Demo/MCF5235_GCC/demo.c - third_party/github/FreeRTOS/FreeRTOS-Kernel - Git at Google

 /*
     FreeRTOS V4.6.1 - Copyright (C) 2003-2006 Richard Barry.
     MCF5235 Port - Copyright (C) 2006 Christian Walter.

     This file is part of the FreeRTOS distribution.

     FreeRTOS is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License** as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     FreeRTOS is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with FreeRTOS; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

     A special exception to the GPL can be applied should you wish to distribute
     a combined work that includes FreeRTOS, without being obliged to provide
     the source code for any proprietary components.  See the licensing section
     of http://www.FreeRTOS.org for full details of how and when the exception
     can be applied.

     ***************************************************************************
     ***************************************************************************
     *                                                                         *
     * Get the FreeRTOS eBook!  See http://www.FreeRTOS.org/Documentation      *
 	*                                                                         *
 	* This is a concise, step by step, 'hands on' guide that describes both   *
 	* general multitasking concepts and FreeRTOS specifics. It presents and   *
 	* explains numerous examples that are written using the FreeRTOS API.     *
 	* Full source code for all the examples is provided in an accompanying    *
 	* .zip file.                                                              *
     *                                                                         *
     ***************************************************************************
     ***************************************************************************

 	Please ensure to read the configuration and relevant port sections of the
 	online documentation.

 	http://www.FreeRTOS.org - Documentation, latest information, license and
 	contact details.

 	http://www.SafeRTOS.com - A version that is certified for use in safety
 	critical systems.

 	http://www.OpenRTOS.com - Commercial support, development, porting,
 	licensing and training services.
 */

 /* ------------------------ System includes ------------------------------- */
 #include <stdlib.h>
 #include <string.h>

 /* ------------------------ FreeRTOS includes ----------------------------- */
 #include "FreeRTOS.h"
 #include "task.h"

 /* ------------------------ Demo application includes --------------------- */
 #include "partest.h"
 #include "flash.h"
 #include "integer.h"
 #include "PollQ.h"
 #include "comtest2.h"
 #include "semtest.h"
 #include "flop.h"
 #include "dynamic.h"
 #include "BlockQ.h"
 #include "serial.h"

 /* ------------------------ Defines --------------------------------------- */
 /* Constants for the ComTest tasks. */
 #define mainCOM_TEST_BAUD_RATE  ( ( unsigned long ) 38400 )
 #define mainCOM_TEST_LED        ( -1 )

 /* Priorities for the demo application tasks. */
 #define mainLED_TASK_PRIORITY       ( tskIDLE_PRIORITY + 3 )
 #define mainCOM_TEST_PRIORITY       ( tskIDLE_PRIORITY + 2 )
 #define mainQUEUE_POLL_PRIORITY     ( tskIDLE_PRIORITY + 2 )
 #define mainCHECK_TASK_PRIORITY     ( tskIDLE_PRIORITY + 4 )
 #define mainSEM_TEST_PRIORITY       ( tskIDLE_PRIORITY + 1 )
 #define mainBLOCK_Q_PRIORITY        ( tskIDLE_PRIORITY + 2 )

 /* Interval in which tasks are checked. */
 #define mainCHECK_PERIOD            ( ( portTickType ) 2000 / portTICK_RATE_MS  )

 /* Constants used by the vMemCheckTask() task. */
 #define mainCOUNT_INITIAL_VALUE     ( ( unsigned long ) 0 )
 #define mainNO_TASK                 ( 0 )

 /* The size of the memory blocks allocated by the vMemCheckTask() task. */
 #define mainMEM_CHECK_SIZE_1        ( ( size_t ) 51 )
 #define mainMEM_CHECK_SIZE_2        ( ( size_t ) 52 )
 #define mainMEM_CHECK_SIZE_3        ( ( size_t ) 151 )

 /* ------------------------ Static variables ------------------------------ */
 xComPortHandle  xSTDComPort = NULL;

 /* ------------------------ Static functions ------------------------------ */
 static          portTASK_FUNCTION( vErrorChecks, pvParameters );
 static long prvCheckOtherTasksAreStillRunning( unsigned long
                                                    ulMemCheckTaskCount );
 static          portTASK_FUNCTION( vMemCheckTask, pvParameters );

 /* ------------------------ Implementation -------------------------------- */
 int
 main( int argc, char *argv[] )
 {
     asm volatile    ( "move.w  #0x2000, %sr\n\t" );

     xSTDComPort = xSerialPortInitMinimal( 38400, 8 );

