg test" tasks - These fill the registers with known values, then check
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72 * that each register still contains its expected value. Each task uses
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73 * different values. The tasks run with very low priority so get preempted very
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74 * frequently. A register containing an unexpected value is indicative of an
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75 * error in the context switching mechanism.
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79 /* Standard includes. */
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82 /* Scheduler includes. */
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83 #include "FreeRTOS.h"
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88 /* Demo app includes. */
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92 #include "partest.h"
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93 #include "GenQTest.h"
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95 #include "recmutex.h"
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97 /*-----------------------------------------------------------*/
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99 /* ComTest constants - there is no free LED for the comtest tasks. */
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100 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
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101 #define mainCOM_TEST_LED ( 5 )
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103 /* Task priorities. */
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104 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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105 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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106 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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107 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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108 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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109 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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110 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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111 #define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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113 /* WEB server requires enough stack for the string handling functions. */
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114 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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117 * Configure the hardware for the demo.
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119 static void prvSetupHardware( void );
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122 * Implements the 'check' function as described at the top of this file.
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124 static void prvCheckFunction( void );
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127 * Implement the 'Reg test' functionality as described at the top of this file.
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129 static void vRegTest1Task( void *pvParameters );
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130 static void vRegTest2Task( void *pvParameters );
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133 * The task that handles the uIP stack. All TCP/IP processing is performed in
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136 extern void vuIP_Task( void *pvParameters );
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138 /*-----------------------------------------------------------*/
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140 /* Counters used to detect errors within the reg test tasks. */
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141 static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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143 /* Flag that latches any errors detected in the system. */
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144 unsigned long ulCheckErrors = 0;
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146 /*-----------------------------------------------------------*/
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150 extern void vBasicWEBServer( void *pv );
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152 /* Setup the hardware ready for this demo. */
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153 prvSetupHardware();
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155 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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157 /* Start the standard demo tasks. */
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158 vStartLEDFlashTasks( tskIDLE_PRIORITY );
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159 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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160 vStartQueuePeekTasks();
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161 vStartRecursiveMutexTasks();
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162 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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164 /* Start the reg test tasks - defined in this file. */
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165 xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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166 xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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168 /* Start the scheduler. */
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169 vTaskStartScheduler();
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171 /* Will only get here if there was insufficient memory to create the idle
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177 /*-----------------------------------------------------------*/
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179 void vApplicationTickHook( void )
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181 static unsigned long ulExecutionCount = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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182 const unsigned long ulExecutionRate = 5000 / portTICK_RATE_MS;
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184 /* Increment the count of how many times the tick hook has been called. */
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185 ulExecutionCount++;
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187 /* Is it time to perform the check again? */
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188 if( ulExecutionCount >= ulExecutionRate )
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190 /* Reset the execution count so this function is called again in 5
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192 ulExecutionCount = 0;
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194 /* Has an error been found in any task? */
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195 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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197 ulCheckErrors |= 0x01UL;
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200 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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202 ulCheckErrors |= 0x02UL;
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205 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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207 ulCheckErrors |= 0x04UL;
