begriffs open source - cmsis-freertos/blob - Demo/ColdFire_MCF52259_CodeWarrior/main.c

   1 /*
   2  * FreeRTOS Kernel V10.0.1
   3  * Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
   4  *
   5  * Permission is hereby granted, free of charge, to any person obtaining a copy of
   6  * this software and associated documentation files (the "Software"), to deal in
   7  * the Software without restriction, including without limitation the rights to
   8  * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
   9  * the Software, and to permit persons to whom the Software is furnished to do so,
  10  * subject to the following conditions:
  11  *
  12  * The above copyright notice and this permission notice shall be included in all
  13  * copies or substantial portions of the Software.
  14  *
  15  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  16  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
  17  * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
  18  * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
  19  * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
  20  * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  21  *
  22  * http://www.FreeRTOS.org
  23  * http://aws.amazon.com/freertos
  24  *
  25  * 1 tab == 4 spaces!
  26  */
  27
  28
  29 /*
  30  * Creates all the demo application tasks, then starts the scheduler.  The WEB
  31  * documentation provides more details of the standard demo application tasks.
  32  * In addition to the standard demo tasks, the following tasks and tests are
  33  * defined and/or created within this file:
  34  *
  35  * "Web server" - Very basic demonstration of the lwIP stack.  The WEB server
  36  * simply generates a page that shows the current state of all the tasks within
  37  * the system, including the high water mark of each task stack. The high water
  38  * mark is displayed as the amount of stack that has never been used, so the
  39  * closer the value is to zero the closer the task has come to overflowing its
  40  * stack.  The IP address and net mask are set within FreeRTOSConfig.h.
  41  *
  42  * "Check" task -  This only executes every five seconds but has a high priority
  43  * to ensure it gets processor time.  Its main function is to check that all the
  44  * standard demo tasks are still operational.  While no errors have been
  45  * discovered the check task will toggle an LED every 5 seconds - the toggle
  46  * rate increasing to 500ms being a visual indication that at least one task has
  47  * reported unexpected behaviour.
  48  *
  49  * "Reg test" tasks - These fill the registers with known values, then check
  50  * that each register still contains its expected value.  Each task uses
  51  * different values.  The tasks run with very low priority so get preempted very
  52  * frequently.  A register containing an unexpected value is indicative of an
  53  * error in the context switching mechanism.
  54  *
  55  */
  56
  57 /* Standard includes. */
  58 #include <stdio.h>
  59
  60 /* Scheduler includes. */
  61 #include "FreeRTOS.h"
  62 #include "task.h"
  63 #include "queue.h"
  64 #include "semphr.h"
  65
  66 /* Demo app includes. */
  67 #include "BlockQ.h"
  68 #include "death.h"
  69 #include "flash.h"
  70 #include "partest.h"
  71 #include "semtest.h"
  72 #include "PollQ.h"
  73 #include "GenQTest.h"
  74 #include "QPeek.h"
  75 #include "recmutex.h"
  76
  77 /*-----------------------------------------------------------*/
  78
  79 /* The time between cycles of the 'check' functionality - as described at the
  80 top of this file. */
  81 #define mainNO_ERROR_PERIOD                                     ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
  82
  83 /* The rate at which the LED controlled by the 'check' task will flash should an
  84 error have been detected. */
  85 #define mainERROR_PERIOD                                        ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
  86
  87 /* The LED controlled by the 'check' task. */
  88 #define mainCHECK_LED                                           ( 3 )
  89
  90 /* ComTest constants - there is no free LED for the comtest tasks. */
  91 #define mainCOM_TEST_BAUD_RATE                          ( ( unsigned long ) 19200 )
  92 #define mainCOM_TEST_LED                                        ( 5 )
  93
  94 /* Task priorities. */
  95 #define mainCOM_TEST_PRIORITY                           ( tskIDLE_PRIORITY + 2 )
  96 #define mainQUEUE_POLL_PRIORITY                         ( tskIDLE_PRIORITY + 2 )
  97 #define mainCHECK_TASK_PRIORITY                         ( tskIDLE_PRIORITY + 3 )
  98 #define mainSEM_TEST_PRIORITY                           ( tskIDLE_PRIORITY + 1 )
  99 #define mainBLOCK_Q_PRIORITY                            ( tskIDLE_PRIORITY + 2 )
 100 #define mainCREATOR_TASK_PRIORITY           ( tskIDLE_PRIORITY + 2 )
 101 #define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )
 102 #define mainGEN_QUEUE_TASK_PRIORITY                     ( tskIDLE_PRIORITY )
 103 #define mainWEB_TASK_PRIORITY                   ( tskIDLE_PRIORITY + 2 )
 104
 105 /*
 106  * Configure the hardware for the demo.
