2 FreeRTOS.org V5.3.0 - Copyright (C) 2003-2009 Richard Barry.
\r
4 This file is part of the FreeRTOS.org distribution.
\r
6 FreeRTOS.org is free software; you can redistribute it and/or modify it
\r
7 under the terms of the GNU General Public License (version 2) as published
\r
8 by the Free Software Foundation and modified by the FreeRTOS exception.
\r
9 **NOTE** The exception to the GPL is included to allow you to distribute a
\r
10 combined work that includes FreeRTOS.org without being obliged to provide
\r
11 the source code for any proprietary components. Alternative commercial
\r
12 license and support terms are also available upon request. See the
\r
13 licensing section of http://www.FreeRTOS.org for full details.
\r
15 FreeRTOS.org is distributed in the hope that it will be useful, but WITHOUT
\r
16 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
\r
17 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
\r
20 You should have received a copy of the GNU General Public License along
\r
21 with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59
\r
22 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
\r
25 ***************************************************************************
\r
27 * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
\r
29 * This is a concise, step by step, 'hands on' guide that describes both *
\r
30 * general multitasking concepts and FreeRTOS specifics. It presents and *
\r
31 * explains numerous examples that are written using the FreeRTOS API. *
\r
32 * Full source code for all the examples is provided in an accompanying *
\r
35 ***************************************************************************
\r
39 Please ensure to read the configuration and relevant port sections of the
\r
40 online documentation.
\r
42 http://www.FreeRTOS.org - Documentation, latest information, license and
\r
45 http://www.SafeRTOS.com - A version that is certified for use in safety
\r
48 http://www.OpenRTOS.com - Commercial support, development, porting,
\r
49 licensing and training services.
\r
53 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
54 * documentation provides more details of the demo application tasks.
\r
56 * In addition to the standard demo tasks there are two tasks defined within
\r
59 * 1 - The check task
\r
60 * The 'check' task is responsible for ensuring that all the standard demo
\r
61 * tasks are executing as expected. It only executes every three seconds, but
\r
62 * has the highest priority within the system so is guaranteed to get execution
\r
63 * time. Any errors discovered by the check task are latched until the
\r
64 * processor is reset. At the end of each cycle the check task sends either
\r
65 * a pass or fail message to the 'print' task for display on the LCD.
\r
67 * 2 - The print task
\r
68 * The print task is the LCD 'gatekeeper'. That is, it is the only task that
\r
69 * should access the LCD directly so is always guaranteed exclusive (and
\r
70 * therefore consistent) access. The print task simply blocks on a queue
\r
71 * to wait for messages from other tasks wishing to display text on the LCD.
\r
72 * When a message arrives it displays its contents on the LCD then blocks to
\r
79 /* Kernel includes. */
\r
80 #include "FreeRTOS.h"
\r
84 /* Demo application includes. */
\r
85 #include "partest.h"
\r
87 #include "integer.h"
\r
88 #include "blocktim.h"
\r
90 #include "comtest2.h"
\r
91 #include "dynamic.h"
\r
93 /* Demo application task priorities. */
\r
94 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
\r
95 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
96 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
97 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
98 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
100 /* How often should we check the other tasks? */
\r
101 #define mainCHECK_TASK_CYCLE_TIME ( 3000 )
\r
103 /* The maximum offset into the pass and fail strings sent to the LCD. An
\r
104 offset is used a simple method of using a different column each time a message
\r
105 is written to the LCD. */
\r
106 #define mainMAX_WRITE_COLUMN ( 14 )
\r
108 /* Baud rate used by the comtest tasks. */
\r
109 #define mainCOM_TEST_BAUD_RATE ( 19200 )
\r
111 /* The LED used by the comtest tasks. See the comtest.c file for more
\r
113 #define mainCOM_TEST_LED ( 3 )
\r
115 /* The number of messages that can be queued for display on the LCD at any one
\r
117 #define mainLCD_QUEUE_LENGTH ( 2 )
\r
119 /* The time to wait when sending to mainLCD_QUEUE_LENGTH. */
\r
120 #define mainNO_DELAY ( 0 )
\r
122 /*-----------------------------------------------------------*/
\r
124 /* The type that is posted to the LCD queue. */
\r
125 typedef struct LCD_MESSAGE
\r
127 unsigned portCHAR *pucString; /* Points to the string to be displayed. */
\r
128 unsigned portCHAR ucLine; /* The line of the LCD that should be used. */
\r
131 /*-----------------------------------------------------------*/
\r
134 * The task that executes at the highest priority and checks the operation of
\r
135 * all the other tasks in the system. See the description at the top of the
\r
138 static void vCheckTask( void *pvParameters );
\r
141 * ST provided routine to configure the processor.
