2 FreeRTOS V8.1.1 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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68 * Creates all the demo application tasks, then starts the scheduler. The WEB
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69 * documentation provides more details of the standard demo application tasks.
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70 * In addition to the standard demo tasks, the following tasks and tests are
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71 * defined and/or created within this file:
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73 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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74 * processing is performed in this task. It manages the WEB server functionality.
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76 * "Check" task - This only executes every five seconds but has a high priority
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77 * to ensure it gets processor time. Its main function is to check that all the
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78 * standard demo tasks are still operational. An error found in any task will be
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79 * latched in the ulErrorCode variable for display through the WEB server (the
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80 * error code is displayed at the foot of the table that contains information on
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81 * the state of each task).
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83 * "Reg test" tasks - These fill the registers with known values, then check
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84 * that each register still contains its expected value. Each task uses
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85 * different values. The tasks run with very low priority so get preempted very
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86 * frequently. A register containing an unexpected value is indicative of an
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87 * error in the context switching mechanism.
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91 /* Standard includes. */
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94 /* Scheduler includes. */
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95 #include "FreeRTOS.h"
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100 /* Demo app includes. */
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101 #include "BlockQ.h"
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103 #include "blocktim.h"
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105 #include "partest.h"
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106 #include "semtest.h"
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108 #include "GenQTest.h"
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110 #include "recmutex.h"
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111 #include "IntQueue.h"
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112 #include "comtest2.h"
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114 /*-----------------------------------------------------------*/
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116 /* The time between cycles of the 'check' functionality - as described at the
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117 top of this file. */
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118 #define mainCHECK_TASK_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
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120 /* Task priorities. */
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121 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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122 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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123 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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124 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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125 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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127 /* The WEB server task uses more stack than most other tasks because of its
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128 reliance on using sprintf(). */
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129 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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132 * Configure the hardware for the demo.
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134 static void prvSetupHardware( void );
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137 * Implements the 'check' task functionality as described at the top of this
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140 static void prvCheckTask( void *pvParameters );
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143 * The task that implements the WEB server.
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145 extern void vuIP_Task( void *pvParameters );
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148 * Implement the 'Reg test' functionality as described at the top of this file.
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150 static void vRegTest1Task( void *pvParameters );
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151 static void vRegTest2Task( void *pvParameters );
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153 /*-----------------------------------------------------------*/
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155 /* Counters used to detect errors within the reg test tasks. */
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156 static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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158 /* Any errors that the check task finds in any tasks are latched into
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159 ulErrorCode, and then displayed via the WEB server. */
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160 static unsigned long ulErrorCode = 0UL;
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162 /*-----------------------------------------------------------*/
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166 /* Setup the hardware ready for this demo. */
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167 prvSetupHardware();
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169 /* Create the WEB server task. */
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170 xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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172 /* Start the standard demo tasks. */
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173 vStartLEDFlashTasks( tskIDLE_PRIORITY );
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174 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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175 vCreateBlockTimeTasks();
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176 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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177 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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178 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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179 vStartQueuePeekTasks();
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180 vStartRecursiveMutexTasks();
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182 /* Start the reg test tasks - defined in this file. */
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183 xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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184 xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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186 /* Create the check task. */
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187 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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189 /* Start the scheduler. */
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190 vTaskStartScheduler();
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192 /* Will only get here if there was insufficient heap to create the idle
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196 /*-----------------------------------------------------------*/
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198 static void prvCheckTask( void *pvParameters )
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200 unsigned ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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201 portTickType xLastExecutionTime;
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203 /* To prevent compiler warnings. */
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204 ( void ) pvParameters;
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206 /* Initialise the variable used to control our iteration rate prior to
