git.sur5r.net Git - freertos/blob - Demo/ColdFire_MCF5282_Eclipse/RTOSDemo/main.c

   1 /*\r
   2         FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.\r
   3 \r
   4         This file is part of the FreeRTOS distribution.\r
   5 \r
   6         FreeRTOS is free software; you can redistribute it and/or modify it     under \r
   7         the terms of the GNU General Public License (version 2) as published by the \r
   8         Free Software Foundation and modified by the FreeRTOS exception.\r
   9         **NOTE** The exception to the GPL is included to allow you to distribute a\r
  10         combined work that includes FreeRTOS without being obliged to provide the \r
  11         source code for proprietary components outside of the FreeRTOS kernel.  \r
  12         Alternative commercial license and support terms are also available upon \r
  13         request.  See the licensing section of http://www.FreeRTOS.org for full \r
  14         license details.\r
  15 \r
  16         FreeRTOS is distributed in the hope that it will be useful,     but WITHOUT\r
  17         ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or\r
  18         FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for\r
  19         more details.\r
  20 \r
  21         You should have received a copy of the GNU General Public License along\r
  22         with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59\r
  23         Temple Place, Suite 330, Boston, MA  02111-1307  USA.\r
  24 \r
  25 \r
  26         ***************************************************************************\r
  27         *                                                                         *\r
  28         * Looking for a quick start?  Then check out the FreeRTOS eBook!          *\r
  29         * See http://www.FreeRTOS.org/Documentation for details                   *\r
  30         *                                                                         *\r
  31         ***************************************************************************\r
  32 \r
  33         1 tab == 4 spaces!\r
  34 \r
  35         Please ensure to read the configuration and relevant port sections of the\r
  36         online documentation.\r
  37 \r
  38         http://www.FreeRTOS.org - Documentation, latest information, license and\r
  39         contact details.\r
  40 \r
  41         http://www.SafeRTOS.com - A version that is certified for use in safety\r
  42         critical systems.\r
  43 \r
  44         http://www.OpenRTOS.com - Commercial support, development, porting,\r
  45         licensing and training services.\r
  46 */\r
  47 \r
  48 \r
  49 /*\r
  50  * Creates all the demo application tasks, then starts the scheduler.  The WEB\r
  51  * documentation provides more details of the standard demo application tasks.\r
  52  * In addition to the standard demo tasks, the following tasks and tests are\r
  53  * defined and/or created within this file:\r
  54  *\r
  55  * "Check" task -  This only executes every five seconds but has a high priority\r
  56  * to ensure it gets processor time.  Its main function is to check that all the\r
  57  * standard demo tasks are still operational.  While no errors have been\r
  58  * discovered the check task will toggle an LED every 5 seconds - the toggle\r
  59  * rate increasing to 500ms being a visual indication that at least one task has\r
  60  * reported unexpected behaviour.\r
  61  *\r
  62  * "Reg test" tasks - These fill the registers with known values, then check\r
  63  * that each register still contains its expected value.  Each task uses\r
  64  * different values.  The tasks run with very low priority so get preempted very\r
  65  * frequently.  A register containing an unexpected value is indicative of an\r
  66  * error in the context switching mechanism.\r
  67  *\r
  68  */\r
  69 \r
  70 /* Standard includes. */\r
  71 #include <stdio.h>\r
  72 \r
  73 /* Scheduler includes. */\r
  74 #include "FreeRTOS.h"\r
  75 #include "task.h"\r
  76 #include "queue.h"\r
  77 #include "semphr.h"\r
  78 \r
  79 /* Demo app includes. */\r
  80 #include "BlockQ.h"\r
  81 #include "death.h"\r
  82 #include "integer.h"\r
  83 #include "flash.h"\r
  84 #include "partest.h"\r
  85 #include "semtest.h"\r
  86 #include "PollQ.h"\r
  87 #include "GenQTest.h"\r
  88 #include "QPeek.h"\r
  89 #include "recmutex.h"\r
  90 #include "IntQueue.h"\r
  91 #include "comtest2.h"\r
  92 \r
  93 /*-----------------------------------------------------------*/\r
  94 \r
  95 /* The time between cycles of the 'check' functionality - as described at the\r
  96 top of this file. */\r
  97 #define mainNO_ERROR_PERIOD                                     ( ( portTickType ) 5000 / portTICK_RATE_MS )\r
  98 \r
  99 /* The rate at which the LED controlled by the 'check' task will flash should an\r
 100 error have been detected. */\r
 101 #define mainERROR_PERIOD                                        ( ( portTickType ) 500 / portTICK_RATE_MS )\r
 102 \r
 103 /* The LED controlled by the 'check' task. */\r
