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 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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57 * processing is performed in this task. It manages the WEB server functionality.
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59 * "Check" task - This only executes every five seconds but has a high priority
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60 * to ensure it gets processor time. Its main function is to check that all the
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61 * standard demo tasks are still operational. An error found in any task will be
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62 * latched in the ulErrorCode variable for display through the WEB server (the
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63 * error code is displayed at the foot of the table that contains information on
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64 * the state of each task).
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66 * "Reg test" tasks - These fill the registers with known values, then check
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67 * that each register still contains its expected value. Each task uses
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68 * different values. The tasks run with very low priority so get preempted very
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69 * frequently. A register containing an unexpected value is indicative of an
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70 * error in the context switching mechanism.
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74 /* Standard includes. */
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77 /* Scheduler includes. */
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78 #include "FreeRTOS.h"
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83 /* Demo app includes. */
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86 #include "blocktim.h"
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88 #include "partest.h"
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89 #include "semtest.h"
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91 #include "GenQTest.h"
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93 #include "recmutex.h"
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94 #include "IntQueue.h"
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95 #include "comtest2.h"
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97 /*-----------------------------------------------------------*/
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99 /* The time between cycles of the 'check' functionality - as described at the
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100 top of this file. */
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101 #define mainCHECK_TASK_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
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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 mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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110 /* The WEB server task uses more stack than most other tasks because of its
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111 reliance on using sprintf(). */
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112 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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115 * Configure the hardware for the demo.
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117 static void prvSetupHardware( void );
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120 * Implements the 'check' task functionality as described at the top of this
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123 static void prvCheckTask( void *pvParameters );
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126 * The task that implements the WEB server.
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128 extern void vuIP_Task( void *pvParameters );
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131 * Implement the 'Reg test' functionality as described at the top of this file.
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133 static void vRegTest1Task( void *pvParameters );
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134 static void vRegTest2Task( void *pvParameters );
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136 /*-----------------------------------------------------------*/
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138 /* Counters used to detect errors within the reg test tasks. */
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139 static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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141 /* Any errors that the check task finds in any tasks are latched into
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142 ulErrorCode, and then displayed via the WEB server. */
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143 static unsigned portLONG ulErrorCode = 0UL;
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145 /*-----------------------------------------------------------*/
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149 /* Setup the hardware ready for this demo. */
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150 prvSetupHardware();
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152 /* Create the WEB server task. */
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153 xTaskCreate( vuIP_Task, ( signed portCHAR * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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155 /* Start the standard demo tasks. */
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156 vStartLEDFlashTasks( tskIDLE_PRIORITY );
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157 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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158 vCreateBlockTimeTasks();
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159 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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160 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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161 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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162 vStartQueuePeekTasks();
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163 vStartRecursiveMutexTasks();
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165 /* Start the reg test tasks - defined in this file. */
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166 xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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167 xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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169 /* Create the check task. */
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170 xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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172 /* Start the scheduler. */
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173 vTaskStartScheduler();
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175 /* Will only get here if there was insufficient heap to create the idle
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179 /*-----------------------------------------------------------*/
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181 static void prvCheckTask( void *pvParameters )
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183 unsigned ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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184 portTickType xLastExecutionTime;
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186 /* To prevent compiler warnings. */
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187 ( void ) pvParameters;
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189 /* Initialise the variable used to control our iteration rate prior to
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191 xLastExecutionTime = xTaskGetTickCount();
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195 /* Wait until it is time to run the tests again. */
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196 vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_PERIOD );
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198 /* Has an error been found in any task? */
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199 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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201 ulErrorCode |= 0x01UL;
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204 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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206 ulErrorCode |= 0x02UL;
