2 FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.
\r
4 This file is part of the FreeRTOS distribution.
\r
6 FreeRTOS is free software; you can redistribute it and/or modify
\r
7 it under the terms of the GNU General Public License as published by
\r
8 the Free Software Foundation; either version 2 of the License, or
\r
9 (at your option) any later version.
\r
11 FreeRTOS is distributed in the hope that it will be useful,
\r
12 but WITHOUT ANY WARRANTY; without even the implied warranty of
\r
13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
\r
14 GNU General Public License for more details.
\r
16 You should have received a copy of the GNU General Public License
\r
17 along with FreeRTOS; if not, write to the Free Software
\r
18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
\r
20 A special exception to the GPL can be applied should you wish to distribute
\r
21 a combined work that includes FreeRTOS, without being obliged to provide
\r
22 the source code for any proprietary components. See the licensing section
\r
23 of http://www.FreeRTOS.org for full details of how and when the exception
\r
26 ***************************************************************************
\r
28 Please ensure to read the configuration and relevant port sections of the
\r
29 online documentation.
\r
31 +++ http://www.FreeRTOS.org +++
\r
32 Documentation, latest information, license and contact details.
\r
34 +++ http://www.SafeRTOS.com +++
\r
35 A version that is certified for use in safety critical systems.
\r
37 +++ http://www.OpenRTOS.com +++
\r
38 Commercial support, development, porting, licensing and training services.
\r
40 ***************************************************************************
\r
44 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
\r
45 The processor MUST be in supervisor mode when vTaskStartScheduler is
\r
46 called. The demo applications included in the FreeRTOS.org download switch
\r
47 to supervisor mode prior to main being called. If you are not using one of
\r
48 these demo application projects then ensure Supervisor mode is used.
\r
52 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
53 * documentation provides more details of the demo application tasks.
\r
55 * A few tasks are created that are not part of the standard demo. These are
\r
56 * the 'LCD' task, the 'LCD Message' task, a WEB server task and the 'Check'
\r
59 * The LCD task is the only task that accesses the LCD directly, so mutual
\r
60 * exclusion is ensured. Any task wishing to display text sends the LCD task
\r
61 * a message containing a pointer to the string that should be displayed.
\r
62 * The LCD task itself just blocks on a queue waiting for such a message to
\r
63 * arrive - processing each in turn.
\r
65 * The LCD Message task does nothing other than periodically send messages to
\r
66 * the LCD task. The messages originating from the LCD Message task are
\r
67 * displayed on the top row of the LCD.
\r
69 * The Check task only executes every three seconds but has the highest
\r
70 * priority so is guaranteed to get processor time. Its main function is to
\r
71 * check that all the other tasks are still operational. Most tasks maintain
\r
72 * a unique count that is incremented each time the task successfully completes
\r
73 * a cycle of its function. Should any error occur within such a task the
\r
74 * count is permanently halted. The check task sets a bit in an error status
\r
75 * flag should it find any counter variable at a value that indicates an
\r
76 * error has occurred. The error flag value is converted to a string and sent
\r
77 * to the LCD task for display on the bottom row on the LCD.
