/* | |
FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that has become a de facto standard. * | |
* * | |
* Help yourself get started quickly and support the FreeRTOS * | |
* project by purchasing a FreeRTOS tutorial book, reference * | |
* manual, or both from: http://www.FreeRTOS.org/Documentation * | |
* * | |
* Thank you! * | |
* * | |
*************************************************************************** | |
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 (version 2) as published by the | |
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. | |
>>! NOTE: The modification to the GPL is included to allow you to !<< | |
>>! distribute a combined work that includes FreeRTOS without being !<< | |
>>! obliged to provide the source code for proprietary components !<< | |
>>! outside of the FreeRTOS kernel. !<< | |
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. Full license text is available from the following | |
link: http://www.freertos.org/a00114.html | |
1 tab == 4 spaces! | |
*************************************************************************** | |
* * | |
* Having a problem? Start by reading the FAQ "My application does * | |
* not run, what could be wrong?" * | |
* * | |
* http://www.FreeRTOS.org/FAQHelp.html * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
license and Real Time Engineers Ltd. contact details. | |
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
compatible FAT file system, and our tiny thread aware UDP/IP stack. | |
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Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS | |
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engineered and independently SIL3 certified version for use in safety and | |
mission critical applications that require provable dependability. | |
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*/ | |
/* | |
* 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: | |
* | |
* "Fast Interrupt Test" - A high frequency periodic interrupt is generated | |
* using a free running timer to demonstrate the use of the | |
* configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt | |
* service routine measures the number of processor clocks that occur between | |
* each interrupt - and in so doing measures the jitter in the interrupt timing. | |
* The maximum measured jitter time is latched in the ulMaxJitter variable, and | |
* displayed on the OLED display by the 'OLED' task as described below. The | |
* fast interrupt is configured and handled in the timertest.c source file. | |
* | |
* "OLED" task - the OLED task is a 'gatekeeper' task. It is the only task that | |
* is permitted to access the display directly. Other tasks wishing to write a | |
* message to the OLED send the message on a queue to the OLED task instead of | |
* accessing the OLED themselves. The OLED task just blocks on the queue waiting | |
* for messages - waking and displaying the messages as they arrive. | |
* | |
* "Check" hook - This only executes every five seconds from the tick hook. | |
* Its main function is to check that all the standard demo tasks are still | |
* operational. Should any unexpected behaviour within a demo task be discovered | |
* the tick hook will write an error to the OLED (via the OLED task). If all the | |
* demo tasks are executing with their expected behaviour then the check task | |
* writes PASS to the OLED (again via the OLED task), as described above. | |
* | |
* "uIP" task - This is the task that handles the uIP stack. All TCP/IP | |
* processing is performed in this task. | |
*/ | |
/************************************************************************* | |
* Please ensure to read http://www.freertos.org/portlm3sx965.html | |
* which provides information on configuring and running this demo for the | |
* various Luminary Micro EKs. | |
*************************************************************************/ | |
/* Set the following option to 1 to include the WEB server in the build. By | |
default the WEB server is excluded to keep the compiled code size under the 32K | |
limit imposed by the KickStart version of the IAR compiler. The graphics | |
libraries take up a lot of ROM space, hence including the graphics libraries | |
and the TCP/IP stack together cannot be accommodated with the 32K size limit. */ | |
#define mainINCLUDE_WEB_SERVER 0 | |
/* Standard includes. */ | |
#include <stdio.h> | |
#include <string.h> | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "queue.h" | |
#include "semphr.h" | |
/* Hardware library includes. */ | |
#include "hw_memmap.h" | |
#include "hw_types.h" | |
#include "hw_sysctl.h" | |
#include "sysctl.h" | |
#include "gpio.h" | |
#include "grlib.h" | |
#include "rit128x96x4.h" | |
#include "osram128x64x4.h" | |
#include "formike128x128x16.h" | |
/* Demo app includes. */ | |
#include "BlockQ.h" | |
#include "death.h" | |
#include "integer.h" | |
#include "blocktim.h" | |
#include "flash.h" | |
#include "partest.h" | |
#include "semtest.h" | |
#include "PollQ.h" | |
#include "lcd_message.h" | |
#include "bitmap.h" | |
#include "GenQTest.h" | |
#include "QPeek.h" | |
#include "recmutex.h" | |
#include "IntQueue.h" | |
#include "QueueSet.h" | |
#include "EventGroupsDemo.h" | |
/*-----------------------------------------------------------*/ | |
