2 FreeRTOS V7.5.1 - Copyright (C) 2013 Real Time Engineers Ltd.
\r
4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
6 ***************************************************************************
\r
8 * FreeRTOS provides completely free yet professionally developed, *
\r
9 * robust, strictly quality controlled, supported, and cross *
\r
10 * platform software that has become a de facto standard. *
\r
12 * Help yourself get started quickly and support the FreeRTOS *
\r
13 * project by purchasing a FreeRTOS tutorial book, reference *
\r
14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
\r
18 ***************************************************************************
\r
20 This file is part of the FreeRTOS distribution.
\r
22 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
23 the terms of the GNU General Public License (version 2) as published by the
\r
24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
\r
26 >>! NOTE: The modification to the GPL is included to allow you to distribute
\r
27 >>! a combined work that includes FreeRTOS without being obliged to provide
\r
28 >>! the source code for proprietary components outside of the FreeRTOS
\r
31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
\r
34 link: http://www.freertos.org/a00114.html
\r
38 ***************************************************************************
\r
40 * Having a problem? Start by reading the FAQ "My application does *
\r
41 * not run, what could be wrong?" *
\r
43 * http://www.FreeRTOS.org/FAQHelp.html *
\r
45 ***************************************************************************
\r
47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
\r
48 license and Real Time Engineers Ltd. contact details.
\r
50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
\r
55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
56 licenses offer ticketed support, indemnification and middleware.
\r
58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
59 engineered and independently SIL3 certified version for use in safety and
\r
60 mission critical applications that require provable dependability.
\r
67 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
68 * documentation provides more details of the standard demo application tasks
\r
69 * (which just exist to test the kernel port and provide an example of how to use
\r
70 * each FreeRTOS API function).
\r
72 * In addition to the standard demo tasks, the following tasks and tests are
\r
73 * defined and/or created within this file:
\r
75 * "Check" hook - This only executes fully every five seconds from the tick
\r
76 * hook. Its main function is to check that all the standard demo tasks are
\r
77 * still operational. The status can be viewed using on the Task Stats page
\r
78 * served by the WEB server.
\r
80 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
\r
81 * processing is performed in this task.
\r
83 * "USB" task - Enumerates the USB device as a CDC class, then echoes back all
\r
84 * received characters with a configurable offset (for example, if the offset
\r
85 * is 1 and 'A' is received then 'B' will be sent back). A dumb terminal such
\r
86 * as Hyperterminal can be used to talk to the USB task.
\r
89 /* Standard includes. */
\r
92 /* Scheduler includes. */
\r
93 #include "FreeRTOS.h"
\r
96 /* Demo app includes. */
\r
98 #include "integer.h"
\r
99 #include "blocktim.h"
\r
101 #include "partest.h"
\r
102 #include "semtest.h"
\r
104 #include "GenQTest.h"
\r
106 #include "recmutex.h"
\r
108 /* Red Suite includes. */
\r
109 #include "lcd_driver.h"
\r
112 /*-----------------------------------------------------------*/
\r
114 /* The time between cycles of the 'check' functionality (defined within the
\r
116 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
\r
118 /* Task priorities. */
\r
119 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
120 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
121 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
122 #define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
123 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
124 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
125 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
127 /* The WEB server has a larger stack as it utilises stack hungry string
\r
128 handling library calls. */
\r
129 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
\r
131 /* The message displayed by the WEB server when all tasks are executing
\r
132 without an error being reported. */
\r
133 #define mainPASS_STATUS_MESSAGE "All tasks are executing without error."
\r
135 /* Bit definitions. */
\r
136 #define PCONP_PCGPIO 0x00008000
\r
137 #define PLLFEED_FEED1 0x000000AA
\r
138 #define PLLFEED_FEED2 0x00000055
\r
139 /*-----------------------------------------------------------*/
\r
142 * Configure the hardware for the demo.
\r
144 static void prvSetupHardware( void );
\r
147 * The task that handles the uIP stack. All TCP/IP processing is performed in
\r
150 extern void vuIP_Task( void *pvParameters );
\r
153 * The task that handles the USB stack.
\r
155 extern void vUSBTask( void *pvParameters );
\r
158 * Simply returns the current status message for display on served WEB pages.
