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 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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75 * processing is performed in this task. It manages the WEB server functionality.
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77 * "Check" task - This only executes every five seconds but has a high priority
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78 * to ensure it gets processor time. Its main function is to check that all the
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79 * standard demo tasks are still operational. An error found in any task will be
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80 * latched in the ulErrorCode variable for display through the WEB server (the
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81 * error code is displayed at the foot of the table that contains information on
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82 * the state of each task).
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84 * "Reg test" tasks - These fill the registers with known values, then check
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85 * that each register still contains its expected value. Each task uses
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86 * different values. The tasks run with very low priority so get preempted very
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87 * frequently. A register containing an unexpected value is indicative of an
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88 * error in the context switching mechanism.
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92 /* Standard includes. */
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95 /* Scheduler includes. */
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96 #include "FreeRTOS.h"
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101 /* Demo app includes. */
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102 #include "BlockQ.h"
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104 #include "blocktim.h"
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106 #include "partest.h"
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107 #include "semtest.h"
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109 #include "GenQTest.h"
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111 #include "recmutex.h"
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112 #include "IntQueue.h"
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113 #include "comtest2.h"
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115 /*-----------------------------------------------------------*/
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117 /* The time between cycles of the 'check' functionality - as described at the
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118 top of this file. */
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119 #define mainCHECK_TASK_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
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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 mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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128 /* The WEB server task uses more stack than most other tasks because of its
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129 reliance on using sprintf(). */
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130 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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133 * Configure the hardware for the demo.
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135 static void prvSetupHardware( void );
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138 * Implements the 'check' task functionality as described at the top of this
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141 static void prvCheckTask( void *pvParameters );
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144 * The task that implements the WEB server.
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146 extern void vuIP_Task( void *pvParameters );
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149 * Implement the 'Reg test' functionality as described at the top of this file.
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151 static void vRegTest1Task( void *pvParameters );
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152 static void vRegTest2Task( void *pvParameters );
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154 /*-----------------------------------------------------------*/
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156 /* Counters used to detect errors within the reg test tasks. */
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157 static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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159 /* Any errors that the check task finds in any tasks are latched into
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160 ulErrorCode, and then displayed via the WEB server. */
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161 static unsigned portLONG ulErrorCode = 0UL;
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163 /*-----------------------------------------------------------*/
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167 /* Setup the hardware ready for this demo. */
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168 prvSetupHardware();
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170 /* Create the WEB server task. */
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171 xTaskCreate( vuIP_Task, ( signed portCHAR * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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173 /* Start the standard demo tasks. */
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174 vStartLEDFlashTasks( tskIDLE_PRIORITY );
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175 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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176 vCreateBlockTimeTasks();
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177 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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178 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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179 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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180 vStartQueuePeekTasks();
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181 vStartRecursiveMutexTasks();
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183 /* Start the reg test tasks - defined in this file. */
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184 xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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185 xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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187 /* Create the check task. */
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188 xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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190 /* Start the scheduler. */
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191 vTaskStartScheduler();
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193 /* Will only get here if there was insufficient heap to create the idle
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197 /*-----------------------------------------------------------*/
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199 static void prvCheckTask( void *pvParameters )
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201 unsigned ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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202 portTickType xLastExecutionTime;
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204 /* To prevent compiler warnings. */
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205 ( void ) pvParameters;
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207 /* Initialise the variable used to control our iteration rate prior to
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209 xLastExecutionTime = xTaskGetTickCount();
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213 /* Wait until it is time to run the tests again. */
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214 vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_PERIOD );
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216 /* Has an error been found in any task? */
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217 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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219 ulErrorCode |= 0x01UL;