/* The time between cycles of the 'check' functionality (defined within the | |
tick hook. */ | |
#define mainCHECK_DELAY ( ( TickType_t ) 5000 / portTICK_PERIOD_MS ) | |
/* Size of the stack allocated to the uIP task. */ | |
#define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 ) | |
/* The OLED task uses the sprintf function so requires a little more stack too. */ | |
#define mainOLED_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 ) | |
/* 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 + 3 ) | |
#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
/* The maximum number of message that can be waiting for display at any one | |
time. */ | |
#define mainOLED_QUEUE_SIZE ( 3 ) | |
/* Dimensions the buffer into which the jitter time is written. */ | |
#define mainMAX_MSG_LEN 25 | |
/* The period of the system clock in nano seconds. This is used to calculate | |
the jitter time in nano seconds. */ | |
#define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) ) | |
/* Constants used when writing strings to the display. */ | |
#define mainCHARACTER_HEIGHT ( 9 ) | |
#define mainMAX_ROWS_128 ( mainCHARACTER_HEIGHT * 14 ) | |
#define mainMAX_ROWS_96 ( mainCHARACTER_HEIGHT * 10 ) | |
#define mainMAX_ROWS_64 ( mainCHARACTER_HEIGHT * 7 ) | |
#define mainFULL_SCALE ( 15 ) | |
#define ulSSI_FREQUENCY ( 3500000UL ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* The task that handles the uIP stack. All TCP/IP processing is performed in | |
* this task. | |
*/ | |
extern void vuIP_Task( void *pvParameters ); | |
/* | |
* The display is written two by more than one task so is controlled by a | |
* 'gatekeeper' task. This is the only task that is actually permitted to | |
* access the display directly. Other tasks wanting to display a message send | |
* the message to the gatekeeper. | |
*/ | |
static void vOLEDTask( void *pvParameters ); | |
/* | |
* Configure the hardware for the demo. | |
*/ | |
static void prvSetupHardware( void ); | |
/* | |
* Configures the high frequency timers - those used to measure the timing | |
* jitter while the real time kernel is executing. | |
*/ | |
extern void vSetupHighFrequencyTimer( void ); | |
/* | |
* Hook functions that can get called by the kernel. | |
*/ | |
void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *pcTaskName ); | |
void vApplicationTickHook( void ); | |
/*-----------------------------------------------------------*/ | |
/* The queue used to send messages to the OLED task. */ | |
QueueHandle_t xOLEDQueue; | |
/* The welcome text. */ | |
const char * const pcWelcomeMessage = " www.FreeRTOS.org"; | |
/*-----------------------------------------------------------*/ | |
/************************************************************************* | |
* Please ensure to read http://www.freertos.org/portlm3sx965.html | |
* which provides information on configuring and running this demo for the | |
* various Luminary Micro EKs. | |
*************************************************************************/ | |
int main( void ) | |
{ | |
prvSetupHardware(); | |
/* Create the queue used by the OLED task. Messages for display on the OLED | |
are received via this queue. */ | |
xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) ); | |
/* Start the standard demo tasks. */ | |
vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY ); | |
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY ); | |
vStartInterruptQueueTasks(); | |
vStartRecursiveMutexTasks(); | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
vCreateBlockTimeTasks(); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
vStartQueuePeekTasks(); | |
vStartQueueSetTasks(); | |
vStartEventGroupTasks(); | |
/* Exclude some tasks if using the kickstart version to ensure we stay within | |
the 32K code size limit. */ | |
#if mainINCLUDE_WEB_SERVER != 0 | |
{ | |
/* Create the uIP task if running on a processor that includes a MAC and | |
PHY. */ | |
if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) ) | |
{ | |
xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL ); | |
} | |
} | |
#endif | |
/* Start the tasks defined within this file/specific to this demo. */ | |
xTaskCreate( vOLEDTask, "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_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 ); | |
/* Configure the high frequency interrupt used to measure the interrupt | |
jitter time. */ | |
vSetupHighFrequencyTimer(); | |
/* Start the scheduler. */ | |
vTaskStartScheduler(); | |
/* Will only get here if there was insufficient memory to create the idle | |
task. */ | |
return 0; | |
} | |
/*-----------------------------------------------------------*/ | |
void prvSetupHardware( void ) | |
{ | |
/* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is | |
a workaround to allow the PLL to operate reliably. */ | |
if( DEVICE_IS_REVA2 ) | |
{ | |
SysCtlLDOSet( SYSCTL_LDO_2_75V ); | |
} | |
/* Set the clocking to run from the PLL at 50 MHz */ | |
SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ ); | |
/* Enable Port F for Ethernet LEDs | |
LED0 Bit 3 Output | |
LED1 Bit 2 Output */ | |
SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF ); | |
GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW ); | |
GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD ); | |
vParTestInitialise(); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationTickHook( void ) | |