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208 xLastExecutionTime = xTaskGetTickCount();
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212 /* Wait until it is time to run the tests again. */
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213 vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_PERIOD );
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215 /* Has an error been found in any task? */
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216 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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218 ulErrorCode |= 0x01UL;
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221 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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223 ulErrorCode |= 0x02UL;
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226 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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228 ulErrorCode |= 0x04UL;
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231 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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233 ulErrorCode |= 0x20UL;
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236 if( xArePollingQueuesStillRunning() != pdTRUE )
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238 ulErrorCode |= 0x40UL;
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241 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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243 ulErrorCode |= 0x80UL;
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246 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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248 ulErrorCode |= 0x100UL;
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251 if( ulLastRegTest1Count == ulRegTest1Counter )
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253 ulErrorCode |= 0x200UL;
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256 if( ulLastRegTest2Count == ulRegTest2Counter )
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258 ulErrorCode |= 0x200UL;
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261 /* Remember the reg test counts so a stall in their values can be
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262 detected next time around. */
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263 ulLastRegTest1Count = ulRegTest1Counter;
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264 ulLastRegTest2Count = ulRegTest2Counter;
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267 /*-----------------------------------------------------------*/
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269 unsigned long ulGetErrorCode( void )
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271 /* Returns the error code for display via the WEB server. */
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272 return ulErrorCode;
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274 /*-----------------------------------------------------------*/
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276 void prvSetupHardware( void )
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278 __attribute__ ((section(".cfmconfig")))
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279 static const unsigned long _cfm[6] = {
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280 0, /* KEY_UPPER 0x00000400 */
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281 0, /* KEY_LOWER 0x00000404 */
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282 0, /* CFMPROT 0x00000408 */
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283 0, /* CFMSACC 0x0000040C */
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284 0, /* CFMDACC 0x00000410 */
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285 0, /* CFMSEC 0x00000414 */
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288 /* Just to stop compiler warnings. */
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291 /* Ensure the watchdog is disabled. */
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294 /* Initialize IPSBAR (0x40000000). */
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296 "move.l #0x40000000,%d0 \n"
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297 "andi.l #0xC0000000,%d0 \n"
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298 "add.l #0x1,%d0 \n"
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299 "move.l %d0,0x40000000 "
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302 /* Initialize FLASHBAR (0x00) */
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304 "move.l #0x00,%d0 \n"
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305 "andi.l #0xFFF80000,%d0 \n"
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306 "add.l #0x41,%d0 \n"
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307 "movec %d0,%FLASHBAR "
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310 portDISABLE_INTERRUPTS();
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313 MCF_SCM_RAMBAR = MCF_SCM_RAMBAR_BA( RAMBAR_ADDRESS ) | MCF_SCM_RAMBAR_BDE;
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315 /* Multiply 25MHz crystal by 12 to get 60MHz clock. */
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316 MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD(4) | MCF_CLOCK_SYNCR_CLKSRC| MCF_CLOCK_SYNCR_PLLMODE | MCF_CLOCK_SYNCR_PLLEN ;
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317 while (!(MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK))
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321 /* Setup the port used to toggle LEDs. */
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322 vParTestInitialise();
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324 /*-----------------------------------------------------------*/
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326 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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328 /* This will get called if a stack overflow is detected during the context
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329 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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330 problems within nested interrupts, but only do this for debug purposes as
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331 it will increase the context switch time. */
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334 ( void ) pcTaskName;
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338 /*-----------------------------------------------------------*/
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340 static void vRegTest1Task( void *pvParameters )
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342 /* Sanity check - did we receive the parameter expected? */
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343 if( pvParameters != &ulRegTest1Counter )
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345 /* Change here so the check task can detect that an error occurred. */
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349 /* Set all the registers to known values, then check that each retains its
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350 expected value - as described at the top of this file. If an error is
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351 found then the loop counter will no longer be incremented allowing the check
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352 task to recognise the error. */
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353 asm volatile ( "reg_test_1_start: \n\t"
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354 " moveq #1, %d0 \n\t"
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355 " moveq #2, %d1 \n\t"
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356 " moveq #3, %d2 \n\t"
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357 " moveq #4, %d3 \n\t"
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358 " moveq #5, %d4 \n\t"
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359 " moveq #6, %d5 \n\t"
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360 " moveq #7, %d6 \n\t"
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361 " moveq #8, %d7 \n\t"
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362 " move #9, %a0 \n\t"
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363 " move #10, %a1 \n\t"
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364 " move #11, %a2 \n\t"
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365 " move #12, %a3 \n\t"
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366 " move #13, %a4 \n\t"
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367 " move #14, %a5 \n\t"
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368 " move #15, %a6 \n\t"
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370 " cmpi.l #1, %d0 \n\t"
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371 " bne reg_test_1_error \n\t"
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372 " cmpi.l #2, %d1 \n\t"
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373 " bne reg_test_1_error \n\t"
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374 " cmpi.l #3, %d2 \n\t"