     /* Start the demo/test application tasks. */
     vStartIntegerMathTasks( tskIDLE_PRIORITY );
     vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
     vStartMathTasks( tskIDLE_PRIORITY );
     vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
     vStartDynamicPriorityTasks(  );
     vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

     /* Start the check task - which is defined in this file. */
     xTaskCreate( vErrorChecks, ( signed char * )"Check", 512, NULL,
                  mainCHECK_TASK_PRIORITY, NULL );

     /* Now all the tasks have been started - start the scheduler. */
     vTaskStartScheduler(  );

     /* Should never get here! */
     return 0;
 }


 static
 portTASK_FUNCTION( vErrorChecks, pvParameters )
 {
     unsigned long ulMemCheckTaskRunningCount;
     xTaskHandle     xCreatedTask;

     /* The parameters are not used in this function. */
     ( void )pvParameters;

     xSerialPortInitMinimal( mainCOM_TEST_BAUD_RATE, 8 );

     for( ;; )
     {
         ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
         xCreatedTask = mainNO_TASK;

         if( xTaskCreate
             ( vMemCheckTask, ( signed char * )"MEM_CHECK",
               configMINIMAL_STACK_SIZE, ( void * )&ulMemCheckTaskRunningCount,
               tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
         {
             xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY );
         }

         /* Delay until it is time to execute again. */
         vTaskDelay( mainCHECK_PERIOD );

         /* Delete the dynamically created task. */
         if( xCreatedTask != mainNO_TASK )
         {
             vTaskDelete( xCreatedTask );
         }

         if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) !=
             pdPASS )
         {
             xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY );
         }
         else
         {
             xSerialPutChar( xSTDComPort, '.', portMAX_DELAY );
         }
     }
 }

 static long
 prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount )
 {
     long        lReturn = ( long ) pdPASS;

     /* Check all the demo tasks (other than the flash tasks) to ensure
      * that they are all still running, and that none of them have detected
      * an error.
      */

     if( xAreIntegerMathsTaskStillRunning(  ) != pdTRUE )
     {
         lReturn = ( long ) pdFAIL;
     }

     if( xArePollingQueuesStillRunning(  ) != pdTRUE )
     {
         lReturn = ( long ) pdFAIL;
     }

     if( xAreMathsTaskStillRunning(  ) != pdTRUE )
     {
         lReturn = ( long ) pdFAIL;
     }

     if( xAreSemaphoreTasksStillRunning(  ) != pdTRUE )
     {
         lReturn = ( long ) pdFAIL;
     }

     if( xAreDynamicPriorityTasksStillRunning(  ) != pdTRUE )
     {
         lReturn = ( long ) pdFAIL;
     }

     if( xAreBlockingQueuesStillRunning(  ) != pdTRUE )
     {
         lReturn = ( long ) pdFAIL;
     }
     if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
     {
         // The vMemCheckTask did not increment the counter - it must
         // have failed.
         lReturn = ( long ) pdFAIL;
     }
     return lReturn;
 }

 static void
 vMemCheckTask( void *pvParameters )
 {
     unsigned long *pulMemCheckTaskRunningCounter;
     void           *pvMem1, *pvMem2, *pvMem3;
     static long lErrorOccurred = pdFALSE;

     /* This task is dynamically created then deleted during each cycle of the
        vErrorChecks task to check the operation of the memory allocator.  Each time
        the task is created memory is allocated for the stack and TCB.  Each time
        the task is deleted this memory is returned to the heap.  This task itself
        exercises the allocator by allocating and freeing blocks.

        The task executes at the idle priority so does not require a delay.

        pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
        vErrorChecks() task that this task is still executing without error. */

     pulMemCheckTaskRunningCounter = ( unsigned long * )pvParameters;

     for( ;; )
     {
         if( lErrorOccurred == pdFALSE )
         {
             /* We have never seen an error so increment the counter. */
             ( *pulMemCheckTaskRunningCounter )++;
         }

         /* Allocate some memory - just to give the allocator some extra
            exercise.  This has to be in a critical section to ensure the
            task does not get deleted while it has memory allocated. */
         vTaskSuspendAll(  );
         {
             pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
             if( pvMem1 == NULL )
             {
                 lErrorOccurred = pdTRUE;
             }
             else
             {
                 memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
                 vPortFree( pvMem1 );
             }
         }
         xTaskResumeAll(  );

         /* Again - with a different size block. */
         vTaskSuspendAll(  );
         {
             pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
             if( pvMem2 == NULL )
             {
                 lErrorOccurred = pdTRUE;
             }
             else
             {
                 memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
                 vPortFree( pvMem2 );
             }
         }
         xTaskResumeAll(  );

         /* Again - with a different size block. */
         vTaskSuspendAll(  );
         {
             pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
             if( pvMem3 == NULL )
             {
                 lErrorOccurred = pdTRUE;
             }
             else
             {
                 memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
                 vPortFree( pvMem3 );
             }
         }
         xTaskResumeAll(  );
     }
 }

 void
 vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
 {
 }

 void
 vParTestToggleLED( unsigned portBASE_TYPE uxLED )
 {
 }
	/*
	FreeRTOS V4.6.1 - Copyright (C) 2003-2006 Richard Barry.
	MCF5235 Port - Copyright (C) 2006 Christian Walter.

