2 FreeRTOS.org V5.0.2 - Copyright (C) 2003-2008 Richard Barry.
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4 This file is part of the FreeRTOS distribution.
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6 FreeRTOS is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 ***************************************************************************
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29 * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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30 * and even write all or part of your application on your behalf. *
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31 * See http://www.OpenRTOS.com for details of the services we provide to *
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32 * expedite your project. *
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34 ***************************************************************************
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35 ***************************************************************************
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37 Please ensure to read the configuration and relevant port sections of the
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38 online documentation.
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40 http://www.FreeRTOS.org - Documentation, latest information, license and
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43 http://www.SafeRTOS.com - A version that is certified for use in safety
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46 http://www.OpenRTOS.com - Commercial support, development, porting,
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47 licensing and training services.
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51 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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52 The processor MUST be in supervisor mode when vTaskStartScheduler is
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53 called. The demo applications included in the FreeRTOS.org download switch
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54 to supervisor mode prior to main being called. If you are not using one of
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55 these demo application projects then ensure Supervisor mode is used.
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59 * Creates all the demo application tasks, then starts the scheduler. The WEB
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60 * documentation provides more details of the demo application tasks.
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62 * A few tasks are created that are not part of the standard demo. These are
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63 * the 'LCD' task, the 'LCD Message' task, a WEB server task and the 'Check'
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66 * The LCD task is the only task that accesses the LCD directly, so mutual
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67 * exclusion is ensured. Any task wishing to display text sends the LCD task
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68 * a message containing a pointer to the string that should be displayed.
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69 * The LCD task itself just blocks on a queue waiting for such a message to
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70 * arrive - processing each in turn.
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72 * The LCD Message task does nothing other than periodically send messages to
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73 * the LCD task. The messages originating from the LCD Message task are
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74 * displayed on the top row of the LCD.
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76 * The Check task only executes every three seconds but has the highest
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77 * priority so is guaranteed to get processor time. Its main function is to
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78 * check that all the other tasks are still operational. Most tasks maintain
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79 * a unique count that is incremented each time the task successfully completes
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80 * a cycle of its function. Should any error occur within such a task the
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81 * count is permanently halted. The check task sets a bit in an error status
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82 * flag should it find any counter variable at a value that indicates an
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83 * error has occurred. The error flag value is converted to a string and sent
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84 * to the LCD task for display on the bottom row on the LCD.
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87 /* Standard includes. */
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90 /* Library includes. */
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91 #include "91x_lib.h"
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93 /* Scheduler includes. */
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94 #include "FreeRTOS.h"
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98 /* Demo application includes. */
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101 #include "integer.h"
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103 #include "BlockQ.h"
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104 #include "semtest.h"
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105 #include "dynamic.h"
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106 #include "partest.h"
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108 #include "comtest2.h"
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109 #include "serial.h"
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110 #include "GenQTest.h"
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114 #include "BasicWEB.h"
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118 /* Priorities for the demo application tasks. */
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119 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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120 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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121 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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122 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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123 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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124 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
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125 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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126 #define mainMSG_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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127 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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129 /* Delays used by the various tasks defined in this file. */
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130 #define mainCHECK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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131 #define mainSTRING_WRITE_DELAY ( 500 / portTICK_RATE_MS )
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132 #define mainLCD_DELAY ( 20 / portTICK_RATE_MS )
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134 /* Constants for the ComTest tasks. */
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135 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
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136 #define mainCOM_TEST_LED ( 3 )
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138 /* The maximum number of messages that can be pending to be written to the LCD. */
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139 #define mainLCD_QUEUE_LEN ( 6 )
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141 /* Dimension the buffer used to write the error flag string. */
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142 #define mainMAX_FLAG_STRING_LEN ( 32 )
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144 /* The structure that is passed on the LCD message queue. */
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147 portCHAR **ppcMessageToDisplay; /*<< Points to a char* pointing to the message to display. */
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148 portBASE_TYPE xRow; /*<< The row on which the message should be displayed. */
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150 /*-----------------------------------------------------------*/
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153 * The task that executes at the highest priority and calls
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154 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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157 static void vErrorChecks( void *pvParameters );
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160 * Configure the processor clock and ports.
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162 static void prvSetupHardware( void );
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165 * Checks that all the demo application tasks are still executing without error
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166 * - as described at the top of the file. Called by vErrorChecks().
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168 static void prvCheckOtherTasksAreStillRunning( void );
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172 * The WEB server task prototype. The task is created in this file but defined
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173 * elsewhere. STACK_UIP is defined when the uIP stack is used in preference
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174 * to the lwIP stack.
