begriffs open source - cmsis-freertos/blob - Demo/ColdFire_MCF52233

1 /*

4

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7 ***************************************************************************

8 * *

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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *

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19 ***************************************************************************

20

21 This file is part of the FreeRTOS distribution.

22

23 FreeRTOS is free software; you can redistribute it and/or modify it under

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

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

26

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

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37 1 tab == 4 spaces!

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39 ***************************************************************************

40 * *

41 * Having a problem? Start by reading the FAQ "My application does *

42 * not run, what could be wrong?" *

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47

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63 1 tab == 4 spaces!

64 */

65

66

67 /*

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

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

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

71 * defined and/or created within this file:

72 *

73 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP

74 * processing is performed in this task. It manages the WEB server functionality.

75 *

76 * "Check" task - This only executes every five seconds but has a high priority

77 * to ensure it gets processor time. Its main function is to check that all the

78 * standard demo tasks are still operational. An error found in any task will be

79 * latched in the ulErrorCode variable for display through the WEB server (the

80 * error code is displayed at the foot of the table that contains information on

81 * the state of each task).

82 *

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

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

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

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

87 * error in the context switching mechanism.

88 *

89 */

90

91 /* Standard includes. */

92 #include <stdio.h>

93

94 /* Scheduler includes. */

95 #include "FreeRTOS.h"

96 #include "task.h"

97 #include "queue.h"

98 #include "semphr.h"

99

100 /* Demo app includes. */

101 #include "BlockQ.h"

102 #include "death.h"

103 #include "blocktim.h"

104 #include "flash.h"

105 #include "partest.h"

106 #include "semtest.h"

107 #include "PollQ.h"

108 #include "GenQTest.h"

109 #include "QPeek.h"

110 #include "recmutex.h"

111 #include "IntQueue.h"

112 #include "comtest2.h"

113

114 /*-----------------------------------------------------------*/

115

116 /* The time between cycles of the 'check' functionality - as described at the

117 top of this file. */

118 #define mainCHECK_TASK_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )

119

120 /* Task priorities. */

121 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )

122 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )

123 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )

124 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )

125 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )

126

127 /* The WEB server task uses more stack than most other tasks because of its

128 reliance on using sprintf(). */

129 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )

130

131 /*

132 * Configure the hardware for the demo.

133 */

134 static void prvSetupHardware( void );

135

136 /*

137 * Implements the 'check' task functionality as described at the top of this

138 * file.

139 */

140 static void prvCheckTask( void *pvParameters );

141

142 /*

143 * The task that implements the WEB server.

144 */

145 extern void vuIP_Task( void *pvParameters );

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

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

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

157

158 /* Any errors that the check task finds in any tasks are latched into

159 ulErrorCode, and then displayed via the WEB server. */

160 static unsigned long ulErrorCode = 0UL;

161

162 /*-----------------------------------------------------------*/

163

164 int main( void )

165 {

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

167 prvSetupHardware();

168

169 /* Create the WEB server task. */

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

171

172 /* Start the standard demo tasks. */

173 vStartLEDFlashTasks( tskIDLE_PRIORITY );

174 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

175 vCreateBlockTimeTasks();

176 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );

177 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );

178 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );

179 vStartQueuePeekTasks();

180 vStartRecursiveMutexTasks();

181

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

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

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

185

186 /* Create the check task. */

187 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

188

189 /* Start the scheduler. */

190 vTaskStartScheduler();

191

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

193 task. */

194 for( ;; );

195 }

196 /*-----------------------------------------------------------*/

197

198 static void prvCheckTask( void *pvParameters )

199 {

200 unsigned ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;

201 portTickType xLastExecutionTime;

202

203 /* To prevent compiler warnings. */

204 ( void ) pvParameters;

205

206 /* Initialise the variable used to control our iteration rate prior to

207 its first use. */

208 xLastExecutionTime = xTaskGetTickCount();

209

210 for( ;; )

211 {

212 /* Wait until it is time to run the tests again. */

213 vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_PERIOD );

214

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

216 if( xAreGenericQueueTasksStillRunning() != pdTRUE )

217 {

218 ulErrorCode |= 0x01UL;

219 }

220

221 if( xAreQueuePeekTasksStillRunning() != pdTRUE )

222 {

223 ulErrorCode |= 0x02UL;

224 }

225

226 if( xAreBlockingQueuesStillRunning() != pdTRUE )

227 {

228 ulErrorCode |= 0x04UL;

229 }

230

231 if( xAreSemaphoreTasksStillRunning() != pdTRUE )

232 {

233 ulErrorCode |= 0x20UL;

234 }

235

236 if( xArePollingQueuesStillRunning() != pdTRUE )

237 {

238 ulErrorCode |= 0x40UL;

239 }

240

241 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )

242 {

243 ulErrorCode |= 0x80UL;

244 }

245

246 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )

247 {

248 ulErrorCode |= 0x100UL;

249 }

250

251 if( ulLastRegTest1Count == ulRegTest1Counter )

252 {

253 ulErrorCode |= 0x200UL;

254 }

255

256 if( ulLastRegTest2Count == ulRegTest2Counter )

257 {

258 ulErrorCode |= 0x200UL;

259 }

260

261 /* Remember the reg test counts so a stall in their values can be

262 detected next time around. */

263 ulLastRegTest1Count = ulRegTest1Counter;

264 ulLastRegTest2Count = ulRegTest2Counter;

265 }

266 }

267 /*-----------------------------------------------------------*/

268

269 unsigned long ulGetErrorCode( void )

270 {

271 /* Returns the error code for display via the WEB server. */

272 return ulErrorCode;

273 }

274 /*-----------------------------------------------------------*/

275

276 void prvSetupHardware( void )

277 {

278 __attribute__ ((section(".cfmconfig")))

279 static const unsigned long _cfm[6] = {

280 0, /* KEY_UPPER 0x00000400 */

281 0, /* KEY_LOWER 0x00000404 */

282 0, /* CFMPROT 0x00000408 */

283 0, /* CFMSACC 0x0000040C */

284 0, /* CFMDACC 0x00000410 */

285 0, /* CFMSEC 0x00000414 */

286 };

287

288 /* Just to stop compiler warnings. */

289 ( void ) _cfm;

290

291 /* Ensure the watchdog is disabled. */

292 MCF_SCM_CWCR = 0;

293

294 /* Initialize IPSBAR (0x40000000). */

295 asm volatile(

296 "move.l #0x40000000,%d0 \n"

297 "andi.l #0xC0000000,%d0 \n"

298 "add.l #0x1,%d0 \n"

299 "move.l %d0,0x40000000 "

300 );

301

302 /* Initialize FLASHBAR (0x00) */

303 asm volatile(

304 "move.l #0x00,%d0 \n"

305 "andi.l #0xFFF80000,%d0 \n"

306 "add.l #0x41,%d0 \n"

307 "movec %d0,%FLASHBAR "

308 );

309

310 portDISABLE_INTERRUPTS();

311

312 /* RAMBAR. */

313 MCF_SCM_RAMBAR = MCF_SCM_RAMBAR_BA( RAMBAR_ADDRESS ) | MCF_SCM_RAMBAR_BDE;

314

315 /* Multiply 25MHz crystal by 12 to get 60MHz clock. */

316 MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD(4) | MCF_CLOCK_SYNCR_CLKSRC| MCF_CLOCK_SYNCR_PLLMODE | MCF_CLOCK_SYNCR_PLLEN ;

317 while (!(MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK))

318 {

319 }

320

321 /* Setup the port used to toggle LEDs. */

322 vParTestInitialise();

323 }

324 /*-----------------------------------------------------------*/

325

326 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )

327 {

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

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

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

331 it will increase the context switch time. */

332

333 ( void ) pxTask;

334 ( void ) pcTaskName;

335

336 for( ;; );

337 }

338 /*-----------------------------------------------------------*/

339

340 static void vRegTest1Task( void *pvParameters )

341 {

342 /* Sanity check - did we receive the parameter expected? */

343 if( pvParameters != &ulRegTest1Counter )

344 {

345 /* Change here so the check task can detect that an error occurred. */

346 for( ;; );

347 }

348

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

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

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

352 task to recognise the error. */

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

354 " moveq #1, %d0 \n\t"

355 " moveq #2, %d1 \n\t"

356 " moveq #3, %d2 \n\t"

357 " moveq #4, %d3 \n\t"

358 " moveq #5, %d4 \n\t"

359 " moveq #6, %d5 \n\t"

360 " moveq #7, %d6 \n\t"

361 " moveq #8, %d7 \n\t"

362 " move #9, %a0 \n\t"

363 " move #10, %a1 \n\t"

364 " move #11, %a2 \n\t"

365 " move #12, %a3 \n\t"

366 " move #13, %a4 \n\t"

367 " move #14, %a5 \n\t"

368 " move #15, %a6 \n\t"

369 " \n\t"

370 " cmpi.l #1, %d0 \n\t"

371 " bne reg_test_1_error \n\t"

372 " cmpi.l #2, %d1 \n\t"

373 " bne reg_test_1_error \n\t"

374 " cmpi.l #3, %d2 \n\t"

375 " bne reg_test_1_error \n\t"

376 " cmpi.l #4, %d3 \n\t"

377 " bne reg_test_1_error \n\t"

378 " cmpi.l #5, %d4 \n\t"

379 " bne reg_test_1_error \n\t"

380 " cmpi.l #6, %d5 \n\t"

381 " bne reg_test_1_error \n\t"

382 " cmpi.l #7, %d6 \n\t"

