2 FreeRTOS V8.0.0:rc1 - Copyright (C) 2014 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 ***************************************************************************
\r
9 * FreeRTOS provides completely free yet professionally developed, *
\r
10 * robust, strictly quality controlled, supported, and cross *
\r
11 * platform software that has become a de facto standard. *
\r
13 * Help yourself get started quickly and support the FreeRTOS *
\r
14 * project by purchasing a FreeRTOS tutorial book, reference *
\r
15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
\r
19 ***************************************************************************
\r
21 This file is part of the FreeRTOS distribution.
\r
23 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
24 the terms of the GNU General Public License (version 2) as published by the
\r
25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
\r
27 >>! NOTE: The modification to the GPL is included to allow you to distribute
\r
28 >>! a combined work that includes FreeRTOS without being obliged to provide
\r
29 >>! the source code for proprietary components outside of the FreeRTOS
\r
32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
\r
35 link: http://www.freertos.org/a00114.html
\r
39 ***************************************************************************
\r
41 * Having a problem? Start by reading the FAQ "My application does *
\r
42 * not run, what could be wrong?" *
\r
44 * http://www.FreeRTOS.org/FAQHelp.html *
\r
46 ***************************************************************************
\r
48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
\r
49 license and Real Time Engineers Ltd. contact details.
\r
51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
\r
56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
57 licenses offer ticketed support, indemnification and middleware.
\r
59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
60 engineered and independently SIL3 certified version for use in safety and
\r
61 mission critical applications that require provable dependability.
\r
68 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
69 * documentation provides more details of the standard demo application tasks.
\r
70 * In addition to the standard demo tasks, the following tasks and tests are
\r
71 * defined and/or created within this file:
\r
73 * "Web server" - Very basic demonstration of the lwIP stack. The WEB server
\r
74 * simply generates a page that shows the current state of all the tasks within
\r
75 * the system, including the high water mark of each task stack. The high water
\r
76 * mark is displayed as the amount of stack that has never been used, so the
\r
77 * closer the value is to zero the closer the task has come to overflowing its
\r
78 * stack. The IP address and net mask are set within FreeRTOSConfig.h.
\r
80 * "Check" task - This only executes every five seconds but has a high priority
\r
81 * to ensure it gets processor time. Its main function is to check that all the
\r
82 * standard demo tasks are still operational. While no errors have been
\r
83 * discovered the check task will toggle an LED every 5 seconds - the toggle
\r
84 * rate increasing to 500ms being a visual indication that at least one task has
\r
85 * reported unexpected behaviour.
\r
87 * "Reg test" tasks - These fill the registers with known values, then check
\r
88 * that each register still contains its expected value. Each task uses
\r
89 * different values. The tasks run with very low priority so get preempted very
\r
90 * frequently. A register containing an unexpected value is indicative of an
\r
91 * error in the context switching mechanism.
\r
95 /* Standard includes. */
\r
98 /* Scheduler includes. */
\r
99 #include "FreeRTOS.h"
\r
102 #include "semphr.h"
\r
104 /* Demo app includes. */
\r
105 #include "BlockQ.h"
\r
108 #include "partest.h"
\r
109 #include "semtest.h"
\r
111 #include "GenQTest.h"
\r
113 #include "recmutex.h"
\r
115 /*-----------------------------------------------------------*/
\r
117 /* The time between cycles of the 'check' functionality - as described at the
\r
118 top of this file. */
\r
119 #define mainNO_ERROR_PERIOD ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
\r
121 /* The rate at which the LED controlled by the 'check' task will flash should an
\r
122 error have been detected. */
\r
123 #define mainERROR_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
\r
125 /* The LED controlled by the 'check' task. */
\r
126 #define mainCHECK_LED ( 3 )
\r
128 /* ComTest constants - there is no free LED for the comtest tasks. */
\r
129 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
\r
130 #define mainCOM_TEST_LED ( 5 )
\r
132 /* Task priorities. */
\r
133 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
134 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
135 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
136 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
137 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
138 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
139 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
140 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
141 #define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
144 * Configure the hardware for the demo.
\r
146 static void prvSetupHardware( void );
\r
149 * Implements the 'check' task functionality as described at the top of this
\r
152 static void prvCheckTask( void *pvParameters );
\r
155 * Implement the 'Reg test' functionality as described at the top of this file.
