2 FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 This file is part of the FreeRTOS distribution.
\r
9 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
10 the terms of the GNU General Public License (version 2) as published by the
\r
11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
\r
13 ***************************************************************************
\r
14 >>! NOTE: The modification to the GPL is included to allow you to !<<
\r
15 >>! distribute a combined work that includes FreeRTOS without being !<<
\r
16 >>! obliged to provide the source code for proprietary components !<<
\r
17 >>! outside of the FreeRTOS kernel. !<<
\r
18 ***************************************************************************
\r
20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
\r
23 link: http://www.freertos.org/a00114.html
\r
25 ***************************************************************************
\r
27 * FreeRTOS provides completely free yet professionally developed, *
\r
28 * robust, strictly quality controlled, supported, and cross *
\r
29 * platform software that is more than just the market leader, it *
\r
30 * is the industry's de facto standard. *
\r
32 * Help yourself get started quickly while simultaneously helping *
\r
33 * to support the FreeRTOS project by purchasing a FreeRTOS *
\r
34 * tutorial book, reference manual, or both: *
\r
35 * http://www.FreeRTOS.org/Documentation *
\r
37 ***************************************************************************
\r
39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
\r
40 the FAQ page "My application does not run, what could be wrong?". Have you
\r
41 defined configASSERT()?
\r
43 http://www.FreeRTOS.org/support - In return for receiving this top quality
\r
44 embedded software for free we request you assist our global community by
\r
45 participating in the support forum.
\r
47 http://www.FreeRTOS.org/training - Investing in training allows your team to
\r
48 be as productive as possible as early as possible. Now you can receive
\r
49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
\r
50 Ltd, and the world's leading authority on the world's leading RTOS.
\r
52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
\r
57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
\r
59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
\r
60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
61 licenses offer ticketed support, indemnification and commercial middleware.
\r
63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
64 engineered and independently SIL3 certified version for use in safety and
\r
65 mission critical applications that require provable dependability.
\r
72 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
73 * documentation provides more details of the standard demo application tasks.
\r
74 * In addition to the standard demo tasks, the following tasks and tests are
\r
75 * defined and/or created within this file:
\r
77 * "Web server" - Very basic demonstration of the lwIP stack. The WEB server
\r
78 * simply generates a page that shows the current state of all the tasks within
\r
79 * the system, including the high water mark of each task stack. The high water
\r
80 * mark is displayed as the amount of stack that has never been used, so the
\r
81 * closer the value is to zero the closer the task has come to overflowing its
\r
82 * stack. The IP address and net mask are set within FreeRTOSConfig.h.
\r
84 * "Check" task - This only executes every five seconds but has a high priority
\r
85 * to ensure it gets processor time. Its main function is to check that all the
\r
86 * standard demo tasks are still operational. While no errors have been
\r
87 * discovered the check task will toggle an LED every 5 seconds - the toggle
\r
88 * rate increasing to 500ms being a visual indication that at least one task has
\r
89 * reported unexpected behaviour.
\r
91 * "Reg test" tasks - These fill the registers with known values, then check
\r
92 * that each register still contains its expected value. Each task uses
\r
93 * different values. The tasks run with very low priority so get preempted very
\r
94 * frequently. A register containing an unexpected value is indicative of an
\r
95 * error in the context switching mechanism.
\r
99 /* Standard includes. */
\r
102 /* Scheduler includes. */
\r
103 #include "FreeRTOS.h"
\r
106 #include "semphr.h"
\r
108 /* Demo app includes. */
\r
109 #include "BlockQ.h"
\r
112 #include "partest.h"
\r
113 #include "semtest.h"
\r
115 #include "GenQTest.h"
\r
117 #include "recmutex.h"
\r
119 /*-----------------------------------------------------------*/
\r
121 /* The time between cycles of the 'check' functionality - as described at the
\r
122 top of this file. */
\r
123 #define mainNO_ERROR_PERIOD ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
\r
125 /* The rate at which the LED controlled by the 'check' task will flash should an
\r
126 error have been detected. */
\r
127 #define mainERROR_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
\r
129 /* The LED controlled by the 'check' task. */
\r
130 #define mainCHECK_LED ( 3 )
\r
132 /* ComTest constants - there is no free LED for the comtest tasks. */
\r
133 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
\r
134 #define mainCOM_TEST_LED ( 5 )
\r
136 /* Task priorities. */
\r
137 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
138 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
139 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
140 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
141 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
142 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
143 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
144 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
145 #define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
148 * Configure the hardware for the demo.
