2 FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd.
\r
4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
\r
5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 ***************************************************************************
\r
9 * FreeRTOS tutorial books are available in pdf and paperback. *
\r
10 * Complete, revised, and edited pdf reference manuals are also *
\r
13 * Purchasing FreeRTOS documentation will not only help you, by *
\r
14 * ensuring you get running as quickly as possible and with an *
\r
15 * in-depth knowledge of how to use FreeRTOS, it will also help *
\r
16 * the FreeRTOS project to continue with its mission of providing *
\r
17 * professional grade, cross platform, de facto standard solutions *
\r
18 * for microcontrollers - completely free of charge! *
\r
20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
\r
22 * Thank you for using FreeRTOS, and thank you for your support! *
\r
24 ***************************************************************************
\r
27 This file is part of the FreeRTOS distribution.
\r
29 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
30 the terms of the GNU General Public License (version 2) as published by the
\r
31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
\r
33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
\r
34 distribute a combined work that includes FreeRTOS without being obliged to
\r
35 provide the source code for proprietary components outside of the FreeRTOS
\r
38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
\r
41 details. You should have received a copy of the GNU General Public License
\r
42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
\r
43 viewed here: http://www.freertos.org/a00114.html and also obtained by
\r
44 writing to Real Time Engineers Ltd., contact details for whom are available
\r
45 on the FreeRTOS WEB site.
\r
49 ***************************************************************************
\r
51 * Having a problem? Start by reading the FAQ "My application does *
\r
52 * not run, what could be wrong?" *
\r
54 * http://www.FreeRTOS.org/FAQHelp.html *
\r
56 ***************************************************************************
\r
59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
\r
60 license and Real Time Engineers Ltd. contact details.
\r
62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
\r
64 fully thread aware and reentrant UDP/IP stack.
\r
66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
\r
67 Integrity Systems, who sell the code with commercial support,
\r
68 indemnification and middleware, under the OpenRTOS brand.
\r
70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
71 engineered and independently SIL3 certified version for use in safety and
\r
72 mission critical applications that require provable dependability.
\r
77 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
78 * documentation provides more details of the standard demo application tasks
\r
79 * (which just exist to test the kernel port and provide an example of how to use
\r
80 * each FreeRTOS API function).
\r
82 * In addition to the standard demo tasks, the following tasks and tests are
\r
83 * defined and/or created within this file:
\r
85 * "Check" hook - This only executes fully every five seconds from the tick
\r
86 * hook. Its main function is to check that all the standard demo tasks are
\r
87 * still operational. The status can be viewed using on the Task Stats page
\r
88 * served by the WEB server.
\r
90 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
\r
91 * processing is performed in this task.
\r
93 * "USB" task - Enumerates the USB device as a CDC class, then echoes back all
\r
94 * received characters with a configurable offset (for example, if the offset
\r
95 * is 1 and 'A' is received then 'B' will be sent back). A dumb terminal such
\r
96 * as Hyperterminal can be used to talk to the USB task.
\r
99 /* Standard includes. */
\r
102 /* Scheduler includes. */
\r
103 #include "FreeRTOS.h"
\r
106 /* Demo app includes. */
\r
107 #include "BlockQ.h"
\r
108 #include "integer.h"
\r
109 #include "blocktim.h"
\r
111 #include "partest.h"
\r
112 #include "semtest.h"
\r
114 #include "GenQTest.h"
\r
116 #include "recmutex.h"
\r
118 /* Red Suite includes. */
\r
119 #include "lcd_driver.h"
\r
122 /*-----------------------------------------------------------*/
\r
124 /* The time between cycles of the 'check' functionality (defined within the
\r
126 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
\r
128 /* Task priorities. */
\r
129 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
130 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
131 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
132 #define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
133 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
134 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
135 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
137 /* The WEB server has a larger stack as it utilises stack hungry string
\r
138 handling library calls. */
\r
139 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
\r
141 /* The message displayed by the WEB server when all tasks are executing
\r
142 without an error being reported. */
\r
143 #define mainPASS_STATUS_MESSAGE "All tasks are executing without error."
\r
145 /* Bit definitions. */
\r
146 #define PCONP_PCGPIO 0x00008000
\r
147 #define PLLFEED_FEED1 0x000000AA
\r
148 #define PLLFEED_FEED2 0x00000055
\r
149 /*-----------------------------------------------------------*/
\r
152 * Configure the hardware for the demo.
\r
154 static void prvSetupHardware( void );
\r
157 * The task that handles the uIP stack. All TCP/IP processing is performed in
\r
160 extern void vuIP_Task( void *pvParameters );
\r
163 * The task that handles the USB stack.
\r
165 extern void vUSBTask( void *pvParameters );
\r
168 * Simply returns the current status message for display on served WEB pages.
