/*\r
- FreeRTOS.org V5.0.3 - Copyright (C) 2003-2008 Richard Barry.\r
+ FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.\r
\r
- This file is part of the FreeRTOS.org distribution.\r
+ This file is part of the FreeRTOS distribution.\r
\r
- FreeRTOS.org is free software; you can redistribute it and/or modify\r
- it under the terms of the GNU General Public License as published by\r
- the Free Software Foundation; either version 2 of the License, or\r
- (at your option) any later version.\r
+ FreeRTOS is free software; you can redistribute it and/or modify it under\r
+ the terms of the GNU General Public License (version 2) as published by the\r
+ Free Software Foundation and modified by the FreeRTOS exception.\r
+ **NOTE** The exception to the GPL is included to allow you to distribute a\r
+ combined work that includes FreeRTOS without being obliged to provide the\r
+ source code for proprietary components outside of the FreeRTOS kernel.\r
+ Alternative commercial license and support terms are also available upon\r
+ request. See the licensing section of http://www.FreeRTOS.org for full\r
+ license details.\r
\r
- FreeRTOS.org is distributed in the hope that it will be useful,\r
- but WITHOUT ANY WARRANTY; without even the implied warranty of\r
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
- GNU General Public License for more details.\r
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT\r
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or\r
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
+ more details.\r
\r
- You should have received a copy of the GNU General Public License\r
- along with FreeRTOS.org; if not, write to the Free Software\r
- Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+ You should have received a copy of the GNU General Public License along\r
+ with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59\r
+ Temple Place, Suite 330, Boston, MA 02111-1307 USA.\r
\r
- A special exception to the GPL can be applied should you wish to distribute\r
- a combined work that includes FreeRTOS.org, without being obliged to provide\r
- the source code for any proprietary components. See the licensing section\r
- of http://www.FreeRTOS.org for full details of how and when the exception\r
- can be applied.\r
\r
- ***************************************************************************\r
***************************************************************************\r
* *\r
- * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *\r
- * and even write all or part of your application on your behalf. *\r
- * See http://www.OpenRTOS.com for details of the services we provide to *\r
- * expedite your project. *\r
+ * The FreeRTOS eBook and reference manual are available to purchase for a *\r
+ * small fee. Help yourself get started quickly while also helping the *\r
+ * FreeRTOS project! See http://www.FreeRTOS.org/Documentation for details *\r
* *\r
***************************************************************************\r
- ***************************************************************************\r
\r
- Please ensure to read the configuration and relevant port sections of the\r
- online documentation.\r
+ 1 tab == 4 spaces!\r
+\r
+ Please ensure to read the configuration and relevant port sections of the\r
+ online documentation.\r
\r
- http://www.FreeRTOS.org - Documentation, latest information, license and\r
- contact details.\r
+ http://www.FreeRTOS.org - Documentation, latest information, license and\r
+ contact details.\r
\r
- http://www.SafeRTOS.com - A version that is certified for use in safety\r
- critical systems.\r
+ http://www.SafeRTOS.com - A version that is certified for use in safety\r
+ critical systems.\r
\r
- http://www.OpenRTOS.com - Commercial support, development, porting,\r
- licensing and training services.\r
+ http://www.OpenRTOS.com - Commercial support, development, porting,\r
+ licensing and training services.\r
*/\r
\r
\r