\r
80 /* Standard includes. */
\r
83 /* Library includes. */
\r
84 #include "91x_lib.h"
\r
86 /* Scheduler includes. */
\r
87 #include "FreeRTOS.h"
\r
91 /* Demo application includes. */
\r
94 #include "integer.h"
\r
97 #include "semtest.h"
\r
98 #include "dynamic.h"
\r
99 #include "partest.h"
\r
101 #include "comtest2.h"
\r
102 #include "serial.h"
\r
103 #include "GenQTest.h"
\r
107 #include "BasicWEB.h"
\r
111 /* Priorities for the demo application tasks. */
\r
112 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
113 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
114 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
\r
115 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
116 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
117 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
118 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
119 #define mainMSG_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
120 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
\r
122 /* Delays used by the various tasks defined in this file. */
\r
123 #define mainCHECK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
\r
124 #define mainSTRING_WRITE_DELAY ( 500 / portTICK_RATE_MS )
\r
125 #define mainLCD_DELAY ( 20 / portTICK_RATE_MS )
\r
127 /* Constants for the ComTest tasks. */
\r
128 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
\r
129 #define mainCOM_TEST_LED ( 3 )
\r
131 /* The maximum number of messages that can be pending to be written to the LCD. */
\r
132 #define mainLCD_QUEUE_LEN ( 6 )
\r
134 /* Dimension the buffer used to write the error flag string. */
\r
135 #define mainMAX_FLAG_STRING_LEN ( 32 )
\r
137 /* The structure that is passed on the LCD message queue. */
\r
140 portCHAR **ppcMessageToDisplay; /*<< Points to a char* pointing to the message to display. */
\r
141 portBASE_TYPE xRow; /*<< The row on which the message should be displayed. */
\r
143 /*-----------------------------------------------------------*/
\r
146 * The task that executes at the highest priority and calls
\r
147 * prvCheckOtherTasksAreStillRunning(). See the description at the top
\r
150 static void vErrorChecks( void *pvParameters );
\r
153 * Configure the processor clock and ports.
\r
155 static void prvSetupHardware( void );
\r
158 * Checks that all the demo application tasks are still executing without error
\r
159 * - as described at the top of the file. Called by vErrorChecks().
\r
161 static void prvCheckOtherTasksAreStillRunning( void );
\r
165 * The WEB server task prototype. The task is created in this file but defined
\r
166 * elsewhere. STACK_UIP is defined when the uIP stack is used in preference
\r
167 * to the lwIP stack.
\r
169 extern void vuIP_Task(void *pvParameters);
\r
173 * The task that displays text on the LCD.
\r
175 static void prvLCDTask( void * pvParameters );
\r
178 * The task that sends messages to be displayed on the top row of the LCD.
\r
180 static void prvLCDMessageTask( void * pvParameters );
\r
182 /*-----------------------------------------------------------*/
\r
184 /* The queue used to pass messages to the LCD task. */
\r
185 static xQueueHandle xLCDQueue;
\r
187 /* Error status flag. */
\r
188 static unsigned portLONG ulErrorFlags = 0;
\r
190 /*-----------------------------------------------------------*/
\r
193 * Starts all the other tasks, then starts the scheduler.
\r
201 /* Setup any hardware that has not already been configured by the low
\r
202 level init routines. */
\r
203 prvSetupHardware();
\r
204 /* Create the queue used to send data to the LCD task. */
\r
205 xLCDQueue = xQueueCreate( mainLCD_QUEUE_LEN, sizeof( xLCDMessage ) );
\r
207 /* Start all the standard demo application tasks. */
\r
208 vStartIntegerMathTasks( tskIDLE_PRIORITY );
\r
209 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
\r
210 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
211 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
212 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
213 vStartDynamicPriorityTasks();
\r
214 vStartMathTasks( tskIDLE_PRIORITY );
\r
215 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
\r
216 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
\r
217 vStartQueuePeekTasks();
\r
219 /* Start the tasks which are defined in this file. */
\r
220 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
\r
221 xTaskCreate( prvLCDTask, "LCD", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainLCD_TASK_PRIORITY, NULL );
\r
222 xTaskCreate( prvLCDMessageTask, "MSG", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainMSG_TASK_PRIORITY, NULL );
\r
224 /* Start either the uIP TCP/IP stack or the lwIP TCP/IP stack. */
\r
226 /* Finally, create the WEB server task. */
\r
227 xTaskCreate( vuIP_Task, "uIP", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
\r
231 /* Create the lwIP task. This uses the lwIP RTOS abstraction layer.*/
\r
233 sys_set_state( ( signed portCHAR * ) "httpd", lwipBASIC_SERVER_STACK_SIZE );
\r
234 sys_thread_new( vBasicWEBServer, ( void * ) NULL, basicwebWEBSERVER_PRIORITY );
\r
235 sys_set_default_state();
\r
238 /* Start the scheduler.
