2 FreeRTOS.org V5.0.2 - Copyright (C) 2003-2008 Richard Barry.
\r
4 This file is part of the FreeRTOS.org distribution.
\r
6 FreeRTOS.org is free software; you can redistribute it and/or modify
\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.org 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.org; 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.org, 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
27 ***************************************************************************
\r
29 * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
\r
30 * and even write all or part of your application on your behalf. *
\r
31 * See http://www.OpenRTOS.com for details of the services we provide to *
\r
32 * expedite your project. *
\r
34 ***************************************************************************
\r
35 ***************************************************************************
\r
37 Please ensure to read the configuration and relevant port sections of the
\r
38 online documentation.
\r
40 http://www.FreeRTOS.org - Documentation, latest information, license and
\r
43 http://www.SafeRTOS.com - A version that is certified for use in safety
\r
46 http://www.OpenRTOS.com - Commercial support, development, porting,
\r
47 licensing and training services.
\r
52 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
53 * documentation provides more details of the standard demo application tasks.
\r
54 * In addition to the standard demo tasks, the following tasks and tests are
\r
55 * defined and/or created within this file:
\r
57 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
\r
58 * using a free running timer to demonstrate the use of the
\r
59 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
\r
60 * service routine measures the number of processor clocks that occur between
\r
61 * each interrupt - and in so doing measures the jitter in the interrupt timing.
\r
62 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
\r
63 * displayed on the OLED display by the 'OLED' task as described below. The
\r
64 * fast interrupt is configured and handled in the timertest.c source file.
\r
66 * "OLED" task - the OLED task is a 'gatekeeper' task. It is the only task that
\r
67 * is permitted to access the display directly. Other tasks wishing to write a
\r
68 * message to the OLED send the message on a queue to the OLED task instead of
\r
69 * accessing the OLED themselves. The OLED task just blocks on the queue waiting
\r
70 * for messages - waking and displaying the messages as they arrive.
\r
72 * "Check" hook - This only executes every five seconds from the tick hook.
\r
73 * Its main function is to check that all the standard demo tasks are still
\r
74 * operational. Should any unexpected behaviour within a demo task be discovered
\r
75 * the tick hook will write an error to the OLED (via the OLED task). If all the
\r
76 * demo tasks are executing with their expected behaviour then the check task
\r
77 * writes PASS to the OLED (again via the OLED task), as described above.
\r
79 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
\r
80 * processing is performed in this task.
\r
86 /*************************************************************************
\r
87 * Please ensure to read http://www.freertos.org/portlm3sx965.html
\r
88 * which provides information on configuring and running this demo for the
\r
89 * various Luminary Micro EKs.
\r
90 *************************************************************************/
\r
95 /* Standard includes. */
\r
98 /* Scheduler includes. */
\r
99 #include "FreeRTOS.h"
\r
102 #include "semphr.h"
\r
104 /* Hardware library includes. */
\r
105 #include "hw_memmap.h"
\r
106 #include "hw_types.h"
\r
107 #include "hw_sysctl.h"
\r
108 #include "sysctl.h"
\r
111 #include "rit128x96x4.h"
\r
112 #include "osram128x64x4.h"
\r
113 #include "formike128x128x16.h"
\r
115 /* Demo app includes. */
\r
116 #include "BlockQ.h"
\r
118 #include "integer.h"
\r
119 #include "blocktim.h"
\r
121 #include "partest.h"
\r
122 #include "semtest.h"
\r
124 #include "lcd_message.h"
\r
125 #include "bitmap.h"
\r
126 #include "GenQTest.h"
\r
129 /*-----------------------------------------------------------*/
\r
131 /* The time between cycles of the 'check' functionality (defined within the
\r
133 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
\r
135 /* Size of the stack allocated to the uIP task. */
\r
136 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
\r
138 /* The OLED task uses the sprintf function so requires a little more stack too. */
\r
139 #define mainOLED_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
\r
141 /* Task priorities. */
\r
142 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
143 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
144 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
145 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
146 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
147 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
148 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
150 /* The maximum number of message that can be waiting for display at any one
\r
152 #define mainOLED_QUEUE_SIZE ( 3 )
\r
154 /* Dimensions the buffer into which the jitter time is written. */
\r
155 #define mainMAX_MSG_LEN 25
\r
157 /* The period of the system clock in nano seconds. This is used to calculate
\r
158 the jitter time in nano seconds. */
\r
159 #define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
\r
161 /* Constants used when writing strings to the display. */
\r
162 #define mainCHARACTER_HEIGHT ( 9 )
\r
163 #define mainMAX_ROWS_128 ( mainCHARACTER_HEIGHT * 14 )
\r
164 #define mainMAX_ROWS_96 ( mainCHARACTER_HEIGHT * 10 )
\r
165 #define mainMAX_ROWS_64 ( mainCHARACTER_HEIGHT * 7 )
\r
166 #define mainFULL_SCALE ( 15 )
\r
167 #define ulSSI_FREQUENCY ( 3500000UL )
\r
169 /*-----------------------------------------------------------*/
\r
172 * The task that handles the uIP stack. All TCP/IP processing is performed in
\r
175 extern void vuIP_Task( void *pvParameters );
\r
178 * The display is written two by more than one task so is controlled by a
\r
179 * 'gatekeeper' task. This is the only task that is actually permitted to
\r
180 * access the display directly. Other tasks wanting to display a message send
\r
181 * the message to the gatekeeper.
