2 * FreeRTOS Kernel V10.2.1
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3 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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30 * Creates all the demo application tasks, then starts the scheduler. The WEB
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31 * documentation provides more details of the standard demo application tasks.
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32 * In addition to the standard demo tasks, the following tasks and tests are
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33 * defined and/or created within this file:
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35 * "Web server" - Very basic demonstration of the uIP stack. The WEB server
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36 * simply generates a page that shows the current state of all the tasks within
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37 * the system, including the high water mark of each task stack. The high water
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38 * mark is displayed as the amount of stack that has never been used, so the
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39 * closer the value is to zero the closer the task has come to overflowing its
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40 * stack. The IP address and net mask are set within FreeRTOSConfig.h. Sub
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41 * pages display some TCP/IP status information and permit LED3 to be turned on
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42 * and off using a check box.
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44 * Tick hook function that implements a "Check" function - This is executed
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45 * every 5 seconds from the tick hook function. It checks to ensure that all
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46 * the standard demo tasks are still operational and running without error.
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47 * The system status (pass/fail) is then displayed underneith the task table on
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48 * the served WEB pages.
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50 * "Reg test" tasks - These fill the registers with known values, then check
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51 * that each register still contains its expected value. Each task uses
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52 * different values. The tasks run with very low priority so get preempted very
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53 * frequently. A register containing an unexpected value is indicative of an
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54 * error in the context switching mechanism.
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58 /* Standard includes. */
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61 /* Scheduler includes. */
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62 #include "FreeRTOS.h"
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67 /* Demo app includes. */
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71 #include "partest.h"
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72 #include "GenQTest.h"
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74 #include "recmutex.h"
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76 /*-----------------------------------------------------------*/
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78 /* ComTest constants - there is no free LED for the comtest tasks. */
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79 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
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80 #define mainCOM_TEST_LED ( 5 )
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82 /* Task priorities. */
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83 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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84 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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85 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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86 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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87 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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88 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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89 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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90 #define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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92 /* WEB server requires enough stack for the string handling functions. */
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93 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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96 * Configure the hardware for the demo.
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98 static void prvSetupHardware( void );
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101 * Implements the 'check' function as described at the top of this file.
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103 static void prvCheckFunction( void );
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106 * Implement the 'Reg test' functionality as described at the top of this file.
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108 static void vRegTest1Task( void *pvParameters );
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109 static void vRegTest2Task( void *pvParameters );
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112 * The task that handles the uIP stack. All TCP/IP processing is performed in
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115 extern void vuIP_Task( void *pvParameters );
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117 /*-----------------------------------------------------------*/
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119 /* Counters used to detect errors within the reg test tasks. */
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120 static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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122 /* Flag that latches any errors detected in the system. */
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123 unsigned long ulCheckErrors = 0;
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125 /*-----------------------------------------------------------*/
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129 extern void vBasicWEBServer( void *pv );
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131 /* Setup the hardware ready for this demo. */
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132 prvSetupHardware();
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134 xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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136 /* Start the standard demo tasks. */
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137 vStartLEDFlashTasks( tskIDLE_PRIORITY );
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138 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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139 vStartQueuePeekTasks();
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140 vStartRecursiveMutexTasks();
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141 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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143 /* Start the reg test tasks - defined in this file. */
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144 xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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145 xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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147 /* Start the scheduler. */
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148 vTaskStartScheduler();
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150 /* Will only get here if there was insufficient memory to create the idle
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156 /*-----------------------------------------------------------*/
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158 void vApplicationTickHook( void )
