2 FreeRTOS V8.0.0:rc1 - Copyright (C) 2014 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 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /******************************************************************************
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67 * NOTE 1: This project provides two demo applications. A simple blinky style
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68 * project, and a more comprehensive test and demo application that makes use of
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69 * the FreeRTOS+CLI, FreeRTOS+UDP and FreeRTOS+FAT SL components. The
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70 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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71 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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72 * in main.c. This file implements the comprehensive test and demo version,
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73 * which is fully documented on the following URL:
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74 * http://www.FreeRTOS.org/Atmel_SAM4E_RTOS_Demo.html
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76 * NOTE 2: This file only contains the source code that is specific to the
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77 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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78 * required to configure the hardware, are defined in main.c.
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79 ******************************************************************************
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81 * Full user instructions are provided on the following URL:
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82 * http://www.FreeRTOS.org/Atmel_SAM4E_RTOS_Demo.html
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85 * + Uses FreeRTOS+FAT SL to create a set of example files on a RAM disk.
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86 * + Displays some bitmaps on the LCD.
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87 * + Registers sample generic, file system related and UDP related commands
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88 * with FreeRTOS+CLI.
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89 * + Creates all the standard demo application tasks and software timers.
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90 * + Starts the scheduler.
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92 * A UDP command server and optionally two UDP echo client tasks are created
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93 * from the network event hook after an IP address has been obtained. The IP
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94 * address is displayed on the LCD.
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96 * A "check software timer" is created to provide visual feedback of the system
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97 * status. The timer's period is initially set to three seconds. The callback
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98 * function associated with the timer checks all the standard demo tasks are not
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99 * only still executed, but are executing without reporting any errors. If the
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100 * timer discovers a task has either stalled, or reported an error, then it
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101 * changes its own period from the initial three seconds, to just 200ms. The
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102 * check software timer also toggles the LED marked D4 - so if the LED toggles
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103 * every three seconds then no potential errors have been found, and if the LED
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104 * toggles every 200ms then a potential error has been found in at least one
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107 * Information on accessing the CLI and file system, and using the UDP echo
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108 * tasks is provided on http://www.FreeRTOS.org/Atmel_SAM4E_RTOS_Demo.html
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112 /* FreeRTOS includes. */
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113 #include "FreeRTOS.h"
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115 #include "timers.h"
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117 /* FreeRTOS+UDP includes. */
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118 #include "FreeRTOS_UDP_IP.h"
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119 #include "FreeRTOS_Sockets.h"
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121 /* UDP demo includes. */
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122 #include "UDPCommandInterpreter.h"
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123 #include "TwoEchoClients.h"
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125 /* Standard demo includes. */
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126 #include "partest.h"
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127 #include "blocktim.h"
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128 #include "flash_timer.h"
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129 #include "semtest.h"
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130 #include "GenQTest.h"
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132 #include "IntQueue.h"
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133 #include "countsem.h"
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134 #include "dynamic.h"
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135 #include "QueueOverwrite.h"
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136 #include "QueueSet.h"
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137 #include "recmutex.h"
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139 /* The period after which the check timer will expire, in ms, provided no errors
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140 have been reported by any of the standard demo tasks. ms are converted to the
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141 equivalent in ticks using the portTICK_RATE_MS constant. */
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142 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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144 /* The period at which the check timer will expire, in ms, if an error has been
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145 reported in one of the standard demo tasks. ms are converted to the equivalent
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146 in ticks using the portTICK_RATE_MS constant. */
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147 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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149 /* The priorities of the various demo application tasks. */
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150 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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151 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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152 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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153 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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154 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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155 #define mainQUEUE_OVERWRITE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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157 /* The LED controlled by the 'check' software timer. */
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158 #define mainCHECK_LED ( 2 )
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160 /* The number of LEDs that should be controlled by the flash software timer
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161 standard demo. In this case it is only 1 as the starter kit has three LEDs, one
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162 of which is controlled by the check timer and one of which is controlled by the
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163 ISR triggered task. */
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164 #define mainNUM_FLASH_TIMER_LEDS ( 1 )
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167 #define mainDONT_BLOCK ( 0 )
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169 /* Note: If the application is started without the network cable plugged in
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170 then ipconfigUDP_TASK_PRIORITY should be set to 0 in FreeRTOSIPConfig.h to
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171 ensure the IP task is created at the idle priority. This is because the Atmel
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172 ASF GMAC driver polls the GMAC looking for a connection, and doing so will
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173 prevent any lower priority tasks from executing. In this demo the IP task is
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174 started at the idle priority, then set to configMAX_PRIORITIES - 2 in the
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175 network event hook only after a connection has been established (when the event
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176 passed into the network event hook is eNetworkUp).
