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/*
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
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***************************************************************************
* *
* 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.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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
* (which just exist to test the kernel port and provide an example of how to use
* each FreeRTOS API function).
*
* In addition to the standard demo tasks, the following tasks and tests are
* defined and/or created within this file:
*
* "Check" task - This only executes every five seconds but has the highest
* priority so is guaranteed to get processor time. Its main function is to
* check that all the standard demo tasks are still operational. The check task
* will toggle LED 3 (PB11) every five seconds so long as no errors have been
* detected. The toggle rate will increase to half a second if an error has
* been found in any task.
*
* "Echo" task - This is a very basic task that simply echoes any characters
* received on COM0 (USART1). This can be tested by transmitting a text file
* from a dumb terminal to the STM32 USART then observing or capturing the text
* that is echoed back. Missing characters will be all the more obvious if the
* file contains a simple repeating string of fixed width.
*
* Currently this demo does not include interrupt nesting examples. High
* frequency timer and simpler nesting examples can be found in most Cortex-M3
* demo applications.
*
* The functions used to initialise, set and clear LED outputs are normally
* defined in partest.c. This demo includes two partest files, one that is
* configured for use with the Keil MCBSTM32 evaluation board (called
* ParTest_MCBSTM32.c) and one that is configured for use with the official
* ST Eval board (called ParTest_ST_Eval.c). One one of these files should be
* included in the build at any one time, as appropriate for the hardware
* actually being used.
*/
/* Standard includes. */
#include <string.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
/* Library includes. */
#include "stm32f10x_it.h"
/* Demo app includes. */
#include "BlockQ.h"
#include "integer.h"
#include "flash.h"
#include "partest.h"
#include "semtest.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"
/* Driver includes. */
#include "STM32_USART.h"
/* The time between cycles of the 'check' task - which depends on whether the
check task has detected an error or not. */
#define mainCHECK_DELAY_NO_ERROR ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
#define mainCHECK_DELAY_ERROR ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
/* The LED controlled by the 'check' task. */
#define mainCHECK_LED ( 3 )
/* Task priorities. */
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
#define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainECHO_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
/* COM port and baud rate used by the echo task. */
#define mainCOM0 ( 0 )
#define mainBAUD_RATE ( 115200 )
/*-----------------------------------------------------------*/
/*
* Configure the hardware for the demo.
*/
static void prvSetupHardware( void );
/* The 'check' task as described at the top of this file. */
static void prvCheckTask( void *pvParameters );
/* A simple task that echoes all the characters that are received on COM0
(USART1). */
static void prvUSARTEchoTask( void *pvParameters );
/*-----------------------------------------------------------*/
int main( void )
{
#ifdef DEBUG
debug();
#endif
/* Set up the clocks and memory interface. */
prvSetupHardware();
/* Start the standard demo tasks. These are just here to exercise the
kernel port and provide examples of how the FreeRTOS API can be used. */
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
vStartQueuePeekTasks();
vStartRecursiveMutexTasks();
/* Create the 'echo' task, which is also defined within this file. */
xTaskCreate( prvUSARTEchoTask, "Echo", configMINIMAL_STACK_SIZE, NULL, mainECHO_TASK_PRIORITY, NULL );
/* Create the 'check' task, which is also defined within this file. */
xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Start the scheduler. */
vTaskStartScheduler();
/* Will only get here if there was insufficient memory to create the idle
task. The idle task is created within vTaskStartScheduler(). */
for( ;; );
}
/*-----------------------------------------------------------*/
/* Described at the top of this file. */
static void prvCheckTask( void *pvParameters )
{
TickType_t xLastExecutionTime;
unsigned long ulTicksToWait = mainCHECK_DELAY_NO_ERROR;
/* Just to remove the compiler warning about the unused parameter. */
( void ) pvParameters;
/* Initialise the variable used to control our iteration rate prior to
its first use. */
xLastExecutionTime = xTaskGetTickCount();
for( ;; )
{
/* Wait until it is time to run the tests again. */
vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
/* Has an error been found in any task? */
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
