2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
\r
5 ***************************************************************************
\r
7 * FreeRTOS tutorial books are available in pdf and paperback. *
\r
8 * Complete, revised, and edited pdf reference manuals are also *
\r
11 * Purchasing FreeRTOS documentation will not only help you, by *
\r
12 * ensuring you get running as quickly as possible and with an *
\r
13 * in-depth knowledge of how to use FreeRTOS, it will also help *
\r
14 * the FreeRTOS project to continue with its mission of providing *
\r
15 * professional grade, cross platform, de facto standard solutions *
\r
16 * for microcontrollers - completely free of charge! *
\r
18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
\r
20 * Thank you for using FreeRTOS, and thank you for your support! *
\r
22 ***************************************************************************
\r
25 This file is part of the FreeRTOS distribution.
\r
27 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
28 the terms of the GNU General Public License (version 2) as published by the
\r
29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
\r
30 >>>NOTE<<< The modification to the GPL is included to allow you to
\r
31 distribute a combined work that includes FreeRTOS without being obliged to
\r
32 provide the source code for proprietary components outside of the FreeRTOS
\r
33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
\r
34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
\r
35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
\r
36 more details. You should have received a copy of the GNU General Public
\r
37 License and the FreeRTOS license exception along with FreeRTOS; if not it
\r
38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
\r
39 by writing to Richard Barry, contact details for whom are available on the
\r
44 ***************************************************************************
\r
46 * Having a problem? Start by reading the FAQ "My application does *
\r
47 * not run, what could be wrong? *
\r
49 * http://www.FreeRTOS.org/FAQHelp.html *
\r
51 ***************************************************************************
\r
54 http://www.FreeRTOS.org - Documentation, training, latest information,
\r
55 license and contact details.
\r
57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
58 including FreeRTOS+Trace - an indispensable productivity tool.
\r
60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
\r
61 the code with commercial support, indemnification, and middleware, under
\r
62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
\r
63 provide a safety engineered and independently SIL3 certified version under
\r
64 the SafeRTOS brand: http://www.SafeRTOS.com.
\r
69 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
70 * documentation provides more details of the standard demo application tasks.
\r
71 * In addition to the standard demo tasks, the following tasks and tests are
\r
72 * defined and/or created within this file:
\r
74 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
\r
75 * using a free running timer to demonstrate the use of the
\r
76 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
\r
77 * service routine measures the number of processor clocks that occur between
\r
78 * each interrupt - and in so doing measures the jitter in the interrupt timing.
\r
79 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
\r
80 * displayed on the OLED display by the 'OLED' task as described below. The
\r
81 * fast interrupt is configured and handled in the timertest.c source file.
\r
83 * "OLED" task - the OLED task is a 'gatekeeper' task. It is the only task that
\r
84 * is permitted to access the display directly. Other tasks wishing to write a
\r
85 * message to the OLED send the message on a queue to the OLED task instead of
\r
86 * accessing the OLED themselves. The OLED task just blocks on the queue waiting
\r
87 * for messages - waking and displaying the messages as they arrive.
\r
89 * "Check" hook - This only executes every five seconds from the tick hook.
\r
90 * Its main function is to check that all the standard demo tasks are still
\r
91 * operational. Should any unexpected behaviour within a demo task be discovered
\r
92 * the tick hook will write an error to the OLED (via the OLED task). If all the
\r
93 * demo tasks are executing with their expected behaviour then the check task
\r
94 * writes PASS to the OLED (again via the OLED task), as described above.
\r
96 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
\r
97 * processing is performed in this task.
\r
103 /*************************************************************************
\r
104 * Please ensure to read http://www.freertos.org/portlm3sx965.html
\r
105 * which provides information on configuring and running this demo for the
\r
106 * various Luminary Micro EKs.