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177 http://www.FreeRTOS.org/udp */
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178 #define mainCONNECTED_IP_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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179 #define mainDISCONNECTED_IP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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181 /* UDP command server task parameters. */
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182 #define mainUDP_CLI_TASK_PRIORITY ( tskIDLE_PRIORITY )
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183 #define mainUDP_CLI_PORT_NUMBER ( 5001UL )
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184 #define mainUDP_CLI_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2U )
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186 /* Set to 1 to include the UDP echo client tasks in the build. The echo clients
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187 require the IP address of the echo server to be defined using the
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188 configECHO_SERVER_ADDR0 to configECHO_SERVER_ADDR3 constants in
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189 FreeRTOSConfig.h. */
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190 #define mainINCLUDE_ECHO_CLIENT_TASKS 1
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192 /*-----------------------------------------------------------*/
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195 * The check timer callback function, as described at the top of this file.
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197 static void prvCheckTimerCallback( xTimerHandle xTimer );
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200 * Creates a set of sample files on a RAM disk. http://www.FreeRTOS.org/fat_sl
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202 extern void vCreateAndVerifySampleFiles( void );
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205 * Register sample generic commands that can be used with FreeRTOS+CLI. Type
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206 * 'help' in the command line to see a list of registered commands.
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207 * http://www.FreeRTOS.org/cli
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209 extern void vRegisterSampleCLICommands( void );
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212 * Register sample file system commands that can be used with FreeRTOS+CLI.
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214 extern void vRegisterFileSystemCLICommands( void );
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217 * Register sample UDP related commands that can be used with FreeRTOS+CLI.
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219 extern void vRegisterUDPCLICommands( void );
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222 * Initialise the LCD and output a bitmap.
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224 extern void vInitialiseLCD( void );
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226 /*-----------------------------------------------------------*/
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228 /* The default IP and MAC address used by the demo. The address configuration
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229 defined here will be used if ipconfigUSE_DHCP is 0, or if ipconfigUSE_DHCP is
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230 1 but a DHCP server could not be contacted. See the online documentation for
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231 more information. */
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232 static const uint8_t ucIPAddress[ 4 ] = { configIP_ADDR0, configIP_ADDR1, configIP_ADDR2, configIP_ADDR3 };
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233 static const uint8_t ucNetMask[ 4 ] = { configNET_MASK0, configNET_MASK1, configNET_MASK2, configNET_MASK3 };
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234 static const uint8_t ucGatewayAddress[ 4 ] = { configGATEWAY_ADDR0, configGATEWAY_ADDR1, configGATEWAY_ADDR2, configGATEWAY_ADDR3 };
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235 static const uint8_t ucDNSServerAddress[ 4 ] = { configDNS_SERVER_ADDR0, configDNS_SERVER_ADDR1, configDNS_SERVER_ADDR2, configDNS_SERVER_ADDR3 };
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237 /* The MAC address used by the demo. In production units the MAC address would
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238 probably be read from flash memory or an EEPROM. Here it is just hard coded.
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239 Note each node on a network must have a unique MAC address. */
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240 const uint8_t ucMACAddress[ 6 ] = { configMAC_ADDR0, configMAC_ADDR1, configMAC_ADDR2, configMAC_ADDR3, configMAC_ADDR4, configMAC_ADDR5 };
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242 /*-----------------------------------------------------------*/
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244 int main_full( void )
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246 xTimerHandle xTimer = NULL;
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248 /* Usage instructions on http://www.FreeRTOS.org/Atmel_SAM4E_RTOS_Demo.html */
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250 /* Initialise the LCD and output a bitmap. The IP address will also be
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251 displayed on the LCD when it has been obtained. */
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254 /* If the file system is only going to be accessed from one task then
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255 F_FS_THREAD_AWARE can be set to 0 and the set of example files are created
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256 before the RTOS scheduler is started. If the file system is going to be
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257 access from more than one task then F_FS_THREAD_AWARE must be set to 1 and
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258 the set of sample files are created from the idle task hook function
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259 vApplicationIdleHook(). */
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260 #if( F_FS_THREAD_AWARE == 0 )
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262 /* Initialise the drive and file system, then create a few example
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263 files. The files can be viewed and accessed via the CLI. View the
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264 documentation page for this demo (link at the top of this file) for more
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266 vCreateAndVerifySampleFiles();
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270 /* Register example generic, file system related and UDP related CLI
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271 commands respectively. Type 'help' into the command console to view a list
