begriffs open source - cmsis-freertos/blob - Demo/ColdFire_MCF51CN128

1 /*

4

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6

7 This file is part of the FreeRTOS distribution.

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10 the terms of the GNU General Public License (version 2) as published by the

11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.

12

13 ***************************************************************************

14 >>! NOTE: The modification to the GPL is included to allow you to !<<

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16 >>! obliged to provide the source code for proprietary components !<<

17 >>! outside of the FreeRTOS kernel. !<<

18 ***************************************************************************

19

20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY

21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS

22 FOR A PARTICULAR PURPOSE. Full license text is available on the following

23 link: http://www.freertos.org/a00114.html

24

25 ***************************************************************************

26 * *

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38

39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading

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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS

54 compatible FAT file system, and our tiny thread aware UDP/IP stack.

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58

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65 mission critical applications that require provable dependability.

66

67 1 tab == 4 spaces!

68 */

69

70

71 /*

72 * Creates all the demo application tasks, then starts the scheduler. The WEB

73 * documentation provides more details of the standard demo application tasks.

74 * In addition to the standard demo tasks, the following tasks and tests are

75 * defined and/or created within this file:

76 *

77 * "Web server" - Very basic demonstration of the uIP stack. The WEB server

78 * simply generates a page that shows the current state of all the tasks within

79 * the system, including the high water mark of each task stack. The high water

80 * mark is displayed as the amount of stack that has never been used, so the

81 * closer the value is to zero the closer the task has come to overflowing its

82 * stack. The IP address and net mask are set within FreeRTOSConfig.h. Sub

83 * pages display some TCP/IP status information and permit LED3 to be turned on

84 * and off using a check box.

85 *

86 * Tick hook function that implements a "Check" function - This is executed

87 * every 5 seconds from the tick hook function. It checks to ensure that all

88 * the standard demo tasks are still operational and running without error.

89 * The system status (pass/fail) is then displayed underneith the task table on

90 * the served WEB pages.

91 *

92 * "Reg test" tasks - These fill the registers with known values, then check

93 * that each register still contains its expected value. Each task uses

94 * different values. The tasks run with very low priority so get preempted very

95 * frequently. A register containing an unexpected value is indicative of an

96 * error in the context switching mechanism.

97 *

98 */

99

100 /* Standard includes. */

101 #include <stdio.h>

102

103 /* Scheduler includes. */

104 #include "FreeRTOS.h"

105 #include "task.h"

106 #include "queue.h"

107 #include "semphr.h"

108

109 /* Demo app includes. */

110 #include "BlockQ.h"

111 #include "death.h"

112 #include "flash.h"

113 #include "partest.h"

114 #include "GenQTest.h"

115 #include "QPeek.h"

116 #include "recmutex.h"

117

118 /*-----------------------------------------------------------*/

119

120 /* ComTest constants - there is no free LED for the comtest tasks. */

121 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )

122 #define mainCOM_TEST_LED ( 5 )

123

124 /* Task priorities. */

125 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )

126 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )

127 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )

128 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )

129 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )

130 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )

131 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )

132 #define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )

133

134 /* WEB server requires enough stack for the string handling functions. */

135 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )

136

137 /*

138 * Configure the hardware for the demo.

139 */

140 static void prvSetupHardware( void );

141

142 /*

143 * Implements the 'check' function as described at the top of this file.

144 */

145 static void prvCheckFunction( void );

146

147 /*

148 * Implement the 'Reg test' functionality as described at the top of this file.

149 */

150 static void vRegTest1Task( void *pvParameters );

151 static void vRegTest2Task( void *pvParameters );

152

153 /*

154 * The task that handles the uIP stack. All TCP/IP processing is performed in

155 * this task.

156 */

157 extern void vuIP_Task( void *pvParameters );

158

159 /*-----------------------------------------------------------*/

160

161 /* Counters used to detect errors within the reg test tasks. */

162 static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;

163

164 /* Flag that latches any errors detected in the system. */

165 unsigned long ulCheckErrors = 0;

166

167 /*-----------------------------------------------------------*/

168

169 int main( void )

170 {

171 extern void vBasicWEBServer( void *pv );

172

173 /* Setup the hardware ready for this demo. */

174 prvSetupHardware();

175

176 xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );

177

178 /* Start the standard demo tasks. */

179 vStartLEDFlashTasks( tskIDLE_PRIORITY );

180 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );

181 vStartQueuePeekTasks();

182 vStartRecursiveMutexTasks();

183 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

184

185 /* Start the reg test tasks - defined in this file. */

186 xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );

187 xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );

188

189 /* Start the scheduler. */

190 vTaskStartScheduler();

191

192 /* Will only get here if there was insufficient memory to create the idle

193 task. */

194 for( ;; )

195 {

196 }

197 }

198 /*-----------------------------------------------------------*/

199

200 void vApplicationTickHook( void )

201 {

202 static unsigned long ulExecutionCount = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;

203 const unsigned long ulExecutionRate = 5000 / portTICK_PERIOD_MS;

