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https://github.com/FreeRTOS/FreeRTOS-Kernel.git
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a9680a54cf
* Recently the prototypes for the application hook functions were moved out of the kernel .c files and into the .h files. That changes results in compile time warnings for projects that provide hook functions with a slightly different prototype - in particular where signed char * is used in place of just char * as an older FreeRTOS coding convention required chars to be explicitly qualified as signed or unsigned. This checkin fixes the warnings by ensuring the signature of implemented hook functions matches the signature of the prototypes.
455 lines
15 KiB
C
455 lines
15 KiB
C
/*
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* FreeRTOS Kernel V10.0.1
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* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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* 1 tab == 4 spaces!
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*/
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/*
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* Creates all the demo application tasks, then starts the scheduler. The WEB
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* documentation provides more details of the standard demo application tasks.
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* In addition to the standard demo tasks, the following tasks and tests are
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* defined and/or created within this file:
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*
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* "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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* processing is performed in this task. It manages the WEB server functionality.
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*
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* "Check" task - This only executes every five seconds but has a high priority
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* to ensure it gets processor time. Its main function is to check that all the
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* standard demo tasks are still operational. An error found in any task will be
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* latched in the ulErrorCode variable for display through the WEB server (the
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* error code is displayed at the foot of the table that contains information on
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* the state of each task).
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*
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* "Reg test" tasks - These fill the registers with known values, then check
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* that each register still contains its expected value. Each task uses
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* different values. The tasks run with very low priority so get preempted very
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* frequently. A register containing an unexpected value is indicative of an
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* error in the context switching mechanism.
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*
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*/
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/* Standard includes. */
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#include <stdio.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "semphr.h"
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/* Demo app includes. */
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#include "BlockQ.h"
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#include "death.h"
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#include "blocktim.h"
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#include "flash.h"
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#include "partest.h"
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#include "semtest.h"
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#include "PollQ.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "recmutex.h"
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#include "IntQueue.h"
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#include "comtest2.h"
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/*-----------------------------------------------------------*/
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/* The time between cycles of the 'check' functionality - as described at the
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top of this file. */
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#define mainCHECK_TASK_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )
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/* Task priorities. */
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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/* The WEB server task uses more stack than most other tasks because of its
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reliance on using sprintf(). */
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#define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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/*
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* Configure the hardware for the demo.
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*/
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static void prvSetupHardware( void );
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/*
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* Implements the 'check' task functionality as described at the top of this
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* file.
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*/
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static void prvCheckTask( void *pvParameters );
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/*
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* The task that implements the WEB server.
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*/
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extern void vuIP_Task( void *pvParameters );
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/*
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* Implement the 'Reg test' functionality as described at the top of this file.
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*/
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static void vRegTest1Task( void *pvParameters );
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static void vRegTest2Task( void *pvParameters );
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/*-----------------------------------------------------------*/
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/* Counters used to detect errors within the reg test tasks. */
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static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;
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/* Any errors that the check task finds in any tasks are latched into
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ulErrorCode, and then displayed via the WEB server. */
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static unsigned long ulErrorCode = 0UL;
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/*-----------------------------------------------------------*/
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int main( void )
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{
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/* Setup the hardware ready for this demo. */
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prvSetupHardware();
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/* Create the WEB server task. */
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xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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/* Start the standard demo tasks. */
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vStartLEDFlashTasks( tskIDLE_PRIORITY );
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vCreateBlockTimeTasks();
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartQueuePeekTasks();
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vStartRecursiveMutexTasks();
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/* Start the reg test tasks - defined in this file. */
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xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
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/* Create the check task. */
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xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Start the scheduler. */
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vTaskStartScheduler();
