diff options
Diffstat (limited to 'Demo/ColdFire_MCF52259_CodeWarrior/main.c')
| -rw-r--r-- | Demo/ColdFire_MCF52259_CodeWarrior/main.c | 453 |
1 files changed, 453 insertions, 0 deletions
diff --git a/Demo/ColdFire_MCF52259_CodeWarrior/main.c b/Demo/ColdFire_MCF52259_CodeWarrior/main.c new file mode 100644 index 00000000..1d15f134 --- /dev/null +++ b/Demo/ColdFire_MCF52259_CodeWarrior/main.c @@ -0,0 +1,453 @@ +/*
+ FreeRTOS.org V5.1.0 - Copyright (C) 2003-2008 Richard Barry.
+
+ This file is part of the FreeRTOS.org distribution.
+
+ FreeRTOS.org is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ FreeRTOS.org is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with FreeRTOS.org; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+
+ A special exception to the GPL can be applied should you wish to distribute
+ a combined work that includes FreeRTOS.org, without being obliged to provide
+ the source code for any proprietary components. See the licensing section
+ of http://www.FreeRTOS.org for full details of how and when the exception
+ can be applied.
+
+ ***************************************************************************
+ ***************************************************************************
+ * *
+ * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
+ * and even write all or part of your application on your behalf. *
+ * See http://www.OpenRTOS.com for details of the services we provide to *
+ * expedite your project. *
+ * *
+ ***************************************************************************
+ ***************************************************************************
+
+ Please ensure to read the configuration and relevant port sections of the
+ online documentation.
+
+ http://www.FreeRTOS.org - Documentation, latest information, license and
+ contact details.
+
+ http://www.SafeRTOS.com - A version that is certified for use in safety
+ critical systems.
+
+ http://www.OpenRTOS.com - Commercial support, development, porting,
+ licensing and training services.
+*/
+
+
+/*
+ * Creates all the demo application tasks, then starts the scheduler. The WEB
+ * documentation provides more details of the standard demo application tasks.
+ * In addition to the standard demo tasks, the following tasks and tests are
+ * defined and/or created within this file:
+ *
+ * "Web server" - Very basic demonstration of the lwIP stack. The WEB server
+ * simply generates a page that shows the current state of all the tasks within
+ * the system, including the high water mark of each task stack. The high water
+ * mark is displayed as the amount of stack that has never been used, so the
+ * closer the value is to zero the closer the task has come to overflowing its
+ * stack. The IP address and net mask are set within FreeRTOSConfig.h.
+ *
+ * "Check" task - This only executes every five seconds but has a high priority
+ * to ensure it gets processor time. Its main function is to check that all the
+ * standard demo tasks are still operational. While no errors have been
+ * discovered the check task will toggle an LED every 5 seconds - the toggle
+ * rate increasing to 500ms being a visual indication that at least one task has
+ * reported unexpected behaviour.
+ *
+ * "Reg test" tasks - These fill the registers with known values, then check
+ * that each register still contains its expected value. Each task uses
+ * different values. The tasks run with very low priority so get preempted very
+ * frequently. A register containing an unexpected value is indicative of an
+ * error in the context switching mechanism.
+ *
+ */
+
+/* Standard includes. */
+#include <stdio.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+#include "semphr.h"
+
+/* Demo app includes. */
+#include "BlockQ.h"
+#include "death.h"
+#include "flash.h"
+#include "partest.h"
+#include "semtest.h"
+#include "PollQ.h"
+#include "GenQTest.h"
+#include "QPeek.h"
+#include "recmutex.h"
+
+/*-----------------------------------------------------------*/
+
+/* The time between cycles of the 'check' functionality - as described at the
+top of this file. */
+#define mainNO_ERROR_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
+
+/* The rate at which the LED controlled by the 'check' task will flash should an
+error have been detected. */
+#define mainERROR_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
+
+/* The LED controlled by the 'check' task. */
+#define mainCHECK_LED ( 3 )
+
+/* ComTest constants - there is no free LED for the comtest tasks. */
+#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
+#define mainCOM_TEST_LED ( 5 )
+
+/* Task priorities. */
+#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
+#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
+#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
+#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
+#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
+#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
+#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
+#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
+#define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
+
+/*
+ * Configure the hardware for the demo.
+ */
+static void prvSetupHardware( void );
+
+/*
+ * Implements the 'check' task functionality as described at the top of this
+ * file.
+ */
+static void prvCheckTask( void *pvParameters );
+
+/*
+ * Implement the 'Reg test' functionality as described at the top of this file.
