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/*
FreeRTOS.org V5.1.2 - Copyright (C) 2003-2009 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.
***************************************************************************
***************************************************************************
* *
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
* *
* This is a concise, step by step, 'hands on' guide that describes both *
* general multitasking concepts and FreeRTOS specifics. It presents and *
* explains numerous examples that are written using the FreeRTOS API. *
* Full source code for all the examples is provided in an accompanying *
* .zip file. *
* *
***************************************************************************
***************************************************************************
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:
*
* "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 "integer.h"
#include "flash.h"
#include "partest.h"
#include "semtest.h"
#include "PollQ.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"
#include "IntQueue.h"
#include "comtest2.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 )
/*
* 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 )
{
/* Setup the hardware ready for this demo. */
prvSetupHardware();
/* Start the standard demo tasks. */
vStartLEDFlashTasks( tskIDLE_PRIORITY );
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
vStartQueuePeekTasks();
vStartRecursiveMutexTasks();
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
vStartInterruptQueueTasks();
/* 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( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
ulError |= 0x100UL;
}
if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
{
ulError |= 0x200UL;
}
if( xAreComTestTasksStillRunning() != pdTRUE )
{
ulError |= 0x400UL;
}
if( xAreIntQueueTasksStillRunning() != pdTRUE )
{
ulError |= 0x800UL;
}
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 )
{
extern void mcf5xxx_wr_cacr( unsigned portLONG );
portDISABLE_INTERRUPTS();
/* Enable the cache. */
mcf5xxx_wr_cacr( MCF5XXX_CACR_CENB | MCF5XXX_CACR_CINV | MCF5XXX_CACR_DISD | MCF5XXX_CACR_CEIB | MCF5XXX_CACR_CLNF_00 );
asm volatile( "NOP" ); /* As per errata. */
/* Multiply 8Mhz reference crystal by 8 to achieve system clock of 64Mhz. */
MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD( 2 );
/* Wait for PLL to lock. */
while( !( MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK ) )
{
__asm__ volatile ( "NOP" );
}
/* 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"
" movel ulRegTest1Counter, %d0 \n\t"
" addql #1, %d0 \n\t"
" movel %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"
" movel ulRegTest1Counter, %d0 \n\t"
" addql #1, %d0 \n\t"
" movel %d0, ulRegTest2Counter \n\t"
" bra reg_test_2_start \n\t"
"reg_test_2_error: \n\t"
" bra reg_test_2_error \n\t"
);
}
/*-----------------------------------------------------------*/
|
