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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31 Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
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32 with commercial development and support options.
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33 ***************************************************************************
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37 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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38 The processor MUST be in supervisor mode when vTaskStartScheduler is
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39 called. The demo applications included in the FreeRTOS.org download switch
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40 to supervisor mode prior to main being called. If you are not using one of
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41 these demo application projects then ensure Supervisor mode is used.
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46 * Program entry point.
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48 * main() is responsible for setting up the microcontroller peripherals, then
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49 * starting the demo application tasks. Once the tasks have been created the
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50 * scheduler is started and main() should never complete.
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52 * The demo creates the three standard 'flash' tasks to provide some visual
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53 * feedback that the system and scheduler are still operating correctly.
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55 * The HTTP server task operates at the highest priority so will always preempt
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56 * the flash or idle task on TCP/IP events.
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59 /* Standard includes. */
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62 /* Scheduler include files. */
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63 #include "FreeRTOS.h"
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67 /* Application includes. */
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69 #include "HTTP_Serv.h"
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71 #include "partest.h"
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72 #include "dynamic.h"
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73 #include "semtest.h"
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76 #include "integer.h"
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78 /*-----------------------------------------------------------*/
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80 /* Constants to setup the PLL. */
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81 #define mainPLL_MUL_4 ( ( unsigned portCHAR ) 0x0003 )
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82 #define mainPLL_DIV_1 ( ( unsigned portCHAR ) 0x0000 )
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83 #define mainPLL_ENABLE ( ( unsigned portCHAR ) 0x0001 )
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84 #define mainPLL_CONNECT ( ( unsigned portCHAR ) 0x0003 )
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85 #define mainPLL_FEED_BYTE1 ( ( unsigned portCHAR ) 0xaa )
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86 #define mainPLL_FEED_BYTE2 ( ( unsigned portCHAR ) 0x55 )
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87 #define mainPLL_LOCK ( ( unsigned portLONG ) 0x0400 )
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89 /* Constants to setup the MAM. */
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90 #define mainMAM_TIM_3 ( ( unsigned portCHAR ) 0x03 )
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91 #define mainMAM_MODE_FULL ( ( unsigned portCHAR ) 0x02 )
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93 /* Constants to setup the peripheral bus. */
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94 #define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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96 /* Constants to setup I/O and processor. */
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97 #define mainBUS_CLK_FULL ( ( unsigned portCHAR ) 0x01 )
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98 #define mainLED_TO_OUTPUT ( ( unsigned portLONG ) 0xff0000 )
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99 #define mainJTAG_PORT ( ( unsigned portLONG ) 0x3E0000UL )
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101 /* Priorities for the demo application tasks. */
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102 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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103 #define mainHTTP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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104 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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105 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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106 #define mainERROR_CHECK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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108 /* Flash rates of the on board LED to indicate the health of the system. */
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109 #define mainNO_ERROR_DELAY ( 3000 )
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110 #define mainERROR_DELAY ( 500 )
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111 #define mainON_BOARD_LED_BIT ( ( unsigned portLONG ) 0x80 )
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113 /*-----------------------------------------------------------*/
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116 * The Olimex demo board has a single built in LED. This function simply
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117 * toggles its state.
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119 void prvToggleOnBoardLED( void );
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122 * Configure the processor for use with the Olimex demo board.
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124 static void prvSetupHardware( void );
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127 * Simply check for errors and toggle the onboard LED.
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129 static void prvErrorChecks( void *pvParameters );
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132 * Return true if the demo tasks are executing without error - otherwise
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135 static void prvMainCheckOtherTasksAreStillRunning( void );
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136 /*-----------------------------------------------------------*/
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138 /* Flag set by prvMainCheckOtherTasksAreStillExecuting(). */
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139 portLONG lErrorInTask = pdFALSE;
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142 * Application entry point:
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143 * Starts all the other tasks, then starts the scheduler.
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147 /* Setup the hardware for use with the Olimex demo board. */
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148 prvSetupHardware();
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150 /* Start the standard flash tasks so the WEB server is not the only thing
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152 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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153 vStartSemaphoreTasks( tskIDLE_PRIORITY );
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154 vStartDynamicPriorityTasks();
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155 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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156 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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157 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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159 /* Start the WEB server task and the error check task. */
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160 xTaskCreate( vHTTPServerTask, ( signed portCHAR * ) "HTTP", configMINIMAL_STACK_SIZE, NULL, mainHTTP_TASK_PRIORITY, NULL );
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161 xTaskCreate( prvErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainERROR_CHECK_PRIORITY, NULL );
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163 /* Now all the tasks have been started - start the scheduler.