+ */
+static void vRegTest1Task( void *pvParameters );
+static void vRegTest2Task( void *pvParameters );
+
+/*-----------------------------------------------------------*/
+
+/* Counters used to detect errors within the reg test tasks. */
+static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
+
+/*-----------------------------------------------------------*/
+
+int main( void )
+{
+extern void vBasicWEBServer( void *pv );
+
+ /* Setup the hardware ready for this demo. */
+ prvSetupHardware();
+ ( void )sys_thread_new("HTTPD", vBasicWEBServer, NULL, 320, mainWEB_TASK_PRIORITY );
+
+ /* Start the standard demo tasks. */
+ vStartLEDFlashTasks( tskIDLE_PRIORITY );
+ vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
+ vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
+ vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
+ vStartQueuePeekTasks();
+ vStartRecursiveMutexTasks();
+ vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
+
+ /* Start the reg test tasks - defined in this file. */
+ xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
+ xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
+
+ /* Create the check task. */
+ xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
+
+ /* The suicide tasks must be created last as they need to know how many
+ tasks were running prior to their creation in order to ascertain whether
+ or not the correct/expected number of tasks are running at any given time. */
+ vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
+
+ /* Start the scheduler. */
+ vTaskStartScheduler();
+
+ /* Will only get here if there was insufficient memory to create the idle
+ task. */
+ for( ;; )
+ {
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvCheckTask( void *pvParameters )
+{
+unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
+portTickType xLastExecutionTime;
+
+ ( void ) pvParameters;
+
+ /* Initialise the variable used to control our iteration rate prior to
+ its first use. */
+ xLastExecutionTime = xTaskGetTickCount();
+
+ for( ;; )
+ {
+ /* Wait until it is time to run the tests again. */
+ vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
+
+ /* Has an error been found in any task? */
+ if( xAreGenericQueueTasksStillRunning() != pdTRUE )
+ {
+ ulError |= 0x01UL;
+ }
+
+ if( xAreQueuePeekTasksStillRunning() != pdTRUE )
+ {
+ ulError |= 0x02UL;
+ }
+
+ if( xAreBlockingQueuesStillRunning() != pdTRUE )
+ {
+ ulError |= 0x04UL;
+ }
+
+ if( xAreSemaphoreTasksStillRunning() != pdTRUE )
+ {
+ ulError |= 0x20UL;
+ }
+
+ if( xArePollingQueuesStillRunning() != pdTRUE )
+ {
+ ulError |= 0x40UL;
+ }
+
+ if( xIsCreateTaskStillRunning() != pdTRUE )
+ {
+ ulError |= 0x80UL;
+ }
+
+ if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
+ {
+ ulError |= 0x200UL;
+ }
+
+ if( ulLastRegTest1Count == ulRegTest1Counter )
+ {
+ ulError |= 0x1000UL;
+ }
+
+ if( ulLastRegTest2Count == ulRegTest2Counter )
+ {
+ ulError |= 0x1000UL;
+ }
+
+ ulLastRegTest1Count = ulRegTest1Counter;
+ ulLastRegTest2Count = ulRegTest2Counter;
+
+ /* If an error has been found then increase our cycle rate, and in so
+ going increase the rate at which the check task LED toggles. */
+ if( ulError != 0 )
+ {
+ ulTicksToWait = mainERROR_PERIOD;
+ }
+
+ /* Toggle the LED each itteration. */
+ vParTestToggleLED( mainCHECK_LED );
+ }
+}
+/*-----------------------------------------------------------*/
+
+void prvSetupHardware( void )
+{
+ portDISABLE_INTERRUPTS();
+
+ /* Setup the port used to toggle LEDs. */
+ vParTestInitialise();
+}
+/*-----------------------------------------------------------*/
+
+void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
+{
+ /* This will get called if a stack overflow is detected during the context
+ switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
+ problems within nested interrupts, but only do this for debug purposes as
+ it will increase the context switch time. */
+
+ ( void ) pxTask;
+ ( void ) pcTaskName;
+
+ for( ;; )
+ {
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void vRegTest1Task( void *pvParameters )
+{
+ /* Sanity check - did we receive the parameter expected? */
+ if( pvParameters != &ulRegTest1Counter )
+ {
+ /* Change here so the check task can detect that an error occurred. */