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210 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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212 ulCheckErrors |= 0x200UL;
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215 if( ulLastRegTest1Count == ulRegTest1Counter )
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217 ulCheckErrors |= 0x1000UL;
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220 if( ulLastRegTest2Count == ulRegTest2Counter )
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222 ulCheckErrors |= 0x1000UL;
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225 ulLastRegTest1Count = ulRegTest1Counter;
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226 ulLastRegTest2Count = ulRegTest2Counter;
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229 /*-----------------------------------------------------------*/
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231 static void prvSetupHardware( void )
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233 /* Disable the watchdog, STOP and WAIT modes. */
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236 /* --- Setup clock to use external 25MHz source. --- */
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238 /* Extal and xtal pin ON. */
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242 /* Switch from FEI to FBE (FLL bypassed external)
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243 enable external clock source */
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244 MCGC2 = MCGC2_ERCLKEN_MASK /* Activate external reference clock */
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245 | MCGC2_EREFS_MASK /* Because crystal is being used */
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246 | MCGC2_RANGE_MASK; /* High range */
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248 /* Select clock mode and clear IREFs. */
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249 MCGC1 = (0x02 << 6 ) /* CLKS = 10 -> external reference clock. */
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250 | (0x04 << 3 ) /* RDIV = 2^4 -> 25MHz/16 = 1.5625 MHz */
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251 | MCGC1_IRCLKEN_MASK; /* IRCLK to RTC enabled */
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253 /* Wait for Reference and Clock status bits to update. */
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254 while( MCGSC_IREFST | ( MCGSC_CLKST != 0x02 ) )
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256 /* Nothing to do here. */
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259 /* Switch from FBE to PBE (PLL bypassed internal) mode. */
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260 MCGC3 = 0x08 /* Set PLL multi 50MHz. */
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261 | MCGC3_PLLS_MASK; /* Select PLL. */
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263 /* Wait for PLL status and lock bits to update. */
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264 while( !MCGSC_PLLST | !MCGSC_LOCK )
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266 /* Nothing to do here. */
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270 /* Now in PBE Mode, finally switch from PBE to PEE (PLL enabled external
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272 MCGC1_CLKS = 0b00; /* PLL clock to system (MCGOUT) */
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274 /* Wait for the clock status bits to update. */
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275 while( MCGSC_CLKST != 0x03 )
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277 /* Nothing to do here. */
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280 /* Setup the IO for the LED outputs. */
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281 vParTestInitialise();
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283 /*-----------------------------------------------------------*/
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285 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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287 /* This will get called if a stack overflow is detected during the context
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288 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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289 problems within nested interrupts, but only do this for debug purposes as
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290 it will increase the context switch time. */
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293 ( void ) pcTaskName;
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299 /*-----------------------------------------------------------*/
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301 static void vRegTest1Task( void *pvParameters )
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303 /* Just to remove compiler warnings. */
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304 ( void ) pvParameters;
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306 /* Set all the registers to known values, then check that each retains its
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307 expected value - as described at the top of this file. If an error is
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308 found then the loop counter will no longer be incremented allowing the check
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309 task to recognise the error. */
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310 asm volatile ( "reg_test_1_start: \n\t"
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311 " moveq #1, d0 \n\t"
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312 " moveq #2, d1 \n\t"
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313 " moveq #3, d2 \n\t"
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314 " moveq #4, d3 \n\t"
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315 " moveq #5, d4 \n\t"
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316 " moveq #6, d5 \n\t"
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317 " moveq #7, d6 \n\t"
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318 " moveq #8, d7 \n\t"
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319 " move #9, a0 \n\t"
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320 " move #10, a1 \n\t"
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321 " move #11, a2 \n\t"
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322 " move #12, a3 \n\t"
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323 " move #13, a4 \n\t"
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324 " move #15, a6 \n\t"
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326 " cmpi.l #1, d0 \n\t"
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327 " bne reg_test_1_error \n\t"
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328 " cmpi.l #2, d1 \n\t"
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329 " bne reg_test_1_error \n\t"
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330 " cmpi.l #3, d2 \n\t"
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331 " bne reg_test_1_error \n\t"
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332 " cmpi.l #4, d3 \n\t"
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333 " bne reg_test_1_error \n\t"
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334 " cmpi.l #5, d4 \n\t"
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335 " bne reg_test_1_error \n\t"
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336 " cmpi.l #6, d5 \n\t"
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337 " bne reg_test_1_error \n\t"
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338 " cmpi.l #7, d6 \n\t"
