git.sur5r.net Git - freertos/blob - FreeRTOS/Demo/ColdFire_MCF52221_CodeWarrior/sources/main.c

   1 /*\r
   2  * FreeRTOS Kernel V10.0.0\r
   3  * Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.\r
   4  *\r
   5  * Permission is hereby granted, free of charge, to any person obtaining a copy of\r
   6  * this software and associated documentation files (the "Software"), to deal in\r
   7  * the Software without restriction, including without limitation the rights to\r
   8  * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of\r
   9  * the Software, and to permit persons to whom the Software is furnished to do so,\r
  10  * subject to the following conditions:\r
  11  *\r
  12  * The above copyright notice and this permission notice shall be included in all\r
  13  * copies or substantial portions of the Software. If you wish to use our Amazon\r
  14  * FreeRTOS name, please do so in a fair use way that does not cause confusion.\r
  15  *\r
  16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\r
  17  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS\r
  18  * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR\r
  19  * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER\r
  20  * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN\r
  21  * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.\r
  22  *\r
  23  * http://www.FreeRTOS.org\r
  24  * http://aws.amazon.com/freertos\r
  25  *\r
  26  * 1 tab == 4 spaces!\r
  27  */\r
  28 \r
  29 \r
  30 /*\r
  31  * Creates all the demo application tasks, then starts the scheduler.  The WEB\r
  32  * documentation provides more details of the standard demo application tasks.\r
  33  * In addition to the standard demo tasks, the following tasks and tests are\r
  34  * defined and/or created within this file:\r
  35  *\r
  36  * "Check" task -  This only executes every five seconds but has a high priority\r
  37  * to ensure it gets processor time.  Its main function is to check that all the\r
  38  * standard demo tasks are still operational.  While no errors have been\r
  39  * discovered the check task will toggle an LED every 5 seconds - the toggle\r
  40  * rate increasing to 500ms being a visual indication that at least one task has\r
  41  * reported unexpected behaviour.\r
  42  *\r
  43  * "Reg test" tasks - These fill the registers with known values, then check\r
  44  * that each register still contains its expected value.  Each task uses\r
  45  * different values.  The tasks run with very low priority so get preempted very\r
  46  * frequently.  A register containing an unexpected value is indicative of an\r
  47  * error in the context switching mechanism.\r
  48  *\r
  49  */\r
  50 \r
  51 /* Standard includes. */\r
  52 #include <stdio.h>\r
  53 \r
  54 /* Scheduler includes. */\r
  55 #include "FreeRTOS.h"\r
  56 #include "task.h"\r
  57 #include "queue.h"\r
  58 #include "semphr.h"\r
  59 \r
  60 /* Demo app includes. */\r
  61 #include "BlockQ.h"\r
  62 #include "crflash.h"\r
  63 #include "partest.h"\r
  64 #include "semtest.h"\r
  65 #include "GenQTest.h"\r
  66 #include "QPeek.h"\r
  67 #include "comtest2.h"\r
  68 \r
  69 /*-----------------------------------------------------------*/\r
  70 \r
  71 /* The time between cycles of the 'check' functionality - as described at the\r
  72 top of this file. */\r
  73 #define mainNO_ERROR_PERIOD                                     ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )\r
  74 \r
  75 /* The rate at which the LED controlled by the 'check' task will flash should an\r
  76 error have been detected. */\r
  77 #define mainERROR_PERIOD                                        ( ( TickType_t ) 500 / portTICK_PERIOD_MS )\r
  78 \r
  79 /* The LED controlled by the 'check' task. */\r
  80 #define mainCHECK_LED                                           ( 3 )\r
  81 \r
  82 /* ComTest constants - there is no free LED for the comtest tasks. */\r
  83 #define mainCOM_TEST_BAUD_RATE                          ( ( unsigned long ) 19200 )\r
  84 #define mainCOM_TEST_LED                                        ( 5 )\r
  85 \r
  86 /* Task priorities. */\r
  87 #define mainCOM_TEST_PRIORITY                           ( tskIDLE_PRIORITY + 2 )\r
  88 #define mainCHECK_TASK_PRIORITY                         ( tskIDLE_PRIORITY + 3 )\r
  89 #define mainSEM_TEST_PRIORITY                           ( tskIDLE_PRIORITY + 1 )\r
  90 #define mainBLOCK_Q_PRIORITY                            ( tskIDLE_PRIORITY + 2 )\r
  91 #define mainGEN_QUEUE_TASK_PRIORITY                     ( tskIDLE_PRIORITY )\r
  92 \r
  93 /* Co-routines are used to flash the LEDs. */\r
  94 #define mainNUM_FLASH_CO_ROUTINES                       ( 3 )\r
  95 \r
  96 /* The baud rate used by the comtest tasks. */\r
  97 #define mainBAUD_RATE                                           ( 38400 )\r
  98 \r
  99 /* There is no spare LED for the comtest tasks, so this is set to an invalid\r
 100 number. */\r
 101 #define mainCOM_LED                                                     ( 4 )\r
 102 \r
 103 /*\r
 104  * Configure the hardware for the demo.\r
 105  */\r
 106 static void prvSetupHardware( void );\r
 107 \r
 108 /*\r
 109  * Implements the 'check' task functionality as described at the top of this\r
 110  * file.\r
 111  */\r
 112 static void prvCheckTask( void *pvParameters );\r
 113 \r
 114 /*\r
 115  * Implement the 'Reg test' functionality as described at the top of this file.\r
 116  */\r
 117 static void vRegTest1Task( void *pvParameters );\r
 118 static void vRegTest2Task( void *pvParameters );\r
 119 \r
 120 /*-----------------------------------------------------------*/\r