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176 extern void vuIP_Task(void *pvParameters);
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180 * The task that displays text on the LCD.
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182 static void prvLCDTask( void * pvParameters );
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185 * The task that sends messages to be displayed on the top row of the LCD.
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187 static void prvLCDMessageTask( void * pvParameters );
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189 /*-----------------------------------------------------------*/
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191 /* The queue used to pass messages to the LCD task. */
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192 static xQueueHandle xLCDQueue;
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194 /* Error status flag. */
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195 static unsigned portLONG ulErrorFlags = 0;
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197 /*-----------------------------------------------------------*/
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200 * Starts all the other tasks, then starts the scheduler.
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208 /* Setup any hardware that has not already been configured by the low
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209 level init routines. */
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210 prvSetupHardware();
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211 /* Create the queue used to send data to the LCD task. */
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212 xLCDQueue = xQueueCreate( mainLCD_QUEUE_LEN, sizeof( xLCDMessage ) );
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214 /* Start all the standard demo application tasks. */
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215 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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216 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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217 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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218 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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219 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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220 vStartDynamicPriorityTasks();
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221 vStartMathTasks( tskIDLE_PRIORITY );
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222 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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223 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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224 vStartQueuePeekTasks();
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226 /* Start the tasks which are defined in this file. */
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227 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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228 xTaskCreate( prvLCDTask, "LCD", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainLCD_TASK_PRIORITY, NULL );
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229 xTaskCreate( prvLCDMessageTask, "MSG", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainMSG_TASK_PRIORITY, NULL );
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231 /* Start either the uIP TCP/IP stack or the lwIP TCP/IP stack. */
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233 /* Finally, create the WEB server task. */
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234 xTaskCreate( vuIP_Task, "uIP", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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238 /* Create the lwIP task. This uses the lwIP RTOS abstraction layer.*/
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240 sys_set_state( ( signed portCHAR * ) "httpd", lwipBASIC_SERVER_STACK_SIZE );
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241 sys_thread_new( vBasicWEBServer, ( void * ) NULL, basicwebWEBSERVER_PRIORITY );
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242 sys_set_default_state();
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245 /* Start the scheduler.
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247 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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248 The processor MUST be in supervisor mode when vTaskStartScheduler is
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249 called. The demo applications included in the FreeRTOS.org download switch
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250 to supervisor mode prior to main being called. If you are not using one of
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251 these demo application projects then ensure Supervisor mode is used here. */
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253 vTaskStartScheduler();
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255 /* We should never get here as control is now taken by the scheduler. */
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258 /*-----------------------------------------------------------*/
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260 static void prvSetupHardware( void )
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262 /* Configuration taken from the ST code.
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264 Set Flash banks size & address */
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265 FMI_BankRemapConfig( 4, 2, 0, 0x80000 );
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267 /* FMI Waite States */
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268 FMI_Config( FMI_READ_WAIT_STATE_2, FMI_WRITE_WAIT_STATE_0, FMI_PWD_ENABLE, FMI_LVD_ENABLE, FMI_FREQ_HIGH );
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270 /* Configure the FPLL = 96MHz, and APB to 48MHz. */
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271 SCU_PCLKDivisorConfig( SCU_PCLK_Div2 );
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272 SCU_PLLFactorsConfig( 192, 25, 2 );
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273 SCU_PLLCmd( ENABLE );
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274 SCU_MCLKSourceConfig( SCU_MCLK_PLL );
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276 WDG_Cmd( DISABLE );
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279 /* GPIO8 clock source enable, used by the LCD. */
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280 SCU_APBPeriphClockConfig(__GPIO8, ENABLE);
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281 GPIO_DeInit(GPIO8);
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283 /* GPIO 9 clock source enable, used by the LCD. */
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284 SCU_APBPeriphClockConfig(__GPIO9, ENABLE);
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285 GPIO_DeInit(GPIO9);
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287 /* Enable VIC clock */
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288 SCU_AHBPeriphClockConfig(__VIC, ENABLE);
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289 SCU_AHBPeriphReset(__VIC, DISABLE);
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291 /* Peripheral initialisation. */
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292 vParTestInitialise();
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294 /*-----------------------------------------------------------*/
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296 static void vErrorChecks( void *pvParameters )
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298 static portCHAR cCheckVal[ mainMAX_FLAG_STRING_LEN ];
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299 portCHAR *pcFlagString;
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300 xLCDMessage xMessageToSend;
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301 portTickType xLastWakeTime;
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302 portCHAR *pcStringsToDisplay[] = {
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303 "Check status flag"
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306 /* The parameters are not used in this task. */