 104 #define mainCHECK_LED                                           ( 3 )\r
 105 \r
 106 /* ComTest constants - there is no free LED for the comtest tasks. */\r
 107 #define mainCOM_TEST_BAUD_RATE                          ( ( unsigned portLONG ) 19200 )\r
 108 #define mainCOM_TEST_LED                                        ( 5 )\r
 109 \r
 110 /* Task priorities. */\r
 111 #define mainCOM_TEST_PRIORITY                           ( tskIDLE_PRIORITY + 2 )\r
 112 #define mainQUEUE_POLL_PRIORITY                         ( tskIDLE_PRIORITY + 2 )\r
 113 #define mainCHECK_TASK_PRIORITY                         ( tskIDLE_PRIORITY + 3 )\r
 114 #define mainSEM_TEST_PRIORITY                           ( tskIDLE_PRIORITY + 1 )\r
 115 #define mainBLOCK_Q_PRIORITY                            ( tskIDLE_PRIORITY + 2 )\r
 116 #define mainCREATOR_TASK_PRIORITY           ( tskIDLE_PRIORITY + 2 )\r
 117 #define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )\r
 118 #define mainGEN_QUEUE_TASK_PRIORITY                     ( tskIDLE_PRIORITY )\r
 119 \r
 120 /*\r
 121  * Configure the hardware for the demo.\r
 122  */\r
 123 static void prvSetupHardware( void );\r
 124 \r
 125 /*\r
 126  * Implements the 'check' task functionality as described at the top of this\r
 127  * file.\r
 128  */\r
 129 static void prvCheckTask( void *pvParameters );\r
 130 \r
 131 /*\r
 132  * Implement the 'Reg test' functionality as described at the top of this file.\r
 133  */\r
 134 static void vRegTest1Task( void *pvParameters );\r
 135 static void vRegTest2Task( void *pvParameters );\r
 136 \r
 137 /*-----------------------------------------------------------*/\r
 138 \r
 139 /* Counters used to detect errors within the reg test tasks. */\r
 140 static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;\r
 141 \r
 142 /*-----------------------------------------------------------*/\r
 143 \r
 144 int main( void )\r
 145 {\r
 146         /* Setup the hardware ready for this demo. */\r
 147         prvSetupHardware();\r
 148 \r
 149         /* Start the standard demo tasks. */\r
 150         vStartLEDFlashTasks( tskIDLE_PRIORITY );\r
 151         vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );\r
 152         vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );\r
 153         vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );\r
 154         vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );\r
 155         vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );\r
 156         vStartQueuePeekTasks();\r
 157         vStartRecursiveMutexTasks();\r
 158         vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );\r
 159         vStartInterruptQueueTasks();\r
 160 \r
 161         /* Start the reg test tasks - defined in this file. */\r
 162         xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );\r
 163         xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );\r
 164 \r
 165         /* Create the check task. */\r
 166         xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );\r
 167 \r
 168         /* The suicide tasks must be created last as they need to know how many\r
 169         tasks were running prior to their creation in order to ascertain whether\r
 170         or not the correct/expected number of tasks are running at any given time. */\r
 171     vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );\r
 172 \r
 173         /* Start the scheduler. */\r
 174         vTaskStartScheduler();\r
 175 \r
 176     /* Will only get here if there was insufficient memory to create the idle\r
 177     task. */\r
 178         for( ;; );\r
 179 }\r
 180 /*-----------------------------------------------------------*/\r
 181 \r
 182 static void prvCheckTask( void *pvParameters )\r
 183 {\r
 184 unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;\r
 185 portTickType xLastExecutionTime;\r
 186 \r
 187         ( void ) pvParameters;\r
 188 \r
 189         /* Initialise the variable used to control our iteration rate prior to\r
 190         its first use. */\r
 191         xLastExecutionTime = xTaskGetTickCount();\r
 192 \r
 193         for( ;; )\r
 194         {\r
 195                 /* Wait until it is time to run the tests again. */\r
 196                 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );\r
 197 \r
 198                 /* Has an error been found in any task? */\r
 199                 if( xAreGenericQueueTasksStillRunning() != pdTRUE )\r
 200                 {\r
 201                         ulError |= 0x01UL;\r
 202                 }\r
 203 \r
 204                 if( xAreQueuePeekTasksStillRunning() != pdTRUE )\r
 205                 {\r
 206                         ulError |= 0x02UL;\r
 207                 }\r
 208 \r
 209                 if( xAreBlockingQueuesStillRunning() != pdTRUE )\r
 210                 {\r
 211                         ulError |= 0x04UL;\r
 212                 }\r
 213 \r
 214                 if( xAreSemaphoreTasksStillRunning() != pdTRUE )\r
 215             {\r
 216                 ulError |= 0x20UL;\r