	This file is part of the FreeRTOS distribution.

	FreeRTOS is free software; you can redistribute it and/or modify
	it under the terms of the GNU General Public License** as published by
	the Free Software Foundation; either version 2 of the License, or
	(at your option) any later version.

	FreeRTOS is distributed in the hope that it will be useful,
	but WITHOUT ANY WARRANTY; without even the implied warranty of
	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
	GNU General Public License for more details.

	You should have received a copy of the GNU General Public License
	along with FreeRTOS; if not, write to the Free Software
	Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA

	A special exception to the GPL can be applied should you wish to distribute
	a combined work that includes FreeRTOS, without being obliged to provide
	the source code for any proprietary components. See the licensing section
	of http://www.FreeRTOS.org for full details of how and when the exception
	can be applied.

	***************************************************************************
	***************************************************************************
	* *
	* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
	* *
	* This is a concise, step by step, 'hands on' guide that describes both *
	* general multitasking concepts and FreeRTOS specifics. It presents and *
	* explains numerous examples that are written using the FreeRTOS API. *
	* Full source code for all the examples is provided in an accompanying *
	* .zip file. *
	* *
	***************************************************************************
	***************************************************************************

	Please ensure to read the configuration and relevant port sections of the
	online documentation.

	http://www.FreeRTOS.org - Documentation, latest information, license and
	contact details.

	http://www.SafeRTOS.com - A version that is certified for use in safety
	critical systems.

	http://www.OpenRTOS.com - Commercial support, development, porting,
	licensing and training services.
	*/

	/* ------------------------ System includes ------------------------------- */
	#include <stdlib.h>
	#include <string.h>

	/* ------------------------ FreeRTOS includes ----------------------------- */
	#include "FreeRTOS.h"
	#include "task.h"

	/* ------------------------ Demo application includes --------------------- */
	#include "partest.h"
	#include "flash.h"
	#include "integer.h"
	#include "PollQ.h"
	#include "comtest2.h"
	#include "semtest.h"
	#include "flop.h"
	#include "dynamic.h"
	#include "BlockQ.h"
	#include "serial.h"

	/* ------------------------ Defines --------------------------------------- */
	/* Constants for the ComTest tasks. */
	#define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 38400 )
	#define mainCOM_TEST_LED ( -1 )

	/* Priorities for the demo application tasks. */
	#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
	#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
	#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
	#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
	#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
	#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )

	/* Interval in which tasks are checked. */
	#define mainCHECK_PERIOD ( ( portTickType ) 2000 / portTICK_RATE_MS )

	/* Constants used by the vMemCheckTask() task. */
	#define mainCOUNT_INITIAL_VALUE ( ( unsigned long ) 0 )
	#define mainNO_TASK ( 0 )

	/* The size of the memory blocks allocated by the vMemCheckTask() task. */
	#define mainMEM_CHECK_SIZE_1 ( ( size_t ) 51 )
	#define mainMEM_CHECK_SIZE_2 ( ( size_t ) 52 )
	#define mainMEM_CHECK_SIZE_3 ( ( size_t ) 151 )

	/* ------------------------ Static variables ------------------------------ */
	xComPortHandle xSTDComPort = NULL;

	/* ------------------------ Static functions ------------------------------ */
	static portTASK_FUNCTION( vErrorChecks, pvParameters );
	static long prvCheckOtherTasksAreStillRunning( unsigned long
	ulMemCheckTaskCount );
	static portTASK_FUNCTION( vMemCheckTask, pvParameters );

	/* ------------------------ Implementation -------------------------------- */
	int
	main( int argc, char *argv[] )
	{
	asm volatile ( "move.w #0x2000, %sr\n\t" );

	xSTDComPort = xSerialPortInitMinimal( 38400, 8 );

	/* Start the demo/test application tasks. */
	vStartIntegerMathTasks( tskIDLE_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartMathTasks( tskIDLE_PRIORITY );
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartDynamicPriorityTasks( );
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

	/* Start the check task - which is defined in this file. */
	xTaskCreate( vErrorChecks, ( signed char * )"Check", 512, NULL,
	mainCHECK_TASK_PRIORITY, NULL );

