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|
/*
* FreeRTOS Kernel V10.3.0
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
/*
* 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:
*
* "Web server" - Very basic demonstration of the uIP stack. The WEB server
* simply generates a page that shows the current state of all the tasks within
* the system, including the high water mark of each task stack. The high water
* mark is displayed as the amount of stack that has never been used, so the
* closer the value is to zero the closer the task has come to overflowing its
* stack. The IP address and net mask are set within FreeRTOSConfig.h. Sub
* pages display some TCP/IP status information and permit LED3 to be turned on
* and off using a check box.
*
* Tick hook function that implements a "Check" function - This is executed
* every 5 seconds from the tick hook function. It checks to ensure that all
* the standard demo tasks are still operational and running without error.
* The system status (pass/fail) is then displayed underneith the task table on
* the served WEB pages.
*
* "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 "flash.h"
#include "partest.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"
/*-----------------------------------------------------------*/
/* ComTest constants - there is no free LED for the comtest tasks. */
#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 19200 )
#define mainCOM_TEST_LED ( 5 )
/* Task priorities. */
#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 )
#define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
/* WEB server requires enough stack for the string handling functions. */
#define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
/*
* Configure the hardware for the demo.
*/
static void prvSetupHardware( void );
/*
* Implements the 'check' function as described at the top of this file.
*/
static void prvCheckFunction( void );
/*
* Implement the 'Reg test' functionality as described at the top of this file.
*/
static void vRegTest1Task( void *pvParameters );
static void vRegTest2Task( void *pvParameters );
/*
* The task that handles the uIP stack. All TCP/IP processing is performed in
* this task.
*/
extern void vuIP_Task( void *pvParameters );
/*-----------------------------------------------------------*/
/* Counters used to detect errors within the reg test tasks. */
static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
/* Flag that latches any errors detected in the system. */
unsigned long ulCheckErrors = 0;
/*-----------------------------------------------------------*/
int main( void )
{
extern void vBasicWEBServer( void *pv );
/* Setup the hardware ready for this demo. */
prvSetupHardware();
xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
/* Start the standard demo tasks. */
vStartLEDFlashTasks( tskIDLE_PRIORITY );
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
vStartQueuePeekTasks();
vStartRecursiveMutexTasks();
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
/* Start the reg test tasks - defined in this file. */
xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
/* Start the scheduler. */
vTaskStartScheduler();
/* Will only get here if there was insufficient memory to create the idle
task. */
for( ;; )
{
}
}
/*-----------------------------------------------------------*/
void vApplicationTickHook( void )
{
static unsigned long ulExecutionCount = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
const unsigned long ulExecutionRate = 5000 / portTICK_PERIOD_MS;
/* Increment the count of how many times the tick hook has been called. */
ulExecutionCount++;
/* Is it time to perform the check again? */
if( ulExecutionCount >= ulExecutionRate )
{
/* Reset the execution count so this function is called again in 5
seconds time. */
ulExecutionCount = 0;
/* Has an error been found in any task? */
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
ulCheckErrors |= 0x01UL;
}
if( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
ulCheckErrors |= 0x02UL;
}
if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
ulCheckErrors |= 0x04UL;
}
if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
{
ulCheckErrors |= 0x200UL;
}
if( ulLastRegTest1Count == ulRegTest1Counter )
{
ulCheckErrors |= 0x1000UL;
}
if( ulLastRegTest2Count == ulRegTest2Counter )
{
ulCheckErrors |= 0x1000UL;
}
ulLastRegTest1Count = ulRegTest1Counter;
ulLastRegTest2Count = ulRegTest2Counter;
}
}
/*-----------------------------------------------------------*/
static void prvSetupHardware( void )
{
/* Disable the watchdog, STOP and WAIT modes. */
SOPT1 = 0;
/* --- Setup clock to use external 25MHz source. --- */
/* Extal and xtal pin ON. */
PTDPF1_D4 = 0x03;
PTDPF1_D5 = 0x03;
/* Switch from FEI to FBE (FLL bypassed external)
enable external clock source */
MCGC2 = MCGC2_ERCLKEN_MASK /* Activate external reference clock */
| MCGC2_EREFS_MASK /* Because crystal is being used */
| MCGC2_RANGE_MASK; /* High range */
/* Select clock mode and clear IREFs. */
MCGC1 = (0x02 << 6 ) /* CLKS = 10 -> external reference clock. */
| (0x04 << 3 ) /* RDIV = 2^4 -> 25MHz/16 = 1.5625 MHz */
| MCGC1_IRCLKEN_MASK; /* IRCLK to RTC enabled */
/* Wait for Reference and Clock status bits to update. */
while( MCGSC_IREFST | ( MCGSC_CLKST != 0x02 ) )
{
/* Nothing to do here. */
}
/* Switch from FBE to PBE (PLL bypassed internal) mode. */
MCGC3 = 0x08 /* Set PLL multi 50MHz. */
| MCGC3_PLLS_MASK; /* Select PLL. */
/* Wait for PLL status and lock bits to update. */
while( !MCGSC_PLLST | !MCGSC_LOCK )
{
/* Nothing to do here. */
}
/* Now in PBE Mode, finally switch from PBE to PEE (PLL enabled external
mode). */
MCGC1_CLKS = 0b00; /* PLL clock to system (MCGOUT) */
/* Wait for the clock status bits to update. */
while( MCGSC_CLKST != 0x03 )
{
/* Nothing to do here. */
}
/* Setup the IO for the LED outputs. */
vParTestInitialise();
}
/*-----------------------------------------------------------*/
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *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 )
{
/* Just to remove compiler warnings. */
( void ) pvParameters;
/* 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 #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 a6, d0 \n\t"
" cmpi.l #15, d0 \n\t"
" bne reg_test_1_error \n\t"
" move ulRegTest1Counter, d0 \n\t"
" addq #1, d0 \n\t"
" move 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 )
{
/* Just to remove compiler warnings. */
( void ) pvParameters;
/* 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 #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 a6, d0 \n\t"
" cmpi.l #150, d0 \n\t"
" bne reg_test_2_error \n\t"
" move ulRegTest1Counter, d0 \n\t"
" addq #1, d0 \n\t"
" move d0, ulRegTest2Counter \n\t"
" bra reg_test_2_start \n\t"
"reg_test_2_error: \n\t"
" bra reg_test_2_error \n\t"
);
}
/*-----------------------------------------------------------*/
|