 217             }\r
 218 \r
 219                 if( xArePollingQueuesStillRunning() != pdTRUE )\r
 220             {\r
 221                 ulError |= 0x40UL;\r
 222             }\r
 223 \r
 224                 if( xIsCreateTaskStillRunning() != pdTRUE )\r
 225             {\r
 226                 ulError |= 0x80UL;\r
 227             }\r
 228 \r
 229                 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )\r
 230             {\r
 231                 ulError |= 0x100UL;\r
 232             }\r
 233 \r
 234                 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )\r
 235             {\r
 236                 ulError |= 0x200UL;\r
 237             }\r
 238 \r
 239                 if( xAreComTestTasksStillRunning() != pdTRUE )\r
 240                 {\r
 241                 ulError |= 0x400UL;\r
 242                 }\r
 243 \r
 244                 if( xAreIntQueueTasksStillRunning() != pdTRUE )\r
 245             {\r
 246                 ulError |= 0x800UL;\r
 247             }\r
 248 \r
 249                 if( ulLastRegTest1Count == ulRegTest1Counter )\r
 250                 {\r
 251                         ulError |= 0x1000UL;\r
 252                 }\r
 253 \r
 254                 if( ulLastRegTest2Count == ulRegTest2Counter )\r
 255                 {\r
 256                         ulError |= 0x1000UL;\r
 257                 }\r
 258 \r
 259                 ulLastRegTest1Count = ulRegTest1Counter;\r
 260                 ulLastRegTest2Count = ulRegTest2Counter;\r
 261 \r
 262                 /* If an error has been found then increase our cycle rate, and in so\r
 263                 going increase the rate at which the check task LED toggles. */\r
 264                 if( ulError != 0 )\r
 265                 {\r
 266                 ulTicksToWait = mainERROR_PERIOD;\r
 267                 }\r
 268 \r
 269                 /* Toggle the LED each itteration. */\r
 270                 vParTestToggleLED( mainCHECK_LED );\r
 271         }\r
 272 }\r
 273 /*-----------------------------------------------------------*/\r
 274 \r
 275 void prvSetupHardware( void )\r
 276 {\r
 277 extern void mcf5xxx_wr_cacr( unsigned portLONG );\r
 278 \r
 279         portDISABLE_INTERRUPTS();\r
 280 \r
 281         /* Enable the cache. */\r
 282         mcf5xxx_wr_cacr( MCF5XXX_CACR_CENB | MCF5XXX_CACR_CINV | MCF5XXX_CACR_DISD | MCF5XXX_CACR_CEIB | MCF5XXX_CACR_CLNF_00 );\r
 283         asm volatile( "NOP" ); /* As per errata. */\r
 284 \r
 285         /* Multiply 8Mhz reference crystal by 8 to achieve system clock of 64Mhz. */\r
 286         MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD( 2 );\r
 287 \r
 288         /* Wait for PLL to lock. */\r
 289         while( !( MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK ) )\r
 290         {\r
 291                 __asm__ volatile ( "NOP" );\r
 292         }\r
 293 \r
 294         /* Setup the port used to toggle LEDs. */\r
 295         vParTestInitialise();\r
 296 }\r
 297 /*-----------------------------------------------------------*/\r
 298 \r
 299 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )\r
 300 {\r
 301         /* This will get called if a stack overflow is detected during the context\r
 302         switch.  Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack\r
 303         problems within nested interrupts, but only do this for debug purposes as\r
 304         it will increase the context switch time. */\r
 305 \r
 306         ( void ) pxTask;\r
 307         ( void ) pcTaskName;\r
 308 \r
 309         for( ;; );\r
 310 }\r
 311 /*-----------------------------------------------------------*/\r
 312 \r
 313 static void vRegTest1Task( void *pvParameters )\r
 314 {\r
 315         /* Sanity check - did we receive the parameter expected? */\r
 316         if( pvParameters != &ulRegTest1Counter )\r
 317         {\r
 318                 /* Change here so the check task can detect that an error occurred. */\r
 319                 for( ;; );\r
 320         }\r
 321 \r
 322         /* Set all the registers to known values, then check that each retains its\r
 323         expected value - as described at the top of this file.  If an error is\r
 324         found then the loop counter will no longer be incremented allowing the check\r
 325         task to recognise the error. */\r
 326         asm volatile    (       "reg_test_1_start:                                              \n\t"\r
 327                                                 "       moveq           #1, %d0                                 \n\t"\r
 328                                                 "       moveq           #2, %d1                                 \n\t"\r
 329                                                 "       moveq           #3, %d2                                 \n\t"\r
 330                                                 "       moveq           #4, %d3                                 \n\t"\r
 331                                                 "       moveq           #5, %d4                                 \n\t"\r
