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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 lwIP 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.
*
* "Check" task - This only executes every five seconds but has a high priority
* to ensure it gets processor time. Its main function is to check that all the
* standard demo tasks are still operational. While no errors have been
* discovered the check task will toggle an LED every 5 seconds - the toggle
* rate increasing to 500ms being a visual indication that at least one task has
* reported unexpected behaviour.
*
* "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 "semtest.h"
#include "PollQ.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"
/*-----------------------------------------------------------*/
/* The time between cycles of the 'check' functionality - as described at the
top of this file. */
#define mainNO_ERROR_PERIOD ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
/* The rate at which the LED controlled by the 'check' task will flash should an
error have been detected. */
#define mainERROR_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
/* The LED controlled by the 'check' task. */
#define mainCHECK_LED ( 3 )
/* 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 mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
#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 )
/*
* Configure the hardware for the demo.
*/
static void prvSetupHardware( void );
/*
* Implements the 'check' task functionality as described at the top of this
* file.
*/
static void prvCheckTask( void *pvParameters );
/*
* Implement the 'Reg test' functionality as described at the top of this file.
*/
static void vRegTest1Task( void *pvParameters );
static void vRegTest2Task( void *pvParameters );
/*-----------------------------------------------------------*/
/* Counters used to detect errors within the reg test tasks. */
static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
/*-----------------------------------------------------------*/
int main( void )
{
extern void vBasicWEBServer( void *pv );
/* Setup the hardware ready for this demo. */
prvSetupHardware();
( void )sys_thread_new("HTTPD", vBasicWEBServer, NULL, 320, mainWEB_TASK_PRIORITY );
/* Start the standard demo tasks. */
vStartLEDFlashTasks( tskIDLE_PRIORITY );
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
vStartPolledQueueTasks( mainQUEUE_POLL_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 );
/* Create the check task. */
xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* The suicide tasks must be created last as they need to know how many
tasks were running prior to their creation in order to ascertain whether
or not the correct/expected number of tasks are running at any given time. */
vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
/* Start the scheduler. */
vTaskStartScheduler();
/* Will only get here if there was insufficient memory to create the idle
task. */
for( ;; )
{
}
}
/*-----------------------------------------------------------*/
static void prvCheckTask( void *pvParameters )
{
unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
TickType_t xLastExecutionTime;
( void ) pvParameters;
/* Initialise the variable used to control our iteration rate prior to
its first use. */
xLastExecutionTime = xTaskGetTickCount();
for( ;; )
{
/* Wait until it is time to run the tests again. */
vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
/* Has an error been found in any task? */
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
ulError |= 0x01UL;
}
if( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
ulError |= 0x02UL;
}
if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
ulError |= 0x04UL;
}
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
ulError |= 0x20UL;
}
if( xArePollingQueuesStillRunning() != pdTRUE )
{
ulError |= 0x40UL;
}
if( xIsCreateTaskStillRunning() != pdTRUE )
{
ulError |= 0x80UL;
}
if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
{
ulError |= 0x200UL;
}
if( ulLastRegTest1Count == ulRegTest1Counter )
{
ulError |= 0x1000UL;
}
if( ulLastRegTest2Count == ulRegTest2Counter )
{
ulError |= 0x1000UL;
}
ulLastRegTest1Count = ulRegTest1Counter;
ulLastRegTest2Count = ulRegTest2Counter;
/* If an error has been found then increase our cycle rate, and in so
going increase the rate at which the check task LED toggles. */
if( ulError != 0 )
{
ulTicksToWait = mainERROR_PERIOD;
}
/* Toggle the LED each iteration. */
vParTestToggleLED( mainCHECK_LED );
}
}
/*-----------------------------------------------------------*/
void prvSetupHardware( void )
{
portDISABLE_INTERRUPTS();
/* Setup the port used to toggle LEDs. */
vParTestInitialise();
}
/*-----------------------------------------------------------*/
void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed 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 )
{
/* Sanity check - did we receive the parameter expected? */
if( pvParameters != &ulRegTest1Counter )
{
/* Change here so the check task can detect that an error occurred. */
for( ;; )
{
}
}
/* 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 #14, a5 \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 a5, d0 \n\t"
" cmpi.l #14, 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 )
{
/* Sanity check - did we receive the parameter expected? */
if( pvParameters != &ulRegTest2Counter )
{
/* Change here so the check task can detect that an error occurred. */
for( ;; )
{
}
}
/* 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 #140, a5 \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 a5, d0 \n\t"
" cmpi.l #140, 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"
);
}
/*-----------------------------------------------------------*/
|