\r
160 char *pcGetTaskStatusMessage( void );
\r
162 /*-----------------------------------------------------------*/
\r
164 /* Holds the status message displayed by the WEB server. */
\r
165 static char *pcStatusMessage = mainPASS_STATUS_MESSAGE;
\r
167 /*-----------------------------------------------------------*/
\r
171 char cIPAddress[ 16 ]; /* Enough space for "xxx.xxx.xxx.xxx\0". */
\r
173 /* Configure the hardware for use by this demo. */
\r
174 prvSetupHardware();
\r
176 /* Start the standard demo tasks. These are just here to exercise the
\r
177 kernel port and provide examples of how the FreeRTOS API can be used. */
\r
178 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
179 vCreateBlockTimeTasks();
\r
180 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
181 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
182 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
\r
183 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
\r
184 vStartQueuePeekTasks();
\r
185 vStartRecursiveMutexTasks();
\r
186 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
\r
188 /* Create the USB task. */
\r
189 xTaskCreate( vUSBTask, ( signed char * ) "USB", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
\r
191 /* Display the IP address, then create the uIP task. The WEB server runs
\r
193 LCDdriver_initialisation();
\r
194 LCD_PrintString( 5, 10, "FreeRTOS.org", 14, COLOR_GREEN);
\r
195 sprintf( cIPAddress, "%d.%d.%d.%d", configIP_ADDR0, configIP_ADDR1, configIP_ADDR2, configIP_ADDR3 );
\r
196 LCD_PrintString( 5, 30, cIPAddress, 14, COLOR_RED);
\r
197 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
\r
199 /* Start the scheduler. */
\r
200 vTaskStartScheduler();
\r
202 /* Will only get here if there was insufficient memory to create the idle
\r
203 task. The idle task is created within vTaskStartScheduler(). */
\r
206 /*-----------------------------------------------------------*/
\r
208 void vApplicationTickHook( void )
\r
210 static unsigned long ulTicksSinceLastDisplay = 0;
\r
212 /* Called from every tick interrupt as described in the comments at the top
\r
215 Have enough ticks passed to make it time to perform our health status
\r
217 ulTicksSinceLastDisplay++;
\r
218 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
\r
220 /* Reset the counter so these checks run again in mainCHECK_DELAY
\r
222 ulTicksSinceLastDisplay = 0;
\r
224 /* Has an error been found in any task? */
\r
225 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
227 pcStatusMessage = "An error has been detected in the Generic Queue test/demo.";
\r
229 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
\r
231 pcStatusMessage = "An error has been detected in the Peek Queue test/demo.";
\r
233 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
235 pcStatusMessage = "An error has been detected in the Block Queue test/demo.";
\r
237 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
239 pcStatusMessage = "An error has been detected in the Block Time test/demo.";
\r
241 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
243 pcStatusMessage = "An error has been detected in the Semaphore test/demo.";
\r
245 else if( xArePollingQueuesStillRunning() != pdTRUE )
\r
247 pcStatusMessage = "An error has been detected in the Poll Queue test/demo.";
\r
249 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
251 pcStatusMessage = "An error has been detected in the Int Math test/demo.";
\r
253 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
\r
255 pcStatusMessage = "An error has been detected in the Mutex test/demo.";
\r
259 /*-----------------------------------------------------------*/
\r
261 char *pcGetTaskStatusMessage( void )
\r
263 /* Not bothered about a critical section here. */
\r
264 return pcStatusMessage;
\r
266 /*-----------------------------------------------------------*/
\r
268 void prvSetupHardware( void )
\r
