* 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
\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
+/* 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
+/* 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
* file.\r
*/\r
static void prvCheckTask( void *pvParameters );\r
+\r
+/*\r
+ * Implement the 'Reg test' functionality as described at the top of this file.
+ */\r
static void vRegTest1Task( void *pvParameters );\r
static void vRegTest2Task( void *pvParameters );\r
\r
/*-----------------------------------------------------------*/\r
-static volatile unsigned portLONG ulRegTest1Counter = 0, ulRegTest2Counter = 0;\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
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );\r
vStartInterruptQueueTasks();\r
\r
- xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
- xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\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
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
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
__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
\r
static void vRegTest1Task( void *pvParameters )\r
{\r
- ( void ) pvParameters;\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. */
asm volatile ( "reg_test_1_start: \n\t"\r
" moveq #1, %d0 \n\t"\r
" moveq #2, %d1 \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 #10, %a1 \n\t"\r
" move #11, %a2 \n\t"\r
" move #12, %a3 \n\t"\r
" move #13, %a4 \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
+ " 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
+ " 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
+ " 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
+ " 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
+ " 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
+ " 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
\r
static void vRegTest2Task( void *pvParameters )\r
{\r
- ( void ) pvParameters;\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_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
+ " 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
+ " cmpi.l #10, %d0 \n\t"\r
" bne reg_test_2_error \n\t"\r
- " cmpi.l #20, %d1 \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
+ " cmpi.l #30, %d2 \n\t"\r
" bne reg_test_2_error \n\t"\r
- " cmpi.l #40, %d3 \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
+ " cmpi.l #50, %d4 \n\t"\r
" bne reg_test_2_error \n\t"\r
- " cmpi.l #60, %d5 \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
+ " cmpi.l #70, %d6 \n\t"\r
" bne reg_test_2_error \n\t"\r
- " cmpi.l #80, %d7 \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
+ " 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
+ " 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
+ " 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
+ " 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
+ " 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
+ " 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
+ " 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
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