\r
150 static void prvSetupHardware( void );
\r
153 * Implements the 'check' task functionality as described at the top of this
\r
156 static void prvCheckTask( void *pvParameters );
\r
159 * Implement the 'Reg test' functionality as described at the top of this file.
\r
161 static void vRegTest1Task( void *pvParameters );
\r
162 static void vRegTest2Task( void *pvParameters );
\r
164 /*-----------------------------------------------------------*/
\r
166 /* Counters used to detect errors within the reg test tasks. */
\r
167 static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
\r
169 /*-----------------------------------------------------------*/
\r
173 extern void vBasicWEBServer( void *pv );
\r
175 /* Setup the hardware ready for this demo. */
\r
176 prvSetupHardware();
\r
177 ( void )sys_thread_new("HTTPD", vBasicWEBServer, NULL, 320, mainWEB_TASK_PRIORITY );
\r
179 /* Start the standard demo tasks. */
\r
180 vStartLEDFlashTasks( tskIDLE_PRIORITY );
\r
181 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
182 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
183 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
\r
184 vStartQueuePeekTasks();
\r
185 vStartRecursiveMutexTasks();
\r
186 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
188 /* Start the reg test tasks - defined in this file. */
\r
189 xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
\r
190 xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
\r
192 /* Create the check task. */
\r
193 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
\r
195 /* The suicide tasks must be created last as they need to know how many
\r
196 tasks were running prior to their creation in order to ascertain whether
\r
197 or not the correct/expected number of tasks are running at any given time. */
\r
198 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
\r
200 /* Start the scheduler. */
\r
201 vTaskStartScheduler();
\r
203 /* Will only get here if there was insufficient memory to create the idle
\r
209 /*-----------------------------------------------------------*/
\r
211 static void prvCheckTask( void *pvParameters )
\r
213 unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
\r
214 TickType_t xLastExecutionTime;
\r
216 ( void ) pvParameters;
\r
218 /* Initialise the variable used to control our iteration rate prior to
\r
220 xLastExecutionTime = xTaskGetTickCount();
\r
224 /* Wait until it is time to run the tests again. */
\r
225 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
\r
227 /* Has an error been found in any task? */
\r
228 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
233 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
\r
238 if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
243 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
248 if( xArePollingQueuesStillRunning() != pdTRUE )
\r
253 if( xIsCreateTaskStillRunning() != pdTRUE )
\r
258 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
\r
260 ulError |= 0x200UL;
\r
263 if( ulLastRegTest1Count == ulRegTest1Counter )
\r
265 ulError |= 0x1000UL;
\r