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/* Will only get here if there was insufficient heap to create the idle
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task. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTask( void *pvParameters )
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{
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unsigned ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
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portTickType xLastExecutionTime;
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/* To prevent compiler warnings. */
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( void ) pvParameters;
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/* Initialise the variable used to control our iteration rate prior to
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its first use. */
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xLastExecutionTime = xTaskGetTickCount();
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for( ;; )
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{
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/* Wait until it is time to run the tests again. */
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vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_PERIOD );
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/* Has an error been found in any task? */
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x01UL;
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}
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if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x02UL;
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x04UL;
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x20UL;
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}
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x40UL;
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}
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if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x80UL;
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}
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if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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ulErrorCode |= 0x100UL;
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}
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if( ulLastRegTest1Count == ulRegTest1Counter )
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{
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ulErrorCode |= 0x200UL;
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}
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if( ulLastRegTest2Count == ulRegTest2Counter )
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{
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ulErrorCode |= 0x200UL;
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}
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/* Remember the reg test counts so a stall in their values can be
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detected next time around. */
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ulLastRegTest1Count = ulRegTest1Counter;
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ulLastRegTest2Count = ulRegTest2Counter;
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}
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}
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/*-----------------------------------------------------------*/
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unsigned long ulGetErrorCode( void )
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{
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/* Returns the error code for display via the WEB server. */
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return ulErrorCode;
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}
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/*-----------------------------------------------------------*/
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void prvSetupHardware( void )
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{
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__attribute__ ((section(".cfmconfig")))
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static const unsigned long _cfm[6] = {
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0, /* KEY_UPPER 0x00000400 */
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0, /* KEY_LOWER 0x00000404 */
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0, /* CFMPROT 0x00000408 */
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0, /* CFMSACC 0x0000040C */
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0, /* CFMDACC 0x00000410 */
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0, /* CFMSEC 0x00000414 */
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};
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/* Just to stop compiler warnings. */
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( void ) _cfm;
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/* Ensure the watchdog is disabled. */
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MCF_SCM_CWCR = 0;
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/* Initialize IPSBAR (0x40000000). */
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asm volatile(
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"move.l #0x40000000,%d0 \n"
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"andi.l #0xC0000000,%d0 \n"
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"add.l #0x1,%d0 \n"
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"move.l %d0,0x40000000 "
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);
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/* Initialize FLASHBAR (0x00) */
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asm volatile(
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"move.l #0x00,%d0 \n"
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"andi.l #0xFFF80000,%d0 \n"
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"add.l #0x41,%d0 \n"
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"movec %d0,%FLASHBAR "
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);
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portDISABLE_INTERRUPTS();
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/* RAMBAR. */
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MCF_SCM_RAMBAR = MCF_SCM_RAMBAR_BA( RAMBAR_ADDRESS ) | MCF_SCM_RAMBAR_BDE;
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/* Multiply 25MHz crystal by 12 to get 60MHz clock. */
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MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD(4) | MCF_CLOCK_SYNCR_CLKSRC| MCF_CLOCK_SYNCR_PLLMODE | MCF_CLOCK_SYNCR_PLLEN ;
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while (!(MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK))
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{
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}
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/* Setup the port used to toggle LEDs. */
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vParTestInitialise();
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( xTaskHandle pxTask, char *pcTaskName )
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{
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/* This will get called if a stack overflow is detected during the context
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switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
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problems within nested interrupts, but only do this for debug purposes as
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it will increase the context switch time. */
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( void ) pxTask;
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( void ) pcTaskName;
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void vRegTest1Task( void *pvParameters )
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{
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/* Sanity check - did we receive the parameter expected? */
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if( pvParameters != &ulRegTest1Counter )
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{
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/* Change here so the check task can detect that an error occurred. */
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for( ;; );
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}
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/* Set all the registers to known values, then check that each retains its
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expected value - as described at the top of this file. If an error is
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found then the loop counter will no longer be incremented allowing the check