\r
157 static void vRegTest1Task( void *pvParameters );
\r
158 static void vRegTest2Task( void *pvParameters );
\r
160 /*-----------------------------------------------------------*/
\r
162 /* Counters used to detect errors within the reg test tasks. */
\r
163 static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
\r
165 /*-----------------------------------------------------------*/
\r
169 extern void vBasicWEBServer( void *pv );
\r
171 /* Setup the hardware ready for this demo. */
\r
172 prvSetupHardware();
\r
173 ( void )sys_thread_new("HTTPD", vBasicWEBServer, NULL, 320, mainWEB_TASK_PRIORITY );
\r
175 /* Start the standard demo tasks. */
\r
176 vStartLEDFlashTasks( tskIDLE_PRIORITY );
\r
177 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
178 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
179 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
\r
180 vStartQueuePeekTasks();
\r
181 vStartRecursiveMutexTasks();
\r
182 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
184 /* Start the reg test tasks - defined in this file. */
\r
185 xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
\r
186 xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
\r
188 /* Create the check task. */
\r
189 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
\r
191 /* The suicide tasks must be created last as they need to know how many
\r
192 tasks were running prior to their creation in order to ascertain whether
\r
193 or not the correct/expected number of tasks are running at any given time. */
\r
194 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
\r
196 /* Start the scheduler. */
\r
197 vTaskStartScheduler();
\r
199 /* Will only get here if there was insufficient memory to create the idle
\r
205 /*-----------------------------------------------------------*/
\r
207 static void prvCheckTask( void *pvParameters )
\r
209 unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
\r
210 TickType_t xLastExecutionTime;
\r
212 ( void ) pvParameters;
\r
214 /* Initialise the variable used to control our iteration rate prior to
\r
216 xLastExecutionTime = xTaskGetTickCount();
\r
220 /* Wait until it is time to run the tests again. */
\r
221 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
\r
223 /* Has an error been found in any task? */
\r
224 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
229 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
\r
234 if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
239 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
244 if( xArePollingQueuesStillRunning() != pdTRUE )
\r
249 if( xIsCreateTaskStillRunning() != pdTRUE )
\r
254 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
\r
256 ulError |= 0x200UL;
\r
259 if( ulLastRegTest1Count == ulRegTest1Counter )
\r
261 ulError |= 0x1000UL;
\r
264 if( ulLastRegTest2Count == ulRegTest2Counter )
\r
266 ulError |= 0x1000UL;
\r
269 ulLastRegTest1Count = ulRegTest1Counter;
\r
270 ulLastRegTest2Count = ulRegTest2Counter;
\r
272 /* If an error has been found then increase our cycle rate, and in so
\r
273 going increase the rate at which the check task LED toggles. */
\r
276 ulTicksToWait = mainERROR_PERIOD;
\r
279 /* Toggle the LED each itteration. */
\r
280 vParTestToggleLED( mainCHECK_LED );
\r
283 /*-----------------------------------------------------------*/
\r
285 void prvSetupHardware( void )
\r
287 portDISABLE_INTERRUPTS();
\r
289 /* Setup the port used to toggle LEDs. */
\r
290 vParTestInitialise();
\r
292 /*-----------------------------------------------------------*/
\r
294 void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *pcTaskName )
\r
296 /* This will get called if a stack overflow is detected during the context
\r
297 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
\r
298 problems within nested interrupts, but only do this for debug purposes as
\r
299 it will increase the context switch time. */
\r
302 ( void ) pcTaskName;
\r
308 /*-----------------------------------------------------------*/
\r
310 static void vRegTest1Task( void *pvParameters )
\r
312 /* Sanity check - did we receive the parameter expected? */
\r
313 if( pvParameters != &ulRegTest1Counter )
\r
315 /* Change here so the check task can detect that an error occurred. */
\r
321 /* Set all the registers to known values, then check that each retains its
\r
322 expected value - as described at the top of this file. If an error is
\r
323 found then the loop counter will no longer be incremented allowing the check