204

205 /* Increment the count of how many times the tick hook has been called. */

206 ulExecutionCount++;

207

208 /* Is it time to perform the check again? */

209 if( ulExecutionCount >= ulExecutionRate )

210 {

211 /* Reset the execution count so this function is called again in 5

212 seconds time. */

213 ulExecutionCount = 0;

214

215 /* Has an error been found in any task? */

216 if( xAreGenericQueueTasksStillRunning() != pdTRUE )

217 {

218 ulCheckErrors |= 0x01UL;

219 }

220

221 if( xAreQueuePeekTasksStillRunning() != pdTRUE )

222 {

223 ulCheckErrors |= 0x02UL;

224 }

225

226 if( xAreBlockingQueuesStillRunning() != pdTRUE )

227 {

228 ulCheckErrors |= 0x04UL;

229 }

230

231 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )

232 {

233 ulCheckErrors |= 0x200UL;

234 }

235

236 if( ulLastRegTest1Count == ulRegTest1Counter )

237 {

238 ulCheckErrors |= 0x1000UL;

239 }

240

241 if( ulLastRegTest2Count == ulRegTest2Counter )

242 {

243 ulCheckErrors |= 0x1000UL;

244 }

245

246 ulLastRegTest1Count = ulRegTest1Counter;

247 ulLastRegTest2Count = ulRegTest2Counter;

248 }

249 }

250 /*-----------------------------------------------------------*/

251

252 static void prvSetupHardware( void )

253 {

254 /* Disable the watchdog, STOP and WAIT modes. */

255 SOPT1 = 0;

256

257 /* --- Setup clock to use external 25MHz source. --- */

258

259 /* Extal and xtal pin ON. */

260 PTDPF1_D4 = 0x03;

261 PTDPF1_D5 = 0x03;

262

263 /* Switch from FEI to FBE (FLL bypassed external)

264 enable external clock source */

265 MCGC2 = MCGC2_ERCLKEN_MASK /* Activate external reference clock */

266 | MCGC2_EREFS_MASK /* Because crystal is being used */

267 | MCGC2_RANGE_MASK; /* High range */

268

269 /* Select clock mode and clear IREFs. */

270 MCGC1 = (0x02 << 6 ) /* CLKS = 10 -> external reference clock. */

271 | (0x04 << 3 ) /* RDIV = 2^4 -> 25MHz/16 = 1.5625 MHz */

272 | MCGC1_IRCLKEN_MASK; /* IRCLK to RTC enabled */

273

274 /* Wait for Reference and Clock status bits to update. */

275 while( MCGSC_IREFST | ( MCGSC_CLKST != 0x02 ) )

276 {

277 /* Nothing to do here. */

278 }

279

280 /* Switch from FBE to PBE (PLL bypassed internal) mode. */

281 MCGC3 = 0x08 /* Set PLL multi 50MHz. */

282 | MCGC3_PLLS_MASK; /* Select PLL. */

283

284 /* Wait for PLL status and lock bits to update. */

285 while( !MCGSC_PLLST | !MCGSC_LOCK )

286 {

287 /* Nothing to do here. */

288 }

289

290

291 /* Now in PBE Mode, finally switch from PBE to PEE (PLL enabled external

292 mode). */

293 MCGC1_CLKS = 0b00; /* PLL clock to system (MCGOUT) */

294

295 /* Wait for the clock status bits to update. */

296 while( MCGSC_CLKST != 0x03 )

297 {

298 /* Nothing to do here. */

299 }

300

301 /* Setup the IO for the LED outputs. */

302 vParTestInitialise();

303 }

304 /*-----------------------------------------------------------*/

305

306 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )

307 {

308 /* This will get called if a stack overflow is detected during the context

309 switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack

310 problems within nested interrupts, but only do this for debug purposes as

311 it will increase the context switch time. */

312

313 ( void ) pxTask;

314 ( void ) pcTaskName;

315

316 for( ;; )

317 {

318 }

319 }

320 /*-----------------------------------------------------------*/

321

322 static void vRegTest1Task( void *pvParameters )

323 {

324 /* Just to remove compiler warnings. */

325 ( void ) pvParameters;

326

327 /* Set all the registers to known values, then check that each retains its

328 expected value - as described at the top of this file. If an error is

329 found then the loop counter will no longer be incremented allowing the check

330 task to recognise the error. */

331 asm volatile ( "reg_test_1_start: \n\t"

332 " moveq #1, d0 \n\t"

333 " moveq #2, d1 \n\t"

334 " moveq #3, d2 \n\t"

335 " moveq #4, d3 \n\t"

336 " moveq #5, d4 \n\t"

337 " moveq #6, d5 \n\t"

338 " moveq #7, d6 \n\t"

339 " moveq #8, d7 \n\t"

340 " move #9, a0 \n\t"

341 " move #10, a1 \n\t"

342 " move #11, a2 \n\t"

343 " move #12, a3 \n\t"

344 " move #13, a4 \n\t"

345 " move #15, a6 \n\t"

346 " \n\t"

347 " cmpi.l #1, d0 \n\t"