268 if( ulLastRegTest2Count == ulRegTest2Counter )
\r
270 ulError |= 0x1000UL;
\r
273 ulLastRegTest1Count = ulRegTest1Counter;
\r
274 ulLastRegTest2Count = ulRegTest2Counter;
\r
276 /* If an error has been found then increase our cycle rate, and in so
\r
277 going increase the rate at which the check task LED toggles. */
\r
280 ulTicksToWait = mainERROR_PERIOD;
\r
283 /* Toggle the LED each iteration. */
\r
284 vParTestToggleLED( mainCHECK_LED );
\r
287 /*-----------------------------------------------------------*/
\r
289 void prvSetupHardware( void )
\r
291 portDISABLE_INTERRUPTS();
\r
293 /* Setup the port used to toggle LEDs. */
\r
294 vParTestInitialise();
\r
296 /*-----------------------------------------------------------*/
\r
298 void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *pcTaskName )
\r
300 /* This will get called if a stack overflow is detected during the context
\r
301 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
\r
302 problems within nested interrupts, but only do this for debug purposes as
\r
303 it will increase the context switch time. */
\r
306 ( void ) pcTaskName;
\r
312 /*-----------------------------------------------------------*/
\r
314 static void vRegTest1Task( void *pvParameters )
\r
316 /* Sanity check - did we receive the parameter expected? */
\r
317 if( pvParameters != &ulRegTest1Counter )
\r
319 /* Change here so the check task can detect that an error occurred. */
\r
325 /* Set all the registers to known values, then check that each retains its
\r
326 expected value - as described at the top of this file. If an error is
\r
327 found then the loop counter will no longer be incremented allowing the check
\r
328 task to recognise the error. */
\r
329 asm volatile ( "reg_test_1_start: \n\t"
\r
330 " moveq #1, d0 \n\t"
\r
331 " moveq #2, d1 \n\t"
\r
332 " moveq #3, d2 \n\t"
\r
333 " moveq #4, d3 \n\t"
\r
334 " moveq #5, d4 \n\t"
\r
335 " moveq #6, d5 \n\t"
\r
336 " moveq #7, d6 \n\t"
\r
337 " moveq #8, d7 \n\t"
\r
338 " move #9, a0 \n\t"
\r
339 " move #10, a1 \n\t"
\r
340 " move #11, a2 \n\t"
\r
341 " move #12, a3 \n\t"
\r
342 " move #13, a4 \n\t"
\r
343 " move #14, a5 \n\t"
\r
344 " move #15, a6 \n\t"
\r
346 " cmpi.l #1, d0 \n\t"
\r
347 " bne reg_test_1_error \n\t"
\r
348 " cmpi.l #2, d1 \n\t"
\r
349 " bne reg_test_1_error \n\t"
\r
350 " cmpi.l #3, d2 \n\t"
\r
351 " bne reg_test_1_error \n\t"
\r
352 " cmpi.l #4, d3 \n\t"
\r
353 " bne reg_test_1_error \n\t"
\r
354 " cmpi.l #5, d4 \n\t"
\r
355 " bne reg_test_1_error \n\t"
\r
356 " cmpi.l #6, d5 \n\t"
\r
357 " bne reg_test_1_error \n\t"
\r
358 " cmpi.l #7, d6 \n\t"
\r
359 " bne reg_test_1_error \n\t"
\r
360 " cmpi.l #8, d7 \n\t"
\r
361 " bne reg_test_1_error \n\t"
\r
362 " move a0, d0 \n\t"
\r
363 " cmpi.l #9, d0 \n\t"
\r
364 " bne reg_test_1_error \n\t"
\r
365 " move a1, d0 \n\t"
\r
366 " cmpi.l #10, d0 \n\t"
\r
367 " bne reg_test_1_error \n\t"
\r
368 " move a2, d0 \n\t"
\r
369 " cmpi.l #11, d0 \n\t"
\r
370 " bne reg_test_1_error \n\t"
\r
371 " move a3, d0 \n\t"
\r
372 " cmpi.l #12, d0 \n\t"
\r
373 " bne reg_test_1_error \n\t"