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375 " bne reg_test_1_error \n\t"
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376 " cmpi.l #4, %d3 \n\t"
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377 " bne reg_test_1_error \n\t"
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378 " cmpi.l #5, %d4 \n\t"
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379 " bne reg_test_1_error \n\t"
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380 " cmpi.l #6, %d5 \n\t"
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381 " bne reg_test_1_error \n\t"
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382 " cmpi.l #7, %d6 \n\t"
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383 " bne reg_test_1_error \n\t"
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384 " cmpi.l #8, %d7 \n\t"
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385 " bne reg_test_1_error \n\t"
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386 " move %a0, %d0 \n\t"
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387 " cmpi.l #9, %d0 \n\t"
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388 " bne reg_test_1_error \n\t"
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389 " move %a1, %d0 \n\t"
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390 " cmpi.l #10, %d0 \n\t"
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391 " bne reg_test_1_error \n\t"
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392 " move %a2, %d0 \n\t"
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393 " cmpi.l #11, %d0 \n\t"
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394 " bne reg_test_1_error \n\t"
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395 " move %a3, %d0 \n\t"
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396 " cmpi.l #12, %d0 \n\t"
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397 " bne reg_test_1_error \n\t"
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398 " move %a4, %d0 \n\t"
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399 " cmpi.l #13, %d0 \n\t"
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400 " bne reg_test_1_error \n\t"
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401 " move %a5, %d0 \n\t"
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402 " cmpi.l #14, %d0 \n\t"
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403 " bne reg_test_1_error \n\t"
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404 " move %a6, %d0 \n\t"
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405 " cmpi.l #15, %d0 \n\t"
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406 " bne reg_test_1_error \n\t"
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407 " movel ulRegTest1Counter, %d0 \n\t"
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408 " addql #1, %d0 \n\t"
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409 " movel %d0, ulRegTest1Counter \n\t"
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410 " bra reg_test_1_start \n\t"
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411 "reg_test_1_error: \n\t"
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412 " bra reg_test_1_error \n\t"
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415 /*-----------------------------------------------------------*/
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417 static void vRegTest2Task( void *pvParameters )
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419 /* Sanity check - did we receive the parameter expected? */
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420 if( pvParameters != &ulRegTest2Counter )
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422 /* Change here so the check task can detect that an error occurred. */
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426 /* Set all the registers to known values, then check that each retains its
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427 expected value - as described at the top of this file. If an error is
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428 found then the loop counter will no longer be incremented allowing the check
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429 task to recognise the error. */
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430 asm volatile ( "reg_test_2_start: \n\t"
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431 " moveq #10, %d0 \n\t"
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432 " moveq #20, %d1 \n\t"
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433 " moveq #30, %d2 \n\t"
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434 " moveq #40, %d3 \n\t"
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435 " moveq #50, %d4 \n\t"
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436 " moveq #60, %d5 \n\t"
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437 " moveq #70, %d6 \n\t"
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438 " moveq #80, %d7 \n\t"
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439 " move #90, %a0 \n\t"
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440 " move #100, %a1 \n\t"
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441 " move #110, %a2 \n\t"
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442 " move #120, %a3 \n\t"
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443 " move #130, %a4 \n\t"
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444 " move #140, %a5 \n\t"
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445 " move #150, %a6 \n\t"
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447 " cmpi.l #10, %d0 \n\t"
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448 " bne reg_test_2_error \n\t"
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449 " cmpi.l #20, %d1 \n\t"
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450 " bne reg_test_2_error \n\t"
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451 " cmpi.l #30, %d2 \n\t"
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452 " bne reg_test_2_error \n\t"
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453 " cmpi.l #40, %d3 \n\t"
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454 " bne reg_test_2_error \n\t"
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455 " cmpi.l #50, %d4 \n\t"
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456 " bne reg_test_2_error \n\t"
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457 " cmpi.l #60, %d5 \n\t"
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458 " bne reg_test_2_error \n\t"
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459 " cmpi.l #70, %d6 \n\t"
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460 " bne reg_test_2_error \n\t"
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461 " cmpi.l #80, %d7 \n\t"
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462 " bne reg_test_2_error \n\t"
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463 " move %a0, %d0 \n\t"
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464 " cmpi.l #90, %d0 \n\t"
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465 " bne reg_test_2_error \n\t"
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466 " move %a1, %d0 \n\t"
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467 " cmpi.l #100, %d0 \n\t"
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468 " bne reg_test_2_error \n\t"
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469 " move %a2, %d0 \n\t"
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470 " cmpi.l #110, %d0 \n\t"
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471 " bne reg_test_2_error \n\t"
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472 " move %a3, %d0 \n\t"
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473 " cmpi.l #120, %d0 \n\t"
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474 " bne reg_test_2_error \n\t"
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475 " move %a4, %d0 \n\t"
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476 " cmpi.l #130, %d0 \n\t"
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477 " bne reg_test_2_error \n\t"
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478 " move %a5, %d0 \n\t"
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479 " cmpi.l #140, %d0 \n\t"
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480 " bne reg_test_2_error \n\t"
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481 " move %a6, %d0 \n\t"
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482 " cmpi.l #150, %d0 \n\t"
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483 " bne reg_test_2_error \n\t"
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484 " movel ulRegTest1Counter, %d0 \n\t"
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485 " addql #1, %d0 \n\t"
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486 " movel %d0, ulRegTest2Counter \n\t"
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487 " bra reg_test_2_start \n\t"
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488 "reg_test_2_error: \n\t"
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489 " bra reg_test_2_error \n\t"
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492 /*-----------------------------------------------------------*/
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