2 * FreeRTOS Kernel V10.0.0
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3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software. If you wish to use our Amazon
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14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
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16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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23 * http://www.FreeRTOS.org
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24 * http://aws.amazon.com/freertos
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26 * 1 tab == 4 spaces!
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30 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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31 The processor MUST be in supervisor mode when vTaskStartScheduler is
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32 called. The demo applications included in the FreeRTOS.org download switch
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33 to supervisor mode prior to main being called. If you are not using one of
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34 these demo application projects then ensure Supervisor mode is used.
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38 * Creates all the demo application tasks, then starts the scheduler. The WEB
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39 * documentation provides more details of the demo application tasks.
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41 * A few tasks are created that are not part of the standard demo. These are
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42 * the 'LCD' task, the 'LCD Message' task, a WEB server task and the 'Check'
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45 * The LCD task is the only task that accesses the LCD directly, so mutual
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46 * exclusion is ensured. Any task wishing to display text sends the LCD task
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47 * a message containing a pointer to the string that should be displayed.
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48 * The LCD task itself just blocks on a queue waiting for such a message to
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49 * arrive - processing each in turn.
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51 * The LCD Message task does nothing other than periodically send messages to
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52 * the LCD task. The messages originating from the LCD Message task are
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53 * displayed on the top row of the LCD.
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55 * The Check task only executes every three 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 other tasks are still operational. Most tasks maintain
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58 * a unique count that is incremented each time the task successfully completes
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59 * a cycle of its function. Should any error occur within such a task the
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60 * count is permanently halted. The check task sets a bit in an error status
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61 * flag should it find any counter variable at a value that indicates an
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62 * error has occurred. The error flag value is converted to a string and sent
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63 * to the LCD task for display on the bottom row on the LCD.
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66 /* Standard includes. */
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69 /* Library includes. */
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70 #include "91x_lib.h"
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72 /* Scheduler includes. */
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73 #include "FreeRTOS.h"
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77 /* Demo application includes. */
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80 #include "integer.h"
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83 #include "semtest.h"
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84 #include "dynamic.h"
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85 #include "partest.h"
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87 #include "comtest2.h"
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89 #include "GenQTest.h"
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93 #include "BasicWEB.h"
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97 /* Priorities for the demo application tasks. */
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98 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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99 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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100 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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101 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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102 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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103 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
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104 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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105 #define mainMSG_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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106 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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108 /* Delays used by the various tasks defined in this file. */
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109 #define mainCHECK_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
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110 #define mainSTRING_WRITE_DELAY ( 500 / portTICK_PERIOD_MS )
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111 #define mainLCD_DELAY ( 20 / portTICK_PERIOD_MS )
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113 /* Constants for the ComTest tasks. */
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114 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
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115 #define mainCOM_TEST_LED ( 3 )
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117 /* The maximum number of messages that can be pending to be written to the LCD. */
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118 #define mainLCD_QUEUE_LEN ( 6 )
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120 /* Dimension the buffer used to write the error flag string. */
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121 #define mainMAX_FLAG_STRING_LEN ( 32 )
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123 /* The structure that is passed on the LCD message queue. */
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126 char **ppcMessageToDisplay; /*<< Points to a char* pointing to the message to display. */
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127 portBASE_TYPE xRow; /*<< The row on which the message should be displayed. */
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129 /*-----------------------------------------------------------*/
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132 * The task that executes at the highest priority and calls
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133 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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136 static void vErrorChecks( void *pvParameters );
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139 * Configure the processor clock and ports.
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141 static void prvSetupHardware( void );
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144 * Checks that all the demo application tasks are still executing without error
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145 * - as described at the top of the file. Called by vErrorChecks().
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147 static void prvCheckOtherTasksAreStillRunning( void );
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151 * The WEB server task prototype. The task is created in this file but defined
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152 * elsewhere. STACK_UIP is defined when the uIP stack is used in preference
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153 * to the lwIP stack.
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155 extern void vuIP_Task(void *pvParameters);
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159 * The task that displays text on the LCD.
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161 static void prvLCDTask( void * pvParameters );
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164 * The task that sends messages to be displayed on the top row of the LCD.
