begriffs open source - cmsis-freertos/blob - Demo/ColdFire_MCF52259

1 /*

4

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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

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12

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

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

19

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

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

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

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

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38

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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 lwIP 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.

83 *

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

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

86 * standard demo tasks are still operational. While no errors have been

87 * discovered the check task will toggle an LED every 5 seconds - the toggle

88 * rate increasing to 500ms being a visual indication that at least one task has

89 * reported unexpected behaviour.

90 *

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

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

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

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

95 * error in the context switching mechanism.

96 *

97 */

98

99 /* Standard includes. */

100 #include <stdio.h>

101

102 /* Scheduler includes. */

103 #include "FreeRTOS.h"

104 #include "task.h"

105 #include "queue.h"

106 #include "semphr.h"

107

108 /* Demo app includes. */

109 #include "BlockQ.h"

110 #include "death.h"

111 #include "flash.h"

112 #include "partest.h"

113 #include "semtest.h"

114 #include "PollQ.h"

115 #include "GenQTest.h"

116 #include "QPeek.h"

117 #include "recmutex.h"

118

119 /*-----------------------------------------------------------*/

120

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

122 top of this file. */

123 #define mainNO_ERROR_PERIOD ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )

124

125 /* The rate at which the LED controlled by the 'check' task will flash should an

126 error have been detected. */

127 #define mainERROR_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )

128

129 /* The LED controlled by the 'check' task. */

130 #define mainCHECK_LED ( 3 )

131

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

133 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )

134 #define mainCOM_TEST_LED ( 5 )

135

136 /* Task priorities. */

137 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )

138 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )

139 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )

140 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )

141 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )

142 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )

143 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )

144 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )

145 #define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )

146

147 /*

148 * Configure the hardware for the demo.

149 */

150 static void prvSetupHardware( void );

151

152 /*

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

154 * file.

155 */

156 static void prvCheckTask( void *pvParameters );

157

158 /*

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

160 */

161 static void vRegTest1Task( void *pvParameters );

162 static void vRegTest2Task( void *pvParameters );

163

164 /*-----------------------------------------------------------*/

165

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

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

168

169 /*-----------------------------------------------------------*/

170

171 int main( void )

172 {

173 extern void vBasicWEBServer( void *pv );

174

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

176 prvSetupHardware();

177 ( void )sys_thread_new("HTTPD", vBasicWEBServer, NULL, 320, mainWEB_TASK_PRIORITY );

178

179 /* Start the standard demo tasks. */

180 vStartLEDFlashTasks( tskIDLE_PRIORITY );

181 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );

182 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );

183 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );

184 vStartQueuePeekTasks();

185 vStartRecursiveMutexTasks();

186 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

187

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

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

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

191

192 /* Create the check task. */

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

194

195 /* The suicide tasks must be created last as they need to know how many

196 tasks were running prior to their creation in order to ascertain whether

197 or not the correct/expected number of tasks are running at any given time. */

198 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );

199

200 /* Start the scheduler. */

201 vTaskStartScheduler();

202

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

204 task. */

205 for( ;; )

206 {

207 }

208 }

209 /*-----------------------------------------------------------*/

210

211 static void prvCheckTask( void *pvParameters )

212 {

213 unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;

214 TickType_t xLastExecutionTime;

215

216 ( void ) pvParameters;

217

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

219 its first use. */

220 xLastExecutionTime = xTaskGetTickCount();

221

222 for( ;; )

223 {

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

225 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );

226

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

228 if( xAreGenericQueueTasksStillRunning() != pdTRUE )

229 {

230 ulError |= 0x01UL;

231 }

232

233 if( xAreQueuePeekTasksStillRunning() != pdTRUE )

234 {

235 ulError |= 0x02UL;

236 }

237

238 if( xAreBlockingQueuesStillRunning() != pdTRUE )

239 {

240 ulError |= 0x04UL;

241 }

242

243 if( xAreSemaphoreTasksStillRunning() != pdTRUE )

244 {

245 ulError |= 0x20UL;

246 }

247

248 if( xArePollingQueuesStillRunning() != pdTRUE )

249 {

250 ulError |= 0x40UL;

251 }

252

253 if( xIsCreateTaskStillRunning() != pdTRUE )

254 {

255 ulError |= 0x80UL;

256 }

257

258 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )

259 {

260 ulError |= 0x200UL;

261 }

262

263 if( ulLastRegTest1Count == ulRegTest1Counter )

264 {

265 ulError |= 0x1000UL;

266 }

267

268 if( ulLastRegTest2Count == ulRegTest2Counter )

269 {

270 ulError |= 0x1000UL;

271 }

272

273 ulLastRegTest1Count = ulRegTest1Counter;

