2 FreeRTOS.org V4.4.0 - Copyright (C) 2003-2007 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org 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.org 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.org; 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.org, 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 See http://www.FreeRTOS.org for documentation, latest information, license
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28 and contact details. Please ensure to read the configuration and relevant
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29 port sections of the online documentation.
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30 ***************************************************************************
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35 * Creates all the demo application tasks, then starts the scheduler. The WEB
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36 * documentation provides more details of the standard demo application tasks.
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37 * In addition to the standard demo tasks, the following tasks and tests are
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38 * defined and/or created within this file:
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40 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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41 * using a free running timer to demonstrate the use of the
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42 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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43 * service routine measures the number of processor clocks that occur between
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44 * each interrupt - and in so doing measures the jitter in the interrupt timing.
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45 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
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46 * displayed on the OLED display by the 'Check' task as described below. The
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47 * fast interrupt is configured and handled in the timertest.c source file.
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49 * "OLED" task - the OLED task is a 'gatekeeper' task. It is the only task that
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50 * is permitted to access the display directly. Other tasks wishing to write a
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51 * message to the OLED send the message on a queue to the OLED task instead of
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52 * accessing the OLED themselves. The OLED task just blocks on the queue waiting
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53 * for messages - waking and displaying the messages as they arrive.
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55 * "Check" task - This only executes every five seconds but has the highest
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56 * priority so is guaranteed to get processor time. Its main function is to
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57 * check that all the standard demo tasks are still operational. Should any
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58 * unexpected behaviour within a demo task be discovered the 'check' task will
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59 * write an error to the OLED (via the OLED task). If all the demo tasks are
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60 * executing with their expected behaviour then the check task writes PASS
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61 * along with the max jitter time to the OLED (again via the OLED task), as
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68 /* Standard includes. */
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71 /* Scheduler includes. */
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72 #include "FreeRTOS.h"
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77 /* Demo app includes. */
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80 #include "integer.h"
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81 #include "blocktim.h"
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83 #include "partest.h"
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84 #include "semtest.h"
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86 #include "lcd_message.h"
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89 /* Hardware library includes. */
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90 #include "hw_memmap.h"
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91 #include "hw_types.h"
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94 #include "osram128x64x4.h"
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96 /*-----------------------------------------------------------*/
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98 /* The time between cycles of the 'check' task. */
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99 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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101 /* The check task uses the sprintf function so requires a little more stack too. */
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102 #define mainCHECK_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
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104 /* Task priorities. */
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105 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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106 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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107 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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108 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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109 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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110 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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112 /* The maximum number of message that can be waiting for display at any one
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114 #define mainOLED_QUEUE_SIZE ( 3 )
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116 /* Dimensions the buffer into which the jitter time is written. */
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117 #define mainMAX_MSG_LEN 25
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119 /* The period of the system clock in nano seconds. This is used to calculate
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120 the jitter time in nano seconds. */
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121 #define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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123 /* Constants used when writing strings to the display. */
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124 #define mainCHARACTER_HEIGHT ( 9 )
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125 #define mainMAX_ROWS ( mainCHARACTER_HEIGHT * 7 )
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126 #define mainFULL_SCALE ( 15 )
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127 #define ulSSI_FREQUENCY 1000000
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129 /*-----------------------------------------------------------*/
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132 * Checks the status of all the demo tasks then prints a message to the
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133 * display. The message will be either PASS - an include in brackets the
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134 * maximum measured jitter time (as described at the to of the file), or a
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135 * message that describes which of the standard demo tasks an error has been
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138 * Messages are not written directly to the terminal, but passed to vOLEDTask
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141 static void vCheckTask( void *pvParameters );
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144 * The display is written two by more than one task so is controlled by a
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145 * 'gatekeeper' task. This is the only task that is actually permitted to
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146 * access the display directly. Other tasks wanting to display a message send
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147 * the message to the gatekeeper.
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149 static void vOLEDTask( void *pvParameters );
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152 * Configure the hardware for the demo.
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154 static void prvSetupHardware( void );
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157 * Configures the high frequency timers - those used to measure the timing
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158 * jitter while the real time kernel is executing.