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166 static void prvLCDMessageTask( void * pvParameters );
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168 /*-----------------------------------------------------------*/
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170 /* The queue used to pass messages to the LCD task. */
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171 static QueueHandle_t xLCDQueue;
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173 /* Error status flag. */
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174 static unsigned long ulErrorFlags = 0;
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176 /*-----------------------------------------------------------*/
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179 * Starts all the other tasks, then starts the scheduler.
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187 /* Setup any hardware that has not already been configured by the low
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188 level init routines. */
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189 prvSetupHardware();
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190 /* Create the queue used to send data to the LCD task. */
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191 xLCDQueue = xQueueCreate( mainLCD_QUEUE_LEN, sizeof( xLCDMessage ) );
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193 /* Start all the standard demo application tasks. */
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194 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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195 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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196 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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197 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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198 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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199 vStartDynamicPriorityTasks();
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200 vStartMathTasks( tskIDLE_PRIORITY );
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201 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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202 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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203 vStartQueuePeekTasks();
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205 /* Start the tasks which are defined in this file. */
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206 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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207 xTaskCreate( prvLCDTask, "LCD", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainLCD_TASK_PRIORITY, NULL );
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208 xTaskCreate( prvLCDMessageTask, "MSG", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainMSG_TASK_PRIORITY, NULL );
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210 /* Start either the uIP TCP/IP stack or the lwIP TCP/IP stack. */
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212 /* Finally, create the WEB server task. */
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213 xTaskCreate( vuIP_Task, "uIP", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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217 /* Create the lwIP task. This uses the lwIP RTOS abstraction layer.*/
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219 sys_set_state( ( signed char * ) "httpd", lwipBASIC_SERVER_STACK_SIZE );
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220 sys_thread_new( vBasicWEBServer, ( void * ) NULL, basicwebWEBSERVER_PRIORITY );
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221 sys_set_default_state();
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224 /* Start the scheduler.
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226 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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227 The processor MUST be in supervisor mode when vTaskStartScheduler is
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228 called. The demo applications included in the FreeRTOS.org download switch
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229 to supervisor mode prior to main being called. If you are not using one of
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230 these demo application projects then ensure Supervisor mode is used here. */
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232 vTaskStartScheduler();
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234 /* We should never get here as control is now taken by the scheduler. */
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237 /*-----------------------------------------------------------*/
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239 static void prvSetupHardware( void )
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241 /* Configuration taken from the ST code.
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243 Set Flash banks size & address */
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244 FMI_BankRemapConfig( 4, 2, 0, 0x80000 );
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246 /* FMI Waite States */
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247 FMI_Config( FMI_READ_WAIT_STATE_2, FMI_WRITE_WAIT_STATE_0, FMI_PWD_ENABLE, FMI_LVD_ENABLE, FMI_FREQ_HIGH );
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249 /* Configure the FPLL = 96MHz, and APB to 48MHz. */
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250 SCU_PCLKDivisorConfig( SCU_PCLK_Div2 );
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251 SCU_PLLFactorsConfig( 192, 25, 2 );
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252 SCU_PLLCmd( ENABLE );
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253 SCU_MCLKSourceConfig( SCU_MCLK_PLL );
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255 WDG_Cmd( DISABLE );
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258 /* GPIO8 clock source enable, used by the LCD. */
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259 SCU_APBPeriphClockConfig(__GPIO8, ENABLE);
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260 GPIO_DeInit(GPIO8);
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262 /* GPIO 9 clock source enable, used by the LCD. */
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263 SCU_APBPeriphClockConfig(__GPIO9, ENABLE);
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264 GPIO_DeInit(GPIO9);
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266 /* Enable VIC clock */
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267 SCU_AHBPeriphClockConfig(__VIC, ENABLE);
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268 SCU_AHBPeriphReset(__VIC, DISABLE);
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270 /* Peripheral initialisation. */
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271 vParTestInitialise();
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273 /*-----------------------------------------------------------*/
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275 static void vErrorChecks( void *pvParameters )
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277 static char cCheckVal[ mainMAX_FLAG_STRING_LEN ];
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278 char *pcFlagString;
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279 xLCDMessage xMessageToSend;
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280 TickType_t xLastWakeTime;
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281 char *pcStringsToDisplay[] = {
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282 "Check status flag"
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285 /* The parameters are not used in this task. */
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286 ( void ) pvParameters;
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288 pcFlagString = &cCheckVal[ 0 ];