348 " bne reg_test_1_error \n\t"

349 " cmpi.l #2, d1 \n\t"

350 " bne reg_test_1_error \n\t"

351 " cmpi.l #3, d2 \n\t"

352 " bne reg_test_1_error \n\t"

353 " cmpi.l #4, d3 \n\t"

354 " bne reg_test_1_error \n\t"

355 " cmpi.l #5, d4 \n\t"

356 " bne reg_test_1_error \n\t"

357 " cmpi.l #6, d5 \n\t"

358 " bne reg_test_1_error \n\t"

359 " cmpi.l #7, d6 \n\t"

360 " bne reg_test_1_error \n\t"

361 " cmpi.l #8, d7 \n\t"

362 " bne reg_test_1_error \n\t"

363 " move a0, d0 \n\t"

364 " cmpi.l #9, d0 \n\t"

365 " bne reg_test_1_error \n\t"

366 " move a1, d0 \n\t"

367 " cmpi.l #10, d0 \n\t"

368 " bne reg_test_1_error \n\t"

369 " move a2, d0 \n\t"

370 " cmpi.l #11, d0 \n\t"

371 " bne reg_test_1_error \n\t"

372 " move a3, d0 \n\t"

373 " cmpi.l #12, d0 \n\t"

374 " bne reg_test_1_error \n\t"

375 " move a4, d0 \n\t"

376 " cmpi.l #13, d0 \n\t"

377 " bne reg_test_1_error \n\t"

378 " move a6, d0 \n\t"

379 " cmpi.l #15, d0 \n\t"

380 " bne reg_test_1_error \n\t"

381 " move ulRegTest1Counter, d0 \n\t"

382 " addq #1, d0 \n\t"

383 " move d0, ulRegTest1Counter \n\t"

384 " bra reg_test_1_start \n\t"

385 "reg_test_1_error: \n\t"

386 " bra reg_test_1_error \n\t"

387 );

388 }

389 /*-----------------------------------------------------------*/

390

391 static void vRegTest2Task( void *pvParameters )

392 {

393 /* Just to remove compiler warnings. */

394 ( void ) pvParameters;

395

396 /* Set all the registers to known values, then check that each retains its

397 expected value - as described at the top of this file. If an error is

398 found then the loop counter will no longer be incremented allowing the check

399 task to recognise the error. */

400 asm volatile ( "reg_test_2_start: \n\t"

401 " moveq #10, d0 \n\t"

402 " moveq #20, d1 \n\t"

403 " moveq #30, d2 \n\t"

404 " moveq #40, d3 \n\t"

405 " moveq #50, d4 \n\t"

406 " moveq #60, d5 \n\t"

407 " moveq #70, d6 \n\t"

408 " moveq #80, d7 \n\t"

409 " move #90, a0 \n\t"

410 " move #100, a1 \n\t"

411 " move #110, a2 \n\t"

412 " move #120, a3 \n\t"

413 " move #130, a4 \n\t"

414 " move #150, a6 \n\t"

415 " \n\t"

416 " cmpi.l #10, d0 \n\t"

417 " bne reg_test_2_error \n\t"

418 " cmpi.l #20, d1 \n\t"

419 " bne reg_test_2_error \n\t"

420 " cmpi.l #30, d2 \n\t"

421 " bne reg_test_2_error \n\t"

422 " cmpi.l #40, d3 \n\t"

423 " bne reg_test_2_error \n\t"

424 " cmpi.l #50, d4 \n\t"

425 " bne reg_test_2_error \n\t"

426 " cmpi.l #60, d5 \n\t"

427 " bne reg_test_2_error \n\t"

428 " cmpi.l #70, d6 \n\t"

429 " bne reg_test_2_error \n\t"

430 " cmpi.l #80, d7 \n\t"

431 " bne reg_test_2_error \n\t"

432 " move a0, d0 \n\t"

433 " cmpi.l #90, d0 \n\t"

434 " bne reg_test_2_error \n\t"

435 " move a1, d0 \n\t"

436 " cmpi.l #100, d0 \n\t"

437 " bne reg_test_2_error \n\t"

438 " move a2, d0 \n\t"

439 " cmpi.l #110, d0 \n\t"

440 " bne reg_test_2_error \n\t"

441 " move a3, d0 \n\t"

442 " cmpi.l #120, d0 \n\t"

443 " bne reg_test_2_error \n\t"

444 " move a4, d0 \n\t"

445 " cmpi.l #130, d0 \n\t"

446 " bne reg_test_2_error \n\t"

447 " move a6, d0 \n\t"

448 " cmpi.l #150, d0 \n\t"

449 " bne reg_test_2_error \n\t"

450 " move ulRegTest1Counter, d0 \n\t"

451 " addq #1, d0 \n\t"

452 " move d0, ulRegTest2Counter \n\t"

453 " bra reg_test_2_start \n\t"

454 "reg_test_2_error: \n\t"

455 " bra reg_test_2_error \n\t"

456 );

457 }

458 /*-----------------------------------------------------------*/

459