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task to recognise the error. */
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asm volatile ( "reg_test_1_start: \n\t"
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" moveq #1, %d0 \n\t"
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" moveq #2, %d1 \n\t"
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" moveq #3, %d2 \n\t"
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" moveq #4, %d3 \n\t"
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" moveq #5, %d4 \n\t"
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" moveq #6, %d5 \n\t"
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" moveq #7, %d6 \n\t"
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" moveq #8, %d7 \n\t"
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" move #9, %a0 \n\t"
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" move #10, %a1 \n\t"
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" move #11, %a2 \n\t"
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" move #12, %a3 \n\t"
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" move #13, %a4 \n\t"
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" move #14, %a5 \n\t"
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" move #15, %a6 \n\t"
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" \n\t"
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" cmpi.l #1, %d0 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #2, %d1 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #3, %d2 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #4, %d3 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #5, %d4 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #6, %d5 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #7, %d6 \n\t"
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" bne reg_test_1_error \n\t"
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" cmpi.l #8, %d7 \n\t"
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" bne reg_test_1_error \n\t"
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" move %a0, %d0 \n\t"
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" cmpi.l #9, %d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move %a1, %d0 \n\t"
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" cmpi.l #10, %d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move %a2, %d0 \n\t"
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" cmpi.l #11, %d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move %a3, %d0 \n\t"
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" cmpi.l #12, %d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move %a4, %d0 \n\t"
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" cmpi.l #13, %d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move %a5, %d0 \n\t"
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" cmpi.l #14, %d0 \n\t"
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" bne reg_test_1_error \n\t"
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" move %a6, %d0 \n\t"
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" cmpi.l #15, %d0 \n\t"
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" bne reg_test_1_error \n\t"
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" movel ulRegTest1Counter, %d0 \n\t"
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" addql #1, %d0 \n\t"
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" movel %d0, ulRegTest1Counter \n\t"
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" bra reg_test_1_start \n\t"
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"reg_test_1_error: \n\t"
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" bra reg_test_1_error \n\t"
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);
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}
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/*-----------------------------------------------------------*/
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static void vRegTest2Task( void *pvParameters )
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{
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/* Sanity check - did we receive the parameter expected? */
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if( pvParameters != &ulRegTest2Counter )
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{
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/* Change here so the check task can detect that an error occurred. */
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for( ;; );
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}
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/* Set all the registers to known values, then check that each retains its
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expected value - as described at the top of this file. If an error is
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found then the loop counter will no longer be incremented allowing the check
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task to recognise the error. */
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asm volatile ( "reg_test_2_start: \n\t"
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" moveq #10, %d0 \n\t"
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" moveq #20, %d1 \n\t"
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" moveq #30, %d2 \n\t"
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" moveq #40, %d3 \n\t"
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" moveq #50, %d4 \n\t"
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" moveq #60, %d5 \n\t"
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" moveq #70, %d6 \n\t"
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" moveq #80, %d7 \n\t"
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" move #90, %a0 \n\t"
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" move #100, %a1 \n\t"
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" move #110, %a2 \n\t"
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" move #120, %a3 \n\t"
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" move #130, %a4 \n\t"
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" move #140, %a5 \n\t"
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" move #150, %a6 \n\t"
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" \n\t"
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" cmpi.l #10, %d0 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #20, %d1 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #30, %d2 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #40, %d3 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #50, %d4 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #60, %d5 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #70, %d6 \n\t"
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" bne reg_test_2_error \n\t"
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" cmpi.l #80, %d7 \n\t"
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" bne reg_test_2_error \n\t"
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" move %a0, %d0 \n\t"
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" cmpi.l #90, %d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move %a1, %d0 \n\t"
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" cmpi.l #100, %d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move %a2, %d0 \n\t"
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" cmpi.l #110, %d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move %a3, %d0 \n\t"
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" cmpi.l #120, %d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move %a4, %d0 \n\t"
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" cmpi.l #130, %d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move %a5, %d0 \n\t"
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" cmpi.l #140, %d0 \n\t"
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" bne reg_test_2_error \n\t"
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" move %a6, %d0 \n\t"
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" cmpi.l #150, %d0 \n\t"
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" bne reg_test_2_error \n\t"
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" movel ulRegTest1Counter, %d0 \n\t"
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" addql #1, %d0 \n\t"
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" movel %d0, ulRegTest2Counter \n\t"
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" bra reg_test_2_start \n\t"
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"reg_test_2_error: \n\t"
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" bra reg_test_2_error \n\t"
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);
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}
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/*-----------------------------------------------------------*/
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