2 FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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72 * Creates all the demo application tasks, then starts the scheduler. The WEB
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73 * documentation provides more details of the standard demo application tasks.
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74 * In addition to the standard demo tasks, the following tasks and tests are
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75 * defined and/or created within this file:
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77 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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78 * using a free running timer to demonstrate the use of the
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79 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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80 * service routine measures the number of processor clocks that occur between
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81 * each interrupt - and in so doing measures the jitter in the interrupt timing.
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82 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
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83 * displayed on the OLED display by the 'OLED' task as described below. The
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84 * fast interrupt is configured and handled in the timertest.c source file.
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86 * "OLED" task - the OLED task is a 'gatekeeper' task. It is the only task that
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87 * is permitted to access the display directly. Other tasks wishing to write a
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88 * message to the OLED send the message on a queue to the OLED task instead of
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89 * accessing the OLED themselves. The OLED task just blocks on the queue waiting
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90 * for messages - waking and displaying the messages as they arrive.
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92 * "Check" hook - This only executes every five seconds from the tick hook.
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93 * Its main function is to check that all the standard demo tasks are still
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94 * operational. Should any unexpected behaviour within a demo task be discovered
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95 * the tick hook will write an error to the OLED (via the OLED task). If all the
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96 * demo tasks are executing with their expected behaviour then the check task
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97 * writes PASS to the OLED (again via the OLED task), as described above.
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99 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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100 * processing is performed in this task.
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106 /*************************************************************************
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107 * Please ensure to read http://www.freertos.org/portLM3Sxxxx_Eclipse.html
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108 * which provides information on configuring and running this demo for the
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109 * various Luminary Micro EKs.
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110 *************************************************************************/
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115 /* Standard includes. */
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118 /* Scheduler includes. */
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119 #include "FreeRTOS.h"
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122 #include "semphr.h"
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124 /* Hardware library includes. */
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125 #include "hw_memmap.h"
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126 #include "hw_types.h"
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127 #include "hw_sysctl.h"
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128 #include "sysctl.h"
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131 #include "rit128x96x4.h"
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132 #include "osram128x64x4.h"
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133 #include "formike128x128x16.h"
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135 /* Demo app includes. */
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136 #include "BlockQ.h"
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138 #include "integer.h"
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139 #include "blocktim.h"
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141 #include "partest.h"
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142 #include "semtest.h"
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144 #include "lcd_message.h"
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145 #include "bitmap.h"
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146 #include "GenQTest.h"
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148 #include "recmutex.h"
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149 #include "IntQueue.h"
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151 /*-----------------------------------------------------------*/
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153 /* The time between cycles of the 'check' functionality (defined within the
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155 #define mainCHECK_DELAY ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
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157 /* Size of the stack allocated to the uIP task. */
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158 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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160 /* The OLED task uses the sprintf function so requires a little more stack too. */
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161 #define mainOLED_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
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163 /* Task priorities. */
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164 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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165 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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166 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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167 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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168 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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169 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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170 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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172 /* The maximum number of message that can be waiting for display at any one
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174 #define mainOLED_QUEUE_SIZE ( 3 )
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176 /* Dimensions the buffer into which the jitter time is written. */
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177 #define mainMAX_MSG_LEN 25
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179 /* The period of the system clock in nano seconds. This is used to calculate
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180 the jitter time in nano seconds. */
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181 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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183 /* Constants used when writing strings to the display. */
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184 #define mainCHARACTER_HEIGHT ( 9 )
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185 #define mainMAX_ROWS_128 ( mainCHARACTER_HEIGHT * 14 )
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186 #define mainMAX_ROWS_96 ( mainCHARACTER_HEIGHT * 10 )
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187 #define mainMAX_ROWS_64 ( mainCHARACTER_HEIGHT * 7 )
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188 #define mainFULL_SCALE ( 15 )
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189 #define ulSSI_FREQUENCY ( 3500000UL )
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191 /*-----------------------------------------------------------*/
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194 * The task that handles the uIP stack. All TCP/IP processing is performed in
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197 extern void vuIP_Task( void *pvParameters );
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200 * The display is written two by more than one task so is controlled by a
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201 * 'gatekeeper' task. This is the only task that is actually permitted to
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202 * access the display directly. Other tasks wanting to display a message send
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203 * the message to the gatekeeper.