 332                                                 "       moveq           #6, %d5                                 \n\t"\r
 333                                                 "       moveq           #7, %d6                                 \n\t"\r
 334                                                 "       moveq           #8, %d7                                 \n\t"\r
 335                                                 "       move            #9, %a0                                 \n\t"\r
 336                                                 "       move            #10, %a1                                \n\t"\r
 337                                                 "       move            #11, %a2                                \n\t"\r
 338                                                 "       move            #12, %a3                                \n\t"\r
 339                                                 "       move            #13, %a4                                \n\t"\r
 340                                                 "       move            #14, %a5                                \n\t"\r
 341                                                 "       move            #15, %a6                                \n\t"\r
 342                                                 "                                                                               \n\t"\r
 343                                                 "       cmpi.l          #1, %d0                                 \n\t"\r
 344                                                 "       bne                     reg_test_1_error                \n\t"\r
 345                                                 "       cmpi.l          #2, %d1                                 \n\t"\r
 346                                                 "       bne                     reg_test_1_error                \n\t"\r
 347                                                 "       cmpi.l          #3, %d2                                 \n\t"\r
 348                                                 "       bne                     reg_test_1_error                \n\t"\r
 349                                                 "       cmpi.l          #4, %d3                                 \n\t"\r
 350                                                 "       bne                     reg_test_1_error                \n\t"\r
 351                                                 "       cmpi.l          #5, %d4                                 \n\t"\r
 352                                                 "       bne                     reg_test_1_error                \n\t"\r
 353                                                 "       cmpi.l          #6, %d5                                 \n\t"\r
 354                                                 "       bne                     reg_test_1_error                \n\t"\r
 355                                                 "       cmpi.l          #7, %d6                                 \n\t"\r
 356                                                 "       bne                     reg_test_1_error                \n\t"\r
 357                                                 "       cmpi.l          #8, %d7                                 \n\t"\r
 358                                                 "       bne                     reg_test_1_error                \n\t"\r
 359                                                 "       move            %a0, %d0                                \n\t"\r
 360                                                 "       cmpi.l          #9, %d0                                 \n\t"\r
 361                                                 "       bne                     reg_test_1_error                \n\t"\r
 362                                                 "       move            %a1, %d0                                \n\t"\r
 363                                                 "       cmpi.l          #10, %d0                                \n\t"\r
 364                                                 "       bne                     reg_test_1_error                \n\t"\r
 365                                                 "       move            %a2, %d0                                \n\t"\r
 366                                                 "       cmpi.l          #11, %d0                                \n\t"\r
 367                                                 "       bne                     reg_test_1_error                \n\t"\r
 368                                                 "       move            %a3, %d0                                \n\t"\r
 369                                                 "       cmpi.l          #12, %d0                                \n\t"\r
 370                                                 "       bne                     reg_test_1_error                \n\t"\r
 371                                                 "       move            %a4, %d0                                \n\t"\r