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307 ( void ) pvParameters;
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309 pcFlagString = &cCheckVal[ 0 ];
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311 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
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312 functions correctly. */
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313 xLastWakeTime = xTaskGetTickCount();
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315 /* Cycle for ever, delaying then checking all the other tasks are still
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316 operating without error. */
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319 /* Delay until it is time to execute again. */
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320 vTaskDelayUntil( &xLastWakeTime, mainCHECK_PERIOD );
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322 /* Check all the other tasks to see if the error flag needs updating. */
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323 prvCheckOtherTasksAreStillRunning();
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325 /* Create a string indicating the error flag status. */
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326 sprintf( cCheckVal, "equals 0x%x ", ulErrorFlags );
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327 xMessageToSend.xRow = Line2;
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329 /* Send the first part of the message to the LCD task. */
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330 xMessageToSend.ppcMessageToDisplay = &pcStringsToDisplay[ 0 ];
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331 xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 );
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332 vTaskDelay( mainSTRING_WRITE_DELAY );
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334 /* Send the second part of the message to the LCD task. */
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335 xMessageToSend.ppcMessageToDisplay = &pcFlagString;
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336 xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 );
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339 /*-----------------------------------------------------------*/
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341 static void prvCheckOtherTasksAreStillRunning( void )
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343 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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345 ulErrorFlags |= 0x01;
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348 if( xArePollingQueuesStillRunning() != pdTRUE )
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350 ulErrorFlags |= 0x02;
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353 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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355 ulErrorFlags |= 0x04;
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358 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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360 ulErrorFlags |= 0x08;
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363 if( xAreComTestTasksStillRunning() != pdTRUE )
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365 ulErrorFlags |= 0x10;
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368 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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370 ulErrorFlags |= 0x20;
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373 if( xAreMathsTaskStillRunning() != pdTRUE )
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375 ulErrorFlags |= 0x40;
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378 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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380 ulErrorFlags |= 0x80;
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383 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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385 ulErrorFlags |= 0x100;
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389 /*-----------------------------------------------------------*/
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391 static void prvLCDMessageTask( void * pvParameters )
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393 xQueueHandle *pxLCDQueue;
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394 xLCDMessage xMessageToSend;
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395 portBASE_TYPE xIndex = 0;
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397 /* The strings that are written to the LCD. */
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398 portCHAR *pcStringsToDisplay[] = {
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402 "www.FreeRTOS.org",
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407 /* To test the parameter passing mechanism, the queue on which messages are
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408 posted is passed in as a parameter even though it is available as a file
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409 scope variable anyway. */
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410 pxLCDQueue = ( xQueueHandle * ) pvParameters;
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414 /* Wait until it is time to move onto the next string. */
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415 vTaskDelay( mainSTRING_WRITE_DELAY );
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417 /* Configure the message object to send to the LCD task. */
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418 xMessageToSend.ppcMessageToDisplay = &pcStringsToDisplay[ xIndex ];
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419 xMessageToSend.xRow = Line1;
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421 /* Post the message to be displayed. */
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422 xQueueSend( *pxLCDQueue, ( void * ) &xMessageToSend, 0 );
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424 /* Move onto the next message, wrapping when necessary. */
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426 if( *( pcStringsToDisplay[ xIndex ] ) == 0x00 )
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430 /* Delay longer before going back to the start of the messages. */
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431 vTaskDelay( mainSTRING_WRITE_DELAY * 2 );
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435 /*-----------------------------------------------------------*/
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437 void prvLCDTask( void * pvParameters )
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439 xQueueHandle *pxLCDQueue;
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440 xLCDMessage xReceivedMessage;
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441 portCHAR *pcString;
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443 /* To test the parameter passing mechanism, the queue on which messages are
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444 received is passed in as a parameter even though it is available as a file
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445 scope variable anyway. */
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446 pxLCDQueue = ( xQueueHandle * ) pvParameters;
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452 /* Wait for a message to arrive. */
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453 if( xQueueReceive( *pxLCDQueue, &xReceivedMessage, portMAX_DELAY ) )
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455 /* Where is the string we are going to display? */
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456 pcString = *xReceivedMessage.ppcMessageToDisplay;
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457 LCD_DisplayString(xReceivedMessage.xRow, pcString, BlackText);
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459 /* The delay here is just to ensure the LCD task does not starve
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460 out lower priority tasks as writing to the LCD can take a long
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462 vTaskDelay( mainLCD_DELAY );
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466 /*-----------------------------------------------------------*/
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