\r
324 task to recognise the error. */
\r
325 asm volatile ( "reg_test_1_start: \n\t"
\r
326 " moveq #1, d0 \n\t"
\r
327 " moveq #2, d1 \n\t"
\r
328 " moveq #3, d2 \n\t"
\r
329 " moveq #4, d3 \n\t"
\r
330 " moveq #5, d4 \n\t"
\r
331 " moveq #6, d5 \n\t"
\r
332 " moveq #7, d6 \n\t"
\r
333 " moveq #8, d7 \n\t"
\r
334 " move #9, a0 \n\t"
\r
335 " move #10, a1 \n\t"
\r
336 " move #11, a2 \n\t"
\r
337 " move #12, a3 \n\t"
\r
338 " move #13, a4 \n\t"
\r
339 " move #14, a5 \n\t"
\r
340 " move #15, a6 \n\t"
\r
342 " cmpi.l #1, d0 \n\t"
\r
343 " bne reg_test_1_error \n\t"
\r
344 " cmpi.l #2, d1 \n\t"
\r
345 " bne reg_test_1_error \n\t"
\r
346 " cmpi.l #3, d2 \n\t"
\r
347 " bne reg_test_1_error \n\t"
\r
348 " cmpi.l #4, d3 \n\t"
\r
349 " bne reg_test_1_error \n\t"
\r
350 " cmpi.l #5, d4 \n\t"
\r
351 " bne reg_test_1_error \n\t"
\r
352 " cmpi.l #6, d5 \n\t"
\r
353 " bne reg_test_1_error \n\t"
\r
354 " cmpi.l #7, d6 \n\t"
\r
355 " bne reg_test_1_error \n\t"
\r
356 " cmpi.l #8, d7 \n\t"
\r
357 " bne reg_test_1_error \n\t"
\r
358 " move a0, d0 \n\t"
\r
359 " cmpi.l #9, d0 \n\t"
\r
360 " bne reg_test_1_error \n\t"
\r
361 " move a1, d0 \n\t"
\r
362 " cmpi.l #10, d0 \n\t"
\r
363 " bne reg_test_1_error \n\t"
\r
364 " move a2, d0 \n\t"
\r
365 " cmpi.l #11, d0 \n\t"
\r
366 " bne reg_test_1_error \n\t"
\r
367 " move a3, d0 \n\t"
\r
368 " cmpi.l #12, d0 \n\t"
\r
369 " bne reg_test_1_error \n\t"
\r
370 " move a4, d0 \n\t"
\r
371 " cmpi.l #13, d0 \n\t"
\r
372 " bne reg_test_1_error \n\t"
\r
373 " move a5, d0 \n\t"
\r
374 " cmpi.l #14, d0 \n\t"
\r
375 " bne reg_test_1_error \n\t"
\r
376 " move a6, d0 \n\t"
\r
377 " cmpi.l #15, d0 \n\t"
\r
378 " bne reg_test_1_error \n\t"
\r
379 " move ulRegTest1Counter, d0 \n\t"
\r
380 " addq #1, d0 \n\t"
\r
381 " move d0, ulRegTest1Counter \n\t"
\r
382 " bra reg_test_1_start \n\t"
\r
383 "reg_test_1_error: \n\t"
\r
384 " bra reg_test_1_error \n\t"
\r
387 /*-----------------------------------------------------------*/
\r
389 static void vRegTest2Task( void *pvParameters )
\r
391 /* Sanity check - did we receive the parameter expected? */
\r
392 if( pvParameters != &ulRegTest2Counter )
\r
394 /* Change here so the check task can detect that an error occurred. */
\r
400 /* Set all the registers to known values, then check that each retains its
\r
401 expected value - as described at the top of this file. If an error is
\r
402 found then the loop counter will no longer be incremented allowing the check
\r
403 task to recognise the error. */
\r
404 asm volatile ( "reg_test_2_start: \n\t"
\r
405 " moveq #10, d0 \n\t"
\r
406 " moveq #20, d1 \n\t"
\r
407 " moveq #30, d2 \n\t"
\r
408 " moveq #40, d3 \n\t"
\r
409 " moveq #50, d4 \n\t"
\r
410 " moveq #60, d5 \n\t"
\r
411 " moveq #70, d6 \n\t"
\r
412 " moveq #80, d7 \n\t"
\r
413 " move #90, a0 \n\t"
\r
414 " move #100, a1 \n\t"
\r
415 " move #110, a2 \n\t"
\r
416 " move #120, a3 \n\t"
\r
417 " move #130, a4 \n\t"
\r
418 " move #140, a5 \n\t"
\r
419 " move #150, a6 \n\t"
\r
421 " cmpi.l #10, d0 \n\t"
\r
422 " bne reg_test_2_error \n\t"
\r
423 " cmpi.l #20, d1 \n\t"
\r
424 " bne reg_test_2_error \n\t"
\r
425 " cmpi.l #30, d2 \n\t"
\r
426 " bne reg_test_2_error \n\t"
\r
427 " cmpi.l #40, d3 \n\t"
\r
428 " bne reg_test_2_error \n\t"
\r
429 " cmpi.l #50, d4 \n\t"
\r
430 " bne reg_test_2_error \n\t"
\r
431 " cmpi.l #60, d5 \n\t"
\r
432 " bne reg_test_2_error \n\t"
\r
433 " cmpi.l #70, d6 \n\t"
\r
434 " bne reg_test_2_error \n\t"
\r
435 " cmpi.l #80, d7 \n\t"
\r
436 " bne reg_test_2_error \n\t"
\r
437 " move a0, d0 \n\t"
\r
438 " cmpi.l #90, d0 \n\t"
\r
439 " bne reg_test_2_error \n\t"
\r
440 " move a1, d0 \n\t"
\r
441 " cmpi.l #100, d0 \n\t"
\r
442 " bne reg_test_2_error \n\t"
\r
443 " move a2, d0 \n\t"
\r
444 " cmpi.l #110, d0 \n\t"
\r
445 " bne reg_test_2_error \n\t"
\r
446 " move a3, d0 \n\t"
\r
447 " cmpi.l #120, d0 \n\t"
\r
448 " bne reg_test_2_error \n\t"
\r
449 " move a4, d0 \n\t"
\r
450 " cmpi.l #130, d0 \n\t"
\r
451 " bne reg_test_2_error \n\t"
\r
452 " move a5, d0 \n\t"
\r
453 " cmpi.l #140, d0 \n\t"
\r
454 " bne reg_test_2_error \n\t"
\r
455 " move a6, d0 \n\t"
\r
456 " cmpi.l #150, d0 \n\t"
\r
457 " bne reg_test_2_error \n\t"
\r
458 " move ulRegTest1Counter, d0 \n\t"
\r
459 " addq #1, d0 \n\t"
\r
460 " move d0, ulRegTest2Counter \n\t"
\r
461 " bra reg_test_2_start \n\t"
\r
462 "reg_test_2_error: \n\t"
\r
463 " bra reg_test_2_error \n\t"
\r
466 /*-----------------------------------------------------------*/
\r
projects / freertos / blob