2 FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS books - available as PDF or paperback *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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54 /* Standard includes. */
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57 /* Kernel includes. */
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58 #include "FreeRTOS.h"
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62 /* Demo application includes. */
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63 #include "partest.h"
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65 #include "dynamic.h"
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66 #include "comtest2.h"
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67 #include "GenQTest.h"
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69 /* ST driver includes. */
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70 #include "stm32l1xx_usart.h"
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72 /* Eval board includes. */
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73 #include "stm32_eval.h"
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74 #include "stm32l152_eval_lcd.h"
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76 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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77 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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78 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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79 #define mainGENERIC_QUEUE_TEST_PRIORITY ( tskIDLE_PRIORITY )
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81 #define mainLCD_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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83 #define mainQUEUE_LENGTH ( 5 )
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85 #define mainMESSAGE_BUTTON_UP ( 1 )
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86 #define mainMESSAGE_BUTTON_DOWN ( 2 )
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87 #define mainMESSAGE_BUTTON_LEFT ( 3 )
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88 #define mainMESSAGE_BUTTON_RIGHT ( 4 )
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89 #define mainMESSAGE_BUTTON_SEL ( 5 )
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90 #define mainMESSAGE_STATUS ( 6 )
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92 #define mainERROR_DYNAMIC_TASKS ( 2 )
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93 #define mainERROR_COM_TEST ( 3 )
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94 #define mainERROR_GEN_QUEUE_TEST ( 4 )
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96 /* Baud rate used by the comtest tasks. */
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97 #define mainCOM_TEST_BAUD_RATE ( 9600 )
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99 /* The LED used by the comtest tasks. See the comtest.c file for more
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101 #define mainCOM_TEST_LED ( 3 )
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105 * System configuration is performed prior to main() being called, this function
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106 * configures the peripherals used by the demo application.
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108 static void prvSetupHardware( void );
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109 static void prvLCDTask( void *pvParameters );
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110 static void vTempTask( void *pv );
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111 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue );
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113 unsigned long ulTIM6_OverflowCount = 0UL;
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115 static xQueueHandle xLCDQueue = NULL;
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120 long lMessageValue;
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125 prvSetupHardware();
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127 /* Create the queue used by tasks and interrupts to send strings to the LCD
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129 xLCDQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( xQueueMessage ) );
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131 if( xLCDQueue != NULL )
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133 vQueueAddToRegistry( xLCDQueue, "LCDQueue" );
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134 xTaskCreate( prvLCDTask, ( signed char * ) "LCD", mainLCD_TASK_STACK_SIZE, NULL, mainLCD_TASK_PRIORITY, NULL );
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135 xTaskCreate( vTempTask, ( signed char * ) "Temp", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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136 vStartDynamicPriorityTasks();
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137 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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138 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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139 vStartGenericQueueTasks( mainGENERIC_QUEUE_TEST_PRIORITY );
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141 vTaskStartScheduler();
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146 /*-----------------------------------------------------------*/
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148 static void prvLCDTask( void *pvParameters )
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150 xQueueMessage xReceivedMessage;
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151 long lLine = Line1;
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152 const long lFontHeight = (((sFONT *)LCD_GetFont())->Height);
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153 static char cBuffer[ 512 ];
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155 /* This function is the only function that uses printf(). If printf() is
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156 used from any other function then some sort of mutual exclusion on stdout
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157 will be necessary. */
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159 printf( "%d bytes of heap space remain unallocated\n", xPortGetFreeHeapSize() );
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163 xQueueReceive( xLCDQueue, &xReceivedMessage, portMAX_DELAY );
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165 if( lLine > Line9 )
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171 switch( xReceivedMessage.cMessageID )
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173 case mainMESSAGE_BUTTON_UP : sprintf( cBuffer, "Button up = %d", xReceivedMessage.lMessageValue );
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175 case mainMESSAGE_BUTTON_DOWN : sprintf( cBuffer, "Button down = %d", xReceivedMessage.lMessageValue );
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177 case mainMESSAGE_BUTTON_LEFT : sprintf( cBuffer, "Button left = %d", xReceivedMessage.lMessageValue );
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179 case mainMESSAGE_BUTTON_RIGHT : sprintf( cBuffer, "Button right = %d", xReceivedMessage.lMessageValue );
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181 case mainMESSAGE_BUTTON_SEL : printf( "\nTask\t Abs Time\t %%Time\n*****************************************" );
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182 vTaskGetRunTimeStats( ( signed char * ) cBuffer );
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185 /* The select button passes its
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186 own string to print out. */
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187 sprintf( cBuffer, "%s", ( char * ) xReceivedMessage.lMessageValue );
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189 case mainMESSAGE_STATUS : prvGenerateStatusMessage( cBuffer, xReceivedMessage.lMessageValue );
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191 default : sprintf( cBuffer, "Unknown message" );
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195 LCD_DisplayStringLine( lLine, ( uint8_t * ) cBuffer );
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196 lLine += lFontHeight;
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199 /*-----------------------------------------------------------*/
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201 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue )
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203 switch( lStatusValue )
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205 case pdPASS : sprintf( pcBuffer, "Task status = PASS" );
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207 case mainERROR_DYNAMIC_TASKS : sprintf( pcBuffer, "Error: Dynamic tasks" );
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209 case mainERROR_COM_TEST : sprintf( pcBuffer, "Error: COM test" );
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211 case mainERROR_GEN_QUEUE_TEST : sprintf( pcBuffer, "Error: Gen Q test" );
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213 default : sprintf( pcBuffer, "Unknown status" );