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222 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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224 ulErrorCode |= 0x02UL;
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227 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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229 ulErrorCode |= 0x04UL;
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232 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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234 ulErrorCode |= 0x20UL;
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237 if( xArePollingQueuesStillRunning() != pdTRUE )
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239 ulErrorCode |= 0x40UL;
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242 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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244 ulErrorCode |= 0x80UL;
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247 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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249 ulErrorCode |= 0x100UL;
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252 if( ulLastRegTest1Count == ulRegTest1Counter )
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254 ulErrorCode |= 0x200UL;
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257 if( ulLastRegTest2Count == ulRegTest2Counter )
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259 ulErrorCode |= 0x200UL;
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262 /* Remember the reg test counts so a stall in their values can be
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263 detected next time around. */
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264 ulLastRegTest1Count = ulRegTest1Counter;
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265 ulLastRegTest2Count = ulRegTest2Counter;
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268 /*-----------------------------------------------------------*/
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270 unsigned portLONG ulGetErrorCode( void )
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272 /* Returns the error code for display via the WEB server. */
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273 return ulErrorCode;
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275 /*-----------------------------------------------------------*/
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277 void prvSetupHardware( void )
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279 __attribute__ ((section(".cfmconfig")))
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280 static const unsigned long _cfm[6] = {
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281 0, /* KEY_UPPER 0x00000400 */
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282 0, /* KEY_LOWER 0x00000404 */
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283 0, /* CFMPROT 0x00000408 */
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284 0, /* CFMSACC 0x0000040C */
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285 0, /* CFMDACC 0x00000410 */
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286 0, /* CFMSEC 0x00000414 */
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289 /* Just to stop compiler warnings. */
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292 /* Ensure the watchdog is disabled. */
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295 /* Initialize IPSBAR (0x40000000). */
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297 "move.l #0x40000000,%d0 \n"
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298 "andi.l #0xC0000000,%d0 \n"
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299 "add.l #0x1,%d0 \n"
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300 "move.l %d0,0x40000000 "
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303 /* Initialize FLASHBAR (0x00) */
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305 "move.l #0x00,%d0 \n"
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306 "andi.l #0xFFF80000,%d0 \n"
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307 "add.l #0x41,%d0 \n"
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308 "movec %d0,%FLASHBAR "
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311 portDISABLE_INTERRUPTS();
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314 MCF_SCM_RAMBAR = MCF_SCM_RAMBAR_BA( RAMBAR_ADDRESS ) | MCF_SCM_RAMBAR_BDE;
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316 /* Multiply 25MHz crystal by 12 to get 60MHz clock. */
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317 MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD(4) | MCF_CLOCK_SYNCR_CLKSRC| MCF_CLOCK_SYNCR_PLLMODE | MCF_CLOCK_SYNCR_PLLEN ;
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318 while (!(MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK))
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322 /* Setup the port used to toggle LEDs. */
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323 vParTestInitialise();
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325 /*-----------------------------------------------------------*/
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327 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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329 /* This will get called if a stack overflow is detected during the context
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330 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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331 problems within nested interrupts, but only do this for debug purposes as
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332 it will increase the context switch time. */
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335 ( void ) pcTaskName;
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339 /*-----------------------------------------------------------*/
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341 static void vRegTest1Task( void *pvParameters )
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343 /* Sanity check - did we receive the parameter expected? */
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344 if( pvParameters != &ulRegTest1Counter )
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346 /* Change here so the check task can detect that an error occurred. */
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350 /* Set all the registers to known values, then check that each retains its
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351 expected value - as described at the top of this file. If an error is
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352 found then the loop counter will no longer be incremented allowing the check
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353 task to recognise the error. */
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354 asm volatile ( "reg_test_1_start: \n\t"
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355 " moveq #1, %d0 \n\t"
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356 " moveq #2, %d1 \n\t"
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357 " moveq #3, %d2 \n\t"
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358 " moveq #4, %d3 \n\t"
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359 " moveq #5, %d4 \n\t"
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360 " moveq #6, %d5 \n\t"
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361 " moveq #7, %d6 \n\t"
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362 " moveq #8, %d7 \n\t"
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363 " move #9, %a0 \n\t"
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364 " move #10, %a1 \n\t"
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365 " move #11, %a2 \n\t"
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366 " move #12, %a3 \n\t"
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367 " move #13, %a4 \n\t"
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368 " move #14, %a5 \n\t"
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369 " move #15, %a6 \n\t"
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371 " cmpi.l #1, %d0 \n\t"
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372 " bne reg_test_1_error \n\t"
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373 " cmpi.l #2, %d1 \n\t"
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374 " bne reg_test_1_error \n\t"
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375 " cmpi.l #3, %d2 \n\t"
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376 " bne reg_test_1_error \n\t"
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377 " cmpi.l #4, %d3 \n\t"
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378 " bne reg_test_1_error \n\t"
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379 " cmpi.l #5, %d4 \n\t"
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380 " bne reg_test_1_error \n\t"