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160 static unsigned long ulExecutionCount = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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161 const unsigned long ulExecutionRate = 5000 / portTICK_PERIOD_MS;
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163 /* Increment the count of how many times the tick hook has been called. */
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164 ulExecutionCount++;
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166 /* Is it time to perform the check again? */
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167 if( ulExecutionCount >= ulExecutionRate )
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169 /* Reset the execution count so this function is called again in 5
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171 ulExecutionCount = 0;
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173 /* Has an error been found in any task? */
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174 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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176 ulCheckErrors |= 0x01UL;
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179 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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181 ulCheckErrors |= 0x02UL;
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184 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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186 ulCheckErrors |= 0x04UL;
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189 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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191 ulCheckErrors |= 0x200UL;
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194 if( ulLastRegTest1Count == ulRegTest1Counter )
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196 ulCheckErrors |= 0x1000UL;
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199 if( ulLastRegTest2Count == ulRegTest2Counter )
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201 ulCheckErrors |= 0x1000UL;
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204 ulLastRegTest1Count = ulRegTest1Counter;
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205 ulLastRegTest2Count = ulRegTest2Counter;
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208 /*-----------------------------------------------------------*/
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210 static void prvSetupHardware( void )
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212 /* Disable the watchdog, STOP and WAIT modes. */
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215 /* --- Setup clock to use external 25MHz source. --- */
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217 /* Extal and xtal pin ON. */
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221 /* Switch from FEI to FBE (FLL bypassed external)
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222 enable external clock source */
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223 MCGC2 = MCGC2_ERCLKEN_MASK /* Activate external reference clock */
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224 | MCGC2_EREFS_MASK /* Because crystal is being used */
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225 | MCGC2_RANGE_MASK; /* High range */
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227 /* Select clock mode and clear IREFs. */
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228 MCGC1 = (0x02 << 6 ) /* CLKS = 10 -> external reference clock. */
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229 | (0x04 << 3 ) /* RDIV = 2^4 -> 25MHz/16 = 1.5625 MHz */
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230 | MCGC1_IRCLKEN_MASK; /* IRCLK to RTC enabled */
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232 /* Wait for Reference and Clock status bits to update. */
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233 while( MCGSC_IREFST | ( MCGSC_CLKST != 0x02 ) )
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235 /* Nothing to do here. */
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238 /* Switch from FBE to PBE (PLL bypassed internal) mode. */
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239 MCGC3 = 0x08 /* Set PLL multi 50MHz. */
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240 | MCGC3_PLLS_MASK; /* Select PLL. */
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242 /* Wait for PLL status and lock bits to update. */
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243 while( !MCGSC_PLLST | !MCGSC_LOCK )
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245 /* Nothing to do here. */
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249 /* Now in PBE Mode, finally switch from PBE to PEE (PLL enabled external
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251 MCGC1_CLKS = 0b00; /* PLL clock to system (MCGOUT) */
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253 /* Wait for the clock status bits to update. */
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254 while( MCGSC_CLKST != 0x03 )
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256 /* Nothing to do here. */
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259 /* Setup the IO for the LED outputs. */
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260 vParTestInitialise();
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262 /*-----------------------------------------------------------*/
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264 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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266 /* This will get called if a stack overflow is detected during the context
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267 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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268 problems within nested interrupts, but only do this for debug purposes as
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269 it will increase the context switch time. */
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272 ( void ) pcTaskName;
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278 /*-----------------------------------------------------------*/
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280 static void vRegTest1Task( void *pvParameters )
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282 /* Just to remove compiler warnings. */
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283 ( void ) pvParameters;
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285 /* Set all the registers to known values, then check that each retains its
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286 expected value - as described at the top of this file. If an error is
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287 found then the loop counter will no longer be incremented allowing the check
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288 task to recognise the error. */
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289 asm volatile ( "reg_test_1_start: \n\t"
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290 " moveq #1, d0 \n\t"
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291 " moveq #2, d1 \n\t"
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292 " moveq #3, d2 \n\t"
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293 " moveq #4, d3 \n\t"
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294 " moveq #5, d4 \n\t"
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295 " moveq #6, d5 \n\t"
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296 " moveq #7, d6 \n\t"
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297 " moveq #8, d7 \n\t"
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298 " move #9, a0 \n\t"
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299 " move #10, a1 \n\t"
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300 " move #11, a2 \n\t"
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301 " move #12, a3 \n\t"
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302 " move #13, a4 \n\t"
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303 " move #15, a6 \n\t"
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305 " cmpi.l #1, d0 \n\t"
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306 " bne reg_test_1_error \n\t"
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307 " cmpi.l #2, d1 \n\t"
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308 " bne reg_test_1_error \n\t"