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205 static void vOLEDTask( void *pvParameters );
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208 * Configure the hardware for the demo.
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210 static void prvSetupHardware( void );
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213 * Configures the high frequency timers - those used to measure the timing
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214 * jitter while the real time kernel is executing.
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216 extern void vSetupHighFrequencyTimer( void );
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219 * The idle hook is used to run a test of the scheduler context switch
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222 void vApplicationIdleHook( void ) __attribute__((naked));
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223 /*-----------------------------------------------------------*/
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225 /* The queue used to send messages to the OLED task. */
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226 QueueHandle_t xOLEDQueue;
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228 /* The welcome text. */
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229 const char * const pcWelcomeMessage = " www.FreeRTOS.org";
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231 /* Variables used to detect the test in the idle hook failing. */
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232 unsigned long ulIdleError = pdFALSE;
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234 /*-----------------------------------------------------------*/
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236 /*************************************************************************
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237 * Please ensure to read http://www.freertos.org/portLM3Sxxxx_Eclipse.html
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238 * which provides information on configuring and running this demo for the
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239 * various Luminary Micro EKs.
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240 *************************************************************************/
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243 prvSetupHardware();
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245 /* Create the queue used by the OLED task. Messages for display on the OLED
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246 are received via this queue. */
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247 xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
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249 /* Create the uIP task if running on a processor that includes a MAC and
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251 if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) )
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253 xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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256 /* Start the standard demo tasks. */
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257 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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258 vCreateBlockTimeTasks();
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259 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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260 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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261 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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262 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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263 vStartQueuePeekTasks();
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264 vStartRecursiveMutexTasks();
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265 vStartInterruptQueueTasks();
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267 /* Start the tasks defined within this file/specific to this demo. */
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268 xTaskCreate( vOLEDTask, "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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270 /* The suicide tasks must be created last as they need to know how many
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271 tasks were running prior to their creation in order to ascertain whether
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272 or not the correct/expected number of tasks are running at any given time. */
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273 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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275 /* Configure the high frequency interrupt used to measure the interrupt
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277 vSetupHighFrequencyTimer();
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279 /* Start the scheduler. */
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280 vTaskStartScheduler();
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282 /* Will only get here if there was insufficient memory to create the idle
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287 /*-----------------------------------------------------------*/
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289 void prvSetupHardware( void )
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291 /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
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292 a workaround to allow the PLL to operate reliably. */
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293 if( DEVICE_IS_REVA2 )
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295 SysCtlLDOSet( SYSCTL_LDO_2_75V );
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298 /* Set the clocking to run from the PLL at 50 MHz */
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299 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
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301 /* Enable Port F for Ethernet LEDs
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303 LED1 Bit 2 Output */
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304 SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
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305 GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
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306 GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
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308 vParTestInitialise();
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310 /*-----------------------------------------------------------*/
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312 void vApplicationTickHook( void )
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314 static xOLEDMessage xMessage = { "PASS" };
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315 static unsigned long ulTicksSinceLastDisplay = 0;
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316 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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318 /* Called from every tick interrupt. Have enough ticks passed to make it
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319 time to perform our health status check again? */
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320 ulTicksSinceLastDisplay++;
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321 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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323 ulTicksSinceLastDisplay = 0;
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325 /* Has an error been found in any task? */
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326 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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328 xMessage.pcMessage = "ERROR IN GEN Q";
