| /*
|
| FreeRTOS.org V5.1.0 - Copyright (C) 2003-2008 Richard Barry.
|
|
|
| This file is part of the FreeRTOS.org distribution.
|
|
|
| FreeRTOS.org 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.org 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.org; 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.org, 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.
|
|
|
| ***************************************************************************
|
| ***************************************************************************
|
| * *
|
| * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
|
| * and even write all or part of your application on your behalf. *
|
| * See http://www.OpenRTOS.com for details of the services we provide to *
|
| * expedite your project. *
|
| * *
|
| ***************************************************************************
|
| ***************************************************************************
|
|
|
| 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.
|
| */
|
|
|
|
|
| /*
|
| * 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
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| * defined and/or created within this file:
|
| *
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| * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
|
| * processing is performed in this task. It manages the WEB server functionality.
|
| *
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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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| *
|
| */
|
|
|
| /* 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 "blocktim.h"
|
| #include "flash.h"
|
| #include "partest.h"
|
| #include "semtest.h"
|
| #include "PollQ.h"
|
| #include "GenQTest.h"
|
| #include "QPeek.h"
|
| #include "recmutex.h"
|
| #include "IntQueue.h"
|
| #include "comtest2.h"
|
|
|
| /*-----------------------------------------------------------*/
|
|
|
| /* The time between cycles of the 'check' functionality - as described at the
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| top of this file. */
|
| #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(). */ |
| #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
|
|
|
| /*
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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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| * 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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| * The task that implements the WEB server. |
| */
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| extern void vuIP_Task( void *pvParameters );
|
|
|
| /*
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| * Implement the 'Reg test' functionality as described at the top of this file.
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| */
|
| static void vRegTest1Task( void *pvParameters );
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| static void vRegTest2Task( void *pvParameters );
|
|
|
| /*-----------------------------------------------------------*/
|
|
|
| /* Counters used to detect errors within the reg test tasks. */
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| static volatile unsigned portLONG 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 portLONG ulErrorCode = 0UL;
|
|
|
| /*-----------------------------------------------------------*/
|
|
|
| int main( void )
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| {
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| /* Setup the hardware ready for this demo. */
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| prvSetupHardware();
|
|
|
| /* Create the WEB server task. */
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| xTaskCreate( vuIP_Task, ( signed portCHAR * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
|
|
|
| /* 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, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
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| xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );
|
|
|
| /* Create the check task. */
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| xTaskCreate( prvCheckTask, ( signed portCHAR * ) "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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| }
|
| /*-----------------------------------------------------------*/
|
|
|
| static void prvCheckTask( void *pvParameters )
|
| {
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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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| }
|
|
|
| if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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| {
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| ulErrorCode |= 0x02UL;
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| }
|
|
|
| if( xAreBlockingQueuesStillRunning() != pdTRUE )
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| {
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| ulErrorCode |= 0x04UL;
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| }
|
|
|
| if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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| {
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| ulErrorCode |= 0x20UL;
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| }
|
|
|
| if( xArePollingQueuesStillRunning() != pdTRUE )
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| {
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| ulErrorCode |= 0x40UL;
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| }
|
|
|
| if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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| {
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| ulErrorCode |= 0x80UL;
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| }
|
|
|
| if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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| {
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| ulErrorCode |= 0x100UL;
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| }
|
|
|
| if( ulLastRegTest1Count == ulRegTest1Counter )
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| {
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| ulErrorCode |= 0x200UL;
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| }
|
|
|
| if( ulLastRegTest2Count == ulRegTest2Counter )
|
| {
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| ulErrorCode |= 0x200UL;
|
| }
|
|
|
| /* 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;
|
| }
|
| }
|
| /*-----------------------------------------------------------*/
|
|
|
| unsigned portLONG 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;
|
| }
|
| /*-----------------------------------------------------------*/
|
|
|
| void prvSetupHardware( void )
|
| {
|
| __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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| };
|
|
|
| /* Just to stop compiler warnings. */
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| ( void ) _cfm;
|
|
|
| /* 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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| );
|
|
|
| /* 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 "
|
| );
|
|
|
| portDISABLE_INTERRUPTS();
|
|
|
| /* RAMBAR. */
|
| MCF_SCM_RAMBAR = MCF_SCM_RAMBAR_BA( RAMBAR_ADDRESS ) | MCF_SCM_RAMBAR_BDE;
|
|
|
| /* Multiply 25MHz crystal by 12 to get 60MHz clock. */
|
| 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))
|
| {
|
| }
|
|
|
| /* Setup the port used to toggle LEDs. */
|
| vParTestInitialise();
|
| }
|
| /*-----------------------------------------------------------*/
|
|
|
| void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
|
| {
|
| /* 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
|
| it will increase the context switch time. */
|
|
|
| ( void ) pxTask;
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| ( 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"
|
| " movel ulRegTest1Counter, %d0 \n\t"
|
| " addql #1, %d0 \n\t"
|
| " movel %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"
|
| " movel ulRegTest1Counter, %d0 \n\t"
|
| " addql #1, %d0 \n\t"
|
| " movel %d0, ulRegTest2Counter \n\t"
|
| " bra reg_test_2_start \n\t"
|
| "reg_test_2_error: \n\t"
|
| " bra reg_test_2_error \n\t"
|
| );
|
| }
|
| /*-----------------------------------------------------------*/
|
|
|