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160 extern void vSetupTimer( void );
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162 /*-----------------------------------------------------------*/
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164 /* The queue used to send messages to the OLED task. */
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165 xQueueHandle xOLEDQueue;
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167 /* The welcome text. */
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168 const portCHAR * const pcWelcomeMessage = " www.FreeRTOS.org";
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170 /*-----------------------------------------------------------*/
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174 prvSetupHardware();
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176 /* Create the queue used by the OLED task. Messages for display on the OLED
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177 are received via this queue. */
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178 xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
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180 /* Start the standard demo tasks. */
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181 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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182 vCreateBlockTimeTasks();
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183 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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184 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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185 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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187 /* Start the tasks defined within this file/specific to this demo. */
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188 xTaskCreate( vCheckTask, ( signed portCHAR * ) "Check", mainCHECK_TASK_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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189 xTaskCreate( vOLEDTask, ( signed portCHAR * ) "OLED", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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191 /* The suicide tasks must be created last as they need to know how many
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192 tasks were running prior to their creation in order to ascertain whether
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193 or not the correct/expected number of tasks are running at any given time. */
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194 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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196 /* Configure the high frequency interrupt used to measure the interrupt
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200 /* Start the scheduler. */
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201 vTaskStartScheduler();
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203 /* Will only get here if there was insufficient memory to create the idle
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207 /*-----------------------------------------------------------*/
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209 void prvSetupHardware( void )
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211 /* Set the clocking to run from the PLL at 50 MHz */
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212 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
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214 /* Enable Port F for Ethernet LEDs
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216 LED1 Bit 2 Output */
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217 SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
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218 GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
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219 GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
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221 vParTestInitialise();
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223 /*-----------------------------------------------------------*/
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225 static void vCheckTask( void *pvParameters )
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227 portTickType xLastExecutionTime;
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228 xOLEDMessage xMessage;
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229 static portCHAR cPassMessage[ mainMAX_MSG_LEN ];
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230 extern unsigned portLONG ulMaxJitter;
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232 xLastExecutionTime = xTaskGetTickCount();
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233 xMessage.pcMessage = cPassMessage;
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237 /* Perform this check every mainCHECK_DELAY milliseconds. */
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238 vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );
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240 /* Has an error been found in any task? */
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242 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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244 xMessage.pcMessage = "ERROR IN BLOCK Q";
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246 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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248 xMessage.pcMessage = "ERROR IN BLOCK TIME";
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250 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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252 xMessage.pcMessage = "ERROR IN SEMAPHORE";
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254 else if( xArePollingQueuesStillRunning() != pdTRUE )
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256 xMessage.pcMessage = "ERROR IN POLL Q";
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258 else if( xIsCreateTaskStillRunning() != pdTRUE )
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260 xMessage.pcMessage = "ERROR IN CREATE";
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262 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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264 xMessage.pcMessage = "ERROR IN MATH";
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268 sprintf( cPassMessage, "PASS [%uns]", ulMaxJitter * mainNS_PER_CLOCK );
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271 /* Send the message to the OLED gatekeeper for display. */
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272 xQueueSend( xOLEDQueue, &xMessage, portMAX_DELAY );
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275 /*-----------------------------------------------------------*/
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279 void vOLEDTask( void *pvParameters )
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281 xOLEDMessage xMessage;
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282 unsigned portLONG ulY = mainMAX_ROWS;
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284 /* Initialise the OLED and display a startup message. */
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285 OSRAM128x64x4Init( ulSSI_FREQUENCY );
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287 OSRAM128x64x4StringDraw( " POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
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288 OSRAM128x64x4ImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
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292 /* Wait for a message to arrive that requires displaying. */
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293 xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
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295 /* Write the message on the next available row. */
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296 ulY += mainCHARACTER_HEIGHT;
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297 if( ulY >= mainMAX_ROWS )
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299 ulY = mainCHARACTER_HEIGHT;
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300 OSRAM128x64x4Clear();
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301 OSRAM128x64x4StringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
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304 /* Display the message. */
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305 OSRAM128x64x4StringDraw( xMessage.pcMessage, 0, ulY, mainFULL_SCALE );
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