 107  */
 108 static void prvSetupHardware( void );
 109
 110 /*
 111  * Implements the 'check' task functionality as described at the top of this
 112  * file.
 113  */
 114 static void prvCheckTask( void *pvParameters );
 115
 116 /*
 117  * Implement the 'Reg test' functionality as described at the top of this file.
 118  */
 119 static void vRegTest1Task( void *pvParameters );
 120 static void vRegTest2Task( void *pvParameters );
 121
 122 /*-----------------------------------------------------------*/
 123
 124 /* Counters used to detect errors within the reg test tasks. */
 125 static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
 126
 127 /*-----------------------------------------------------------*/
 128
 129 int main( void )
 130 {
 131 extern void vBasicWEBServer( void *pv );
 132
 133         /* Setup the hardware ready for this demo. */
 134         prvSetupHardware();
 135         ( void )sys_thread_new("HTTPD", vBasicWEBServer, NULL, 320, mainWEB_TASK_PRIORITY );
 136
 137         /* Start the standard demo tasks. */
 138         vStartLEDFlashTasks( tskIDLE_PRIORITY );
 139         vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
 140         vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
 141         vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
 142         vStartQueuePeekTasks();
 143         vStartRecursiveMutexTasks();
 144         vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
 145
 146         /* Start the reg test tasks - defined in this file. */
 147         xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
 148         xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
 149
 150         /* Create the check task. */
 151         xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
 152
 153         /* The suicide tasks must be created last as they need to know how many
 154         tasks were running prior to their creation in order to ascertain whether
 155         or not the correct/expected number of tasks are running at any given time. */
 156     vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
 157
 158         /* Start the scheduler. */
 159         vTaskStartScheduler();
 160
 161     /* Will only get here if there was insufficient memory to create the idle
 162     task. */
 163         for( ;; )
 164         {
 165         }
 166 }
 167 /*-----------------------------------------------------------*/
 168
 169 static void prvCheckTask( void *pvParameters )
 170 {
 171 unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
 172 TickType_t xLastExecutionTime;
 173
 174         ( void ) pvParameters;
 175
 176         /* Initialise the variable used to control our iteration rate prior to
 177         its first use. */
 178         xLastExecutionTime = xTaskGetTickCount();
 179
 180         for( ;; )
 181         {
 182                 /* Wait until it is time to run the tests again. */
 183                 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
 184
 185                 /* Has an error been found in any task? */
 186                 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
 187                 {
 188                         ulError |= 0x01UL;
 189                 }
 190
 191                 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
 192                 {
 193                         ulError |= 0x02UL;
 194                 }
 195
 196                 if( xAreBlockingQueuesStillRunning() != pdTRUE )
 197                 {
 198                         ulError |= 0x04UL;
 199                 }
 200
 201                 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
 202             {
 203                 ulError |= 0x20UL;
 204             }
 205
 206                 if( xArePollingQueuesStillRunning() != pdTRUE )
 207             {
 208                 ulError |= 0x40UL;
 209             }
 210
 211                 if( xIsCreateTaskStillRunning() != pdTRUE )
 212             {
 213                 ulError |= 0x80UL;
 214             }
 215
 216                 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
 217             {
 218                 ulError |= 0x200UL;
 219             }
 220
 221                 if( ulLastRegTest1Count == ulRegTest1Counter )
 222                 {
 223                         ulError |= 0x1000UL;
 224                 }
 225
 226                 if( ulLastRegTest2Count == ulRegTest2Counter )
 227                 {
 228                         ulError |= 0x1000UL;
 229                 }
 230
 231                 ulLastRegTest1Count = ulRegTest1Counter;
 232                 ulLastRegTest2Count = ulRegTest2Counter;
 233
 234                 /* If an error has been found then increase our cycle rate, and in so
 235                 going increase the rate at which the check task LED toggles. */
 236                 if( ulError != 0 )
 237                 {
 238                 ulTicksToWait = mainERROR_PERIOD;
 239                 }
 240
 241                 /* Toggle the LED each iteration. */
 242                 vParTestToggleLED( mainCHECK_LED );
 243         }
 244 }
 245 /*-----------------------------------------------------------*/
 246
 247 void prvSetupHardware( void )
 248 {
 249         portDISABLE_INTERRUPTS();
 250
 251         /* Setup the port used to toggle LEDs. */
 252         vParTestInitialise();
 253 }
 254 /*-----------------------------------------------------------*/
 255
 256 void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *pcTaskName )
 257 {
 258         /* This will get called if a stack overflow is detected during the context
 259         switch.  Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
 260         problems within nested interrupts, but only do this for debug purposes as
 261         it will increase the context switch time. */
 262
 263         ( void ) pxTask;
 264         ( void ) pcTaskName;
 265
 266         for( ;; )
 267         {
 268         }
 269 }
 270 /*-----------------------------------------------------------*/
 271
 272 static void vRegTest1Task( void *pvParameters )
 273 {
 274         /* Sanity check - did we receive the parameter expected? */
 275         if( pvParameters != &ulRegTest1Counter )
 276         {
 277                 /* Change here so the check task can detect that an error occurred. */
 278                 for( ;; )
 279                 {
 280                 }
 281         }
 282
 283         /* Set all the registers to known values, then check that each retains its
 284         expected value - as described at the top of this file.  If an error is
 285         found then the loop counter will no longer be incremented allowing the check
 286         task to recognise the error. */
 287         asm volatile    (       "reg_test_1_start:                                              \n\t"
 288                                                 "       moveq           #1, d0                                  \n\t"
 289                                                 "       moveq           #2, d1                                  \n\t"
 290                                                 "       moveq           #3, d2                                  \n\t"
 291                                                 "       moveq           #4, d3                                  \n\t"
 292                                                 "       moveq           #5, d4                                  \n\t"
