2 FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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56 * Creates all the demo application tasks, then starts the scheduler. The WEB
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57 * documentation provides more details of the standard demo application tasks.
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58 * In addition to the standard demo tasks, the following tasks and tests are
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59 * defined and/or created within this file:
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61 * "Check" task - This only executes every five seconds but has a high priority
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62 * to ensure it gets processor time. Its main function is to check that all the
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63 * standard demo tasks are still operational. While no errors have been
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64 * discovered the check task will toggle an LED every 5 seconds - the toggle
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65 * rate increasing to 500ms being a visual indication that at least one task has
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66 * reported unexpected behaviour.
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68 * "Reg test" tasks - These fill the registers with known values, then check
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69 * that each register still contains its expected value. Each task uses
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70 * different values. The tasks run with very low priority so get preempted very
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71 * frequently. A register containing an unexpected value is indicative of an
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72 * error in the context switching mechanism.
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76 /* Standard includes. */
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79 /* Scheduler includes. */
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80 #include "FreeRTOS.h"
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85 /* Demo app includes. */
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88 #include "integer.h"
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90 #include "partest.h"
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91 #include "semtest.h"
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93 #include "GenQTest.h"
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95 #include "recmutex.h"
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96 #include "IntQueue.h"
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97 #include "comtest2.h"
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99 /*-----------------------------------------------------------*/
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101 /* The time between cycles of the 'check' functionality - as described at the
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102 top of this file. */
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103 #define mainNO_ERROR_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
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105 /* The rate at which the LED controlled by the 'check' task will flash should an
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106 error have been detected. */
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107 #define mainERROR_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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109 /* The LED controlled by the 'check' task. */
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110 #define mainCHECK_LED ( 3 )
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112 /* ComTest constants - there is no free LED for the comtest tasks. */
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113 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
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114 #define mainCOM_TEST_LED ( 5 )
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116 /* Task priorities. */
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117 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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118 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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119 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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120 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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121 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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122 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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123 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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124 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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127 * Configure the hardware for the demo.
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129 static void prvSetupHardware( void );
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132 * Implements the 'check' task functionality as described at the top of this
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135 static void prvCheckTask( void *pvParameters );
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138 * Implement the 'Reg test' functionality as described at the top of this file.
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140 static void vRegTest1Task( void *pvParameters );
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141 static void vRegTest2Task( void *pvParameters );
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143 /*-----------------------------------------------------------*/
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145 /* Counters used to detect errors within the reg test tasks. */
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146 static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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148 /*-----------------------------------------------------------*/
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152 /* Setup the hardware ready for this demo. */
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153 prvSetupHardware();
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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 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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159 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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160 vStartIntegerMathTasks( mainINTEGER_TASK_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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164 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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165 vStartInterruptQueueTasks();
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167 /* Start the reg test tasks - defined in this file. */
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168 xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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169 xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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171 /* Create the check task. */
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172 xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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174 /* The suicide tasks must be created last as they need to know how many
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175 tasks were running prior to their creation in order to ascertain whether
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176 or not the correct/expected number of tasks are running at any given time. */
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177 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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179 /* Start the scheduler. */
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180 vTaskStartScheduler();
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182 /* Will only get here if there was insufficient memory to create the idle
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186 /*-----------------------------------------------------------*/
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188 static void prvCheckTask( void *pvParameters )