\r
170 char *pcGetTaskStatusMessage( void );
\r
172 /*-----------------------------------------------------------*/
\r
174 /* Holds the status message displayed by the WEB server. */
\r
175 static char *pcStatusMessage = mainPASS_STATUS_MESSAGE;
\r
177 /*-----------------------------------------------------------*/
\r
181 char cIPAddress[ 16 ]; /* Enough space for "xxx.xxx.xxx.xxx\0". */
\r
183 /* Configure the hardware for use by this demo. */
\r
184 prvSetupHardware();
\r
186 /* Start the standard demo tasks. These are just here to exercise the
\r
187 kernel port and provide examples of how the FreeRTOS API can be used. */
\r
188 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
189 vCreateBlockTimeTasks();
\r
190 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
191 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
192 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
\r
193 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
\r
194 vStartQueuePeekTasks();
\r
195 vStartRecursiveMutexTasks();
\r
196 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
\r
198 /* Create the USB task. */
\r
199 xTaskCreate( vUSBTask, ( signed char * ) "USB", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
\r
201 /* Display the IP address, then create the uIP task. The WEB server runs
\r
203 LCDdriver_initialisation();
\r
204 LCD_PrintString( 5, 10, "FreeRTOS.org", 14, COLOR_GREEN);
\r
205 sprintf( cIPAddress, "%d.%d.%d.%d", configIP_ADDR0, configIP_ADDR1, configIP_ADDR2, configIP_ADDR3 );
\r
206 LCD_PrintString( 5, 30, cIPAddress, 14, COLOR_RED);
\r
207 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
\r
209 /* Start the scheduler. */
\r
210 vTaskStartScheduler();
\r
212 /* Will only get here if there was insufficient memory to create the idle
\r
213 task. The idle task is created within vTaskStartScheduler(). */
\r
216 /*-----------------------------------------------------------*/
\r
218 void vApplicationTickHook( void )
\r
220 static unsigned long ulTicksSinceLastDisplay = 0;
\r
222 /* Called from every tick interrupt as described in the comments at the top
\r
225 Have enough ticks passed to make it time to perform our health status
\r
227 ulTicksSinceLastDisplay++;
\r
228 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
\r
230 /* Reset the counter so these checks run again in mainCHECK_DELAY
\r
232 ulTicksSinceLastDisplay = 0;
\r
234 /* Has an error been found in any task? */
\r
235 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
237 pcStatusMessage = "An error has been detected in the Generic Queue test/demo.";
\r
239 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
\r
241 pcStatusMessage = "An error has been detected in the Peek Queue test/demo.";
\r
243 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
245 pcStatusMessage = "An error has been detected in the Block Queue test/demo.";
\r
247 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
249 pcStatusMessage = "An error has been detected in the Block Time test/demo.";
\r
251 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
253 pcStatusMessage = "An error has been detected in the Semaphore test/demo.";
\r
255 else if( xArePollingQueuesStillRunning() != pdTRUE )
\r
257 pcStatusMessage = "An error has been detected in the Poll Queue test/demo.";
\r
259 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
261 pcStatusMessage = "An error has been detected in the Int Math test/demo.";
\r
263 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
\r
265 pcStatusMessage = "An error has been detected in the Mutex test/demo.";
\r
269 /*-----------------------------------------------------------*/
\r
271 char *pcGetTaskStatusMessage( void )
\r
273 /* Not bothered about a critical section here. */
\r
274 return pcStatusMessage;
\r
276 /*-----------------------------------------------------------*/
\r
278 void prvSetupHardware( void )
\r