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272 of registered commands. */
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273 vRegisterSampleCLICommands();
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274 vRegisterFileSystemCLICommands();
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275 vRegisterUDPCLICommands();
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277 /* Initialise the network interface. Tasks that use the network are
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278 created in the network event hook when the network is connected and ready
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279 for use. The address values passed in here are used if ipconfigUSE_DHCP is
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280 set to 0, or if ipconfigUSE_DHCP is set to 1 but a DHCP server cannot be
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281 contacted. The IP address actually used is displayed on the LCD (after DHCP
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282 has completed if DHCP is used). */
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283 FreeRTOS_IPInit( ucIPAddress, ucNetMask, ucGatewayAddress, ucDNSServerAddress, ucMACAddress );
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285 /* Create all the other standard demo tasks. */
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286 vStartLEDFlashTimers( mainNUM_FLASH_TIMER_LEDS );
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287 vCreateBlockTimeTasks();
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288 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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289 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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290 vStartQueuePeekTasks();
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291 vStartCountingSemaphoreTasks();
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292 vStartDynamicPriorityTasks();
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293 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_TASK_PRIORITY );
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294 vStartQueueSetTasks();
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295 vStartRecursiveMutexTasks();
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297 /* Create the software timer that performs the 'check' functionality, as
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298 described at the top of this file. */
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299 xTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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300 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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301 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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302 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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303 prvCheckTimerCallback ); /* The callback function that inspects the status of all the other tasks. */
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305 if( xTimer != NULL )
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307 xTimerStart( xTimer, mainDONT_BLOCK );
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310 /* Start the scheduler itself. */
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311 vTaskStartScheduler();
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313 /* If all is well, the scheduler will now be running, and the following line
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314 will never be reached. If the following line does execute, then there was
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315 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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316 to be created. See the memory management section on the FreeRTOS web site
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317 for more details. */
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320 /*-----------------------------------------------------------*/
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322 static void prvCheckTimerCallback( xTimerHandle xTimer )
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324 static long lChangedTimerPeriodAlready = pdFALSE;
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325 unsigned long ulErrorOccurred = pdFALSE;
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327 /* Avoid compiler warnings. */
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330 /* Have any of the standard demo tasks detected an error in their
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332 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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334 ulErrorOccurred |= ( 0x01UL << 3UL );
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336 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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338 ulErrorOccurred |= ( 0x01UL << 4UL );
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340 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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342 ulErrorOccurred |= ( 0x01UL << 5UL );
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344 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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346 ulErrorOccurred |= ( 0x01UL << 6UL );
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348 else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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350 ulErrorOccurred |= ( 0x01UL << 8UL );
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352 else if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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354 ulErrorOccurred |= ( 0x01UL << 9UL );
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356 else if( xIsQueueOverwriteTaskStillRunning() != pdTRUE )
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358 ulErrorOccurred |= ( 0x01UL << 10UL );
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360 else if( xAreQueueSetTasksStillRunning() != pdTRUE )
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362 ulErrorOccurred |= ( 0x01UL << 11UL );
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364 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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366 ulErrorOccurred |= ( 0x01UL << 12UL );
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369 if( ulErrorOccurred != pdFALSE )
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371 /* An error occurred. Increase the frequency at which the check timer
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372 toggles its LED to give visual feedback of the potential error
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374 if( lChangedTimerPeriodAlready == pdFALSE )
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376 lChangedTimerPeriodAlready = pdTRUE;
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378 /* This call to xTimerChangePeriod() uses a zero block time.