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165 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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166 The processor MUST be in supervisor mode when vTaskStartScheduler is
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167 called. The demo applications included in the FreeRTOS.org download switch
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168 to supervisor mode prior to main being called. If you are not using one of
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169 these demo application projects then ensure Supervisor mode is used. */
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170 vTaskStartScheduler();
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172 /* Should never reach here! */
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175 /*-----------------------------------------------------------*/
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177 static void prvSetupHardware( void )
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179 #ifdef RUN_FROM_RAM
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180 /* Remap the interrupt vectors to RAM if we are are running from RAM. */
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184 /* Set all GPIO to output other than the P0.14 (BSL), and the JTAG pins.
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185 The JTAG pins are left as input as I'm not sure what will happen if the
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186 Wiggler is connected after powerup - not that it would be a good idea to
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188 GPIO_IODIR = ~( mainJTAG_PORT );
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190 /* Setup the PLL to multiply the XTAL input by 4. */
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191 SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );
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193 /* Activate the PLL by turning it on then feeding the correct sequence of
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195 SCB_PLLCON = mainPLL_ENABLE;
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196 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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197 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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199 /* Wait for the PLL to lock... */
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200 while( !( SCB_PLLSTAT & mainPLL_LOCK ) );
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202 /* ...before connecting it using the feed sequence again. */
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203 SCB_PLLCON = mainPLL_CONNECT;
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204 SCB_PLLFEED = mainPLL_FEED_BYTE1;
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205 SCB_PLLFEED = mainPLL_FEED_BYTE2;
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207 /* Setup and turn on the MAM. Three cycle access is used due to the fast
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208 PLL used. It is possible faster overall performance could be obtained by
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209 tuning the MAM and PLL settings. */
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210 MAM_TIM = mainMAM_TIM_3;
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211 MAM_CR = mainMAM_MODE_FULL;
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213 /* Setup the peripheral bus to be the same as the PLL output. */
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214 SCB_VPBDIV = mainBUS_CLK_FULL;
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216 /* Initialise the i2c peripheral. */
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219 /* Initialise the LED's used by the flash tasks. */
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220 vParTestInitialise();
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222 /*-----------------------------------------------------------*/
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224 static void prvMainCheckOtherTasksAreStillRunning( void )
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226 /* Check all the demo tasks (other than the flash tasks) to ensure
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227 that they are all still running, and that none of them have detected
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230 /* This function is called from more than one task. */
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231 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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233 lErrorInTask = pdTRUE;
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236 if( xArePollingQueuesStillRunning() != pdTRUE )
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238 lErrorInTask = pdTRUE;
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241 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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243 lErrorInTask = pdTRUE;
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246 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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248 lErrorInTask = pdTRUE;
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251 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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253 lErrorInTask = pdTRUE;
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256 /*-----------------------------------------------------------*/
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258 void prvToggleOnBoardLED( void )
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260 unsigned portLONG ulState;
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262 ulState = GPIO0_IOPIN;
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263 if( ulState & mainON_BOARD_LED_BIT )
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265 GPIO_IOCLR = mainON_BOARD_LED_BIT;
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269 GPIO_IOSET = mainON_BOARD_LED_BIT;
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272 /*-----------------------------------------------------------*/
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274 static void prvErrorChecks( void *pvParameters )
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276 portTickType xDelay = mainNO_ERROR_DELAY;
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278 /* The parameters are not used. */
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279 ( void ) pvParameters;
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283 /* How long we delay depends on whether an error has been detected
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284 or not. Therefore the flash rate of the on board LED indicates
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285 whether or not an error has occurred. */
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286 vTaskDelay( xDelay );
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288 /* Update the lErrorInTask flag. */
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289 prvMainCheckOtherTasksAreStillRunning();
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293 /* An error has been found so reduce the delay period and in so
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294 doing speed up the flash rate of the on board LED. */
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295 xDelay = mainERROR_DELAY;
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298 prvToggleOnBoardLED();
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