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290 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
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291 functions correctly. */
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292 xLastWakeTime = xTaskGetTickCount();
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294 /* Cycle for ever, delaying then checking all the other tasks are still
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295 operating without error. */
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298 /* Delay until it is time to execute again. */
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299 vTaskDelayUntil( &xLastWakeTime, mainCHECK_PERIOD );
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301 /* Check all the other tasks to see if the error flag needs updating. */
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302 prvCheckOtherTasksAreStillRunning();
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304 /* Create a string indicating the error flag status. */
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305 sprintf( cCheckVal, "equals 0x%x ", ulErrorFlags );
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306 xMessageToSend.xRow = Line2;
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308 /* Send the first part of the message to the LCD task. */
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309 xMessageToSend.ppcMessageToDisplay = &pcStringsToDisplay[ 0 ];
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310 xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 );
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311 vTaskDelay( mainSTRING_WRITE_DELAY );
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313 /* Send the second part of the message to the LCD task. */
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314 xMessageToSend.ppcMessageToDisplay = &pcFlagString;
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315 xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 );
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318 /*-----------------------------------------------------------*/
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320 static void prvCheckOtherTasksAreStillRunning( void )
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322 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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324 ulErrorFlags |= 0x01;
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327 if( xArePollingQueuesStillRunning() != pdTRUE )
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329 ulErrorFlags |= 0x02;
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332 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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334 ulErrorFlags |= 0x04;
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337 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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339 ulErrorFlags |= 0x08;
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342 if( xAreComTestTasksStillRunning() != pdTRUE )
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344 ulErrorFlags |= 0x10;
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347 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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349 ulErrorFlags |= 0x20;
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352 if( xAreMathsTaskStillRunning() != pdTRUE )
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354 ulErrorFlags |= 0x40;
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357 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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359 ulErrorFlags |= 0x80;
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362 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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364 ulErrorFlags |= 0x100;
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368 /*-----------------------------------------------------------*/
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370 static void prvLCDMessageTask( void * pvParameters )
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372 QueueHandle_t *pxLCDQueue;
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373 xLCDMessage xMessageToSend;
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374 portBASE_TYPE xIndex = 0;
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376 /* The strings that are written to the LCD. */
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377 char *pcStringsToDisplay[] = {
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381 "www.FreeRTOS.org",
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386 /* To test the parameter passing mechanism, the queue on which messages are
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387 posted is passed in as a parameter even though it is available as a file
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388 scope variable anyway. */
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389 pxLCDQueue = ( QueueHandle_t * ) pvParameters;
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393 /* Wait until it is time to move onto the next string. */
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394 vTaskDelay( mainSTRING_WRITE_DELAY );
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396 /* Configure the message object to send to the LCD task. */
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397 xMessageToSend.ppcMessageToDisplay = &pcStringsToDisplay[ xIndex ];
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398 xMessageToSend.xRow = Line1;
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400 /* Post the message to be displayed. */
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401 xQueueSend( *pxLCDQueue, ( void * ) &xMessageToSend, 0 );
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403 /* Move onto the next message, wrapping when necessary. */
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405 if( *( pcStringsToDisplay[ xIndex ] ) == 0x00 )
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409 /* Delay longer before going back to the start of the messages. */
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410 vTaskDelay( mainSTRING_WRITE_DELAY * 2 );
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414 /*-----------------------------------------------------------*/
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416 void prvLCDTask( void * pvParameters )
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418 QueueHandle_t *pxLCDQueue;
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419 xLCDMessage xReceivedMessage;
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422 /* To test the parameter passing mechanism, the queue on which messages are
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423 received is passed in as a parameter even though it is available as a file
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424 scope variable anyway. */
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425 pxLCDQueue = ( QueueHandle_t * ) pvParameters;
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431 /* Wait for a message to arrive. */
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432 if( xQueueReceive( *pxLCDQueue, &xReceivedMessage, portMAX_DELAY ) )
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434 /* Where is the string we are going to display? */
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435 pcString = *xReceivedMessage.ppcMessageToDisplay;
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436 LCD_DisplayString(xReceivedMessage.xRow, pcString, BlackText);
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438 /* The delay here is just to ensure the LCD task does not starve
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439 out lower priority tasks as writing to the LCD can take a long
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441 vTaskDelay( mainLCD_DELAY );
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445 /*-----------------------------------------------------------*/
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