274 ulLastRegTest2Count = ulRegTest2Counter;

275

276 /* If an error has been found then increase our cycle rate, and in so

277 going increase the rate at which the check task LED toggles. */

278 if( ulError != 0 )

279 {

280 ulTicksToWait = mainERROR_PERIOD;

281 }

282

283 /* Toggle the LED each iteration. */

284 vParTestToggleLED( mainCHECK_LED );

285 }

286 }

287 /*-----------------------------------------------------------*/

288

289 void prvSetupHardware( void )

290 {

291 portDISABLE_INTERRUPTS();

292

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

294 vParTestInitialise();

295 }

296 /*-----------------------------------------------------------*/

297

298 void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *pcTaskName )

299 {

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

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

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

303 it will increase the context switch time. */

304

305 ( void ) pxTask;

306 ( void ) pcTaskName;

307

308 for( ;; )

309 {

310 }

311 }

312 /*-----------------------------------------------------------*/

313

314 static void vRegTest1Task( void *pvParameters )

315 {

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

317 if( pvParameters != &ulRegTest1Counter )

318 {

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

320 for( ;; )

321 {

322 }

323 }

324

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

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

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

328 task to recognise the error. */

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

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

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

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

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

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

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

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

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

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

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

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

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

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

343 " move #14, a5 \n\t"

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

345 " \n\t"

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

347 " bne reg_test_1_error \n\t"

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

349 " bne reg_test_1_error \n\t"

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

351 " bne reg_test_1_error \n\t"

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

353 " bne reg_test_1_error \n\t"

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

355 " bne reg_test_1_error \n\t"

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

357 " bne reg_test_1_error \n\t"

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

359 " bne reg_test_1_error \n\t"

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

361 " bne reg_test_1_error \n\t"

362 " move a0, d0 \n\t"

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

364 " bne reg_test_1_error \n\t"

365 " move a1, d0 \n\t"

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

367 " bne reg_test_1_error \n\t"

368 " move a2, d0 \n\t"

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

370 " bne reg_test_1_error \n\t"

371 " move a3, d0 \n\t"

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

373 " bne reg_test_1_error \n\t"

374 " move a4, d0 \n\t"

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

376 " bne reg_test_1_error \n\t"

377 " move a5, d0 \n\t"

378 " cmpi.l #14, d0 \n\t"

379 " bne reg_test_1_error \n\t"

380 " move a6, d0 \n\t"

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

382 " bne reg_test_1_error \n\t"

383 " move ulRegTest1Counter, d0 \n\t"

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

385 " move d0, ulRegTest1Counter \n\t"

386 " bra reg_test_1_start \n\t"

387 "reg_test_1_error: \n\t"

388 " bra reg_test_1_error \n\t"

389 );

390 }

391 /*-----------------------------------------------------------*/

392

393 static void vRegTest2Task( void *pvParameters )

394 {

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

396 if( pvParameters != &ulRegTest2Counter )

397 {

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

399 for( ;; )

400 {

401 }

402 }

403

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

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

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

407 task to recognise the error. */

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

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

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

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

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

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

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

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

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

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

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

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

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

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

422 " move #140, a5 \n\t"

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

424 " \n\t"

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

426 " bne reg_test_2_error \n\t"

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

428 " bne reg_test_2_error \n\t"

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

430 " bne reg_test_2_error \n\t"

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

432 " bne reg_test_2_error \n\t"

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

434 " bne reg_test_2_error \n\t"

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

436 " bne reg_test_2_error \n\t"

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

438 " bne reg_test_2_error \n\t"

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

440 " bne reg_test_2_error \n\t"

441 " move a0, d0 \n\t"

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

443 " bne reg_test_2_error \n\t"

444 " move a1, d0 \n\t"

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

446 " bne reg_test_2_error \n\t"

447 " move a2, d0 \n\t"

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

449 " bne reg_test_2_error \n\t"

450 " move a3, d0 \n\t"

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

452 " bne reg_test_2_error \n\t"

453 " move a4, d0 \n\t"

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

455 " bne reg_test_2_error \n\t"

456 " move a5, d0 \n\t"

457 " cmpi.l #140, d0 \n\t"

458 " bne reg_test_2_error \n\t"

459 " move a6, d0 \n\t"

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

461 " bne reg_test_2_error \n\t"

462 " move ulRegTest1Counter, d0 \n\t"

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

464 " move d0, ulRegTest2Counter \n\t"

465 " bra reg_test_2_start \n\t"

466 "reg_test_2_error: \n\t"

467 " bra reg_test_2_error \n\t"

468 );

469 }

470 /*-----------------------------------------------------------*/

471

472

473