 372                                                 "       cmpi.l          #13, %d0                                \n\t"\r
 373                                                 "       bne                     reg_test_1_error                \n\t"\r
 374                                                 "       move            %a5, %d0                                \n\t"\r
 375                                                 "       cmpi.l          #14, %d0                                \n\t"\r
 376                                                 "       bne                     reg_test_1_error                \n\t"\r
 377                                                 "       move            %a6, %d0                                \n\t"\r
 378                                                 "       cmpi.l          #15, %d0                                \n\t"\r
 379                                                 "       bne                     reg_test_1_error                \n\t"\r
 380                                                 "       movel           ulRegTest1Counter, %d0  \n\t"\r
 381                                                 "       addql           #1, %d0                                 \n\t"\r
 382                                                 "       movel           %d0, ulRegTest1Counter  \n\t"\r
 383                                                 "       bra                     reg_test_1_start                \n\t"\r
 384                                                 "reg_test_1_error:                                              \n\t"\r
 385                                                 "       bra                     reg_test_1_error                \n\t"\r
 386                                         );\r
 387 }\r
 388 /*-----------------------------------------------------------*/\r
 389 \r
 390 static void vRegTest2Task( void *pvParameters )\r
 391 {\r
 392         /* Sanity check - did we receive the parameter expected? */\r
 393         if( pvParameters != &ulRegTest2Counter )\r
 394         {\r
 395                 /* Change here so the check task can detect that an error occurred. */\r
 396                 for( ;; );\r
 397         }\r
 398 \r
 399         /* Set all the registers to known values, then check that each retains its\r
 400         expected value - as described at the top of this file.  If an error is\r
 401         found then the loop counter will no longer be incremented allowing the check\r
 402         task to recognise the error. */\r
 403         asm volatile    (       "reg_test_2_start:                                              \n\t"\r
 404                                                 "       moveq           #10, %d0                                \n\t"\r
 405                                                 "       moveq           #20, %d1                                \n\t"\r
 406                                                 "       moveq           #30, %d2                                \n\t"\r
 407                                                 "       moveq           #40, %d3                                \n\t"\r
 408                                                 "       moveq           #50, %d4                                \n\t"\r
 409                                                 "       moveq           #60, %d5                                \n\t"\r
 410                                                 "       moveq           #70, %d6                                \n\t"\r
 411                                                 "       moveq           #80, %d7                                \n\t"\r
 412                                                 "       move            #90, %a0                                \n\t"\r
 413                                                 "       move            #100, %a1                               \n\t"\r
 414                                                 "       move            #110, %a2                               \n\t"\r
 415                                                 "       move            #120, %a3                               \n\t"\r
 416                                                 "       move            #130, %a4                               \n\t"\r
 417                                                 "       move            #140, %a5                               \n\t"\r
 418                                                 "       move            #150, %a6                               \n\t"\r
 419                                                 "                                                                               \n\t"\r
 420                                                 "       cmpi.l          #10, %d0                                \n\t"\r
 421                                                 "       bne                     reg_test_2_error                \n\t"\r
 422                                                 "       cmpi.l          #20, %d1                                \n\t"\r