* to ensure it gets processor time. Its main function is to check that all the\r
* standard demo tasks are still operational. While no errors have been\r
* discovered the check task will toggle an LED every 5 seconds - the toggle\r
- * rate increasing to 500ms then being a visual indication that at least one\r
- * task has reported unexpected behaviour.\r
+ * rate increasing to 500ms being a visual indication that at least one task has\r
+ * reported unexpected behaviour.\r
+ *\r
+ * "Reg test" tasks - These fill the registers with known values, then check\r
+ * that each register still contains its expected value. Each task uses\r
+ * different values. The tasks run with very low priority so get preempted very\r
+ * frequently. A register containing an unexpected value is indicative of an\r
+ * error in the context switching mechanism.\r
*\r
*/\r
\r
#include "BlockQ.h"\r
#include "death.h"\r
#include "integer.h"\r
-#include "blocktim.h"\r
#include "flash.h"\r
#include "partest.h"\r
#include "semtest.h"\r
\r
/*-----------------------------------------------------------*/\r
\r
-/* The time between cycles of the 'check' functionality (defined within the\r
-tick hook. */\r
+/* The time between cycles of the 'check' functionality - as described at the\r
+top of this file. */\r
#define mainNO_ERROR_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )\r
\r
-/* The rate at which the LED controlled by the 'check' task will flash when an\r
-error has been detected. */\r
-#define mainERROR_PERIOD ( 500 )\r
+/* The rate at which the LED controlled by the 'check' task will flash should an\r
+error have been detected. */\r
+#define mainERROR_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )\r
\r
/* The LED controlled by the 'check' task. */\r
#define mainCHECK_LED ( 3 )\r
\r
-/* Contest constants - there is no free LED for the comtest. */\r
-#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )\r
-#define mainCOM_TEST_LED ( 5 )\r
+/* ComTest constants - there is no free LED for the comtest tasks. */\r
+#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )\r
+#define mainCOM_TEST_LED ( 5 )\r
\r
/* Task priorities. */\r
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )\r
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
-#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )\r
+#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )\r
#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )\r
\r
*/\r
static void prvCheckTask( void *pvParameters );\r
\r
+/*\r
+ * Implement the 'Reg test' functionality as described at the top of this file.\r
+ */\r
+static void vRegTest1Task( void *pvParameters );\r
+static void vRegTest2Task( void *pvParameters );\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/* Counters used to detect errors within the reg test tasks. */\r
+static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;\r
\r
/*-----------------------------------------------------------*/\r
\r
int main( void )\r
{\r
+ /* Setup the hardware ready for this demo. */\r
prvSetupHardware();\r
\r
/* Start the standard demo tasks. */\r
vStartLEDFlashTasks( tskIDLE_PRIORITY );\r
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );\r
- vCreateBlockTimeTasks();\r
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );\r
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );\r
vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );\r
vStartQueuePeekTasks();\r
vStartRecursiveMutexTasks();\r
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );\r
+ vStartInterruptQueueTasks();\r
+\r
+ /* Start the reg test tasks - defined in this file. */\r
+ xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );\r
+ xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );\r
\r
/* Create the check task. */\r
xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );\r
\r
static void prvCheckTask( void *pvParameters )\r
{\r
-unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0;\r
+unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;\r
portTickType xLastExecutionTime;\r
\r
( void ) pvParameters;\r
{\r
ulError |= 0x01UL;\r
}\r
- else if( xAreQueuePeekTasksStillRunning() != pdTRUE )\r
+\r
+ if( xAreQueuePeekTasksStillRunning() != pdTRUE )\r
{\r
ulError |= 0x02UL;\r
}\r
- else if( xAreBlockingQueuesStillRunning() != pdTRUE )\r
+\r
+ if( xAreBlockingQueuesStillRunning() != pdTRUE )\r
{\r
ulError |= 0x04UL;\r
}\r
- else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )\r
- {\r
- ulError |= 0x10UL;\r
- }\r
- else if( xAreSemaphoreTasksStillRunning() != pdTRUE )\r
+\r
+ if( xAreSemaphoreTasksStillRunning() != pdTRUE )\r
{\r
ulError |= 0x20UL;\r
}\r
- else if( xArePollingQueuesStillRunning() != pdTRUE )\r
+\r
+ if( xArePollingQueuesStillRunning() != pdTRUE )\r
{\r
ulError |= 0x40UL;\r
}\r
- else if( xIsCreateTaskStillRunning() != pdTRUE )\r
+\r
+ if( xIsCreateTaskStillRunning() != pdTRUE )\r
{\r
ulError |= 0x80UL;\r
}\r
- else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )\r
+\r
+ if( xAreIntegerMathsTaskStillRunning() != pdTRUE )\r
{\r
ulError |= 0x100UL;\r
}\r
- else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )\r
+\r
+ if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )\r
{\r
ulError |= 0x200UL;\r
}\r
- else if( xAreComTestTasksStillRunning() != pdTRUE )\r
+\r
+ if( xAreComTestTasksStillRunning() != pdTRUE )\r
{\r
ulError |= 0x400UL;\r
}\r
\r
+ if( xAreIntQueueTasksStillRunning() != pdTRUE )\r
+ {\r
+ ulError |= 0x800UL;\r
+ }\r
+\r
+ if( ulLastRegTest1Count == ulRegTest1Counter )\r
+ {\r
+ ulError |= 0x1000UL;\r
+ }\r
+\r
+ if( ulLastRegTest2Count == ulRegTest2Counter )\r
+ {\r
+ ulError |= 0x1000UL;\r
+ }\r
+\r
+ ulLastRegTest1Count = ulRegTest1Counter;\r
+ ulLastRegTest2Count = ulRegTest2Counter;\r
+\r
+ /* If an error has been found then increase our cycle rate, and in so\r
+ going increase the rate at which the check task LED toggles. */\r
if( ulError != 0 )\r
{\r
ulTicksToWait = mainERROR_PERIOD;\r
}\r
\r
+ /* Toggle the LED each itteration. */\r
vParTestToggleLED( mainCHECK_LED );\r
}\r
}\r
\r
void prvSetupHardware( void )\r
{\r
+extern void mcf5xxx_wr_cacr( unsigned portLONG );\r
+\r
+ portDISABLE_INTERRUPTS();\r
+\r
+ /* Enable the cache. */\r
+ mcf5xxx_wr_cacr( MCF5XXX_CACR_CENB | MCF5XXX_CACR_CINV | MCF5XXX_CACR_DISD | MCF5XXX_CACR_CEIB | MCF5XXX_CACR_CLNF_00 );\r
+ asm volatile( "NOP" ); /* As per errata. */\r
+\r
/* Multiply 8Mhz reference crystal by 8 to achieve system clock of 64Mhz. */\r
MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD( 2 );\r
\r
__asm__ volatile ( "NOP" );\r
}\r
\r
+ /* Setup the port used to toggle LEDs. */\r
vParTestInitialise();\r
}\r
/*-----------------------------------------------------------*/\r
\r
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )\r
{\r
+ /* This will get called if a stack overflow is detected during the context\r
+ switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack\r
+ problems within nested interrupts, but only do this for debug purposes as\r
+ it will increase the context switch time. */\r
+\r
( void ) pxTask;\r
( void ) pcTaskName;\r
\r
for( ;; );\r
}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void vRegTest1Task( void *pvParameters )\r
+{\r
+ /* Sanity check - did we receive the parameter expected? */\r
+ if( pvParameters != &ulRegTest1Counter )\r
+ {\r
+ /* Change here so the check task can detect that an error occurred. */\r
+ for( ;; );\r
+ }\r
+\r
+ /* Set all the registers to known values, then check that each retains its\r
+ expected value - as described at the top of this file. If an error is\r
+ found then the loop counter will no longer be incremented allowing the check\r
+ task to recognise the error. */\r
+ asm volatile ( "reg_test_1_start: \n\t"\r
+ " moveq #1, %d0 \n\t"\r
+ " moveq #2, %d1 \n\t"\r
+ " moveq #3, %d2 \n\t"\r
+ " moveq #4, %d3 \n\t"\r
+ " moveq #5, %d4 \n\t"\r
+ " moveq #6, %d5 \n\t"\r
+ " moveq #7, %d6 \n\t"\r
+ " moveq #8, %d7 \n\t"\r
+ " move #9, %a0 \n\t"\r