\r
143 static void prvSetupHardware(void);
\r
146 * The only task that should access the LCD. Other tasks wanting to write
\r
147 * to the LCD should send a message of type LCDMessage containing the
\r
148 * information to display to the print task. The print task simply blocks
\r
149 * waiting for the arrival of such messages, displays the message, then blocks
\r
152 static void vPrintTask( void *pvParameters );
\r
154 /*-----------------------------------------------------------*/
\r
156 /* The queue used to communicate with the LCD print task. */
\r
157 static xQueueHandle xLCDQueue;
\r
159 /*-----------------------------------------------------------*/
\r
161 /* Create all the demo application tasks, then start the scheduler. */
\r
164 /* Perform any hardware setup necessary. */
\r
165 prvSetupHardware();
\r
166 vParTestInitialise();
\r
168 /* Create the queue used to communicate with the LCD print task. */
\r
169 xLCDQueue = xQueueCreate( mainLCD_QUEUE_LENGTH, sizeof( LCDMessage ) );
\r
171 /* Create the standard demo application tasks. See the WEB documentation
\r
172 for more information on these tasks. */
\r
173 vCreateBlockTimeTasks();
\r
174 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
175 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
\r
176 vStartDynamicPriorityTasks();
\r
177 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
\r
178 vStartIntegerMathTasks( tskIDLE_PRIORITY );
\r
180 /* Create the tasks defined within this file. */
\r
181 xTaskCreate( vPrintTask, ( signed portCHAR * ) "LCD", configMINIMAL_STACK_SIZE, NULL, mainLCD_TASK_PRIORITY, NULL );
\r
182 xTaskCreate( vCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
\r
184 vTaskStartScheduler();
\r
186 /* Execution will only reach here if there was insufficient heap to
\r
187 start the scheduler. */
\r
189 /*-----------------------------------------------------------*/
\r
191 static void vCheckTask( void *pvParameters )
\r
193 static unsigned portLONG ulErrorDetected = pdFALSE;
\r
194 portTickType xLastExecutionTime;
\r
195 unsigned portCHAR *cErrorMessage = " FAIL";
\r
196 unsigned portCHAR *cSuccessMessage = " PASS";
\r
197 unsigned portBASE_TYPE uxColumn = mainMAX_WRITE_COLUMN;
\r
198 LCDMessage xMessage;
\r
200 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
\r
201 works correctly. */
\r
202 xLastExecutionTime = xTaskGetTickCount();
\r
206 /* Wait until it is time for the next cycle. */
\r
207 vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_CYCLE_TIME );
\r
209 /* Has an error been found in any of the standard demo tasks? */
\r
211 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
213 ulErrorDetected = pdTRUE;
\r
216 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
218 ulErrorDetected = pdTRUE;
\r
221 if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
223 ulErrorDetected = pdTRUE;
\r
226 if( xAreComTestTasksStillRunning() != pdTRUE )
\r
228 ulErrorDetected = pdTRUE;
\r
231 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
\r
233 ulErrorDetected = pdTRUE;
\r
236 /* Calculate the LCD line on which we would like the message to
\r
237 be displayed. The column variable is used for convenience as
\r
238 it is incremented each cycle anyway. */
\r
239 xMessage.ucLine = ( unsigned portCHAR ) ( uxColumn & 0x01 );
\r
241 /* The message displayed depends on whether an error was found or
\r
242 not. Any discovered error is latched. Here the column variable
\r
243 is used as an index into the text string as a simple way of moving
\r
244 the text from column to column. */
\r
245 if( ulErrorDetected == pdFALSE )
\r
247 xMessage.pucString = cSuccessMessage + uxColumn;
\r
251 xMessage.pucString = cErrorMessage + uxColumn;
\r
254 /* Send the message to the print task for display. */
\r
255 xQueueSend( xLCDQueue, ( void * ) &xMessage, mainNO_DELAY );
\r
257 /* Make sure the message is printed in a different column the next
\r
260 if( uxColumn == 0 )
\r
262 uxColumn = mainMAX_WRITE_COLUMN;
\r
266 /*-----------------------------------------------------------*/
\r
268 static void vPrintTask( void *pvParameters )
\r
270 LCDMessage xMessage;
\r
274 /* Wait until a message arrives. */
\r
275 while( xQueueReceive( xLCDQueue, ( void * ) &xMessage, portMAX_DELAY ) != pdPASS );
\r
277 /* The message contains the text to display, and the line on which the
\r
278 text should be displayed. */
\r
280 LCD_DisplayString( xMessage.ucLine, xMessage.pucString, BlackText );
\r
283 /*-----------------------------------------------------------*/
\r
285 static void prvSetupHardware(void)
\r
287 ErrorStatus OSC4MStartUpStatus01;
\r
289 /* ST provided routine. */
\r
291 /* MRCC system reset */
\r
294 /* Wait for OSC4M start-up */
\r
295 OSC4MStartUpStatus01 = MRCC_WaitForOSC4MStartUp();
\r
297 if(OSC4MStartUpStatus01 == SUCCESS)
\r
299 /* Set HCLK to 60MHz */
\r
300 MRCC_HCLKConfig(MRCC_CKSYS_Div1);
\r
302 /* Set CKTIM to 60MHz */
\r
303 MRCC_CKTIMConfig(MRCC_HCLK_Div1);
\r
305 /* Set PCLK to 30MHz */
\r
306 MRCC_PCLKConfig(MRCC_CKTIM_Div2);
\r
308 /* Enable Flash Burst mode */
\r
309 CFG_FLASHBurstConfig(CFG_FLASHBurst_Enable);
\r
311 /* Set CK_SYS to 60 MHz */
\r
312 MRCC_CKSYSConfig(MRCC_CKSYS_OSC4MPLL, MRCC_PLL_Mul_15);
\r
315 /* GPIO pins optimized for 3V3 operation */
\r
316 MRCC_IOVoltageRangeConfig(MRCC_IOVoltageRange_3V3);
\r
318 /* GPIO clock source enable */
\r
319 MRCC_PeripheralClockConfig(MRCC_Peripheral_GPIO, ENABLE);
\r
321 /* EXTIT clock source enable */
\r
322 MRCC_PeripheralClockConfig(MRCC_Peripheral_EXTIT, ENABLE);
\r
323 /* TB clock source enable */
\r
324 MRCC_PeripheralClockConfig(MRCC_Peripheral_TB, ENABLE);
\r
326 /* Initialize the demonstration menu */
\r
329 LCD_DisplayString(Line1, "www.FreeRTOS.org", BlackText);
\r
330 LCD_DisplayString(Line2, " STR750 Demo ", BlackText);
\r
332 EIC_IRQCmd(ENABLE);
\r
334 /*-----------------------------------------------------------*/
\r