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190 unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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191 portTickType xLastExecutionTime;
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193 ( void ) pvParameters;
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195 /* Initialise the variable used to control our iteration rate prior to
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197 xLastExecutionTime = xTaskGetTickCount();
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201 /* Wait until it is time to run the tests again. */
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202 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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204 /* Has an error been found in any task? */
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205 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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210 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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215 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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220 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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225 if( xArePollingQueuesStillRunning() != pdTRUE )
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230 if( xIsCreateTaskStillRunning() != pdTRUE )
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235 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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237 ulError |= 0x100UL;
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240 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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242 ulError |= 0x200UL;
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245 if( xAreComTestTasksStillRunning() != pdTRUE )
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247 ulError |= 0x400UL;
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250 if( xAreIntQueueTasksStillRunning() != pdTRUE )
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252 ulError |= 0x800UL;
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255 if( ulLastRegTest1Count == ulRegTest1Counter )
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257 ulError |= 0x1000UL;
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260 if( ulLastRegTest2Count == ulRegTest2Counter )
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262 ulError |= 0x1000UL;
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265 ulLastRegTest1Count = ulRegTest1Counter;
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266 ulLastRegTest2Count = ulRegTest2Counter;
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268 /* If an error has been found then increase our cycle rate, and in so
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269 going increase the rate at which the check task LED toggles. */
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272 ulTicksToWait = mainERROR_PERIOD;
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275 /* Toggle the LED each itteration. */
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276 vParTestToggleLED( mainCHECK_LED );
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279 /*-----------------------------------------------------------*/
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281 void prvSetupHardware( void )
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283 extern void mcf5xxx_wr_cacr( unsigned portLONG );
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285 portDISABLE_INTERRUPTS();
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287 /* Enable the cache. */
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288 mcf5xxx_wr_cacr( MCF5XXX_CACR_CENB | MCF5XXX_CACR_CINV | MCF5XXX_CACR_DISD | MCF5XXX_CACR_CEIB | MCF5XXX_CACR_CLNF_00 );
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289 asm volatile( "NOP" ); /* As per errata. */
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291 /* Multiply 8Mhz reference crystal by 8 to achieve system clock of 64Mhz. */
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292 MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD( 2 );
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294 /* Wait for PLL to lock. */
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295 while( !( MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK ) )
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297 __asm__ volatile ( "NOP" );
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300 /* Setup the port used to toggle LEDs. */
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301 vParTestInitialise();
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303 /*-----------------------------------------------------------*/
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305 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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307 /* This will get called if a stack overflow is detected during the context
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308 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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309 problems within nested interrupts, but only do this for debug purposes as
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310 it will increase the context switch time. */
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313 ( void ) pcTaskName;
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317 /*-----------------------------------------------------------*/
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319 static void vRegTest1Task( void *pvParameters )
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321 /* Sanity check - did we receive the parameter expected? */
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322 if( pvParameters != &ulRegTest1Counter )
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324 /* Change here so the check task can detect that an error occurred. */
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328 /* Set all the registers to known values, then check that each retains its
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329 expected value - as described at the top of this file. If an error is
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330 found then the loop counter will no longer be incremented allowing the check
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331 task to recognise the error. */
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332 asm volatile ( "reg_test_1_start: \n\t"
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333 " moveq #1, %d0 \n\t"
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334 " moveq #2, %d1 \n\t"
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335 " moveq #3, %d2 \n\t"
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336 " moveq #4, %d3 \n\t"
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337 " moveq #5, %d4 \n\t"
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338 " moveq #6, %d5 \n\t"
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339 " moveq #7, %d6 \n\t"
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340 " moveq #8, %d7 \n\t"
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341 " move #9, %a0 \n\t"
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342 " move #10, %a1 \n\t"
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343 " move #11, %a2 \n\t"
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344 " move #12, %a3 \n\t"
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345 " move #13, %a4 \n\t"
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346 " move #14, %a5 \n\t"
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347 " move #15, %a6 \n\t"
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349 " cmpi.l #1, %d0 \n\t"
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350 " bne reg_test_1_error \n\t"
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351 " cmpi.l #2, %d1 \n\t"
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352 " bne reg_test_1_error \n\t"
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353 " cmpi.l #3, %d2 \n\t"
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354 " bne reg_test_1_error \n\t"
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355 " cmpi.l #4, %d3 \n\t"
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356 " bne reg_test_1_error \n\t"
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357 " cmpi.l #5, %d4 \n\t"
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358 " bne reg_test_1_error \n\t"
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359 " cmpi.l #6, %d5 \n\t"