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330 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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332 xMessage.pcMessage = "ERROR IN PEEK Q";
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334 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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336 xMessage.pcMessage = "ERROR IN BLOCK Q";
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338 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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340 xMessage.pcMessage = "ERROR IN BLOCK TIME";
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342 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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344 xMessage.pcMessage = "ERROR IN SEMAPHORE";
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346 else if( xArePollingQueuesStillRunning() != pdTRUE )
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348 xMessage.pcMessage = "ERROR IN POLL Q";
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350 else if( xIsCreateTaskStillRunning() != pdTRUE )
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352 xMessage.pcMessage = "ERROR IN CREATE";
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354 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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356 xMessage.pcMessage = "ERROR IN MATH";
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358 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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360 xMessage.pcMessage = "ERROR IN REC MUTEX";
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362 else if( ulIdleError != pdFALSE )
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364 xMessage.pcMessage = "ERROR IN HOOK";
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366 else if( xAreIntQueueTasksStillRunning() != pdTRUE )
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368 xMessage.pcMessage = "ERROR IN INT QUEUE";
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372 /* Send the message to the OLED gatekeeper for display. */
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373 xHigherPriorityTaskWoken = pdFALSE;
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374 xQueueSendFromISR( xOLEDQueue, &xMessage, &xHigherPriorityTaskWoken );
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377 /*-----------------------------------------------------------*/
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379 void vOLEDTask( void *pvParameters )
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381 xOLEDMessage xMessage;
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382 unsigned long ulY, ulMaxY;
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383 static char cMessage[ mainMAX_MSG_LEN ];
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384 extern volatile unsigned long ulMaxJitter;
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385 unsigned portBASE_TYPE uxUnusedStackOnEntry, uxUnusedStackNow;
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386 const unsigned char *pucImage;
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388 /* Functions to access the OLED. The one used depends on the dev kit
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390 void ( *vOLEDInit )( unsigned long ) = NULL;
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391 void ( *vOLEDStringDraw )( const char *, unsigned long, unsigned long, unsigned char ) = NULL;
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392 void ( *vOLEDImageDraw )( const unsigned char *, unsigned long, unsigned long, unsigned long, unsigned long ) = NULL;
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393 void ( *vOLEDClear )( void ) = NULL;
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395 /* Just for demo purposes. */
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396 uxUnusedStackOnEntry = uxTaskGetStackHighWaterMark( NULL );
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398 /* Map the OLED access functions to the driver functions that are appropriate
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399 for the evaluation kit being used. */
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400 switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK )
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402 case SYSCTL_DID1_PRTNO_6965 :
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403 case SYSCTL_DID1_PRTNO_2965 : vOLEDInit = OSRAM128x64x4Init;
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404 vOLEDStringDraw = OSRAM128x64x4StringDraw;
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405 vOLEDImageDraw = OSRAM128x64x4ImageDraw;
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406 vOLEDClear = OSRAM128x64x4Clear;
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407 ulMaxY = mainMAX_ROWS_64;
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408 pucImage = pucBasicBitmap;
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411 case SYSCTL_DID1_PRTNO_1968 :
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412 case SYSCTL_DID1_PRTNO_8962 : vOLEDInit = RIT128x96x4Init;
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413 vOLEDStringDraw = RIT128x96x4StringDraw;
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414 vOLEDImageDraw = RIT128x96x4ImageDraw;
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415 vOLEDClear = RIT128x96x4Clear;
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416 ulMaxY = mainMAX_ROWS_96;
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417 pucImage = pucBasicBitmap;
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420 default : vOLEDInit = vFormike128x128x16Init;
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421 vOLEDStringDraw = vFormike128x128x16StringDraw;
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422 vOLEDImageDraw = vFormike128x128x16ImageDraw;
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423 vOLEDClear = vFormike128x128x16Clear;
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424 ulMaxY = mainMAX_ROWS_128;
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425 pucImage = pucGrLibBitmap;
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431 /* Initialise the OLED and display a startup message. */
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432 vOLEDInit( ulSSI_FREQUENCY );
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433 vOLEDStringDraw( "POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
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434 vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
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438 /* Wait for a message to arrive that requires displaying. */
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439 xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
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441 /* Write the message on the next available row. */
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442 ulY += mainCHARACTER_HEIGHT;
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443 if( ulY >= ulMaxY )
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445 ulY = mainCHARACTER_HEIGHT;
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447 vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
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450 /* Display the message along with the maximum jitter time from the
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451 high priority time test. */
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452 sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK );
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453 vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE );
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456 /*-----------------------------------------------------------*/
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458 void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *pcTaskName )
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