\r
107 *************************************************************************/
\r
109 /* Set the following option to 1 to include the WEB server in the build. By
\r
110 default the WEB server is excluded to keep the compiled code size under the 32K
\r
111 limit imposed by the KickStart version of the IAR compiler. The graphics
\r
112 libraries take up a lot of ROM space, hence including the graphics libraries
\r
113 and the TCP/IP stack together cannot be accommodated with the 32K size limit. */
\r
114 #define mainINCLUDE_WEB_SERVER 0
\r
117 /* Standard includes. */
\r
120 /* Scheduler includes. */
\r
121 #include "FreeRTOS.h"
\r
124 #include "semphr.h"
\r
126 /* Hardware library includes. */
\r
127 #include "hw_memmap.h"
\r
128 #include "hw_types.h"
\r
129 #include "hw_sysctl.h"
\r
130 #include "sysctl.h"
\r
133 #include "rit128x96x4.h"
\r
134 #include "osram128x64x4.h"
\r
135 #include "formike128x128x16.h"
\r
137 /* Demo app includes. */
\r
138 #include "BlockQ.h"
\r
140 #include "integer.h"
\r
141 #include "blocktim.h"
\r
143 #include "partest.h"
\r
144 #include "semtest.h"
\r
146 #include "lcd_message.h"
\r
147 #include "bitmap.h"
\r
148 #include "GenQTest.h"
\r
150 #include "recmutex.h"
\r
151 #include "IntQueue.h"
\r
153 /*-----------------------------------------------------------*/
\r
155 /* The time between cycles of the 'check' functionality (defined within the
\r
157 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
\r
159 /* Size of the stack allocated to the uIP task. */
\r
160 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
\r
162 /* The OLED task uses the sprintf function so requires a little more stack too. */
\r
163 #define mainOLED_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
\r
165 /* Task priorities. */
\r
166 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
167 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
168 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
169 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
170 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
171 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
172 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
174 /* The maximum number of message that can be waiting for display at any one
\r
176 #define mainOLED_QUEUE_SIZE ( 3 )
\r
178 /* Dimensions the buffer into which the jitter time is written. */
\r
179 #define mainMAX_MSG_LEN 25
\r
181 /* The period of the system clock in nano seconds. This is used to calculate
\r
182 the jitter time in nano seconds. */
\r
183 #define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
\r
185 /* Constants used when writing strings to the display. */
\r
186 #define mainCHARACTER_HEIGHT ( 9 )
\r
187 #define mainMAX_ROWS_128 ( mainCHARACTER_HEIGHT * 14 )
\r
188 #define mainMAX_ROWS_96 ( mainCHARACTER_HEIGHT * 10 )
\r
189 #define mainMAX_ROWS_64 ( mainCHARACTER_HEIGHT * 7 )
\r
190 #define mainFULL_SCALE ( 15 )
\r
191 #define ulSSI_FREQUENCY ( 3500000UL )
\r
193 /*-----------------------------------------------------------*/
\r
196 * The task that handles the uIP stack. All TCP/IP processing is performed in
\r
199 extern void vuIP_Task( void *pvParameters );
\r
202 * The display is written two by more than one task so is controlled by a
\r
203 * 'gatekeeper' task. This is the only task that is actually permitted to
\r
204 * access the display directly. Other tasks wanting to display a message send
\r
205 * the message to the gatekeeper.
\r
207 static void vOLEDTask( void *pvParameters );
\r
210 * Configure the hardware for the demo.
\r
212 static void prvSetupHardware( void );
\r
215 * Configures the high frequency timers - those used to measure the timing
\r
216 * jitter while the real time kernel is executing.
\r
218 extern void vSetupHighFrequencyTimer( void );
\r
221 * Hook functions that can get called by the kernel.
\r
223 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName );
\r
224 void vApplicationTickHook( void );
\r
227 /*-----------------------------------------------------------*/
\r
229 /* The queue used to send messages to the OLED task. */
\r
230 xQueueHandle xOLEDQueue;
\r
232 /* The welcome text. */
\r
233 const portCHAR * const pcWelcomeMessage = " www.FreeRTOS.org";
\r
235 /*-----------------------------------------------------------*/
\r
238 /*************************************************************************
\r
239 * Please ensure to read http://www.freertos.org/portlm3sx965.html
\r
240 * which provides information on configuring and running this demo for the
\r
241 * various Luminary Micro EKs.