 293                                                 "       moveq           #6, d5                                  \n\t"
 294                                                 "       moveq           #7, d6                                  \n\t"
 295                                                 "       moveq           #8, d7                                  \n\t"
 296                                                 "       move            #9, a0                                  \n\t"
 297                                                 "       move            #10, a1                                 \n\t"
 298                                                 "       move            #11, a2                                 \n\t"
 299                                                 "       move            #12, a3                                 \n\t"
 300                                                 "       move            #13, a4                                 \n\t"
 301                                                 "       move            #14, a5                                 \n\t"
 302                                                 "       move            #15, a6                                 \n\t"
 303                                                 "                                                                               \n\t"
 304                                                 "       cmpi.l          #1, d0                                  \n\t"
 305                                                 "       bne                     reg_test_1_error                \n\t"
 306                                                 "       cmpi.l          #2, d1                                  \n\t"
 307                                                 "       bne                     reg_test_1_error                \n\t"
 308                                                 "       cmpi.l          #3, d2                                  \n\t"
 309                                                 "       bne                     reg_test_1_error                \n\t"
 310                                                 "       cmpi.l          #4, d3                                  \n\t"
 311                                                 "       bne                     reg_test_1_error                \n\t"
 312                                                 "       cmpi.l          #5, d4                                  \n\t"
 313                                                 "       bne                     reg_test_1_error                \n\t"
 314                                                 "       cmpi.l          #6, d5                                  \n\t"
 315                                                 "       bne                     reg_test_1_error                \n\t"
 316                                                 "       cmpi.l          #7, d6                                  \n\t"
 317                                                 "       bne                     reg_test_1_error                \n\t"
 318                                                 "       cmpi.l          #8, d7                                  \n\t"
 319                                                 "       bne                     reg_test_1_error                \n\t"
 320                                                 "       move            a0, d0                                  \n\t"
 321                                                 "       cmpi.l          #9, d0                                  \n\t"
 322                                                 "       bne                     reg_test_1_error                \n\t"
 323                                                 "       move            a1, d0                                  \n\t"
 324                                                 "       cmpi.l          #10, d0                                 \n\t"
 325                                                 "       bne                     reg_test_1_error                \n\t"
 326                                                 "       move            a2, d0                                  \n\t"
 327                                                 "       cmpi.l          #11, d0                                 \n\t"
 328                                                 "       bne                     reg_test_1_error                \n\t"
 329                                                 "       move            a3, d0                                  \n\t"
 330                                                 "       cmpi.l          #12, d0                                 \n\t"
 331                                                 "       bne                     reg_test_1_error                \n\t"
 332                                                 "       move            a4, d0                                  \n\t"
 333                                                 "       cmpi.l          #13, d0                                 \n\t"
 334                                                 "       bne                     reg_test_1_error                \n\t"
 335                                                 "       move            a5, d0                                  \n\t"
 336                                                 "       cmpi.l          #14, d0                                 \n\t"
 337                                                 "       bne                     reg_test_1_error                \n\t"
 338                                                 "       move            a6, d0                                  \n\t"
 339                                                 "       cmpi.l          #15, d0                                 \n\t"
 340                                                 "       bne                     reg_test_1_error                \n\t"
 341                                                 "       move            ulRegTest1Counter, d0   \n\t"
 342                                                 "       addq            #1, d0                                  \n\t"
 343                                                 "       move            d0, ulRegTest1Counter   \n\t"
 344                                                 "       bra                     reg_test_1_start                \n\t"
 345                                                 "reg_test_1_error:                                              \n\t"
 346                                                 "       bra                     reg_test_1_error                \n\t"
 347                                         );
 348 }
 349 /*-----------------------------------------------------------*/
 350
 351 static void vRegTest2Task( void *pvParameters )
 352 {
 353         /* Sanity check - did we receive the parameter expected? */
 354         if( pvParameters != &ulRegTest2Counter )
 355         {
 356                 /* Change here so the check task can detect that an error occurred. */
 357                 for( ;; )
 358                 {
 359                 }
 360         }
 361
 362         /* Set all the registers to known values, then check that each retains its
 363         expected value - as described at the top of this file.  If an error is
 364         found then the loop counter will no longer be incremented allowing the check
 365         task to recognise the error. */