 423                                                 "       bne                     reg_test_2_error                \n\t"\r
 424                                                 "       cmpi.l          #30, %d2                                \n\t"\r
 425                                                 "       bne                     reg_test_2_error                \n\t"\r
 426                                                 "       cmpi.l          #40, %d3                                \n\t"\r
 427                                                 "       bne                     reg_test_2_error                \n\t"\r
 428                                                 "       cmpi.l          #50, %d4                                \n\t"\r
 429                                                 "       bne                     reg_test_2_error                \n\t"\r
 430                                                 "       cmpi.l          #60, %d5                                \n\t"\r
 431                                                 "       bne                     reg_test_2_error                \n\t"\r
 432                                                 "       cmpi.l          #70, %d6                                \n\t"\r
 433                                                 "       bne                     reg_test_2_error                \n\t"\r
 434                                                 "       cmpi.l          #80, %d7                                \n\t"\r
 435                                                 "       bne                     reg_test_2_error                \n\t"\r
 436                                                 "       move            %a0, %d0                                \n\t"\r
 437                                                 "       cmpi.l          #90, %d0                                \n\t"\r
 438                                                 "       bne                     reg_test_2_error                \n\t"\r
 439                                                 "       move            %a1, %d0                                \n\t"\r
 440                                                 "       cmpi.l          #100, %d0                               \n\t"\r
 441                                                 "       bne                     reg_test_2_error                \n\t"\r
 442                                                 "       move            %a2, %d0                                \n\t"\r
 443                                                 "       cmpi.l          #110, %d0                               \n\t"\r
 444                                                 "       bne                     reg_test_2_error                \n\t"\r
 445                                                 "       move            %a3, %d0                                \n\t"\r
 446                                                 "       cmpi.l          #120, %d0                               \n\t"\r
 447                                                 "       bne                     reg_test_2_error                \n\t"\r
 448                                                 "       move            %a4, %d0                                \n\t"\r
 449                                                 "       cmpi.l          #130, %d0                               \n\t"\r
 450                                                 "       bne                     reg_test_2_error                \n\t"\r
 451                                                 "       move            %a5, %d0                                \n\t"\r
 452                                                 "       cmpi.l          #140, %d0                               \n\t"\r
 453                                                 "       bne                     reg_test_2_error                \n\t"\r
 454                                                 "       move            %a6, %d0                                \n\t"\r
 455                                                 "       cmpi.l          #150, %d0                               \n\t"\r
 456                                                 "       bne                     reg_test_2_error                \n\t"\r
 457                                                 "       movel           ulRegTest1Counter, %d0  \n\t"\r
 458                                                 "       addql           #1, %d0                                 \n\t"\r
 459                                                 "       movel           %d0, ulRegTest2Counter  \n\t"\r
 460                                                 "       bra                     reg_test_2_start                \n\t"\r
 461                                                 "reg_test_2_error:                                              \n\t"\r
 462                                                 "       bra                     reg_test_2_error                \n\t"\r
 463                                         );\r
 464 }\r
 465 /*-----------------------------------------------------------*/\r
 466 \r