\r
242 *************************************************************************/
\r
245 prvSetupHardware();
\r
247 /* Create the queue used by the OLED task. Messages for display on the OLED
\r
248 are received via this queue. */
\r
249 xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
\r
251 /* Start the standard demo tasks. */
\r
252 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
\r
253 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
\r
254 vStartInterruptQueueTasks();
\r
255 vStartRecursiveMutexTasks();
\r
256 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
257 vCreateBlockTimeTasks();
\r
258 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
259 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
260 vStartQueuePeekTasks();
\r
262 /* Exclude some tasks if using the kickstart version to ensure we stay within
\r
263 the 32K code size limit. */
\r
264 #if mainINCLUDE_WEB_SERVER != 0
\r
266 /* Create the uIP task if running on a processor that includes a MAC and
\r
268 if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) )
\r
270 xTaskCreate( vuIP_Task, ( signed portCHAR * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
\r
277 /* Start the tasks defined within this file/specific to this demo. */
\r
278 xTaskCreate( vOLEDTask, ( signed portCHAR * ) "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
\r
280 /* The suicide tasks must be created last as they need to know how many
\r
281 tasks were running prior to their creation in order to ascertain whether
\r
282 or not the correct/expected number of tasks are running at any given time. */
\r
283 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
\r
285 /* Configure the high frequency interrupt used to measure the interrupt
\r
287 vSetupHighFrequencyTimer();
\r
289 /* Start the scheduler. */
\r
290 vTaskStartScheduler();
\r
292 /* Will only get here if there was insufficient memory to create the idle
\r
296 /*-----------------------------------------------------------*/
\r
298 void prvSetupHardware( void )
\r
300 /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
\r
301 a workaround to allow the PLL to operate reliably. */
\r
302 if( DEVICE_IS_REVA2 )
\r
304 SysCtlLDOSet( SYSCTL_LDO_2_75V );
\r
307 /* Set the clocking to run from the PLL at 50 MHz */
\r
308 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
\r
310 /* Enable Port F for Ethernet LEDs
\r
312 LED1 Bit 2 Output */
\r
313 SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
\r
314 GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
\r
315 GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
\r
317 vParTestInitialise();
\r
319 /*-----------------------------------------------------------*/
\r
321 void vApplicationTickHook( void )
\r
323 static xOLEDMessage xMessage = { "PASS" };
\r
324 static unsigned portLONG ulTicksSinceLastDisplay = 0;
\r
325 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
\r
327 /* Called from every tick interrupt. Have enough ticks passed to make it
\r
328 time to perform our health status check again? */
\r
329 ulTicksSinceLastDisplay++;
\r
330 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
\r
332 ulTicksSinceLastDisplay = 0;
\r
334 /* Has an error been found in any task? */
\r
335 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
337 xMessage.pcMessage = "ERROR IN GEN Q";
\r
339 else if( xIsCreateTaskStillRunning() != pdTRUE )
\r
341 xMessage.pcMessage = "ERROR IN CREATE";
\r
343 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
345 xMessage.pcMessage = "ERROR IN MATH";
\r
347 else if( xAreIntQueueTasksStillRunning() != pdTRUE )
\r
349 xMessage.pcMessage = "ERROR IN INT QUEUE";
\r
351 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
353 xMessage.pcMessage = "ERROR IN BLOCK Q";