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217 /*-----------------------------------------------------------*/
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219 void EXTI9_5_IRQHandler( void )
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221 const xQueueMessage xMessage = { mainMESSAGE_BUTTON_SEL, ( unsigned long ) "Select Interrupt!" };
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222 long lHigherPriorityTaskWoken = pdFALSE;
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224 xQueueSendFromISR( xLCDQueue, &xMessage, &lHigherPriorityTaskWoken );
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225 EXTI_ClearITPendingBit( SEL_BUTTON_EXTI_LINE );
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226 portEND_SWITCHING_ISR( lHigherPriorityTaskWoken );
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228 /*-----------------------------------------------------------*/
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230 void vApplicationTickHook( void )
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232 static unsigned long ulCounter = 0;
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233 static const unsigned long ulCheckFrequency = 5000UL / portTICK_RATE_MS;
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234 static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };
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235 long lHigherPriorityTaskWoken = pdFALSE; /* Not used in this case as this is the tick hook. */
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238 if( ulCounter >= ulCheckFrequency )
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240 if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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242 xStatusMessage.lMessageValue = mainERROR_DYNAMIC_TASKS;
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245 if( xAreComTestTasksStillRunning() != pdPASS )
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247 xStatusMessage.lMessageValue = mainERROR_COM_TEST;
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250 if( xAreGenericQueueTasksStillRunning() != pdPASS )
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252 xStatusMessage.lMessageValue = mainERROR_GEN_QUEUE_TEST;
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255 xQueueSendFromISR( xLCDQueue, &xStatusMessage, &lHigherPriorityTaskWoken );
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259 /*-----------------------------------------------------------*/
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261 static void vTempTask( void *pv )
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263 long lLastState = pdTRUE;
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265 xQueueMessage xMessage;
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269 lState = STM_EVAL_PBGetState( BUTTON_UP );
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270 if( lState != lLastState )
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272 xMessage.cMessageID = mainMESSAGE_BUTTON_UP;
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273 xMessage.lMessageValue = lState;
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274 lLastState = lState;
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275 xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
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280 /*-----------------------------------------------------------*/
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282 static void prvSetupHardware( void )
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284 NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
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286 /* Initialise the LEDs. */
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287 vParTestInitialise();
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289 /* Initialise the joystick inputs. */
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290 STM_EVAL_PBInit( BUTTON_UP, BUTTON_MODE_GPIO );
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291 STM_EVAL_PBInit( BUTTON_DOWN, BUTTON_MODE_GPIO );
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292 STM_EVAL_PBInit( BUTTON_LEFT, BUTTON_MODE_GPIO );
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293 STM_EVAL_PBInit( BUTTON_RIGHT, BUTTON_MODE_GPIO );
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295 /* The select button in the middle of the joystick is configured to generate
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296 an interrupt. The Eval board library will configure the interrupt
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297 priority to be the lowest priority available - this is important as the
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298 interrupt service routine makes use of a FreeRTOS API function so must
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299 therefore use a priority equal to or below that set by the
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300 configMAX_SYSCALL_INTERRUPT_PRIORITY() value set in FreeRTOSConfig.h. */
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301 STM_EVAL_PBInit( BUTTON_SEL, BUTTON_MODE_EXTI );
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303 /* Initialize the LCD */
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304 STM32L152_LCD_Init();
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307 LCD_SetBackColor(Blue);
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308 LCD_SetTextColor(White);
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309 LCD_DisplayStringLine(Line0, " www.FreeRTOS.org");
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311 /*-----------------------------------------------------------*/
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313 void vConfigureTimerForRunTimeStats( void )
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315 TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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316 NVIC_InitTypeDef NVIC_InitStructure;
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318 /* TIM6 clock enable */
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319 RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
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321 /* The 32MHz clock divided by 5000 should tick (very) approximately every
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322 150uS and overflow a 16bit timer (very) approximately every 10 seconds. */
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323 TIM_TimeBaseStructure.TIM_Period = 65535;
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324 TIM_TimeBaseStructure.TIM_Prescaler = 5000;
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325 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
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326 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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328 TIM_TimeBaseInit( TIM6, &TIM_TimeBaseStructure );
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330 /* Only interrupt on overflow events. */
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331 TIM6->CR1 |= TIM_CR1_URS;
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333 TIM_ITConfig( TIM6, TIM_IT_Update, ENABLE );
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335 /* Enable the TIM6 gloabal Interrupt */
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336 NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
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337 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = configLIBRARY_LOWEST_INTERRUPT_PRIORITY;
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338 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x00; /* Not used as 4 bits are used for the pre-emption priority. */
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339 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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341 TIM_ClearITPendingBit( TIM6, TIM_IT_Update );
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342 NVIC_Init(&NVIC_InitStructure);
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343 TIM_Cmd( TIM6, ENABLE );
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345 /*-----------------------------------------------------------*/
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347 void TIM6_IRQHandler( void )
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349 if( TIM_GetITStatus( TIM6, TIM_IT_Update) != RESET)
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351 ulTIM6_OverflowCount++;
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352 TIM_ClearITPendingBit( TIM6, TIM_IT_Update );
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355 /*-----------------------------------------------------------*/
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357 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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359 ( void ) pcTaskName;
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364 /*-----------------------------------------------------------*/
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366 void vApplicationMallocFailedHook( void )
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