383 " bne reg_test_1_error \n\t"

384 " cmpi.l #8, %d7 \n\t"

385 " bne reg_test_1_error \n\t"

386 " move %a0, %d0 \n\t"

387 " cmpi.l #9, %d0 \n\t"

388 " bne reg_test_1_error \n\t"

389 " move %a1, %d0 \n\t"

390 " cmpi.l #10, %d0 \n\t"

391 " bne reg_test_1_error \n\t"

392 " move %a2, %d0 \n\t"

393 " cmpi.l #11, %d0 \n\t"

394 " bne reg_test_1_error \n\t"

395 " move %a3, %d0 \n\t"

396 " cmpi.l #12, %d0 \n\t"

397 " bne reg_test_1_error \n\t"

398 " move %a4, %d0 \n\t"

399 " cmpi.l #13, %d0 \n\t"

400 " bne reg_test_1_error \n\t"

401 " move %a5, %d0 \n\t"

402 " cmpi.l #14, %d0 \n\t"

403 " bne reg_test_1_error \n\t"

404 " move %a6, %d0 \n\t"

405 " cmpi.l #15, %d0 \n\t"

406 " bne reg_test_1_error \n\t"

407 " movel ulRegTest1Counter, %d0 \n\t"

408 " addql #1, %d0 \n\t"

409 " movel %d0, ulRegTest1Counter \n\t"

410 " bra reg_test_1_start \n\t"

411 "reg_test_1_error: \n\t"

412 " bra reg_test_1_error \n\t"

413 );

414 }

415 /*-----------------------------------------------------------*/

416

417 static void vRegTest2Task( void *pvParameters )

418 {

419 /* Sanity check - did we receive the parameter expected? */

420 if( pvParameters != &ulRegTest2Counter )

421 {

422 /* Change here so the check task can detect that an error occurred. */

423 for( ;; );

424 }

425

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

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

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

429 task to recognise the error. */

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

431 " moveq #10, %d0 \n\t"

432 " moveq #20, %d1 \n\t"

433 " moveq #30, %d2 \n\t"

434 " moveq #40, %d3 \n\t"

435 " moveq #50, %d4 \n\t"

436 " moveq #60, %d5 \n\t"

437 " moveq #70, %d6 \n\t"

438 " moveq #80, %d7 \n\t"

439 " move #90, %a0 \n\t"

440 " move #100, %a1 \n\t"

441 " move #110, %a2 \n\t"

442 " move #120, %a3 \n\t"

443 " move #130, %a4 \n\t"

444 " move #140, %a5 \n\t"

445 " move #150, %a6 \n\t"

446 " \n\t"

447 " cmpi.l #10, %d0 \n\t"

448 " bne reg_test_2_error \n\t"

449 " cmpi.l #20, %d1 \n\t"

450 " bne reg_test_2_error \n\t"

451 " cmpi.l #30, %d2 \n\t"

452 " bne reg_test_2_error \n\t"

453 " cmpi.l #40, %d3 \n\t"

454 " bne reg_test_2_error \n\t"

455 " cmpi.l #50, %d4 \n\t"

456 " bne reg_test_2_error \n\t"

457 " cmpi.l #60, %d5 \n\t"

458 " bne reg_test_2_error \n\t"

459 " cmpi.l #70, %d6 \n\t"

460 " bne reg_test_2_error \n\t"

461 " cmpi.l #80, %d7 \n\t"

462 " bne reg_test_2_error \n\t"

463 " move %a0, %d0 \n\t"

464 " cmpi.l #90, %d0 \n\t"

465 " bne reg_test_2_error \n\t"

466 " move %a1, %d0 \n\t"

467 " cmpi.l #100, %d0 \n\t"

468 " bne reg_test_2_error \n\t"

469 " move %a2, %d0 \n\t"

470 " cmpi.l #110, %d0 \n\t"

471 " bne reg_test_2_error \n\t"

472 " move %a3, %d0 \n\t"

473 " cmpi.l #120, %d0 \n\t"

474 " bne reg_test_2_error \n\t"

475 " move %a4, %d0 \n\t"

476 " cmpi.l #130, %d0 \n\t"

477 " bne reg_test_2_error \n\t"

478 " move %a5, %d0 \n\t"

479 " cmpi.l #140, %d0 \n\t"

480 " bne reg_test_2_error \n\t"

481 " move %a6, %d0 \n\t"

482 " cmpi.l #150, %d0 \n\t"

483 " bne reg_test_2_error \n\t"

484 " movel ulRegTest1Counter, %d0 \n\t"

485 " addql #1, %d0 \n\t"

486 " movel %d0, ulRegTest2Counter \n\t"

487 " bra reg_test_2_start \n\t"

488 "reg_test_2_error: \n\t"

489 " bra reg_test_2_error \n\t"

490 );

491 }

492 /*-----------------------------------------------------------*/

493