\r
355 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
357 xMessage.pcMessage = "ERROR IN BLOCK TIME";
\r
359 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
361 xMessage.pcMessage = "ERROR IN SEMAPHORE";
\r
363 else if( xArePollingQueuesStillRunning() != pdTRUE )
\r
365 xMessage.pcMessage = "ERROR IN POLL Q";
\r
367 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
\r
369 xMessage.pcMessage = "ERROR IN PEEK Q";
\r
371 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
\r
373 xMessage.pcMessage = "ERROR IN REC MUTEX";
\r
376 /* Send the message to the OLED gatekeeper for display. */
\r
377 xHigherPriorityTaskWoken = pdFALSE;
\r
378 xQueueSendFromISR( xOLEDQueue, &xMessage, &xHigherPriorityTaskWoken );
\r
381 /*-----------------------------------------------------------*/
\r
383 void vOLEDTask( void *pvParameters )
\r
385 xOLEDMessage xMessage;
\r
386 unsigned portLONG ulY, ulMaxY;
\r
387 static portCHAR cMessage[ mainMAX_MSG_LEN ];
\r
388 extern volatile unsigned portLONG ulMaxJitter;
\r
389 unsigned portBASE_TYPE uxUnusedStackOnEntry;
\r
390 const unsigned portCHAR *pucImage;
\r
392 /* Functions to access the OLED. The one used depends on the dev kit
\r
394 void ( *vOLEDInit )( unsigned portLONG ) = NULL;
\r
395 void ( *vOLEDStringDraw )( const portCHAR *, unsigned portLONG, unsigned portLONG, unsigned portCHAR ) = NULL;
\r
396 void ( *vOLEDImageDraw )( const unsigned portCHAR *, unsigned portLONG, unsigned portLONG, unsigned portLONG, unsigned portLONG ) = NULL;
\r
397 void ( *vOLEDClear )( void ) = NULL;
\r
399 /* Just for demo purposes. */
\r
400 uxUnusedStackOnEntry = uxTaskGetStackHighWaterMark( NULL );
\r
402 /* Map the OLED access functions to the driver functions that are appropriate
\r
403 for the evaluation kit being used. */
\r
404 switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK )
\r
406 case SYSCTL_DID1_PRTNO_6965 :
\r
407 case SYSCTL_DID1_PRTNO_2965 : vOLEDInit = OSRAM128x64x4Init;
\r
408 vOLEDStringDraw = OSRAM128x64x4StringDraw;
\r
409 vOLEDImageDraw = OSRAM128x64x4ImageDraw;
\r
410 vOLEDClear = OSRAM128x64x4Clear;
\r
411 ulMaxY = mainMAX_ROWS_64;
\r
412 pucImage = pucBasicBitmap;
\r
415 case SYSCTL_DID1_PRTNO_1968 :
\r
416 case SYSCTL_DID1_PRTNO_8962 : vOLEDInit = RIT128x96x4Init;
\r
417 vOLEDStringDraw = RIT128x96x4StringDraw;
\r
418 vOLEDImageDraw = RIT128x96x4ImageDraw;
\r
419 vOLEDClear = RIT128x96x4Clear;
\r
420 ulMaxY = mainMAX_ROWS_96;
\r
421 pucImage = pucBasicBitmap;
\r
424 default : vOLEDInit = vFormike128x128x16Init;
\r
425 vOLEDStringDraw = vFormike128x128x16StringDraw;
\r
426 vOLEDImageDraw = vFormike128x128x16ImageDraw;
\r
427 vOLEDClear = vFormike128x128x16Clear;
\r
428 ulMaxY = mainMAX_ROWS_128;
\r
429 pucImage = pucGrLibBitmap;
\r
436 /* Initialise the OLED and display a startup message. */
\r
437 vOLEDInit( ulSSI_FREQUENCY );
\r
438 vOLEDStringDraw( "POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
\r
439 vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
\r
443 /* Wait for a message to arrive that requires displaying. */
\r
444 xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
\r
446 /* Write the message on the next available row. */
\r
447 ulY += mainCHARACTER_HEIGHT;
\r
448 if( ulY >= ulMaxY )
\r
450 ulY = mainCHARACTER_HEIGHT;
\r
452 vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
\r
455 /* Display the message along with the maximum jitter time from the
\r
456 high priority time test. */
\r
457 sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK );
\r
458 vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE );
\r
461 /*-----------------------------------------------------------*/
\r
463 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
\r
466 ( void ) pcTaskName;
\r