\r
240 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
\r
241 The processor MUST be in supervisor mode when vTaskStartScheduler is
\r
242 called. The demo applications included in the FreeRTOS.org download switch
\r
243 to supervisor mode prior to main being called. If you are not using one of
\r
244 these demo application projects then ensure Supervisor mode is used here. */
\r
246 vTaskStartScheduler();
\r
248 /* We should never get here as control is now taken by the scheduler. */
\r
251 /*-----------------------------------------------------------*/
\r
253 static void prvSetupHardware( void )
\r
255 /* Configuration taken from the ST code.
\r
257 Set Flash banks size & address */
\r
258 FMI_BankRemapConfig( 4, 2, 0, 0x80000 );
\r
260 /* FMI Waite States */
\r
261 FMI_Config( FMI_READ_WAIT_STATE_2, FMI_WRITE_WAIT_STATE_0, FMI_PWD_ENABLE, FMI_LVD_ENABLE, FMI_FREQ_HIGH );
\r
263 /* Configure the FPLL = 96MHz, and APB to 48MHz. */
\r
264 SCU_PCLKDivisorConfig( SCU_PCLK_Div2 );
\r
265 SCU_PLLFactorsConfig( 192, 25, 2 );
\r
266 SCU_PLLCmd( ENABLE );
\r
267 SCU_MCLKSourceConfig( SCU_MCLK_PLL );
\r
269 WDG_Cmd( DISABLE );
\r
272 /* GPIO8 clock source enable, used by the LCD. */
\r
273 SCU_APBPeriphClockConfig(__GPIO8, ENABLE);
\r
274 GPIO_DeInit(GPIO8);
\r
276 /* GPIO 9 clock source enable, used by the LCD. */
\r
277 SCU_APBPeriphClockConfig(__GPIO9, ENABLE);
\r
278 GPIO_DeInit(GPIO9);
\r
280 /* Enable VIC clock */
\r
281 SCU_AHBPeriphClockConfig(__VIC, ENABLE);
\r
282 SCU_AHBPeriphReset(__VIC, DISABLE);
\r
284 /* Peripheral initialisation. */
\r
285 vParTestInitialise();
\r
287 /*-----------------------------------------------------------*/
\r
289 static void vErrorChecks( void *pvParameters )
\r
291 static portCHAR cCheckVal[ mainMAX_FLAG_STRING_LEN ];
\r
292 portCHAR *pcFlagString;
\r
293 xLCDMessage xMessageToSend;
\r
294 portTickType xLastWakeTime;
\r
295 portCHAR *pcStringsToDisplay[] = {
\r
296 "Check status flag"
\r
299 /* The parameters are not used in this task. */
\r
300 ( void ) pvParameters;
\r
302 pcFlagString = &cCheckVal[ 0 ];
\r
304 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
\r
305 functions correctly. */
\r
306 xLastWakeTime = xTaskGetTickCount();
\r
308 /* Cycle for ever, delaying then checking all the other tasks are still
\r
309 operating without error. */
\r
312 /* Delay until it is time to execute again. */
\r
313 vTaskDelayUntil( &xLastWakeTime, mainCHECK_PERIOD );
\r
315 /* Check all the other tasks to see if the error flag needs updating. */
\r
316 prvCheckOtherTasksAreStillRunning();
\r
318 /* Create a string indicating the error flag status. */
\r
319 sprintf( cCheckVal, "equals 0x%x ", ulErrorFlags );
\r
320 xMessageToSend.xRow = Line2;
\r
322 /* Send the first part of the message to the LCD task. */
\r
323 xMessageToSend.ppcMessageToDisplay = &pcStringsToDisplay[ 0 ];
\r
324 xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 );
\r
325 vTaskDelay( mainSTRING_WRITE_DELAY );
\r
327 /* Send the second part of the message to the LCD task. */
\r
328 xMessageToSend.ppcMessageToDisplay = &pcFlagString;
\r
329 xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 );
\r
