2 FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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69 * Creates all the demo application tasks, then starts the scheduler. The WEB
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70 * documentation provides more details of the standard demo application tasks.
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71 * In addition to the standard demo tasks, the following tasks and tests are
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72 * defined and/or created within this file:
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74 * "Web server" - Very basic demonstration of the uIP stack. The WEB server
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75 * simply generates a page that shows the current state of all the tasks within
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76 * the system, including the high water mark of each task stack. The high water
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77 * mark is displayed as the amount of stack that has never been used, so the
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78 * closer the value is to zero the closer the task has come to overflowing its
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79 * stack. The IP address and net mask are set within FreeRTOSConfig.h. Sub
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80 * pages display some TCP/IP status information and permit LED3 to be turned on
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81 * and off using a check box.
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83 * Tick hook function that implements a "Check" function - This is executed
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84 * every 5 seconds from the tick hook function. It checks to ensure that all
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85 * the standard demo tasks are still operational and running without error.
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86 * The system status (pass/fail) is then displayed underneith the task table on
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87 * the served WEB pages.
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89 * "Reg test" tasks - These fill the registers with known values, then check
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90 * that each register still contains its expected value. Each task uses
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91 * different values. The tasks run with very low priority so get preempted very
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92 * frequently. A register containing an unexpected value is indicative of an
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93 * error in the context switching mechanism.
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97 /* Standard includes. */
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100 /* Scheduler includes. */
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101 #include "FreeRTOS.h"
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104 #include "semphr.h"
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106 /* Demo app includes. */
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107 #include "BlockQ.h"
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110 #include "partest.h"
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111 #include "GenQTest.h"
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113 #include "recmutex.h"
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115 /*-----------------------------------------------------------*/
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117 /* ComTest constants - there is no free LED for the comtest tasks. */
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118 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
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119 #define mainCOM_TEST_LED ( 5 )
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121 /* Task priorities. */
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122 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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123 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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124 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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125 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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126 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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127 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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128 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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129 #define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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131 /* WEB server requires enough stack for the string handling functions. */
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132 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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135 * Configure the hardware for the demo.
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137 static void prvSetupHardware( void );
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140 * Implements the 'check' function as described at the top of this file.
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142 static void prvCheckFunction( void );
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145 * Implement the 'Reg test' functionality as described at the top of this file.
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147 static void vRegTest1Task( void *pvParameters );
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148 static void vRegTest2Task( void *pvParameters );
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151 * The task that handles the uIP stack. All TCP/IP processing is performed in
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154 extern void vuIP_Task( void *pvParameters );
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156 /*-----------------------------------------------------------*/
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158 /* Counters used to detect errors within the reg test tasks. */
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159 static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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161 /* Flag that latches any errors detected in the system. */
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162 unsigned long ulCheckErrors = 0;
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164 /*-----------------------------------------------------------*/
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168 extern void vBasicWEBServer( void *pv );
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170 /* Setup the hardware ready for this demo. */
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171 prvSetupHardware();
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173 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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175 /* Start the standard demo tasks. */
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176 vStartLEDFlashTasks( tskIDLE_PRIORITY );
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177 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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178 vStartQueuePeekTasks();
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179 vStartRecursiveMutexTasks();
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180 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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182 /* Start the reg test tasks - defined in this file. */
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183 xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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184 xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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186 /* Start the scheduler. */
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187 vTaskStartScheduler();
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189 /* Will only get here if there was insufficient memory to create the idle
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195 /*-----------------------------------------------------------*/