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381 " cmpi.l #6, %d5 \n\t"
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382 " bne reg_test_1_error \n\t"
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383 " cmpi.l #7, %d6 \n\t"
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384 " bne reg_test_1_error \n\t"
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385 " cmpi.l #8, %d7 \n\t"
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386 " bne reg_test_1_error \n\t"
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387 " move %a0, %d0 \n\t"
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388 " cmpi.l #9, %d0 \n\t"
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389 " bne reg_test_1_error \n\t"
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390 " move %a1, %d0 \n\t"
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391 " cmpi.l #10, %d0 \n\t"
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392 " bne reg_test_1_error \n\t"
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393 " move %a2, %d0 \n\t"
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394 " cmpi.l #11, %d0 \n\t"
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395 " bne reg_test_1_error \n\t"
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396 " move %a3, %d0 \n\t"
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397 " cmpi.l #12, %d0 \n\t"
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398 " bne reg_test_1_error \n\t"
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399 " move %a4, %d0 \n\t"
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400 " cmpi.l #13, %d0 \n\t"
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401 " bne reg_test_1_error \n\t"
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402 " move %a5, %d0 \n\t"
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403 " cmpi.l #14, %d0 \n\t"
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404 " bne reg_test_1_error \n\t"
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405 " move %a6, %d0 \n\t"
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406 " cmpi.l #15, %d0 \n\t"
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407 " bne reg_test_1_error \n\t"
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408 " movel ulRegTest1Counter, %d0 \n\t"
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409 " addql #1, %d0 \n\t"
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410 " movel %d0, ulRegTest1Counter \n\t"
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411 " bra reg_test_1_start \n\t"
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412 "reg_test_1_error: \n\t"
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413 " bra reg_test_1_error \n\t"
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416 /*-----------------------------------------------------------*/
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418 static void vRegTest2Task( void *pvParameters )
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420 /* Sanity check - did we receive the parameter expected? */
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421 if( pvParameters != &ulRegTest2Counter )
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423 /* Change here so the check task can detect that an error occurred. */
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427 /* Set all the registers to known values, then check that each retains its
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428 expected value - as described at the top of this file. If an error is
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429 found then the loop counter will no longer be incremented allowing the check
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430 task to recognise the error. */
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431 asm volatile ( "reg_test_2_start: \n\t"
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432 " moveq #10, %d0 \n\t"
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433 " moveq #20, %d1 \n\t"
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434 " moveq #30, %d2 \n\t"
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435 " moveq #40, %d3 \n\t"
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436 " moveq #50, %d4 \n\t"
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437 " moveq #60, %d5 \n\t"
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438 " moveq #70, %d6 \n\t"
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439 " moveq #80, %d7 \n\t"
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440 " move #90, %a0 \n\t"
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441 " move #100, %a1 \n\t"
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442 " move #110, %a2 \n\t"
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443 " move #120, %a3 \n\t"
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444 " move #130, %a4 \n\t"
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445 " move #140, %a5 \n\t"
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446 " move #150, %a6 \n\t"
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448 " cmpi.l #10, %d0 \n\t"
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449 " bne reg_test_2_error \n\t"
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450 " cmpi.l #20, %d1 \n\t"
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451 " bne reg_test_2_error \n\t"
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452 " cmpi.l #30, %d2 \n\t"
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453 " bne reg_test_2_error \n\t"
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454 " cmpi.l #40, %d3 \n\t"
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455 " bne reg_test_2_error \n\t"
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456 " cmpi.l #50, %d4 \n\t"
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457 " bne reg_test_2_error \n\t"
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458 " cmpi.l #60, %d5 \n\t"
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459 " bne reg_test_2_error \n\t"
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460 " cmpi.l #70, %d6 \n\t"
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461 " bne reg_test_2_error \n\t"
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462 " cmpi.l #80, %d7 \n\t"
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463 " bne reg_test_2_error \n\t"
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464 " move %a0, %d0 \n\t"
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465 " cmpi.l #90, %d0 \n\t"
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466 " bne reg_test_2_error \n\t"
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467 " move %a1, %d0 \n\t"
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468 " cmpi.l #100, %d0 \n\t"
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469 " bne reg_test_2_error \n\t"
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470 " move %a2, %d0 \n\t"
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471 " cmpi.l #110, %d0 \n\t"
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472 " bne reg_test_2_error \n\t"
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473 " move %a3, %d0 \n\t"
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474 " cmpi.l #120, %d0 \n\t"
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475 " bne reg_test_2_error \n\t"
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476 " move %a4, %d0 \n\t"
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477 " cmpi.l #130, %d0 \n\t"
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478 " bne reg_test_2_error \n\t"
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479 " move %a5, %d0 \n\t"
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480 " cmpi.l #140, %d0 \n\t"
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481 " bne reg_test_2_error \n\t"
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482 " move %a6, %d0 \n\t"
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483 " cmpi.l #150, %d0 \n\t"
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484 " bne reg_test_2_error \n\t"
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485 " movel ulRegTest1Counter, %d0 \n\t"
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486 " addql #1, %d0 \n\t"
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487 " movel %d0, ulRegTest2Counter \n\t"
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488 " bra reg_test_2_start \n\t"
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489 "reg_test_2_error: \n\t"
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490 " bra reg_test_2_error \n\t"
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493 /*-----------------------------------------------------------*/
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projects / freertos / blob