 121 \r
 122 /* Counters used to detect errors within the reg test tasks. */\r
 123 static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;\r
 124 \r
 125 /*-----------------------------------------------------------*/\r
 126 \r
 127 int main( void )\r
 128 {\r
 129         /* Setup the hardware ready for this demo. */\r
 130         prvSetupHardware();\r
 131 \r
 132         /* Start the standard demo tasks. */\r
 133         vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );\r
 134         vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );\r
 135         vStartQueuePeekTasks();\r
 136         vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );\r
 137         vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_LED );\r
 138 \r
 139         /* For demo purposes use some co-routines to flash the LEDs. */\r
 140         vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );\r
 141 \r
 142         /* Create the check task. */\r
 143         xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );\r
 144 \r
 145 \r
 146         /* Start the reg test tasks - defined in this file. */\r
 147         xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );\r
 148         xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );\r
 149 \r
 150         /* Start the scheduler. */\r
 151         vTaskStartScheduler();\r
 152 \r
 153     /* Will only get here if there was insufficient memory to create the idle\r
 154     task. */\r
 155         for( ;; )\r
 156         {\r
 157         }\r
 158 }\r
 159 /*-----------------------------------------------------------*/\r
 160 \r
 161 static void prvCheckTask( void *pvParameters )\r
 162 {\r
 163 unsigned long ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;\r
 164 TickType_t xLastExecutionTime;\r
 165 volatile unsigned portBASE_TYPE uxUnusedStack;\r
 166 \r
 167         ( void ) pvParameters;\r
 168 \r
 169         /* Initialise the variable used to control our iteration rate prior to\r
 170         its first use. */\r
 171         xLastExecutionTime = xTaskGetTickCount();\r
 172 \r
 173         for( ;; )\r
 174         {\r
 175                 /* Wait until it is time to run the tests again. */\r
 176                 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );\r
 177 \r
 178                 /* Has an error been found in any task? */\r
 179                 if( xAreGenericQueueTasksStillRunning() != pdTRUE )\r
 180                 {\r
 181                         ulError |= 0x01UL;\r
 182                 }\r
 183 \r
 184                 if( xAreQueuePeekTasksStillRunning() != pdTRUE )\r
 185                 {\r
 186                         ulError |= 0x02UL;\r
 187                 }\r
 188 \r
 189                 if( xAreBlockingQueuesStillRunning() != pdTRUE )\r
 190                 {\r
 191                         ulError |= 0x04UL;\r
 192                 }\r
 193 \r
 194                 if( xAreSemaphoreTasksStillRunning() != pdTRUE )\r
 195             {\r
 196                 ulError |= 0x20UL;\r
 197             }\r
 198 \r
 199             if( xAreComTestTasksStillRunning() != pdTRUE )\r
 200             {\r
 201                 ulError |= 0x40UL;\r
 202             }\r
 203 \r
 204                 if( ulLastRegTest1Count == ulRegTest1Counter )\r
 205                 {\r
 206                         ulError |= 0x1000UL;\r
 207                 }\r
 208 \r
 209                 if( ulLastRegTest2Count == ulRegTest2Counter )\r
 210                 {\r
 211                         ulError |= 0x1000UL;\r
 212                 }\r
 213 \r
 214                 ulLastRegTest1Count = ulRegTest1Counter;\r
 215                 ulLastRegTest2Count = ulRegTest2Counter;\r
 216 \r
 217                 /* If an error has been found then increase our cycle rate, and in so\r
 218                 doing increase the rate at which the check task LED toggles. */\r
 219                 if( ulError != 0 )\r
 220                 {\r
 221                 ulTicksToWait = mainERROR_PERIOD;\r
 222                 }\r
 223 \r
 224                 /* Toggle the LED each iteration. */\r
 225                 vParTestToggleLED( mainCHECK_LED );\r
 226 \r
 227                 /* For demo only - how much unused stack does this task have? */\r
 228                 uxUnusedStack = uxTaskGetStackHighWaterMark( NULL );\r
 229         }\r
 230 }\r
 231 /*-----------------------------------------------------------*/\r
 232 \r
 233 void prvSetupHardware( void )\r
 234 {\r
 235         portDISABLE_INTERRUPTS();\r
 236 \r
 237         /* Setup the port used to toggle LEDs. */\r
 238         vParTestInitialise();\r
 239 }\r
 240 /*-----------------------------------------------------------*/\r
 241 \r
 242 void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *pcTaskName )\r
 243 {\r
 244         /* This will get called if a stack overflow is detected during the context\r
 245         switch.  Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack\r
 246         problems within nested interrupts, but only do this for debug purposes as\r
 247         it will increase the context switch time. */\r
 248 \r
 249         ( void ) pxTask;\r
 250         ( void ) pcTaskName;\r
 251 \r
 252         for( ;; )\r
 253         {\r
 254         }\r
 255 }\r
 256 /*-----------------------------------------------------------*/\r
 257 \r
 258 void vApplicationIdleHook( void );\r
 259 void vApplicationIdleHook( void )\r
 260 {\r
 261         /* The co-routines run in the idle task. */\r
 262         vCoRoutineSchedule();\r
 263 }\r
 264 /*-----------------------------------------------------------*/\r
 265 \r