270 /* Disable peripherals power. */
\r
273 /* Enable GPIO power. */
\r
274 LPC_SC->PCONP = PCONP_PCGPIO;
\r
276 /* Disable TPIU. */
\r
277 LPC_PINCON->PINSEL10 = 0;
\r
279 if ( LPC_SC->PLL0STAT & ( 1 << 25 ) )
\r
281 /* Enable PLL, disconnected. */
\r
282 LPC_SC->PLL0CON = 1;
\r
283 LPC_SC->PLL0FEED = PLLFEED_FEED1;
\r
284 LPC_SC->PLL0FEED = PLLFEED_FEED2;
\r
287 /* Disable PLL, disconnected. */
\r
288 LPC_SC->PLL0CON = 0;
\r
289 LPC_SC->PLL0FEED = PLLFEED_FEED1;
\r
290 LPC_SC->PLL0FEED = PLLFEED_FEED2;
\r
292 /* Enable main OSC. */
\r
293 LPC_SC->SCS |= 0x20;
\r
294 while( !( LPC_SC->SCS & 0x40 ) );
\r
296 /* select main OSC, 12MHz, as the PLL clock source. */
\r
297 LPC_SC->CLKSRCSEL = 0x1;
\r
299 LPC_SC->PLL0CFG = 0x20031;
\r
300 LPC_SC->PLL0FEED = PLLFEED_FEED1;
\r
301 LPC_SC->PLL0FEED = PLLFEED_FEED2;
\r
303 /* Enable PLL, disconnected. */
\r
304 LPC_SC->PLL0CON = 1;
\r
305 LPC_SC->PLL0FEED = PLLFEED_FEED1;
\r
306 LPC_SC->PLL0FEED = PLLFEED_FEED2;
\r
308 /* Set clock divider. */
\r
309 LPC_SC->CCLKCFG = 0x03;
\r
311 /* Configure flash accelerator. */
\r
312 LPC_SC->FLASHCFG = 0x403a;
\r
314 /* Check lock bit status. */
\r
315 while( ( ( LPC_SC->PLL0STAT & ( 1 << 26 ) ) == 0 ) );
\r
317 /* Enable and connect. */
\r
318 LPC_SC->PLL0CON = 3;
\r
319 LPC_SC->PLL0FEED = PLLFEED_FEED1;
\r
320 LPC_SC->PLL0FEED = PLLFEED_FEED2;
\r
321 while( ( ( LPC_SC->PLL0STAT & ( 1 << 25 ) ) == 0 ) );
\r
326 /* Configure the clock for the USB. */
\r
328 if( LPC_SC->PLL1STAT & ( 1 << 9 ) )
\r
330 /* Enable PLL, disconnected. */
\r
331 LPC_SC->PLL1CON = 1;
\r
332 LPC_SC->PLL1FEED = PLLFEED_FEED1;
\r
333 LPC_SC->PLL1FEED = PLLFEED_FEED2;
\r
336 /* Disable PLL, disconnected. */
\r
337 LPC_SC->PLL1CON = 0;
\r
338 LPC_SC->PLL1FEED = PLLFEED_FEED1;
\r
339 LPC_SC->PLL1FEED = PLLFEED_FEED2;
\r
341 LPC_SC->PLL1CFG = 0x23;
\r
342 LPC_SC->PLL1FEED = PLLFEED_FEED1;
\r
343 LPC_SC->PLL1FEED = PLLFEED_FEED2;
\r
345 /* Enable PLL, disconnected. */
\r
346 LPC_SC->PLL1CON = 1;
\r
347 LPC_SC->PLL1FEED = PLLFEED_FEED1;
\r
348 LPC_SC->PLL1FEED = PLLFEED_FEED2;
\r
349 while( ( ( LPC_SC->PLL1STAT & ( 1 << 10 ) ) == 0 ) );
\r
351 /* Enable and connect. */
\r
352 LPC_SC->PLL1CON = 3;
\r
353 LPC_SC->PLL1FEED = PLLFEED_FEED1;
\r
354 LPC_SC->PLL1FEED = PLLFEED_FEED2;
\r
355 while( ( ( LPC_SC->PLL1STAT & ( 1 << 9 ) ) == 0 ) );
\r
357 /* Setup the peripheral bus to be the same as the PLL output (64 MHz). */
\r
358 LPC_SC->PCLKSEL0 = 0x05555555;
\r
360 /* Configure the LEDs. */
\r
361 vParTestInitialise();
\r
363 /*-----------------------------------------------------------*/
\r
365 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
\r
367 /* This function will get called if a task overflows its stack. */
\r
370 ( void ) pcTaskName;
\r
374 /*-----------------------------------------------------------*/
\r
376 void vConfigureTimerForRunTimeStats( void )
\r
378 const unsigned long TCR_COUNT_RESET = 2, CTCR_CTM_TIMER = 0x00, TCR_COUNT_ENABLE = 0x01;
\r
380 /* This function configures a timer that is used as the time base when
\r
381 collecting run time statistical information - basically the percentage
\r
382 of CPU time that each task is utilising. It is called automatically when
\r
383 the scheduler is started (assuming configGENERATE_RUN_TIME_STATS is set
\r
386 /* Power up and feed the timer. */
\r
387 LPC_SC->PCONP |= 0x02UL;
\r
388 LPC_SC->PCLKSEL0 = (LPC_SC->PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
\r
390 /* Reset Timer 0 */
\r
391 LPC_TIM0->TCR = TCR_COUNT_RESET;
\r
393 /* Just count up. */
\r
394 LPC_TIM0->CTCR = CTCR_CTM_TIMER;
\r
396 /* Prescale to a frequency that is good enough to get a decent resolution,
\r
397 but not too fast so as to overflow all the time. */
\r
398 LPC_TIM0->PR = ( configCPU_CLOCK_HZ / 10000UL ) - 1UL;
\r
400 /* Start the counter. */
\r
401 LPC_TIM0->TCR = TCR_COUNT_ENABLE;
\r
403 /*-----------------------------------------------------------*/
\r