{ | |
static xOLEDMessage xMessage = { "PASS" }; | |
static unsigned long ulTicksSinceLastDisplay = 0; | |
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE; | |
/* Called from every tick interrupt. Have enough ticks passed to make it | |
time to perform our health status check again? */ | |
ulTicksSinceLastDisplay++; | |
if( ulTicksSinceLastDisplay >= mainCHECK_DELAY ) | |
{ | |
ulTicksSinceLastDisplay = 0; | |
/* Has an error been found in any task? */ | |
if( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR IN GEN Q"; | |
} | |
else if( xIsCreateTaskStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR IN CREATE"; | |
} | |
else if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR IN MATH"; | |
} | |
else if( xAreIntQueueTasksStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR IN INT QUEUE"; | |
} | |
else if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR IN BLOCK Q"; | |
} | |
else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR IN BLOCK TIME"; | |
} | |
else if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR IN SEMAPHORE"; | |
} | |
else if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR IN POLL Q"; | |
} | |
else if( xAreQueuePeekTasksStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR IN PEEK Q"; | |
} | |
else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR IN REC MUTEX"; | |
} | |
else if( xAreQueueSetTasksStillRunning() != pdPASS ) | |
{ | |
xMessage.pcMessage = "ERROR IN Q SET"; | |
} | |
else if( xAreEventGroupTasksStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR IN EVNT GRP"; | |
} | |
configASSERT( strcmp( ( const char * ) xMessage.pcMessage, "PASS" ) == 0 ); | |
/* Send the message to the OLED gatekeeper for display. */ | |
xHigherPriorityTaskWoken = pdFALSE; | |
xQueueSendFromISR( xOLEDQueue, &xMessage, &xHigherPriorityTaskWoken ); | |
} | |
/* Write to a queue that is in use as part of the queue set demo to | |
demonstrate using queue sets from an ISR. */ | |
vQueueSetAccessQueueSetFromISR(); | |
/* Call the event group ISR tests. */ | |
vPeriodicEventGroupsProcessing(); | |
} | |
/*-----------------------------------------------------------*/ | |
void vOLEDTask( void *pvParameters ) | |
{ | |
xOLEDMessage xMessage; | |
unsigned long ulY, ulMaxY; | |
static char cMessage[ mainMAX_MSG_LEN ]; | |
extern volatile unsigned long ulMaxJitter; | |
const unsigned char *pucImage; | |
/* Functions to access the OLED. The one used depends on the dev kit | |
being used. */ | |
void ( *vOLEDInit )( unsigned long ) = NULL; | |
void ( *vOLEDStringDraw )( const char *, unsigned long, unsigned long, unsigned char ) = NULL; | |
void ( *vOLEDImageDraw )( const unsigned char *, unsigned long, unsigned long, unsigned long, unsigned long ) = NULL; | |
void ( *vOLEDClear )( void ) = NULL; | |
/* Map the OLED access functions to the driver functions that are appropriate | |
for the evaluation kit being used. */ | |
switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK ) | |
{ | |
case SYSCTL_DID1_PRTNO_6965 : | |
case SYSCTL_DID1_PRTNO_2965 : vOLEDInit = OSRAM128x64x4Init; | |
vOLEDStringDraw = OSRAM128x64x4StringDraw; | |
vOLEDImageDraw = OSRAM128x64x4ImageDraw; | |
vOLEDClear = OSRAM128x64x4Clear; | |
ulMaxY = mainMAX_ROWS_64; | |
pucImage = pucBasicBitmap; | |
break; | |
case SYSCTL_DID1_PRTNO_1968 : | |
case SYSCTL_DID1_PRTNO_8962 : vOLEDInit = RIT128x96x4Init; | |
vOLEDStringDraw = RIT128x96x4StringDraw; | |
vOLEDImageDraw = RIT128x96x4ImageDraw; | |
vOLEDClear = RIT128x96x4Clear; | |
ulMaxY = mainMAX_ROWS_96; | |
pucImage = pucBasicBitmap; | |
break; | |
default : vOLEDInit = vFormike128x128x16Init; | |
vOLEDStringDraw = vFormike128x128x16StringDraw; | |
vOLEDImageDraw = vFormike128x128x16ImageDraw; | |
vOLEDClear = vFormike128x128x16Clear; | |
ulMaxY = mainMAX_ROWS_128; | |
pucImage = pucGrLibBitmap; | |
break; | |
} | |
ulY = ulMaxY; | |
/* Initialise the OLED and display a startup message. */ | |
vOLEDInit( ulSSI_FREQUENCY ); | |
vOLEDStringDraw( "POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE ); | |
vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT ); | |
for( ;; ) | |
{ | |
/* Wait for a message to arrive that requires displaying. */ | |
xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY ); | |
/* Write the message on the next available row. */ | |
ulY += mainCHARACTER_HEIGHT; | |
if( ulY >= ulMaxY ) | |
{ | |
ulY = mainCHARACTER_HEIGHT; | |
vOLEDClear(); | |
vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE ); | |
} | |
/* Display the message along with the maximum jitter time from the | |
high priority time test. */ | |
sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK ); | |
vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *pcTaskName ) | |
{ | |
( void ) pxTask; | |
( void ) pcTaskName; | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vAssertCalled( const char *pcFile, unsigned long ulLine ) | |
{ | |
volatile unsigned long ulSetTo1InDebuggerToExit = 0; | |
taskENTER_CRITICAL(); | |
{ | |
while( ulSetTo1InDebuggerToExit == 0 ) | |
{ | |
/* Nothing do do here. Set the loop variable to a non zero value in | |
the debugger to step out of this function to the point that caused | |
the assertion. */ | |
( void ) pcFile; | |
( void ) ulLine; | |
} | |
} | |
taskEXIT_CRITICAL(); | |
} |