2 FreeRTOS.org V4.5.0 - 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 'OLED' 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" hook - This only executes every five seconds from the tick hook.
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56 * Its main function is to check that all the standard demo tasks are still
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57 * operational. Should any unexpected behaviour within a demo task be discovered
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58 * the tick hook will write an error to the OLED (via the OLED task). If all the
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59 * demo tasks are executing with their expected behaviour then the check task
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60 * writes PASS to the OLED (again via the OLED task), as described above.
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62 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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63 * processing is performed in this task.
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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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88 #include "GenQTest.h"
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91 /* Hardware library includes. */
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92 #include "hw_memmap.h"
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93 #include "hw_types.h"
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94 #include "hw_sysctl.h"
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97 #include "rit128x96x4.h"
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98 #include "osram128x64x4.h"
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100 /*-----------------------------------------------------------*/
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102 /* The time between cycles of the 'check' functionality (defined within the
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104 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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106 /* Size of the stack allocated to the uIP task. */
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107 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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109 /* The OLED task uses the sprintf function so requires a little more stack too. */
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110 #define mainOLED_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
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112 /* Task priorities. */
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113 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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114 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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115 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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116 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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117 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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118 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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119 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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121 /* The maximum number of message that can be waiting for display at any one
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123 #define mainOLED_QUEUE_SIZE ( 3 )
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125 /* Dimensions the buffer into which the jitter time is written. */
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126 #define mainMAX_MSG_LEN 25
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128 /* The period of the system clock in nano seconds. This is used to calculate
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129 the jitter time in nano seconds. */
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130 #define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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132 /* Constants used when writing strings to the display. */
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133 #define mainCHARACTER_HEIGHT ( 9 )
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134 #define mainMAX_ROWS_96 ( mainCHARACTER_HEIGHT * 10 )
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135 #define mainMAX_ROWS_64 ( mainCHARACTER_HEIGHT * 7 )
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136 #define mainFULL_SCALE ( 15 )
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137 #define ulSSI_FREQUENCY ( 3500000UL )
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139 /*-----------------------------------------------------------*/
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142 * The task that handles the uIP stack. All TCP/IP processing is performed in
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145 extern void vuIP_Task( void *pvParameters );
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148 * The display is written two by more than one task so is controlled by a
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149 * 'gatekeeper' task. This is the only task that is actually permitted to
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150 * access the display directly. Other tasks wanting to display a message send
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151 * the message to the gatekeeper.
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153 static void vOLEDTask( void *pvParameters );
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156 * Configure the hardware for the demo.
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158 static void prvSetupHardware( void );
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161 * Configures the high frequency timers - those used to measure the timing
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162 * jitter while the real time kernel is executing.
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164 extern void vSetupTimer( void );
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167 * The idle hook is used to run a test of the scheduler context switch
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170 void vApplicationIdleHook( void ) __attribute__((naked));
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171 /*-----------------------------------------------------------*/
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173 /* The queue used to send messages to the OLED task. */
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174 xQueueHandle xOLEDQueue;
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176 /* The welcome text. */
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177 const portCHAR * const pcWelcomeMessage = " www.FreeRTOS.org";
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179 /* Variables used to detect the test in the idle hook failing. */
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180 unsigned portLONG ulIdleError = pdFALSE;
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182 /*-----------------------------------------------------------*/
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186 prvSetupHardware();
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188 /* Create the queue used by the OLED task. Messages for display on the OLED
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189 are received via this queue. */
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190 xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
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192 /* Create the uIP task if running on a processor that includes a MAC and
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194 if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) )
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196 xTaskCreate( vuIP_Task, ( signed portCHAR * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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199 /* Start the standard demo tasks. */
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200 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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201 vCreateBlockTimeTasks();
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202 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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203 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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204 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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205 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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206 vStartQueuePeekTasks();
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208 /* Start the tasks defined within this file/specific to this demo. */
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209 xTaskCreate( vOLEDTask, ( signed portCHAR * ) "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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211 /* The suicide tasks must be created last as they need to know how many
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212 tasks were running prior to their creation in order to ascertain whether
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213 or not the correct/expected number of tasks are running at any given time. */
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214 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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216 /* Configure the high frequency interrupt used to measure the interrupt
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220 /* Start the scheduler. */
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221 vTaskStartScheduler();
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223 /* Will only get here if there was insufficient memory to create the idle
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227 /*-----------------------------------------------------------*/
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229 void prvSetupHardware( void )
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231 /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
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232 a workaround to allow the PLL to operate reliably. */
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233 if( DEVICE_IS_REVA2 )
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235 SysCtlLDOSet( SYSCTL_LDO_2_75V );
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238 /* Set the clocking to run from the PLL at 50 MHz */
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239 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
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241 /* Enable Port F for Ethernet LEDs
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243 LED1 Bit 2 Output */
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244 SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