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197 void vApplicationTickHook( void )
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199 static unsigned long ulExecutionCount = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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200 const unsigned long ulExecutionRate = 5000 / portTICK_RATE_MS;
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202 /* Increment the count of how many times the tick hook has been called. */
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203 ulExecutionCount++;
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205 /* Is it time to perform the check again? */
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206 if( ulExecutionCount >= ulExecutionRate )
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208 /* Reset the execution count so this function is called again in 5
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210 ulExecutionCount = 0;
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212 /* Has an error been found in any task? */
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213 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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215 ulCheckErrors |= 0x01UL;
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218 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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220 ulCheckErrors |= 0x02UL;
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223 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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225 ulCheckErrors |= 0x04UL;
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228 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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230 ulCheckErrors |= 0x200UL;
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233 if( ulLastRegTest1Count == ulRegTest1Counter )
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235 ulCheckErrors |= 0x1000UL;
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238 if( ulLastRegTest2Count == ulRegTest2Counter )
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240 ulCheckErrors |= 0x1000UL;
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243 ulLastRegTest1Count = ulRegTest1Counter;
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244 ulLastRegTest2Count = ulRegTest2Counter;
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247 /*-----------------------------------------------------------*/
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249 static void prvSetupHardware( void )
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251 /* Disable the watchdog, STOP and WAIT modes. */
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254 /* --- Setup clock to use external 25MHz source. --- */
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256 /* Extal and xtal pin ON. */
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260 /* Switch from FEI to FBE (FLL bypassed external)
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261 enable external clock source */
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262 MCGC2 = MCGC2_ERCLKEN_MASK /* Activate external reference clock */
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263 | MCGC2_EREFS_MASK /* Because crystal is being used */
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264 | MCGC2_RANGE_MASK; /* High range */
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266 /* Select clock mode and clear IREFs. */
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267 MCGC1 = (0x02 << 6 ) /* CLKS = 10 -> external reference clock. */
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268 | (0x04 << 3 ) /* RDIV = 2^4 -> 25MHz/16 = 1.5625 MHz */
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269 | MCGC1_IRCLKEN_MASK; /* IRCLK to RTC enabled */
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271 /* Wait for Reference and Clock status bits to update. */
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272 while( MCGSC_IREFST | ( MCGSC_CLKST != 0x02 ) )
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274 /* Nothing to do here. */
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277 /* Switch from FBE to PBE (PLL bypassed internal) mode. */
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278 MCGC3 = 0x08 /* Set PLL multi 50MHz. */
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279 | MCGC3_PLLS_MASK; /* Select PLL. */
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281 /* Wait for PLL status and lock bits to update. */
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282 while( !MCGSC_PLLST | !MCGSC_LOCK )
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284 /* Nothing to do here. */
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288 /* Now in PBE Mode, finally switch from PBE to PEE (PLL enabled external
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290 MCGC1_CLKS = 0b00; /* PLL clock to system (MCGOUT) */
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292 /* Wait for the clock status bits to update. */
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293 while( MCGSC_CLKST != 0x03 )
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295 /* Nothing to do here. */
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298 /* Setup the IO for the LED outputs. */
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299 vParTestInitialise();
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301 /*-----------------------------------------------------------*/
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303 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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305 /* This will get called if a stack overflow is detected during the context
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306 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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307 problems within nested interrupts, but only do this for debug purposes as
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308 it will increase the context switch time. */
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311 ( void ) pcTaskName;
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317 /*-----------------------------------------------------------*/
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319 static void vRegTest1Task( void *pvParameters )
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321 /* Just to remove compiler warnings. */
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322 ( void ) pvParameters;
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324 /* Set all the registers to known values, then check that each retains its
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325 expected value - as described at the top of this file. If an error is
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326 found then the loop counter will no longer be incremented allowing the check
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327 task to recognise the error. */
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328 asm volatile ( "reg_test_1_start: \n\t"
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329 " moveq #1, d0 \n\t"
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330 " moveq #2, d1 \n\t"
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331 " moveq #3, d2 \n\t"
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332 " moveq #4, d3 \n\t"
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333 " moveq #5, d4 \n\t"
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334 " moveq #6, d5 \n\t"
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335 " moveq #7, d6 \n\t"
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336 " moveq #8, d7 \n\t"
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337 " move #9, a0 \n\t"
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338 " move #10, a1 \n\t"
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339 " move #11, a2 \n\t"
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340 " move #12, a3 \n\t"
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341 " move #13, a4 \n\t"
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342 " move #15, a6 \n\t"
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344 " cmpi.l #1, d0 \n\t"
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345 " bne reg_test_1_error \n\t"
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346 " cmpi.l #2, d1 \n\t"