\r
183 static void vOLEDTask( void *pvParameters );
\r
186 * Configure the hardware for the demo.
\r
188 static void prvSetupHardware( void );
\r
191 * Configures the high frequency timers - those used to measure the timing
\r
192 * jitter while the real time kernel is executing.
\r
194 extern void vSetupTimer( void );
\r
197 * Hook functions that can get called by the kernel.
\r
199 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName );
\r
200 void vApplicationTickHook( void );
\r
203 /*-----------------------------------------------------------*/
\r
205 /* The queue used to send messages to the OLED task. */
\r
206 xQueueHandle xOLEDQueue;
\r
208 /* The welcome text. */
\r
209 const portCHAR * const pcWelcomeMessage = " www.FreeRTOS.org";
\r
211 /*-----------------------------------------------------------*/
\r
214 /*************************************************************************
\r
215 * Please ensure to read http://www.freertos.org/portlm3sx965.html
\r
216 * which provides information on configuring and running this demo for the
\r
217 * various Luminary Micro EKs.
\r
218 *************************************************************************/
\r
221 prvSetupHardware();
\r
223 /* Create the queue used by the OLED task. Messages for display on the OLED
\r
224 are received via this queue. */
\r
225 xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
\r
227 /* Create the uIP task if running on a processor that includes a MAC and
\r
229 if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) )
\r
231 xTaskCreate( vuIP_Task, ( signed portCHAR * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
\r
234 /* Start the standard demo tasks. */
\r
235 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
236 vCreateBlockTimeTasks();
\r
237 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
238 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
239 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
\r
240 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
\r
241 vStartQueuePeekTasks();
\r
243 /* Start the tasks defined within this file/specific to this demo. */
\r
244 xTaskCreate( vOLEDTask, ( signed portCHAR * ) "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
\r
246 /* The suicide tasks must be created last as they need to know how many
\r
247 tasks were running prior to their creation in order to ascertain whether
\r
248 or not the correct/expected number of tasks are running at any given time. */
\r
249 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
\r
251 /* Configure the high frequency interrupt used to measure the interrupt
\r
252 jitter time. The Keil port does not yet include the
\r
253 configKERNEL_INTERRUPT_PRIORITY functionality so cannot perform this test. */
\r
256 /* Start the scheduler. */
\r
257 vTaskStartScheduler();
\r
259 /* Will only get here if there was insufficient memory to create the idle
\r
263 /*-----------------------------------------------------------*/
\r
265 void prvSetupHardware( void )
\r
267 /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
\r
268 a workaround to allow the PLL to operate reliably. */
\r
269 if( DEVICE_IS_REVA2 )
\r
271 SysCtlLDOSet( SYSCTL_LDO_2_75V );
\r
274 /* Set the clocking to run from the PLL at 50 MHz */
\r
275 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
\r
277 /* Enable Port F for Ethernet LEDs
\r
279 LED1 Bit 2 Output */
\r
280 SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
\r
281 GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
\r
282 GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
\r
284 vParTestInitialise();
\r
286 /*-----------------------------------------------------------*/
\r
288 void vApplicationTickHook( void )
\r
290 static xOLEDMessage xMessage = { "PASS" };
\r
291 static unsigned portLONG ulTicksSinceLastDisplay = 0;
\r
292 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
\r
294 /* Called from every tick interrupt. Have enough ticks passed to make it
\r
295 time to perform our health status check again? */
\r