+ " move #10, %a1 \n\t"\r
+ " move #11, %a2 \n\t"\r
+ " move #12, %a3 \n\t"\r
+ " move #13, %a4 \n\t"\r
+ " move #14, %a5 \n\t"\r
+ " move #15, %a6 \n\t"\r
+ " \n\t"\r
+ " cmpi.l #1, %d0 \n\t"\r
+ " bne reg_test_1_error \n\t"\r
+ " cmpi.l #2, %d1 \n\t"\r
+ " bne reg_test_1_error \n\t"\r
+ " cmpi.l #3, %d2 \n\t"\r
+ " bne reg_test_1_error \n\t"\r
+ " cmpi.l #4, %d3 \n\t"\r
+ " bne reg_test_1_error \n\t"\r
+ " cmpi.l #5, %d4 \n\t"\r
+ " bne reg_test_1_error \n\t"\r
+ " cmpi.l #6, %d5 \n\t"\r
+ " bne reg_test_1_error \n\t"\r
+ " cmpi.l #7, %d6 \n\t"\r
+ " bne reg_test_1_error \n\t"\r
+ " cmpi.l #8, %d7 \n\t"\r
+ " bne reg_test_1_error \n\t"\r
+ " move %a0, %d0 \n\t"\r
+ " cmpi.l #9, %d0 \n\t"\r
+ " bne reg_test_1_error \n\t"\r
+ " move %a1, %d0 \n\t"\r
+ " cmpi.l #10, %d0 \n\t"\r
+ " bne reg_test_1_error \n\t"\r
+ " move %a2, %d0 \n\t"\r
+ " cmpi.l #11, %d0 \n\t"\r
+ " bne reg_test_1_error \n\t"\r
+ " move %a3, %d0 \n\t"\r
+ " cmpi.l #12, %d0 \n\t"\r
+ " bne reg_test_1_error \n\t"\r
+ " move %a4, %d0 \n\t"\r
+ " cmpi.l #13, %d0 \n\t"\r
+ " bne reg_test_1_error \n\t"\r
+ " move %a5, %d0 \n\t"\r
+ " cmpi.l #14, %d0 \n\t"\r
+ " bne reg_test_1_error \n\t"\r
+ " move %a6, %d0 \n\t"\r
+ " cmpi.l #15, %d0 \n\t"\r
+ " bne reg_test_1_error \n\t"\r
+ " movel ulRegTest1Counter, %d0 \n\t"\r
+ " addql #1, %d0 \n\t"\r
+ " movel %d0, ulRegTest1Counter \n\t"\r
+ " bra reg_test_1_start \n\t"\r
+ "reg_test_1_error: \n\t"\r
+ " bra reg_test_1_error \n\t"\r
+ );\r
+}\r
+/*-----------------------------------------------------------*/\r
\r
+static void vRegTest2Task( void *pvParameters )\r
+{\r
+ /* Sanity check - did we receive the parameter expected? */\r
+ if( pvParameters != &ulRegTest2Counter )\r
+ {\r
+ /* Change here so the check task can detect that an error occurred. */\r
+ for( ;; );\r
+ }\r
+\r
+ /* Set all the registers to known values, then check that each retains its\r
+ expected value - as described at the top of this file. If an error is\r
+ found then the loop counter will no longer be incremented allowing the check\r
+ task to recognise the error. */\r
+ asm volatile ( "reg_test_2_start: \n\t"\r
+ " moveq #10, %d0 \n\t"\r
+ " moveq #20, %d1 \n\t"\r
+ " moveq #30, %d2 \n\t"\r
+ " moveq #40, %d3 \n\t"\r
+ " moveq #50, %d4 \n\t"\r
+ " moveq #60, %d5 \n\t"\r
+ " moveq #70, %d6 \n\t"\r
+ " moveq #80, %d7 \n\t"\r
+ " move #90, %a0 \n\t"\r
+ " move #100, %a1 \n\t"\r
+ " move #110, %a2 \n\t"\r
+ " move #120, %a3 \n\t"\r
+ " move #130, %a4 \n\t"\r
+ " move #140, %a5 \n\t"\r
+ " move #150, %a6 \n\t"\r
+ " \n\t"\r
+ " cmpi.l #10, %d0 \n\t"\r
+ " bne reg_test_2_error \n\t"\r
+ " cmpi.l #20, %d1 \n\t"\r
+ " bne reg_test_2_error \n\t"\r
+ " cmpi.l #30, %d2 \n\t"\r
+ " bne reg_test_2_error \n\t"\r
+ " cmpi.l #40, %d3 \n\t"\r
+ " bne reg_test_2_error \n\t"\r
+ " cmpi.l #50, %d4 \n\t"\r
+ " bne reg_test_2_error \n\t"\r
+ " cmpi.l #60, %d5 \n\t"\r
+ " bne reg_test_2_error \n\t"\r
+ " cmpi.l #70, %d6 \n\t"\r
+ " bne reg_test_2_error \n\t"\r
+ " cmpi.l #80, %d7 \n\t"\r
+ " bne reg_test_2_error \n\t"\r
+ " move %a0, %d0 \n\t"\r
+ " cmpi.l #90, %d0 \n\t"\r
+ " bne reg_test_2_error \n\t"\r
+ " move %a1, %d0 \n\t"\r
+ " cmpi.l #100, %d0 \n\t"\r
+ " bne reg_test_2_error \n\t"\r
+ " move %a2, %d0 \n\t"\r
+ " cmpi.l #110, %d0 \n\t"\r
+ " bne reg_test_2_error \n\t"\r
+ " move %a3, %d0 \n\t"\r
+ " cmpi.l #120, %d0 \n\t"\r
+ " bne reg_test_2_error \n\t"\r
+ " move %a4, %d0 \n\t"\r
+ " cmpi.l #130, %d0 \n\t"\r
+ " bne reg_test_2_error \n\t"\r
+ " move %a5, %d0 \n\t"\r
+ " cmpi.l #140, %d0 \n\t"\r
+ " bne reg_test_2_error \n\t"\r
+ " move %a6, %d0 \n\t"\r
+ " cmpi.l #150, %d0 \n\t"\r
+ " bne reg_test_2_error \n\t"\r
+ " movel ulRegTest1Counter, %d0 \n\t"\r
+ " addql #1, %d0 \n\t"\r
+ " movel %d0, ulRegTest2Counter \n\t"\r
+ " bra reg_test_2_start \n\t"\r
+ "reg_test_2_error: \n\t"\r
+ " bra reg_test_2_error \n\t"\r
+ );\r
+}\r
+/*-----------------------------------------------------------*/\r
\r
projects / freertos / blobdiff