 266 void exit( int n )\r
 267 {\r
 268         /* To keep the linker happy only as the libraries have been removed from\r
 269         the build. */\r
 270         ( void ) n;\r
 271         for( ;; ) {}\r
 272 }\r
 273 /*-----------------------------------------------------------*/\r
 274 \r
 275 static void vRegTest1Task( void *pvParameters )\r
 276 {\r
 277         /* Sanity check - did we receive the parameter expected? */\r
 278         if( pvParameters != &ulRegTest1Counter )\r
 279         {\r
 280                 /* Change here so the check task can detect that an error occurred. */\r
 281                 for( ;; )\r
 282                 {\r
 283                 }\r
 284         }\r
 285 \r
 286         /* Set all the registers to known values, then check that each retains its\r
 287         expected value - as described at the top of this file.  If an error is\r
 288         found then the loop counter will no longer be incremented allowing the check\r
 289         task to recognise the error. */\r
 290         asm volatile    (       "reg_test_1_start:                                              \n\t"\r
 291                                                 "       moveq           #1, d0                                  \n\t"\r
 292                                                 "       moveq           #2, d1                                  \n\t"\r
 293                                                 "       moveq           #3, d2                                  \n\t"\r
 294                                                 "       moveq           #4, d3                                  \n\t"\r
 295                                                 "       moveq           #5, d4                                  \n\t"\r
 296                                                 "       moveq           #6, d5                                  \n\t"\r
 297                                                 "       moveq           #7, d6                                  \n\t"\r
 298                                                 "       moveq           #8, d7                                  \n\t"\r
 299                                                 "       move            #9, a0                                  \n\t"\r
 300                                                 "       move            #10, a1                                 \n\t"\r
 301                                                 "       move            #11, a2                                 \n\t"\r
 302                                                 "       move            #12, a3                                 \n\t"\r
 303                                                 "       move            #13, a4                                 \n\t"\r
 304                                                 "       move            #14, a5                                 \n\t"\r
 305                                                 "       move            #15, a6                                 \n\t"\r
 306                                                 "                                                                               \n\t"\r
 307                                                 "       cmpi.l          #1, d0                                  \n\t"\r
 308                                                 "       bne                     reg_test_1_error                \n\t"\r
 309                                                 "       cmpi.l          #2, d1                                  \n\t"\r
 310                                                 "       bne                     reg_test_1_error                \n\t"\r
 311                                                 "       cmpi.l          #3, d2                                  \n\t"\r
 312                                                 "       bne                     reg_test_1_error                \n\t"\r
 313                                                 "       cmpi.l          #4, d3                                  \n\t"\r
 314                                                 "       bne                     reg_test_1_error                \n\t"\r
 315                                                 "       cmpi.l          #5, d4                                  \n\t"\r
 316                                                 "       bne                     reg_test_1_error                \n\t"\r
 317                                                 "       cmpi.l          #6, d5                                  \n\t"\r
 318                                                 "       bne                     reg_test_1_error                \n\t"\r
 319                                                 "       cmpi.l          #7, d6                                  \n\t"\r
 320                                                 "       bne                     reg_test_1_error                \n\t"\r
 321                                                 "       cmpi.l          #8, d7                                  \n\t"\r
 322                                                 "       bne                     reg_test_1_error                \n\t"\r
 323                                                 "       move            a0, d0                                  \n\t"\r
 324                                                 "       cmpi.l          #9, d0                                  \n\t"\r
 325                                                 "       bne                     reg_test_1_error                \n\t"\r
 326                                                 "       move            a1, d0                                  \n\t"\r