+ for( ;; )
+ {
+ }
+ }
+
+ /* Set all the registers to known values, then check that each retains its
+ expected value - as described at the top of this file. If an error is
+ found then the loop counter will no longer be incremented allowing the check
+ task to recognise the error. */
+ asm volatile ( "reg_test_1_start: \n\t"
+ " moveq #1, d0 \n\t"
+ " moveq #2, d1 \n\t"
+ " moveq #3, d2 \n\t"
+ " moveq #4, d3 \n\t"
+ " moveq #5, d4 \n\t"
+ " moveq #6, d5 \n\t"
+ " moveq #7, d6 \n\t"
+ " moveq #8, d7 \n\t"
+ " move #9, a0 \n\t"
+ " move #10, a1 \n\t"
+ " move #11, a2 \n\t"
+ " move #12, a3 \n\t"
+ " move #13, a4 \n\t"
+ " move #14, a5 \n\t"
+ " move #15, a6 \n\t"
+ " \n\t"
+ " cmpi.l #1, d0 \n\t"
+ " bne reg_test_1_error \n\t"
+ " cmpi.l #2, d1 \n\t"
+ " bne reg_test_1_error \n\t"
+ " cmpi.l #3, d2 \n\t"
+ " bne reg_test_1_error \n\t"
+ " cmpi.l #4, d3 \n\t"
+ " bne reg_test_1_error \n\t"
+ " cmpi.l #5, d4 \n\t"
+ " bne reg_test_1_error \n\t"
+ " cmpi.l #6, d5 \n\t"
+ " bne reg_test_1_error \n\t"
+ " cmpi.l #7, d6 \n\t"
+ " bne reg_test_1_error \n\t"
+ " cmpi.l #8, d7 \n\t"
+ " bne reg_test_1_error \n\t"
+ " move a0, d0 \n\t"
+ " cmpi.l #9, d0 \n\t"
+ " bne reg_test_1_error \n\t"
+ " move a1, d0 \n\t"
+ " cmpi.l #10, d0 \n\t"
+ " bne reg_test_1_error \n\t"
+ " move a2, d0 \n\t"
+ " cmpi.l #11, d0 \n\t"
+ " bne reg_test_1_error \n\t"
+ " move a3, d0 \n\t"
+ " cmpi.l #12, d0 \n\t"
+ " bne reg_test_1_error \n\t"
+ " move a4, d0 \n\t"
+ " cmpi.l #13, d0 \n\t"
+ " bne reg_test_1_error \n\t"
+ " move a5, d0 \n\t"
+ " cmpi.l #14, d0 \n\t"
+ " bne reg_test_1_error \n\t"
+ " move a6, d0 \n\t"
+ " cmpi.l #15, d0 \n\t"
+ " bne reg_test_1_error \n\t"
+ " move ulRegTest1Counter, d0 \n\t"
+ " addq #1, d0 \n\t"
+ " move d0, ulRegTest1Counter \n\t"
+ " bra reg_test_1_start \n\t"
+ "reg_test_1_error: \n\t"
+ " bra reg_test_1_error \n\t"
+ );
+}
+/*-----------------------------------------------------------*/
+
+static void vRegTest2Task( void *pvParameters )
+{
+ /* Sanity check - did we receive the parameter expected? */
+ if( pvParameters != &ulRegTest2Counter )
+ {
+ /* Change here so the check task can detect that an error occurred. */
+ for( ;; )
+ {
+ }
+ }
+
+ /* Set all the registers to known values, then check that each retains its
+ expected value - as described at the top of this file. If an error is
+ found then the loop counter will no longer be incremented allowing the check
+ task to recognise the error. */
+ asm volatile ( "reg_test_2_start: \n\t"
+ " moveq #10, d0 \n\t"
+ " moveq #20, d1 \n\t"
+ " moveq #30, d2 \n\t"
+ " moveq #40, d3 \n\t"
+ " moveq #50, d4 \n\t"
+ " moveq #60, d5 \n\t"
+ " moveq #70, d6 \n\t"
+ " moveq #80, d7 \n\t"
+ " move #90, a0 \n\t"
+ " move #100, a1 \n\t"
+ " move #110, a2 \n\t"
+ " move #120, a3 \n\t"
+ " move #130, a4 \n\t"
+ " move #140, a5 \n\t"
+ " move #150, a6 \n\t"
+ " \n\t"
+ " cmpi.l #10, d0 \n\t"
+ " bne reg_test_2_error \n\t"
+ " cmpi.l #20, d1 \n\t"
+ " bne reg_test_2_error \n\t"
+ " cmpi.l #30, d2 \n\t"
+ " bne reg_test_2_error \n\t"
+ " cmpi.l #40, d3 \n\t"
+ " bne reg_test_2_error \n\t"
+ " cmpi.l #50, d4 \n\t"
+ " bne reg_test_2_error \n\t"
+ " cmpi.l #60, d5 \n\t"
+ " bne reg_test_2_error \n\t"
+ " cmpi.l #70, d6 \n\t"
+ " bne reg_test_2_error \n\t"
+ " cmpi.l #80, d7 \n\t"
+ " bne reg_test_2_error \n\t"
+ " move a0, d0 \n\t"
+ " cmpi.l #90, d0 \n\t"
+ " bne reg_test_2_error \n\t"
+ " move a1, d0 \n\t"
+ " cmpi.l #100, d0 \n\t"
+ " bne reg_test_2_error \n\t"
+ " move a2, d0 \n\t"
+ " cmpi.l #110, d0 \n\t"
+ " bne reg_test_2_error \n\t"
+ " move a3, d0 \n\t"
+ " cmpi.l #120, d0 \n\t"
+ " bne reg_test_2_error \n\t"
+ " move a4, d0 \n\t"
+ " cmpi.l #130, d0 \n\t"
+ " bne reg_test_2_error \n\t"
+ " move a5, d0 \n\t"
+ " cmpi.l #140, d0 \n\t"
+ " bne reg_test_2_error \n\t"
+ " move a6, d0 \n\t"
+ " cmpi.l #150, d0 \n\t"
+ " bne reg_test_2_error \n\t"
+ " move ulRegTest1Counter, d0 \n\t"
+ " addq #1, d0 \n\t"
+ " move d0, ulRegTest2Counter \n\t"
+ " bra reg_test_2_start \n\t"
+ "reg_test_2_error: \n\t"
+ " bra reg_test_2_error \n\t"
+ );
+}
+/*-----------------------------------------------------------*/
+
+
+
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