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360 " bne reg_test_1_error \n\t"
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361 " cmpi.l #7, %d6 \n\t"
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362 " bne reg_test_1_error \n\t"
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363 " cmpi.l #8, %d7 \n\t"
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364 " bne reg_test_1_error \n\t"
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365 " move %a0, %d0 \n\t"
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366 " cmpi.l #9, %d0 \n\t"
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367 " bne reg_test_1_error \n\t"
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368 " move %a1, %d0 \n\t"
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369 " cmpi.l #10, %d0 \n\t"
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370 " bne reg_test_1_error \n\t"
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371 " move %a2, %d0 \n\t"
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372 " cmpi.l #11, %d0 \n\t"
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373 " bne reg_test_1_error \n\t"
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374 " move %a3, %d0 \n\t"
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375 " cmpi.l #12, %d0 \n\t"
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376 " bne reg_test_1_error \n\t"
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377 " move %a4, %d0 \n\t"
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378 " cmpi.l #13, %d0 \n\t"
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379 " bne reg_test_1_error \n\t"
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380 " move %a5, %d0 \n\t"
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381 " cmpi.l #14, %d0 \n\t"
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382 " bne reg_test_1_error \n\t"
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383 " move %a6, %d0 \n\t"
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384 " cmpi.l #15, %d0 \n\t"
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385 " bne reg_test_1_error \n\t"
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386 " movel ulRegTest1Counter, %d0 \n\t"
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387 " addql #1, %d0 \n\t"
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388 " movel %d0, ulRegTest1Counter \n\t"
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389 " bra reg_test_1_start \n\t"
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390 "reg_test_1_error: \n\t"
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391 " bra reg_test_1_error \n\t"
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394 /*-----------------------------------------------------------*/
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396 static void vRegTest2Task( void *pvParameters )
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398 /* Sanity check - did we receive the parameter expected? */
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399 if( pvParameters != &ulRegTest2Counter )
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401 /* Change here so the check task can detect that an error occurred. */
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405 /* Set all the registers to known values, then check that each retains its
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406 expected value - as described at the top of this file. If an error is
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407 found then the loop counter will no longer be incremented allowing the check
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408 task to recognise the error. */
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409 asm volatile ( "reg_test_2_start: \n\t"
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410 " moveq #10, %d0 \n\t"
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411 " moveq #20, %d1 \n\t"
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412 " moveq #30, %d2 \n\t"
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413 " moveq #40, %d3 \n\t"
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414 " moveq #50, %d4 \n\t"
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415 " moveq #60, %d5 \n\t"
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416 " moveq #70, %d6 \n\t"
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417 " moveq #80, %d7 \n\t"
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418 " move #90, %a0 \n\t"
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419 " move #100, %a1 \n\t"
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420 " move #110, %a2 \n\t"
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421 " move #120, %a3 \n\t"
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422 " move #130, %a4 \n\t"
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423 " move #140, %a5 \n\t"
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424 " move #150, %a6 \n\t"
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426 " cmpi.l #10, %d0 \n\t"
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427 " bne reg_test_2_error \n\t"
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428 " cmpi.l #20, %d1 \n\t"
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429 " bne reg_test_2_error \n\t"
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430 " cmpi.l #30, %d2 \n\t"
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431 " bne reg_test_2_error \n\t"
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432 " cmpi.l #40, %d3 \n\t"
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433 " bne reg_test_2_error \n\t"
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434 " cmpi.l #50, %d4 \n\t"
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435 " bne reg_test_2_error \n\t"
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436 " cmpi.l #60, %d5 \n\t"
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437 " bne reg_test_2_error \n\t"
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438 " cmpi.l #70, %d6 \n\t"
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439 " bne reg_test_2_error \n\t"
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440 " cmpi.l #80, %d7 \n\t"
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441 " bne reg_test_2_error \n\t"
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442 " move %a0, %d0 \n\t"
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443 " cmpi.l #90, %d0 \n\t"
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444 " bne reg_test_2_error \n\t"
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445 " move %a1, %d0 \n\t"
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446 " cmpi.l #100, %d0 \n\t"
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447 " bne reg_test_2_error \n\t"
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448 " move %a2, %d0 \n\t"
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449 " cmpi.l #110, %d0 \n\t"
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450 " bne reg_test_2_error \n\t"
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451 " move %a3, %d0 \n\t"
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452 " cmpi.l #120, %d0 \n\t"
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453 " bne reg_test_2_error \n\t"
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454 " move %a4, %d0 \n\t"
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455 " cmpi.l #130, %d0 \n\t"
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456 " bne reg_test_2_error \n\t"
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457 " move %a5, %d0 \n\t"
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458 " cmpi.l #140, %d0 \n\t"
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459 " bne reg_test_2_error \n\t"
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460 " move %a6, %d0 \n\t"
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461 " cmpi.l #150, %d0 \n\t"
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462 " bne reg_test_2_error \n\t"
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463 " movel ulRegTest1Counter, %d0 \n\t"
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464 " addql #1, %d0 \n\t"
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465 " movel %d0, ulRegTest2Counter \n\t"
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466 " bra reg_test_2_start \n\t"
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467 "reg_test_2_error: \n\t"
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468 " bra reg_test_2_error \n\t"
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471 /*-----------------------------------------------------------*/
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projects / freertos / blob