280 /* Disable peripherals power. */
\r
283 /* Enable GPIO power. */
\r
284 LPC_SC->PCONP = PCONP_PCGPIO;
\r
286 /* Disable TPIU. */
\r
287 LPC_PINCON->PINSEL10 = 0;
\r
289 if ( LPC_SC->PLL0STAT & ( 1 << 25 ) )
\r
291 /* Enable PLL, disconnected. */
\r
292 LPC_SC->PLL0CON = 1;
\r
293 LPC_SC->PLL0FEED = PLLFEED_FEED1;
\r
294 LPC_SC->PLL0FEED = PLLFEED_FEED2;
\r
297 /* Disable PLL, disconnected. */
\r
298 LPC_SC->PLL0CON = 0;
\r
299 LPC_SC->PLL0FEED = PLLFEED_FEED1;
\r
300 LPC_SC->PLL0FEED = PLLFEED_FEED2;
\r
302 /* Enable main OSC. */
\r
303 LPC_SC->SCS |= 0x20;
\r
304 while( !( LPC_SC->SCS & 0x40 ) );
\r
306 /* select main OSC, 12MHz, as the PLL clock source. */
\r
307 LPC_SC->CLKSRCSEL = 0x1;
\r
309 LPC_SC->PLL0CFG = 0x20031;
\r
310 LPC_SC->PLL0FEED = PLLFEED_FEED1;
\r
311 LPC_SC->PLL0FEED = PLLFEED_FEED2;
\r
313 /* Enable PLL, disconnected. */
\r
314 LPC_SC->PLL0CON = 1;
\r
315 LPC_SC->PLL0FEED = PLLFEED_FEED1;
\r
316 LPC_SC->PLL0FEED = PLLFEED_FEED2;
\r
318 /* Set clock divider. */
\r
319 LPC_SC->CCLKCFG = 0x03;
\r
321 /* Configure flash accelerator. */
\r
322 LPC_SC->FLASHCFG = 0x403a;
\r
324 /* Check lock bit status. */
\r
325 while( ( ( LPC_SC->PLL0STAT & ( 1 << 26 ) ) == 0 ) );
\r
327 /* Enable and connect. */
\r
328 LPC_SC->PLL0CON = 3;
\r
329 LPC_SC->PLL0FEED = PLLFEED_FEED1;
\r
330 LPC_SC->PLL0FEED = PLLFEED_FEED2;
\r
331 while( ( ( LPC_SC->PLL0STAT & ( 1 << 25 ) ) == 0 ) );
\r
336 /* Configure the clock for the USB. */
\r
338 if( LPC_SC->PLL1STAT & ( 1 << 9 ) )
\r
340 /* Enable PLL, disconnected. */
\r
341 LPC_SC->PLL1CON = 1;
\r
342 LPC_SC->PLL1FEED = PLLFEED_FEED1;
\r
343 LPC_SC->PLL1FEED = PLLFEED_FEED2;
\r
346 /* Disable PLL, disconnected. */
\r
347 LPC_SC->PLL1CON = 0;
\r
348 LPC_SC->PLL1FEED = PLLFEED_FEED1;
\r
349 LPC_SC->PLL1FEED = PLLFEED_FEED2;
\r
351 LPC_SC->PLL1CFG = 0x23;
\r
352 LPC_SC->PLL1FEED = PLLFEED_FEED1;
\r
353 LPC_SC->PLL1FEED = PLLFEED_FEED2;
\r
355 /* Enable PLL, disconnected. */
\r
356 LPC_SC->PLL1CON = 1;
\r
357 LPC_SC->PLL1FEED = PLLFEED_FEED1;
\r
358 LPC_SC->PLL1FEED = PLLFEED_FEED2;
\r
359 while( ( ( LPC_SC->PLL1STAT & ( 1 << 10 ) ) == 0 ) );
\r
361 /* Enable and connect. */
\r
362 LPC_SC->PLL1CON = 3;
\r
363 LPC_SC->PLL1FEED = PLLFEED_FEED1;
\r
364 LPC_SC->PLL1FEED = PLLFEED_FEED2;
\r
365 while( ( ( LPC_SC->PLL1STAT & ( 1 << 9 ) ) == 0 ) );
\r
367 /* Setup the peripheral bus to be the same as the PLL output (64 MHz). */
\r
368 LPC_SC->PCLKSEL0 = 0x05555555;
\r
370 /* Configure the LEDs. */
\r
371 vParTestInitialise();
\r
373 /*-----------------------------------------------------------*/
\r
375 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
\r
377 /* This function will get called if a task overflows its stack. */
\r
380 ( void ) pcTaskName;
\r
384 /*-----------------------------------------------------------*/
\r
386 void vConfigureTimerForRunTimeStats( void )
\r
388 const unsigned long TCR_COUNT_RESET = 2, CTCR_CTM_TIMER = 0x00, TCR_COUNT_ENABLE = 0x01;
\r
390 /* This function configures a timer that is used as the time base when
\r
391 collecting run time statistical information - basically the percentage
\r
392 of CPU time that each task is utilising. It is called automatically when
\r
393 the scheduler is started (assuming configGENERATE_RUN_TIME_STATS is set
\r
396 /* Power up and feed the timer. */
\r
397 LPC_SC->PCONP |= 0x02UL;
\r
398 LPC_SC->PCLKSEL0 = (LPC_SC->PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
\r
400 /* Reset Timer 0 */
\r
401 LPC_TIM0->TCR = TCR_COUNT_RESET;
\r
403 /* Just count up. */
\r
404 LPC_TIM0->CTCR = CTCR_CTM_TIMER;
\r
406 /* Prescale to a frequency that is good enough to get a decent resolution,
\r
407 but not too fast so as to overflow all the time. */
\r
408 LPC_TIM0->PR = ( configCPU_CLOCK_HZ / 10000UL ) - 1UL;
\r
410 /* Start the counter. */
\r
411 LPC_TIM0->TCR = TCR_COUNT_ENABLE;
\r
413 /*-----------------------------------------------------------*/
\r