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245 GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
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246 GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
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248 vParTestInitialise();
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250 /*-----------------------------------------------------------*/
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252 void vApplicationTickHook( void )
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254 static xOLEDMessage xMessage = { "PASS" };
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255 static unsigned portLONG ulTicksSinceLastDisplay = 0;
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257 /* Called from every tick interrupt. Have enough ticks passed to make it
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258 time to perform our health status check again? */
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259 ulTicksSinceLastDisplay++;
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260 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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262 ulTicksSinceLastDisplay = 0;
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264 /* Has an error been found in any task? */
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265 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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267 xMessage.pcMessage = "ERROR IN GEN Q";
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269 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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271 xMessage.pcMessage = "ERROR IN PEEK Q";
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273 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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275 xMessage.pcMessage = "ERROR IN BLOCK Q";
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277 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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279 xMessage.pcMessage = "ERROR IN BLOCK TIME";
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281 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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283 xMessage.pcMessage = "ERROR IN SEMAPHORE";
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285 else if( xArePollingQueuesStillRunning() != pdTRUE )
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287 xMessage.pcMessage = "ERROR IN POLL Q";
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289 else if( xIsCreateTaskStillRunning() != pdTRUE )
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291 xMessage.pcMessage = "ERROR IN CREATE";
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293 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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295 xMessage.pcMessage = "ERROR IN MATH";
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297 else if( ulIdleError != pdFALSE )
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299 xMessage.pcMessage = "ERROR IN HOOK";
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302 /* Send the message to the OLED gatekeeper for display. */
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303 xQueueSendFromISR( xOLEDQueue, &xMessage, pdFALSE );
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306 /*-----------------------------------------------------------*/
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308 void vOLEDTask( void *pvParameters )
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310 xOLEDMessage xMessage;
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311 unsigned portLONG ulY, ulMaxY;
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312 static portCHAR cMessage[ mainMAX_MSG_LEN ];
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313 extern unsigned portLONG ulMaxJitter;
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315 /* Functions to access the OLED. The one used depends on the dev kit
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317 void ( *vOLEDInit )( unsigned portLONG );
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318 void ( *vOLEDStringDraw )( const portCHAR *, unsigned portLONG, unsigned portLONG, unsigned portCHAR );
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319 void ( *vOLEDImageDraw )( const unsigned portCHAR *, unsigned portLONG, unsigned portLONG, unsigned portLONG, unsigned portLONG );
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320 void ( *vOLEDClear )( void );
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322 /* Map the OLED access functions to the driver functions that are appropriate
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323 for the evaluation kit being used. */
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324 switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK )
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326 case SYSCTL_DID1_PRTNO_6965 :
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327 case SYSCTL_DID1_PRTNO_2965 : vOLEDInit = OSRAM128x64x4Init;
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328 vOLEDStringDraw = OSRAM128x64x4StringDraw;
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329 vOLEDImageDraw = OSRAM128x64x4ImageDraw;
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330 vOLEDClear = OSRAM128x64x4Clear;
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331 ulMaxY = mainMAX_ROWS_64;
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334 default : vOLEDInit = RIT128x96x4Init;
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335 vOLEDStringDraw = RIT128x96x4StringDraw;
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336 vOLEDImageDraw = RIT128x96x4ImageDraw;
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337 vOLEDClear = RIT128x96x4Clear;
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338 ulMaxY = mainMAX_ROWS_96;
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344 /* Initialise the OLED and display a startup message. */
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345 vOLEDInit( ulSSI_FREQUENCY );
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346 vOLEDStringDraw( " POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
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347 vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
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351 /* Wait for a message to arrive that requires displaying. */
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352 xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
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354 /* Write the message on the next available row. */
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355 ulY += mainCHARACTER_HEIGHT;
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356 if( ulY >= ulMaxY )
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358 ulY = mainCHARACTER_HEIGHT;
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360 vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
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363 /* Display the message along with the maximum jitter time from the
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364 high priority time test. */
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365 sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK );
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366 vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE );
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369 /*-----------------------------------------------------------*/
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371 void vApplicationIdleHook( void )
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373 /* This is just a sanity check function to test the port is
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374 functioning correctly. It can be removed from real applications.
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376 Fill the general purpose registers with known values. */
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377 __asm volatile( " mov r11, #10 \n"
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378 " add r0, r11, #1 \n"
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379 " add r1, r11, #2 \n"
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380 " add r2, r11, #3 \n"
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381 " add r3, r11, #4 \n"
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382 " add r4, r11, #5 \n"
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383 " add r5, r11, #6 \n"
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384 " add r6, r11, #7 \n"
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385 " add r7, r11, #8 \n"
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386 " add r8, r11, #9 \n"
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387 " add r9, r11, #10 \n"
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388 " add r10, r11, #11 \n"
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389 " add r12, r11, #12" );
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391 /* Check the values are as expected. A context switch might
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392 have occurred since setting the register values. */
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393 __asm volatile( " cmp r11, #10 \n"
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394 " bne set_error_flag \n"
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396 " bne set_error_flag \n"
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398 " bne set_error_flag \n"
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400 " bne set_error_flag \n"
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402 " bne set_error_flag \n"
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404 " bne set_error_flag \n"
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406 " bne set_error_flag \n"
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408 " bne set_error_flag \n"
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410 " bne set_error_flag \n"
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412 " bne set_error_flag \n"
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414 " bne set_error_flag \n"
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416 " bne set_error_flag \n"
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418 " bne set_error_flag \n"
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420 " \n" /* If an error is detected in the */
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421 "set_error_flag: \n" /* value of a register then the error */
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422 " ldr r1, ulIdleErrorConst\n" /* variable will be set to true. This */
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423 " mov r0, #1 \n" /* will cause an error message to be */
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424 " str r0, [r1] \n" /* written to the OLED. */
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428 "ulIdleErrorConst: .word ulIdleError" );
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