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209 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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211 ulErrorCode |= 0x04UL;
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214 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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216 ulErrorCode |= 0x20UL;
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219 if( xArePollingQueuesStillRunning() != pdTRUE )
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221 ulErrorCode |= 0x40UL;
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224 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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226 ulErrorCode |= 0x80UL;
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229 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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231 ulErrorCode |= 0x100UL;
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234 if( ulLastRegTest1Count == ulRegTest1Counter )
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236 ulErrorCode |= 0x200UL;
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239 if( ulLastRegTest2Count == ulRegTest2Counter )
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241 ulErrorCode |= 0x200UL;
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244 /* Remember the reg test counts so a stall in their values can be
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245 detected next time around. */
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246 ulLastRegTest1Count = ulRegTest1Counter;
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247 ulLastRegTest2Count = ulRegTest2Counter;
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250 /*-----------------------------------------------------------*/
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252 unsigned portLONG ulGetErrorCode( void )
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254 /* Returns the error code for display via the WEB server. */
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255 return ulErrorCode;
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257 /*-----------------------------------------------------------*/
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259 void prvSetupHardware( void )
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261 __attribute__ ((section(".cfmconfig")))
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262 static const unsigned long _cfm[6] = {
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263 0, /* KEY_UPPER 0x00000400 */
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264 0, /* KEY_LOWER 0x00000404 */
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265 0, /* CFMPROT 0x00000408 */
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266 0, /* CFMSACC 0x0000040C */
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267 0, /* CFMDACC 0x00000410 */
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268 0, /* CFMSEC 0x00000414 */
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271 /* Just to stop compiler warnings. */
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274 /* Ensure the watchdog is disabled. */
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277 /* Initialize IPSBAR (0x40000000). */
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279 "move.l #0x40000000,%d0 \n"
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280 "andi.l #0xC0000000,%d0 \n"
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281 "add.l #0x1,%d0 \n"
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282 "move.l %d0,0x40000000 "
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285 /* Initialize FLASHBAR (0x00) */
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287 "move.l #0x00,%d0 \n"
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288 "andi.l #0xFFF80000,%d0 \n"
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289 "add.l #0x41,%d0 \n"
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290 "movec %d0,%FLASHBAR "
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293 portDISABLE_INTERRUPTS();
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296 MCF_SCM_RAMBAR = MCF_SCM_RAMBAR_BA( RAMBAR_ADDRESS ) | MCF_SCM_RAMBAR_BDE;
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298 /* Multiply 25MHz crystal by 12 to get 60MHz clock. */
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299 MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD(4) | MCF_CLOCK_SYNCR_CLKSRC| MCF_CLOCK_SYNCR_PLLMODE | MCF_CLOCK_SYNCR_PLLEN ;
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300 while (!(MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK))
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304 /* Setup the port used to toggle LEDs. */
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305 vParTestInitialise();
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307 /*-----------------------------------------------------------*/
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309 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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311 /* This will get called if a stack overflow is detected during the context
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312 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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313 problems within nested interrupts, but only do this for debug purposes as
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314 it will increase the context switch time. */
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317 ( void ) pcTaskName;
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321 /*-----------------------------------------------------------*/
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323 static void vRegTest1Task( void *pvParameters )
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325 /* Sanity check - did we receive the parameter expected? */
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326 if( pvParameters != &ulRegTest1Counter )
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328 /* Change here so the check task can detect that an error occurred. */
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332 /* Set all the registers to known values, then check that each retains its
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333 expected value - as described at the top of this file. If an error is
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334 found then the loop counter will no longer be incremented allowing the check
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335 task to recognise the error. */
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336 asm volatile ( "reg_test_1_start: \n\t"
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337 " moveq #1, %d0 \n\t"
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338 " moveq #2, %d1 \n\t"
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339 " moveq #3, %d2 \n\t"
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340 " moveq #4, %d3 \n\t"
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341 " moveq #5, %d4 \n\t"
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342 " moveq #6, %d5 \n\t"
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343 " moveq #7, %d6 \n\t"
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344 " moveq #8, %d7 \n\t"
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345 " move #9, %a0 \n\t"
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346 " move #10, %a1 \n\t"
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347 " move #11, %a2 \n\t"
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348 " move #12, %a3 \n\t"
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349 " move #13, %a4 \n\t"
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350 " move #14, %a5 \n\t"
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351 " move #15, %a6 \n\t"
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353 " cmpi.l #1, %d0 \n\t"
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354 " bne reg_test_1_error \n\t"
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355 " cmpi.l #2, %d1 \n\t"
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356 " bne reg_test_1_error \n\t"
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357 " cmpi.l #3, %d2 \n\t"
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358 " bne reg_test_1_error \n\t"
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359 " cmpi.l #4, %d3 \n\t"
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360 " bne reg_test_1_error \n\t"
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361 " cmpi.l #5, %d4 \n\t"
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362 " bne reg_test_1_error \n\t"