332 /*-----------------------------------------------------------*/
\r
334 static void prvCheckOtherTasksAreStillRunning( void )
\r
336 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
338 ulErrorFlags |= 0x01;
\r
341 if( xArePollingQueuesStillRunning() != pdTRUE )
\r
343 ulErrorFlags |= 0x02;
\r
346 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
348 ulErrorFlags |= 0x04;
\r
351 if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
353 ulErrorFlags |= 0x08;
\r
356 if( xAreComTestTasksStillRunning() != pdTRUE )
\r
358 ulErrorFlags |= 0x10;
\r
361 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
\r
363 ulErrorFlags |= 0x20;
\r
366 if( xAreMathsTaskStillRunning() != pdTRUE )
\r
368 ulErrorFlags |= 0x40;
\r
371 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
373 ulErrorFlags |= 0x80;
\r
376 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
\r
378 ulErrorFlags |= 0x100;
\r
382 /*-----------------------------------------------------------*/
\r
384 static void prvLCDMessageTask( void * pvParameters )
\r
386 xQueueHandle *pxLCDQueue;
\r
387 xLCDMessage xMessageToSend;
\r
388 portBASE_TYPE xIndex = 0;
\r
390 /* The strings that are written to the LCD. */
\r
391 portCHAR *pcStringsToDisplay[] = {
\r
395 "www.FreeRTOS.org",
\r
400 /* To test the parameter passing mechanism, the queue on which messages are
\r
401 posted is passed in as a parameter even though it is available as a file
\r
402 scope variable anyway. */
\r
403 pxLCDQueue = ( xQueueHandle * ) pvParameters;
\r
407 /* Wait until it is time to move onto the next string. */
\r
408 vTaskDelay( mainSTRING_WRITE_DELAY );
\r
410 /* Configure the message object to send to the LCD task. */
\r
411 xMessageToSend.ppcMessageToDisplay = &pcStringsToDisplay[ xIndex ];
\r
412 xMessageToSend.xRow = Line1;
\r
414 /* Post the message to be displayed. */
\r
415 xQueueSend( *pxLCDQueue, ( void * ) &xMessageToSend, 0 );
\r
417 /* Move onto the next message, wrapping when necessary. */
\r
419 if( *( pcStringsToDisplay[ xIndex ] ) == 0x00 )
\r
423 /* Delay longer before going back to the start of the messages. */
\r
424 vTaskDelay( mainSTRING_WRITE_DELAY * 2 );
\r
428 /*-----------------------------------------------------------*/
\r
430 void prvLCDTask( void * pvParameters )
\r
432 xQueueHandle *pxLCDQueue;
\r
433 xLCDMessage xReceivedMessage;
\r
434 portCHAR *pcString;
\r
436 /* To test the parameter passing mechanism, the queue on which messages are
\r
437 received is passed in as a parameter even though it is available as a file
\r
438 scope variable anyway. */
\r
439 pxLCDQueue = ( xQueueHandle * ) pvParameters;
\r
445 /* Wait for a message to arrive. */
\r
446 if( xQueueReceive( *pxLCDQueue, &xReceivedMessage, portMAX_DELAY ) )
\r
448 /* Where is the string we are going to display? */
\r
449 pcString = *xReceivedMessage.ppcMessageToDisplay;
\r
450 LCD_DisplayString(xReceivedMessage.xRow, pcString, BlackText);
\r
452 /* The delay here is just to ensure the LCD task does not starve
\r
453 out lower priority tasks as writing to the LCD can take a long
\r
455 vTaskDelay( mainLCD_DELAY );
\r
459 /*-----------------------------------------------------------*/
\r