296 ulTicksSinceLastDisplay++;
\r
297 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
\r
299 ulTicksSinceLastDisplay = 0;
\r
301 /* Has an error been found in any task? */
\r
302 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
304 xMessage.pcMessage = "ERROR IN GEN Q";
\r
306 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
\r
308 xMessage.pcMessage = "ERROR IN PEEK Q";
\r
310 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
312 xMessage.pcMessage = "ERROR IN BLOCK Q";
\r
314 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
316 xMessage.pcMessage = "ERROR IN BLOCK TIME";
\r
318 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
320 xMessage.pcMessage = "ERROR IN SEMAPHORE";
\r
322 else if( xArePollingQueuesStillRunning() != pdTRUE )
\r
324 xMessage.pcMessage = "ERROR IN POLL Q";
\r
326 else if( xIsCreateTaskStillRunning() != pdTRUE )
\r
328 xMessage.pcMessage = "ERROR IN CREATE";
\r
330 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
332 xMessage.pcMessage = "ERROR IN MATH";
\r
335 /* Send the message to the OLED gatekeeper for display. */
\r
336 xHigherPriorityTaskWoken = pdFALSE;
\r
337 xQueueSendFromISR( xOLEDQueue, &xMessage, &xHigherPriorityTaskWoken );
\r
340 /*-----------------------------------------------------------*/
\r
342 void vOLEDTask( void *pvParameters )
\r
344 xOLEDMessage xMessage;
\r
345 unsigned portLONG ulY, ulMaxY;
\r
346 static portCHAR cMessage[ mainMAX_MSG_LEN ];
\r
347 extern volatile unsigned portLONG ulMaxJitter;
\r
348 const unsigned portCHAR *pucImage;
\r
350 /* Functions to access the OLED. The one used depends on the dev kit
\r
352 void ( *vOLEDInit )( unsigned portLONG ) = NULL;
\r
353 void ( *vOLEDStringDraw )( const portCHAR *, unsigned portLONG, unsigned portLONG, unsigned portCHAR ) = NULL;
\r
354 void ( *vOLEDImageDraw )( const unsigned portCHAR *, unsigned portLONG, unsigned portLONG, unsigned portLONG, unsigned portLONG ) = NULL;
\r
355 void ( *vOLEDClear )( void ) = NULL;
\r
357 /* Map the OLED access functions to the driver functions that are appropriate
\r
358 for the evaluation kit being used. */
\r
359 switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK )
\r
361 case SYSCTL_DID1_PRTNO_6965 :
\r
362 case SYSCTL_DID1_PRTNO_2965 : vOLEDInit = OSRAM128x64x4Init;
\r
363 vOLEDStringDraw = OSRAM128x64x4StringDraw;
\r
364 vOLEDImageDraw = OSRAM128x64x4ImageDraw;
\r
365 vOLEDClear = OSRAM128x64x4Clear;
\r
366 ulMaxY = mainMAX_ROWS_64;
\r
367 pucImage = pucBasicBitmap;
\r
370 case SYSCTL_DID1_PRTNO_1968 :
\r
371 case SYSCTL_DID1_PRTNO_8962 : vOLEDInit = RIT128x96x4Init;
\r
372 vOLEDStringDraw = RIT128x96x4StringDraw;
\r
373 vOLEDImageDraw = RIT128x96x4ImageDraw;
\r
374 vOLEDClear = RIT128x96x4Clear;
\r
375 ulMaxY = mainMAX_ROWS_96;
\r
376 pucImage = pucBasicBitmap;
\r
379 default : vOLEDInit = vFormike128x128x16Init;
\r
380 vOLEDStringDraw = vFormike128x128x16StringDraw;
\r
381 vOLEDImageDraw = vFormike128x128x16ImageDraw;
\r
382 vOLEDClear = vFormike128x128x16Clear;
\r
383 ulMaxY = mainMAX_ROWS_128;
\r
384 pucImage = pucGrLibBitmap;
\r
391 /* Initialise the OLED and display a startup message. */
\r
392 vOLEDInit( ulSSI_FREQUENCY );
\r
393 vOLEDStringDraw( "POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
\r
394 vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
\r
398 /* Wait for a message to arrive that requires displaying. */
\r
399 xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
\r
401 /* Write the message on the next available row. */
\r
402 ulY += mainCHARACTER_HEIGHT;
\r
403 if( ulY >= ulMaxY )
\r
405 ulY = mainCHARACTER_HEIGHT;
\r
407 vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
\r
410 /* Display the message along with the maximum jitter time from the
\r
411 high priority time test. */
\r
412 sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK );
\r
413 vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE );
\r
416 /*-----------------------------------------------------------*/
\r
418 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
\r
421 ( void ) pcTaskName;
\r