/* Reduce the time between cycles of this task - which has the
effect of increasing the rate at which the 'check' LED toggles to
indicate the existence of an error to an observer. */
ulTicksToWait = mainCHECK_DELAY_ERROR;
}
else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
ulTicksToWait = mainCHECK_DELAY_ERROR;
}
else if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
ulTicksToWait = mainCHECK_DELAY_ERROR;
}
else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
ulTicksToWait = mainCHECK_DELAY_ERROR;
}
else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
ulTicksToWait = mainCHECK_DELAY_ERROR;
}
else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
{
ulTicksToWait = mainCHECK_DELAY_ERROR;
}
vParTestToggleLED( mainCHECK_LED );
}
}
/*-----------------------------------------------------------*/
/* Described at the top of this file. */
static void prvUSARTEchoTask( void *pvParameters )
{
signed char cChar;
/* String declared static to ensure it does not end up on the stack, no matter
what the optimisation level. */
static const char *pcLongishString =
"ABBA was a Swedish pop music group formed in Stockholm in 1972, consisting of Anni-Frid Frida Lyngstad, "
"Björn Ulvaeus, Benny Andersson and Agnetha Fältskog. Throughout the band's existence, Fältskog and Ulvaeus "
"were a married couple, as were Lyngstad and Andersson - although both couples later divorced. They became one "
"of the most commercially successful acts in the history of popular music, and they topped the charts worldwide "
"from 1972 to 1983. ABBA gained international popularity employing catchy song hooks, simple lyrics, sound "
"effects (reverb, phasing) and a Wall of Sound achieved by overdubbing the female singers' voices in multiple "
"harmonies. As their popularity grew, they were sought after to tour Europe, Australia, and North America, drawing "
"crowds of ardent fans, notably in Australia. Touring became a contentious issue, being particularly cumbersome for "
"Fältskog, but they continued to release studio albums to widespread commercial success. At the height of their "
"popularity, however, both relationships began suffering strain that led ultimately to the collapse of first the "
"Ulvaeus-Fältskog marriage (in 1979) and then of the Andersson-Lyngstad marriage in 1981. In the late 1970s and early "
"1980s these relationship changes began manifesting in the group's music, as they produced more thoughtful, "
"introspective lyrics with different compositions.";
/* Just to avoid compiler warnings. */
( void ) pvParameters;
/* Initialise COM0, which is USART1 according to the STM32 libraries. */
lCOMPortInit( mainCOM0, mainBAUD_RATE );
/* Try sending out a string all in one go, as a very basic test of the
lSerialPutString() function. */
lSerialPutString( mainCOM0, pcLongishString, strlen( pcLongishString ) );
for( ;; )
{
/* Block to wait for a character to be received on COM0. */
xSerialGetChar( mainCOM0, &cChar, portMAX_DELAY );
/* Write the received character back to COM0. */
xSerialPutChar( mainCOM0, cChar, 0 );
}
}
/*-----------------------------------------------------------*/
static void prvSetupHardware( void )
{
/* RCC system reset(for debug purpose). */
RCC_DeInit ();
/* Enable HSE. */
RCC_HSEConfig( RCC_HSE_ON );
/* Wait till HSE is ready. */
while (RCC_GetFlagStatus(RCC_FLAG_HSERDY) == RESET);
/* HCLK = SYSCLK. */
RCC_HCLKConfig( RCC_SYSCLK_Div1 );
/* PCLK2 = HCLK. */
RCC_PCLK2Config( RCC_HCLK_Div1 );
/* PCLK1 = HCLK/2. */
RCC_PCLK1Config( RCC_HCLK_Div2 );
/* ADCCLK = PCLK2/4. */
RCC_ADCCLKConfig( RCC_PCLK2_Div4 );
/* Flash 2 wait state. */
*( volatile unsigned long * )0x40022000 = 0x01;
/* PLLCLK = 8MHz * 9 = 72 MHz */
RCC_PLLConfig( RCC_PLLSource_HSE_Div1, RCC_PLLMul_9 );
/* Enable PLL. */
RCC_PLLCmd( ENABLE );
/* Wait till PLL is ready. */
while (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET);
/* Select PLL as system clock source. */
RCC_SYSCLKConfig (RCC_SYSCLKSource_PLLCLK);
/* Wait till PLL is used as system clock source. */
while (RCC_GetSYSCLKSource() != 0x08);
/* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
| RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );
/* Set the Vector Table base address at 0x08000000. */
NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );
NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
/* Configure HCLK clock as SysTick clock source. */
SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
/* Initialise the IO used for the LED outputs. */
vParTestInitialise();
/* SPI2 Periph clock enable */
RCC_APB1PeriphClockCmd( RCC_APB1Periph_SPI2, ENABLE );
}
/*-----------------------------------------------------------*/
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
{
/* This function will get called if a task overflows its stack. If the
parameters are corrupt then inspect pxCurrentTCB to find which was the
offending task. */
( void ) pxTask;
( void ) pcTaskName;
for( ;; );
}
/*-----------------------------------------------------------*/
void assert_failed( unsigned char *pucFile, unsigned long ulLine )
{
( void ) pucFile;
( void ) ulLine;
for( ;; );
}