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347 " bne reg_test_1_error \n\t"
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348 " cmpi.l #3, d2 \n\t"
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349 " bne reg_test_1_error \n\t"
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350 " cmpi.l #4, d3 \n\t"
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351 " bne reg_test_1_error \n\t"
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352 " cmpi.l #5, d4 \n\t"
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353 " bne reg_test_1_error \n\t"
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354 " cmpi.l #6, d5 \n\t"
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355 " bne reg_test_1_error \n\t"
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356 " cmpi.l #7, d6 \n\t"
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357 " bne reg_test_1_error \n\t"
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358 " cmpi.l #8, d7 \n\t"
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359 " bne reg_test_1_error \n\t"
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360 " move a0, d0 \n\t"
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361 " cmpi.l #9, d0 \n\t"
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362 " bne reg_test_1_error \n\t"
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363 " move a1, d0 \n\t"
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364 " cmpi.l #10, d0 \n\t"
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365 " bne reg_test_1_error \n\t"
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366 " move a2, d0 \n\t"
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367 " cmpi.l #11, d0 \n\t"
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368 " bne reg_test_1_error \n\t"
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369 " move a3, d0 \n\t"
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370 " cmpi.l #12, d0 \n\t"
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371 " bne reg_test_1_error \n\t"
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372 " move a4, d0 \n\t"
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373 " cmpi.l #13, d0 \n\t"
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374 " bne reg_test_1_error \n\t"
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375 " move a6, d0 \n\t"
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376 " cmpi.l #15, d0 \n\t"
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377 " bne reg_test_1_error \n\t"
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378 " move ulRegTest1Counter, d0 \n\t"
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379 " addq #1, d0 \n\t"
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380 " move d0, ulRegTest1Counter \n\t"
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381 " bra reg_test_1_start \n\t"
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382 "reg_test_1_error: \n\t"
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383 " bra reg_test_1_error \n\t"
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386 /*-----------------------------------------------------------*/
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388 static void vRegTest2Task( void *pvParameters )
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390 /* Just to remove compiler warnings. */
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391 ( void ) pvParameters;
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393 /* Set all the registers to known values, then check that each retains its
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394 expected value - as described at the top of this file. If an error is
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395 found then the loop counter will no longer be incremented allowing the check
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396 task to recognise the error. */
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397 asm volatile ( "reg_test_2_start: \n\t"
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398 " moveq #10, d0 \n\t"
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399 " moveq #20, d1 \n\t"
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400 " moveq #30, d2 \n\t"
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401 " moveq #40, d3 \n\t"
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402 " moveq #50, d4 \n\t"
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403 " moveq #60, d5 \n\t"
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404 " moveq #70, d6 \n\t"
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405 " moveq #80, d7 \n\t"
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406 " move #90, a0 \n\t"
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407 " move #100, a1 \n\t"
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408 " move #110, a2 \n\t"
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409 " move #120, a3 \n\t"
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410 " move #130, a4 \n\t"
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411 " move #150, a6 \n\t"
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413 " cmpi.l #10, d0 \n\t"
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414 " bne reg_test_2_error \n\t"
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415 " cmpi.l #20, d1 \n\t"
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416 " bne reg_test_2_error \n\t"
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417 " cmpi.l #30, d2 \n\t"
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418 " bne reg_test_2_error \n\t"
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419 " cmpi.l #40, d3 \n\t"
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420 " bne reg_test_2_error \n\t"
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421 " cmpi.l #50, d4 \n\t"
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422 " bne reg_test_2_error \n\t"
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423 " cmpi.l #60, d5 \n\t"
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424 " bne reg_test_2_error \n\t"
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425 " cmpi.l #70, d6 \n\t"
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426 " bne reg_test_2_error \n\t"
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427 " cmpi.l #80, d7 \n\t"
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428 " bne reg_test_2_error \n\t"
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429 " move a0, d0 \n\t"
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430 " cmpi.l #90, d0 \n\t"
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431 " bne reg_test_2_error \n\t"
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432 " move a1, d0 \n\t"
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433 " cmpi.l #100, d0 \n\t"
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434 " bne reg_test_2_error \n\t"
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435 " move a2, d0 \n\t"
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436 " cmpi.l #110, d0 \n\t"
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437 " bne reg_test_2_error \n\t"
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438 " move a3, d0 \n\t"
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439 " cmpi.l #120, d0 \n\t"
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440 " bne reg_test_2_error \n\t"
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441 " move a4, d0 \n\t"
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442 " cmpi.l #130, d0 \n\t"
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443 " bne reg_test_2_error \n\t"
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444 " move a6, d0 \n\t"
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445 " cmpi.l #150, d0 \n\t"
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446 " bne reg_test_2_error \n\t"
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447 " move ulRegTest1Counter, d0 \n\t"
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448 " addq #1, d0 \n\t"
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449 " move d0, ulRegTest2Counter \n\t"
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450 " bra reg_test_2_start \n\t"
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451 "reg_test_2_error: \n\t"
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452 " bra reg_test_2_error \n\t"
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455 /*-----------------------------------------------------------*/
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projects / freertos / blob