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379 Functions called from inside of a timer callback function must
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380 *never* attempt to block as to do so could impact other software
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382 xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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386 /* Toggle the LED to give visual feedback of the system status. The rate at
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387 which the LED toggles will increase to mainERROR_CHECK_TIMER_PERIOD_MS if a
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388 suspected error has been found in any of the standard demo tasks. */
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389 vParTestToggleLED( mainCHECK_LED );
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391 /*-----------------------------------------------------------*/
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393 /* Called by FreeRTOS+UDP when the network connects. */
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394 void vApplicationIPNetworkEventHook( eIPCallbackEvent_t eNetworkEvent )
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396 static long lTasksAlreadyCreated = pdFALSE;
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397 const unsigned long ulXCoord = 3, ulYCoord = 3, ulIPAddressOffset = 45;
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398 unsigned long ulIPAddress;
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399 char cIPAddress[ 20 ];
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401 /* Note: If the application is started without the network cable plugged in
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402 then ipconfigUDP_TASK_PRIORITY should be set to 0 in FreeRTOSIPConfig.h to
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403 ensure the IP task is created at the idle priority. This is because the Atmel
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404 ASF GMAC driver polls the GMAC looking for a connection, and doing so will
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405 prevent any lower priority tasks from executing. In this demo the IP task is
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406 started at the idle priority, then set to configMAX_PRIORITIES - 2 in the
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407 network event hook only after a connection has been established (when the event
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408 passed into the network event hook is eNetworkUp). */
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409 if( eNetworkEvent == eNetworkUp )
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411 /* Ensure tasks are only created once. */
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412 if( lTasksAlreadyCreated == pdFALSE )
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414 /* Create the task that handles the CLI on a UDP port. The port
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415 number is set using the configUDP_CLI_PORT_NUMBER setting in
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416 FreeRTOSConfig.h. */
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417 vStartUDPCommandInterpreterTask( mainUDP_CLI_TASK_STACK_SIZE, mainUDP_CLI_PORT_NUMBER, mainUDP_CLI_TASK_PRIORITY );
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419 #if( mainINCLUDE_ECHO_CLIENT_TASKS == 1 )
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421 /* Create the UDP echo tasks. The UDP echo tasks require the IP
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422 address of the echo server to be defined using the
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423 configECHO_SERVER_ADDR0 to configECHO_SERVER_ADDR3 constants in
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424 FreeRTOSConfig.h. */
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425 vStartEchoClientTasks( configMINIMAL_STACK_SIZE, tskIDLE_PRIORITY );
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430 /* Obtain the IP address, convert it to a string, then display it on the
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432 FreeRTOS_GetAddressConfiguration( &ulIPAddress, NULL, NULL, NULL );
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433 FreeRTOS_inet_ntoa( ulIPAddress, cIPAddress );
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434 ili93xx_draw_string( ulXCoord, ulYCoord, ( uint8_t * ) "IP: " );
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435 ili93xx_draw_string( ulXCoord + ulIPAddressOffset, ulYCoord, ( uint8_t * ) cIPAddress );
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437 /* Set the priority of the IP task up to the desired priority now it has
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439 vTaskPrioritySet( NULL, mainCONNECTED_IP_TASK_PRIORITY );
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442 /* NOTE: At the time of writing the Ethernet driver does not report the
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443 cable being unplugged - so the following if() condition will never be met.
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444 It is included for possible future updates to the driver. */
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445 if( eNetworkEvent == eNetworkDown )
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447 /* Ensure the Atmel GMAC drivers don't hog all the CPU time as they look
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448 for a new connection by lowering the priority of the IP task to that of
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450 vTaskPrioritySet( NULL, tskIDLE_PRIORITY );
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452 /* Disconnected - so no IP address. */
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453 ili93xx_draw_string( ulXCoord, ulYCoord, ( uint8_t * ) "IP: " );
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456 /*-----------------------------------------------------------*/
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458 void vFullDemoIdleHook( void )
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460 /* If the file system is only going to be accessed from one task then
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461 F_FS_THREAD_AWARE can be set to 0 and the set of example files is created
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462 before the RTOS scheduler is started. If the file system is going to be
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463 access from more than one task then F_FS_THREAD_AWARE must be set to 1 and
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464 the set of sample files are created from the idle task hook function. */
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465 #if( F_FS_THREAD_AWARE == 1 )
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467 static portBASE_TYPE xCreatedSampleFiles = pdFALSE;
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469 /* Initialise the drive and file system, then create a few example
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470 files. The output from this function just goes to the stdout window,
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471 allowing the output to be viewed when the UDP command console is not
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473 if( xCreatedSampleFiles == pdFALSE )
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475 vCreateAndVerifySampleFiles();
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476 xCreatedSampleFiles = pdTRUE;
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481 /*-----------------------------------------------------------*/
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483 void vFullDemoTickHook( void )
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485 /* Call the periodic queue overwrite from ISR test function. */
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486 vQueueOverwritePeriodicISRDemo();
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488 /* Call the periodic queue set ISR test function. */
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489 vQueueSetAccessQueueSetFromISR();
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491 /*-----------------------------------------------------------*/
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493 /* Called automatically when a reply to an outgoing ping is received. */
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494 void vApplicationPingReplyHook( ePingReplyStatus_t eStatus, uint16_t usIdentifier )
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496 /* This demo has nowhere to output any information so does nothing, but the
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497 IP address resolved for the pined URL is displayed in the CLI. */
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498 ( void ) usIdentifier;
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501 /*-----------------------------------------------------------*/
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