 327                                                 "       cmpi.l          #10, d0                                 \n\t"\r
 328                                                 "       bne                     reg_test_1_error                \n\t"\r
 329                                                 "       move            a2, d0                                  \n\t"\r
 330                                                 "       cmpi.l          #11, d0                                 \n\t"\r
 331                                                 "       bne                     reg_test_1_error                \n\t"\r
 332                                                 "       move            a3, d0                                  \n\t"\r
 333                                                 "       cmpi.l          #12, d0                                 \n\t"\r
 334                                                 "       bne                     reg_test_1_error                \n\t"\r
 335                                                 "       move            a4, d0                                  \n\t"\r
 336                                                 "       cmpi.l          #13, d0                                 \n\t"\r
 337                                                 "       bne                     reg_test_1_error                \n\t"\r
 338                                                 "       move            a5, d0                                  \n\t"\r
 339                                                 "       cmpi.l          #14, d0                                 \n\t"\r
 340                                                 "       bne                     reg_test_1_error                \n\t"\r
 341                                                 "       move            a6, d0                                  \n\t"\r
 342                                                 "       cmpi.l          #15, d0                                 \n\t"\r
 343                                                 "       bne                     reg_test_1_error                \n\t"\r
 344                                                 "       move            ulRegTest1Counter, d0   \n\t"\r
 345                                                 "       addq            #1, d0                                  \n\t"\r
 346                                                 "       move            d0, ulRegTest1Counter   \n\t"\r
 347                                                 "       bra                     reg_test_1_start                \n\t"\r
 348                                                 "reg_test_1_error:                                              \n\t"\r
 349                                                 "       bra                     reg_test_1_error                \n\t"\r
 350                                         );\r
 351 }\r
 352 /*-----------------------------------------------------------*/\r
 353 \r
 354 static void vRegTest2Task( void *pvParameters )\r
 355 {\r
 356         /* Sanity check - did we receive the parameter expected? */\r
 357         if( pvParameters != &ulRegTest2Counter )\r
 358         {\r
 359                 /* Change here so the check task can detect that an error occurred. */\r
 360                 for( ;; )\r
 361                 {\r
 362                 }\r
 363         }\r
 364 \r
 365         /* Set all the registers to known values, then check that each retains its\r
 366         expected value - as described at the top of this file.  If an error is\r
 367         found then the loop counter will no longer be incremented allowing the check\r
 368         task to recognise the error. */\r
 369         asm volatile    (       "reg_test_2_start:                                              \n\t"\r
 370                                                 "       moveq           #10, d0                                 \n\t"\r
 371                                                 "       moveq           #20, d1                                 \n\t"\r
 372                                                 "       moveq           #30, d2                                 \n\t"\r
 373                                                 "       moveq           #40, d3                                 \n\t"\r
 374                                                 "       moveq           #50, d4                                 \n\t"\r
 375                                                 "       moveq           #60, d5                                 \n\t"\r
 376                                                 "       moveq           #70, d6                                 \n\t"\r
 377                                                 "       moveq           #80, d7                                 \n\t"\r
 378                                                 "       move            #90, a0                                 \n\t"\r
 379                                                 "       move            #100, a1                                \n\t"\r
 380                                                 "       move            #110, a2                                \n\t"\r
 381                                                 "       move            #120, a3                                \n\t"\r
 382                                                 "       move            #130, a4                                \n\t"\r
 383                                                 "       move            #140, a5                                \n\t"\r
 384                                                 "       move            #150, a6                                \n\t"\r