 366         asm volatile    (       "reg_test_2_start:                                              \n\t"
 367                                                 "       moveq           #10, d0                                 \n\t"
 368                                                 "       moveq           #20, d1                                 \n\t"
 369                                                 "       moveq           #30, d2                                 \n\t"
 370                                                 "       moveq           #40, d3                                 \n\t"
 371                                                 "       moveq           #50, d4                                 \n\t"
 372                                                 "       moveq           #60, d5                                 \n\t"
 373                                                 "       moveq           #70, d6                                 \n\t"
 374                                                 "       moveq           #80, d7                                 \n\t"
 375                                                 "       move            #90, a0                                 \n\t"
 376                                                 "       move            #100, a1                                \n\t"
 377                                                 "       move            #110, a2                                \n\t"
 378                                                 "       move            #120, a3                                \n\t"
 379                                                 "       move            #130, a4                                \n\t"
 380                                                 "       move            #140, a5                                \n\t"
 381                                                 "       move            #150, a6                                \n\t"
 382                                                 "                                                                               \n\t"
 383                                                 "       cmpi.l          #10, d0                                 \n\t"
 384                                                 "       bne                     reg_test_2_error                \n\t"
 385                                                 "       cmpi.l          #20, d1                                 \n\t"
 386                                                 "       bne                     reg_test_2_error                \n\t"
 387                                                 "       cmpi.l          #30, d2                                 \n\t"
 388                                                 "       bne                     reg_test_2_error                \n\t"
 389                                                 "       cmpi.l          #40, d3                                 \n\t"
 390                                                 "       bne                     reg_test_2_error                \n\t"
 391                                                 "       cmpi.l          #50, d4                                 \n\t"
 392                                                 "       bne                     reg_test_2_error                \n\t"
 393                                                 "       cmpi.l          #60, d5                                 \n\t"
 394                                                 "       bne                     reg_test_2_error                \n\t"
 395                                                 "       cmpi.l          #70, d6                                 \n\t"
 396                                                 "       bne                     reg_test_2_error                \n\t"
 397                                                 "       cmpi.l          #80, d7                                 \n\t"
 398                                                 "       bne                     reg_test_2_error                \n\t"
 399                                                 "       move            a0, d0                                  \n\t"
 400                                                 "       cmpi.l          #90, d0                                 \n\t"
 401                                                 "       bne                     reg_test_2_error                \n\t"
 402                                                 "       move            a1, d0                                  \n\t"
 403                                                 "       cmpi.l          #100, d0                                \n\t"
 404                                                 "       bne                     reg_test_2_error                \n\t"
 405                                                 "       move            a2, d0                                  \n\t"
 406                                                 "       cmpi.l          #110, d0                                \n\t"
 407                                                 "       bne                     reg_test_2_error                \n\t"
 408                                                 "       move            a3, d0                                  \n\t"
 409                                                 "       cmpi.l          #120, d0                                \n\t"
 410                                                 "       bne                     reg_test_2_error                \n\t"
 411                                                 "       move            a4, d0                                  \n\t"
 412                                                 "       cmpi.l          #130, d0                                \n\t"
 413                                                 "       bne                     reg_test_2_error                \n\t"
 414                                                 "       move            a5, d0                                  \n\t"
 415                                                 "       cmpi.l          #140, d0                                \n\t"
 416                                                 "       bne                     reg_test_2_error                \n\t"
 417                                                 "       move            a6, d0                                  \n\t"
 418                                                 "       cmpi.l          #150, d0                                \n\t"
 419                                                 "       bne                     reg_test_2_error                \n\t"
 420                                                 "       move            ulRegTest1Counter, d0   \n\t"
 421                                                 "       addq            #1, d0                                  \n\t"
 422                                                 "       move            d0, ulRegTest2Counter   \n\t"
 423                                                 "       bra                     reg_test_2_start                \n\t"
 424                                                 "reg_test_2_error:                                              \n\t"
 425                                                 "       bra                     reg_test_2_error                \n\t"
 426                                         );
 427 }
 428 /*-----------------------------------------------------------*/
 429
 430
 431