	/* Now all the tasks have been started - start the scheduler. */
	vTaskStartScheduler( );

	/* Should never get here! */
	return 0;
	}



	static
	portTASK_FUNCTION( vErrorChecks, pvParameters )
	{
	unsigned long ulMemCheckTaskRunningCount;
	xTaskHandle xCreatedTask;

	/* The parameters are not used in this function. */
	( void )pvParameters;

	xSerialPortInitMinimal( mainCOM_TEST_BAUD_RATE, 8 );

	for( ;; )
	{
	ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
	xCreatedTask = mainNO_TASK;

	if( xTaskCreate
	( vMemCheckTask, ( signed char * )"MEM_CHECK",
	configMINIMAL_STACK_SIZE, ( void * )&ulMemCheckTaskRunningCount,
	tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
	{
	xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY );
	}

	/* Delay until it is time to execute again. */
	vTaskDelay( mainCHECK_PERIOD );

	/* Delete the dynamically created task. */
	if( xCreatedTask != mainNO_TASK )
	{
	vTaskDelete( xCreatedTask );
	}

	if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) !=
	pdPASS )
	{
	xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY );
	}
	else
	{
	xSerialPutChar( xSTDComPort, '.', portMAX_DELAY );
	}
	}
	}

	static long
	prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount )
	{
	long lReturn = ( long ) pdPASS;

	/* Check all the demo tasks (other than the flash tasks) to ensure
	* that they are all still running, and that none of them have detected
	* an error.
	*/

	if( xAreIntegerMathsTaskStillRunning( ) != pdTRUE )
	{
	lReturn = ( long ) pdFAIL;
	}

	if( xArePollingQueuesStillRunning( ) != pdTRUE )
	{
	lReturn = ( long ) pdFAIL;
	}

	if( xAreMathsTaskStillRunning( ) != pdTRUE )
	{
	lReturn = ( long ) pdFAIL;
	}

	if( xAreSemaphoreTasksStillRunning( ) != pdTRUE )
	{
	lReturn = ( long ) pdFAIL;
	}

	if( xAreDynamicPriorityTasksStillRunning( ) != pdTRUE )
	{
	lReturn = ( long ) pdFAIL;
	}

	if( xAreBlockingQueuesStillRunning( ) != pdTRUE )
	{
	lReturn = ( long ) pdFAIL;
	}
	if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )
	{
	// The vMemCheckTask did not increment the counter - it must
	// have failed.
	lReturn = ( long ) pdFAIL;
	}
	return lReturn;
	}

	static void
	vMemCheckTask( void *pvParameters )
	{
	unsigned long *pulMemCheckTaskRunningCounter;
	void pvMem1, pvMem2, *pvMem3;
	static long lErrorOccurred = pdFALSE;

	/* This task is dynamically created then deleted during each cycle of the
	vErrorChecks task to check the operation of the memory allocator. Each time
	the task is created memory is allocated for the stack and TCB. Each time
	the task is deleted this memory is returned to the heap. This task itself
	exercises the allocator by allocating and freeing blocks.

	The task executes at the idle priority so does not require a delay.

	pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the
	vErrorChecks() task that this task is still executing without error. */

	pulMemCheckTaskRunningCounter = ( unsigned long * )pvParameters;

	for( ;; )
	{
	if( lErrorOccurred == pdFALSE )
	{
	/* We have never seen an error so increment the counter. */
	( *pulMemCheckTaskRunningCounter )++;
	}

	/* Allocate some memory - just to give the allocator some extra
	exercise. This has to be in a critical section to ensure the
	task does not get deleted while it has memory allocated. */
	vTaskSuspendAll( );
	{
	pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );
	if( pvMem1 == NULL )
	{
	lErrorOccurred = pdTRUE;
	}
	else
	{
	memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );
	vPortFree( pvMem1 );
	}
	}
	xTaskResumeAll( );

	/* Again - with a different size block. */
	vTaskSuspendAll( );
	{
	pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );
	if( pvMem2 == NULL )
	{
	lErrorOccurred = pdTRUE;
	}
	else
	{
	memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );
	vPortFree( pvMem2 );
	}
	}
	xTaskResumeAll( );

	/* Again - with a different size block. */
	vTaskSuspendAll( );
	{
	pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );
	if( pvMem3 == NULL )
	{
	lErrorOccurred = pdTRUE;
	}
	else
	{
	memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );
	vPortFree( pvMem3 );
	}
	}
	xTaskResumeAll( );
	}
	}

	void
	vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
	{
	}

	void
	vParTestToggleLED( unsigned portBASE_TYPE uxLED )
	{
	}