 385                                                 "                                                                               \n\t"\r
 386                                                 "       cmpi.l          #10, d0                                 \n\t"\r
 387                                                 "       bne                     reg_test_2_error                \n\t"\r
 388                                                 "       cmpi.l          #20, d1                                 \n\t"\r
 389                                                 "       bne                     reg_test_2_error                \n\t"\r
 390                                                 "       cmpi.l          #30, d2                                 \n\t"\r
 391                                                 "       bne                     reg_test_2_error                \n\t"\r
 392                                                 "       cmpi.l          #40, d3                                 \n\t"\r
 393                                                 "       bne                     reg_test_2_error                \n\t"\r
 394                                                 "       cmpi.l          #50, d4                                 \n\t"\r
 395                                                 "       bne                     reg_test_2_error                \n\t"\r
 396                                                 "       cmpi.l          #60, d5                                 \n\t"\r
 397                                                 "       bne                     reg_test_2_error                \n\t"\r
 398                                                 "       cmpi.l          #70, d6                                 \n\t"\r
 399                                                 "       bne                     reg_test_2_error                \n\t"\r
 400                                                 "       cmpi.l          #80, d7                                 \n\t"\r
 401                                                 "       bne                     reg_test_2_error                \n\t"\r
 402                                                 "       move            a0, d0                                  \n\t"\r
 403                                                 "       cmpi.l          #90, d0                                 \n\t"\r
 404                                                 "       bne                     reg_test_2_error                \n\t"\r
 405                                                 "       move            a1, d0                                  \n\t"\r
 406                                                 "       cmpi.l          #100, d0                                \n\t"\r
 407                                                 "       bne                     reg_test_2_error                \n\t"\r
 408                                                 "       move            a2, d0                                  \n\t"\r
 409                                                 "       cmpi.l          #110, d0                                \n\t"\r
 410                                                 "       bne                     reg_test_2_error                \n\t"\r
 411                                                 "       move            a3, d0                                  \n\t"\r
 412                                                 "       cmpi.l          #120, d0                                \n\t"\r
 413                                                 "       bne                     reg_test_2_error                \n\t"\r
 414                                                 "       move            a4, d0                                  \n\t"\r
 415                                                 "       cmpi.l          #130, d0                                \n\t"\r
 416                                                 "       bne                     reg_test_2_error                \n\t"\r
 417                                                 "       move            a5, d0                                  \n\t"\r
 418                                                 "       cmpi.l          #140, d0                                \n\t"\r
 419                                                 "       bne                     reg_test_2_error                \n\t"\r
 420                                                 "       move            a6, d0                                  \n\t"\r
 421                                                 "       cmpi.l          #150, d0                                \n\t"\r
 422                                                 "       bne                     reg_test_2_error                \n\t"\r
 423                                                 "       move            ulRegTest1Counter, d0   \n\t"\r
 424                                                 "       addq            #1, d0                                  \n\t"\r
 425                                                 "       move            d0, ulRegTest2Counter   \n\t"\r
 426                                                 "       bra                     reg_test_2_start                \n\t"\r
 427                                                 "reg_test_2_error:                                              \n\t"\r
 428                                                 "       bra                     reg_test_2_error                \n\t"\r
 429                                         );\r
 430 }\r
 431 /*-----------------------------------------------------------*/\r
 432 \r
 433 \r
 434 \r