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363 " cmpi.l #6, %d5 \n\t"
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364 " bne reg_test_1_error \n\t"
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365 " cmpi.l #7, %d6 \n\t"
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366 " bne reg_test_1_error \n\t"
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367 " cmpi.l #8, %d7 \n\t"
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368 " bne reg_test_1_error \n\t"
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369 " move %a0, %d0 \n\t"
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370 " cmpi.l #9, %d0 \n\t"
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371 " bne reg_test_1_error \n\t"
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372 " move %a1, %d0 \n\t"
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373 " cmpi.l #10, %d0 \n\t"
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374 " bne reg_test_1_error \n\t"
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375 " move %a2, %d0 \n\t"
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376 " cmpi.l #11, %d0 \n\t"
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377 " bne reg_test_1_error \n\t"
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378 " move %a3, %d0 \n\t"
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379 " cmpi.l #12, %d0 \n\t"
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380 " bne reg_test_1_error \n\t"
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381 " move %a4, %d0 \n\t"
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382 " cmpi.l #13, %d0 \n\t"
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383 " bne reg_test_1_error \n\t"
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384 " move %a5, %d0 \n\t"
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385 " cmpi.l #14, %d0 \n\t"
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386 " bne reg_test_1_error \n\t"
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387 " move %a6, %d0 \n\t"
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388 " cmpi.l #15, %d0 \n\t"
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389 " bne reg_test_1_error \n\t"
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390 " movel ulRegTest1Counter, %d0 \n\t"
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391 " addql #1, %d0 \n\t"
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392 " movel %d0, ulRegTest1Counter \n\t"
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393 " bra reg_test_1_start \n\t"
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394 "reg_test_1_error: \n\t"
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395 " bra reg_test_1_error \n\t"
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398 /*-----------------------------------------------------------*/
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400 static void vRegTest2Task( void *pvParameters )
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402 /* Sanity check - did we receive the parameter expected? */
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403 if( pvParameters != &ulRegTest2Counter )
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405 /* Change here so the check task can detect that an error occurred. */
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409 /* Set all the registers to known values, then check that each retains its
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410 expected value - as described at the top of this file. If an error is
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411 found then the loop counter will no longer be incremented allowing the check
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412 task to recognise the error. */
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413 asm volatile ( "reg_test_2_start: \n\t"
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414 " moveq #10, %d0 \n\t"
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415 " moveq #20, %d1 \n\t"
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416 " moveq #30, %d2 \n\t"
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417 " moveq #40, %d3 \n\t"
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418 " moveq #50, %d4 \n\t"
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419 " moveq #60, %d5 \n\t"
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420 " moveq #70, %d6 \n\t"
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421 " moveq #80, %d7 \n\t"
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422 " move #90, %a0 \n\t"
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423 " move #100, %a1 \n\t"
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424 " move #110, %a2 \n\t"
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425 " move #120, %a3 \n\t"
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426 " move #130, %a4 \n\t"
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427 " move #140, %a5 \n\t"
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428 " move #150, %a6 \n\t"
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430 " cmpi.l #10, %d0 \n\t"
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431 " bne reg_test_2_error \n\t"
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432 " cmpi.l #20, %d1 \n\t"
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433 " bne reg_test_2_error \n\t"
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434 " cmpi.l #30, %d2 \n\t"
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435 " bne reg_test_2_error \n\t"
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436 " cmpi.l #40, %d3 \n\t"
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437 " bne reg_test_2_error \n\t"
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438 " cmpi.l #50, %d4 \n\t"
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439 " bne reg_test_2_error \n\t"
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440 " cmpi.l #60, %d5 \n\t"
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441 " bne reg_test_2_error \n\t"
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442 " cmpi.l #70, %d6 \n\t"
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443 " bne reg_test_2_error \n\t"
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444 " cmpi.l #80, %d7 \n\t"
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445 " bne reg_test_2_error \n\t"
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446 " move %a0, %d0 \n\t"
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447 " cmpi.l #90, %d0 \n\t"
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448 " bne reg_test_2_error \n\t"
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449 " move %a1, %d0 \n\t"
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450 " cmpi.l #100, %d0 \n\t"
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451 " bne reg_test_2_error \n\t"
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452 " move %a2, %d0 \n\t"
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453 " cmpi.l #110, %d0 \n\t"
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454 " bne reg_test_2_error \n\t"
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455 " move %a3, %d0 \n\t"
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456 " cmpi.l #120, %d0 \n\t"
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457 " bne reg_test_2_error \n\t"
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458 " move %a4, %d0 \n\t"
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459 " cmpi.l #130, %d0 \n\t"
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460 " bne reg_test_2_error \n\t"
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461 " move %a5, %d0 \n\t"
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462 " cmpi.l #140, %d0 \n\t"
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463 " bne reg_test_2_error \n\t"
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464 " move %a6, %d0 \n\t"
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465 " cmpi.l #150, %d0 \n\t"
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466 " bne reg_test_2_error \n\t"
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467 " movel ulRegTest1Counter, %d0 \n\t"
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468 " addql #1, %d0 \n\t"
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469 " movel %d0, ulRegTest2Counter \n\t"
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470 " bra reg_test_2_start \n\t"
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471 "reg_test_2_error: \n\t"
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472 " bra reg_test_2_error \n\t"
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475 /*-----------------------------------------------------------*/
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projects / freertos / blob