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309 " cmpi.l #3, d2 \n\t"
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310 " bne reg_test_1_error \n\t"
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311 " cmpi.l #4, d3 \n\t"
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312 " bne reg_test_1_error \n\t"
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313 " cmpi.l #5, d4 \n\t"
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314 " bne reg_test_1_error \n\t"
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315 " cmpi.l #6, d5 \n\t"
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316 " bne reg_test_1_error \n\t"
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317 " cmpi.l #7, d6 \n\t"
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318 " bne reg_test_1_error \n\t"
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319 " cmpi.l #8, d7 \n\t"
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320 " bne reg_test_1_error \n\t"
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321 " move a0, d0 \n\t"
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322 " cmpi.l #9, d0 \n\t"
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323 " bne reg_test_1_error \n\t"
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324 " move a1, d0 \n\t"
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325 " cmpi.l #10, d0 \n\t"
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326 " bne reg_test_1_error \n\t"
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327 " move a2, d0 \n\t"
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328 " cmpi.l #11, d0 \n\t"
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329 " bne reg_test_1_error \n\t"
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330 " move a3, d0 \n\t"
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331 " cmpi.l #12, d0 \n\t"
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332 " bne reg_test_1_error \n\t"
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333 " move a4, d0 \n\t"
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334 " cmpi.l #13, d0 \n\t"
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335 " bne reg_test_1_error \n\t"
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336 " move a6, d0 \n\t"
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337 " cmpi.l #15, d0 \n\t"
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338 " bne reg_test_1_error \n\t"
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339 " move ulRegTest1Counter, d0 \n\t"
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340 " addq #1, d0 \n\t"
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341 " move d0, ulRegTest1Counter \n\t"
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342 " bra reg_test_1_start \n\t"
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343 "reg_test_1_error: \n\t"
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344 " bra reg_test_1_error \n\t"
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347 /*-----------------------------------------------------------*/
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349 static void vRegTest2Task( void *pvParameters )
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351 /* Just to remove compiler warnings. */
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352 ( void ) pvParameters;
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354 /* Set all the registers to known values, then check that each retains its
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355 expected value - as described at the top of this file. If an error is
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356 found then the loop counter will no longer be incremented allowing the check
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357 task to recognise the error. */
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358 asm volatile ( "reg_test_2_start: \n\t"
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359 " moveq #10, d0 \n\t"
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360 " moveq #20, d1 \n\t"
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361 " moveq #30, d2 \n\t"
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362 " moveq #40, d3 \n\t"
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363 " moveq #50, d4 \n\t"
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364 " moveq #60, d5 \n\t"
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365 " moveq #70, d6 \n\t"
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366 " moveq #80, d7 \n\t"
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367 " move #90, a0 \n\t"
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368 " move #100, a1 \n\t"
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369 " move #110, a2 \n\t"
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370 " move #120, a3 \n\t"
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371 " move #130, a4 \n\t"
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372 " move #150, a6 \n\t"
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374 " cmpi.l #10, d0 \n\t"
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375 " bne reg_test_2_error \n\t"
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376 " cmpi.l #20, d1 \n\t"
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377 " bne reg_test_2_error \n\t"
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378 " cmpi.l #30, d2 \n\t"
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379 " bne reg_test_2_error \n\t"
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380 " cmpi.l #40, d3 \n\t"
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381 " bne reg_test_2_error \n\t"
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382 " cmpi.l #50, d4 \n\t"
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383 " bne reg_test_2_error \n\t"
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384 " cmpi.l #60, d5 \n\t"
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385 " bne reg_test_2_error \n\t"
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386 " cmpi.l #70, d6 \n\t"
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387 " bne reg_test_2_error \n\t"
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388 " cmpi.l #80, d7 \n\t"
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389 " bne reg_test_2_error \n\t"
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390 " move a0, d0 \n\t"
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391 " cmpi.l #90, d0 \n\t"
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392 " bne reg_test_2_error \n\t"
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393 " move a1, d0 \n\t"
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394 " cmpi.l #100, d0 \n\t"
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395 " bne reg_test_2_error \n\t"
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396 " move a2, d0 \n\t"
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397 " cmpi.l #110, d0 \n\t"
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398 " bne reg_test_2_error \n\t"
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399 " move a3, d0 \n\t"
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400 " cmpi.l #120, d0 \n\t"
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401 " bne reg_test_2_error \n\t"
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402 " move a4, d0 \n\t"
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403 " cmpi.l #130, d0 \n\t"
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404 " bne reg_test_2_error \n\t"
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405 " move a6, d0 \n\t"
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406 " cmpi.l #150, d0 \n\t"
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407 " bne reg_test_2_error \n\t"
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408 " move ulRegTest1Counter, d0 \n\t"
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409 " addq #1, d0 \n\t"
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410 " move d0, ulRegTest2Counter \n\t"
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411 " bra reg_test_2_start \n\t"
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412 "reg_test_2_error: \n\t"
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413 " bra reg_test_2_error \n\t"
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416 /*-----------------------------------------------------------*/
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projects / freertos / blob