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339 " bne reg_test_1_error \n\t"
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340 " cmpi.l #8, d7 \n\t"
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341 " bne reg_test_1_error \n\t"
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342 " move a0, d0 \n\t"
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343 " cmpi.l #9, d0 \n\t"
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344 " bne reg_test_1_error \n\t"
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345 " move a1, d0 \n\t"
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346 " cmpi.l #10, d0 \n\t"
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347 " bne reg_test_1_error \n\t"
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348 " move a2, d0 \n\t"
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349 " cmpi.l #11, d0 \n\t"
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350 " bne reg_test_1_error \n\t"
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351 " move a3, d0 \n\t"
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352 " cmpi.l #12, d0 \n\t"
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353 " bne reg_test_1_error \n\t"
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354 " move a4, d0 \n\t"
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355 " cmpi.l #13, d0 \n\t"
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356 " bne reg_test_1_error \n\t"
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357 " move a6, d0 \n\t"
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358 " cmpi.l #15, d0 \n\t"
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359 " bne reg_test_1_error \n\t"
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360 " move ulRegTest1Counter, d0 \n\t"
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361 " addq #1, d0 \n\t"
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362 " move d0, ulRegTest1Counter \n\t"
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363 " bra reg_test_1_start \n\t"
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364 "reg_test_1_error: \n\t"
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365 " bra reg_test_1_error \n\t"
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368 /*-----------------------------------------------------------*/
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370 static void vRegTest2Task( void *pvParameters )
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372 /* Just to remove compiler warnings. */
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373 ( void ) pvParameters;
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375 /* Set all the registers to known values, then check that each retains its
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376 expected value - as described at the top of this file. If an error is
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377 found then the loop counter will no longer be incremented allowing the check
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378 task to recognise the error. */
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379 asm volatile ( "reg_test_2_start: \n\t"
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380 " moveq #10, d0 \n\t"
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381 " moveq #20, d1 \n\t"
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382 " moveq #30, d2 \n\t"
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383 " moveq #40, d3 \n\t"
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384 " moveq #50, d4 \n\t"
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385 " moveq #60, d5 \n\t"
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386 " moveq #70, d6 \n\t"
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387 " moveq #80, d7 \n\t"
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388 " move #90, a0 \n\t"
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389 " move #100, a1 \n\t"
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390 " move #110, a2 \n\t"
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391 " move #120, a3 \n\t"
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392 " move #130, a4 \n\t"
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393 " move #150, a6 \n\t"
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395 " cmpi.l #10, d0 \n\t"
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396 " bne reg_test_2_error \n\t"
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397 " cmpi.l #20, d1 \n\t"
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398 " bne reg_test_2_error \n\t"
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399 " cmpi.l #30, d2 \n\t"
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400 " bne reg_test_2_error \n\t"
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401 " cmpi.l #40, d3 \n\t"
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402 " bne reg_test_2_error \n\t"
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403 " cmpi.l #50, d4 \n\t"
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404 " bne reg_test_2_error \n\t"
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405 " cmpi.l #60, d5 \n\t"
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406 " bne reg_test_2_error \n\t"
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407 " cmpi.l #70, d6 \n\t"
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408 " bne reg_test_2_error \n\t"
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409 " cmpi.l #80, d7 \n\t"
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410 " bne reg_test_2_error \n\t"
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411 " move a0, d0 \n\t"
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412 " cmpi.l #90, d0 \n\t"
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413 " bne reg_test_2_error \n\t"
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414 " move a1, d0 \n\t"
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415 " cmpi.l #100, d0 \n\t"
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416 " bne reg_test_2_error \n\t"
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417 " move a2, d0 \n\t"
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418 " cmpi.l #110, d0 \n\t"
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419 " bne reg_test_2_error \n\t"
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420 " move a3, d0 \n\t"
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421 " cmpi.l #120, d0 \n\t"
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422 " bne reg_test_2_error \n\t"
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423 " move a4, d0 \n\t"
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424 " cmpi.l #130, d0 \n\t"
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425 " bne reg_test_2_error \n\t"
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426 " move a6, d0 \n\t"
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427 " cmpi.l #150, d0 \n\t"
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428 " bne reg_test_2_error \n\t"
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429 " move ulRegTest1Counter, d0 \n\t"
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430 " addq #1, d0 \n\t"
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431 " move d0, ulRegTest2Counter \n\t"
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432 " bra reg_test_2_start \n\t"
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433 "reg_test_2_error: \n\t"
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434 " bra reg_test_2_error \n\t"
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437 /*-----------------------------------------------------------*/
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projects / freertos / blob