\r
374 " move a4, d0 \n\t"
\r
375 " cmpi.l #13, d0 \n\t"
\r
376 " bne reg_test_1_error \n\t"
\r
377 " move a5, d0 \n\t"
\r
378 " cmpi.l #14, d0 \n\t"
\r
379 " bne reg_test_1_error \n\t"
\r
380 " move a6, d0 \n\t"
\r
381 " cmpi.l #15, d0 \n\t"
\r
382 " bne reg_test_1_error \n\t"
\r
383 " move ulRegTest1Counter, d0 \n\t"
\r
384 " addq #1, d0 \n\t"
\r
385 " move d0, ulRegTest1Counter \n\t"
\r
386 " bra reg_test_1_start \n\t"
\r
387 "reg_test_1_error: \n\t"
\r
388 " bra reg_test_1_error \n\t"
\r
391 /*-----------------------------------------------------------*/
\r
393 static void vRegTest2Task( void *pvParameters )
\r
395 /* Sanity check - did we receive the parameter expected? */
\r
396 if( pvParameters != &ulRegTest2Counter )
\r
398 /* Change here so the check task can detect that an error occurred. */
\r
404 /* Set all the registers to known values, then check that each retains its
\r
405 expected value - as described at the top of this file. If an error is
\r
406 found then the loop counter will no longer be incremented allowing the check
\r
407 task to recognise the error. */
\r
408 asm volatile ( "reg_test_2_start: \n\t"
\r
409 " moveq #10, d0 \n\t"
\r
410 " moveq #20, d1 \n\t"
\r
411 " moveq #30, d2 \n\t"
\r
412 " moveq #40, d3 \n\t"
\r
413 " moveq #50, d4 \n\t"
\r
414 " moveq #60, d5 \n\t"
\r
415 " moveq #70, d6 \n\t"
\r
416 " moveq #80, d7 \n\t"
\r
417 " move #90, a0 \n\t"
\r
418 " move #100, a1 \n\t"
\r
419 " move #110, a2 \n\t"
\r
420 " move #120, a3 \n\t"
\r
421 " move #130, a4 \n\t"
\r
422 " move #140, a5 \n\t"
\r
423 " move #150, a6 \n\t"
\r
425 " cmpi.l #10, d0 \n\t"
\r
426 " bne reg_test_2_error \n\t"
\r
427 " cmpi.l #20, d1 \n\t"
\r
428 " bne reg_test_2_error \n\t"
\r
429 " cmpi.l #30, d2 \n\t"
\r
430 " bne reg_test_2_error \n\t"
\r
431 " cmpi.l #40, d3 \n\t"
\r
432 " bne reg_test_2_error \n\t"
\r
433 " cmpi.l #50, d4 \n\t"
\r
434 " bne reg_test_2_error \n\t"
\r
435 " cmpi.l #60, d5 \n\t"
\r
436 " bne reg_test_2_error \n\t"
\r
437 " cmpi.l #70, d6 \n\t"
\r
438 " bne reg_test_2_error \n\t"
\r
439 " cmpi.l #80, d7 \n\t"
\r
440 " bne reg_test_2_error \n\t"
\r
441 " move a0, d0 \n\t"
\r
442 " cmpi.l #90, d0 \n\t"
\r
443 " bne reg_test_2_error \n\t"
\r
444 " move a1, d0 \n\t"
\r
445 " cmpi.l #100, d0 \n\t"
\r
446 " bne reg_test_2_error \n\t"
\r
447 " move a2, d0 \n\t"
\r
448 " cmpi.l #110, d0 \n\t"
\r
449 " bne reg_test_2_error \n\t"
\r
450 " move a3, d0 \n\t"
\r
451 " cmpi.l #120, d0 \n\t"
\r
452 " bne reg_test_2_error \n\t"
\r
453 " move a4, d0 \n\t"
\r
454 " cmpi.l #130, d0 \n\t"
\r
455 " bne reg_test_2_error \n\t"
\r
456 " move a5, d0 \n\t"
\r
457 " cmpi.l #140, d0 \n\t"
\r
458 " bne reg_test_2_error \n\t"
\r
459 " move a6, d0 \n\t"
\r
460 " cmpi.l #150, d0 \n\t"
\r
461 " bne reg_test_2_error \n\t"
\r
462 " move ulRegTest1Counter, d0 \n\t"
\r
463 " addq #1, d0 \n\t"
\r
464 " move d0, ulRegTest2Counter \n\t"
\r
465 " bra reg_test_2_start \n\t"
\r
466 "reg_test_2_error: \n\t"
\r
467 " bra reg_test_2_error \n\t"
\r
470 /*-----------------------------------------------------------*/
\r
projects / freertos / blob