2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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69 * Creates all the demo application tasks, then starts the scheduler. The WEB
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70 * documentation provides more details of the standard demo application tasks
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71 * (which just exist to test the kernel port and provide an example of how to use
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72 * each FreeRTOS API function).
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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 * "Check" task - This only executes every five seconds but has the highest
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78 * priority so is guaranteed to get processor time. Its main function is to
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79 * check that all the standard demo tasks are still operational. The check task
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80 * will toggle LED 3 (PB11) every five seconds so long as no errors have been
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81 * detected. The toggle rate will increase to half a second if an error has
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82 * been found in any task.
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84 * "Echo" task - This is a very basic task that simply echoes any characters
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85 * received on COM0 (USART1). This can be tested by transmitting a text file
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86 * from a dumb terminal to the STM32 USART then observing or capturing the text
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87 * that is echoed back. Missing characters will be all the more obvious if the
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88 * file contains a simple repeating string of fixed width.
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90 * Currently this demo does not include interrupt nesting examples. High
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91 * frequency timer and simpler nesting examples can be found in most Cortex-M3
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92 * demo applications.
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94 * The functions used to initialise, set and clear LED outputs are normally
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95 * defined in partest.c. This demo includes two partest files, one that is
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96 * configured for use with the Keil MCBSTM32 evaluation board (called
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97 * ParTest_MCBSTM32.c) and one that is configured for use with the official
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98 * ST Eval board (called ParTest_ST_Eval.c). One one of these files should be
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99 * included in the build at any one time, as appropriate for the hardware
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100 * actually being used.
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103 /* Standard includes. */
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104 #include <string.h>
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106 /* Scheduler includes. */
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107 #include "FreeRTOS.h"
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111 /* Library includes. */
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112 #include "stm32f10x_it.h"
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114 /* Demo app includes. */
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115 #include "BlockQ.h"
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116 #include "integer.h"
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118 #include "partest.h"
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119 #include "semtest.h"
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120 #include "GenQTest.h"
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122 #include "recmutex.h"
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124 /* Driver includes. */
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125 #include "STM32_USART.h"
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128 /* The time between cycles of the 'check' task - which depends on whether the
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129 check task has detected an error or not. */
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130 #define mainCHECK_DELAY_NO_ERROR ( ( portTickType ) 5000 / portTICK_RATE_MS )
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131 #define mainCHECK_DELAY_ERROR ( ( portTickType ) 500 / portTICK_RATE_MS )
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133 /* The LED controlled by the 'check' task. */
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134 #define mainCHECK_LED ( 3 )
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136 /* Task priorities. */
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137 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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138 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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139 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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140 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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141 #define mainECHO_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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142 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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143 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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145 /* COM port and baud rate used by the echo task. */
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146 #define mainCOM0 ( 0 )
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147 #define mainBAUD_RATE ( 115200 )
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149 /*-----------------------------------------------------------*/
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152 * Configure the hardware for the demo.
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154 static void prvSetupHardware( void );
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156 /* The 'check' task as described at the top of this file. */
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157 static void prvCheckTask( void *pvParameters );
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159 /* A simple task that echoes all the characters that are received on COM0
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161 static void prvUSARTEchoTask( void *pvParameters );
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163 /*-----------------------------------------------------------*/
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171 /* Set up the clocks and memory interface. */
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172 prvSetupHardware();
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174 /* Start the standard demo tasks. These are just here to exercise the
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175 kernel port and provide examples of how the FreeRTOS API can be used. */
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176 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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177 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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178 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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179 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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180 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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181 vStartQueuePeekTasks();
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182 vStartRecursiveMutexTasks();
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184 /* Create the 'echo' task, which is also defined within this file. */
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185 xTaskCreate( prvUSARTEchoTask, ( signed char * ) "Echo", configMINIMAL_STACK_SIZE, NULL, mainECHO_TASK_PRIORITY, NULL );
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187 /* Create the 'check' task, which is also defined within this file. */
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188 xTaskCreate( prvCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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190 /* Start the scheduler. */
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191 vTaskStartScheduler();
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193 /* Will only get here if there was insufficient memory to create the idle
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194 task. The idle task is created within vTaskStartScheduler(). */
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197 /*-----------------------------------------------------------*/
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199 /* Described at the top of this file. */
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200 static void prvCheckTask( void *pvParameters )
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202 portTickType xLastExecutionTime;
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203 unsigned long ulTicksToWait = mainCHECK_DELAY_NO_ERROR;
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205 /* Just to remove the compiler warning about the unused parameter. */
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206 ( void ) pvParameters;
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208 /* Initialise the variable used to control our iteration rate prior to
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210 xLastExecutionTime = xTaskGetTickCount();
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214 /* Wait until it is time to run the tests again. */
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215 vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
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217 /* Has an error been found in any task? */
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218 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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220 /* Reduce the time between cycles of this task - which has the
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221 effect of increasing the rate at which the 'check' LED toggles to
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222 indicate the existence of an error to an observer. */
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223 ulTicksToWait = mainCHECK_DELAY_ERROR;
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225 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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227 ulTicksToWait = mainCHECK_DELAY_ERROR;
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229 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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231 ulTicksToWait = mainCHECK_DELAY_ERROR;
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233 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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235 ulTicksToWait = mainCHECK_DELAY_ERROR;
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237 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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239 ulTicksToWait = mainCHECK_DELAY_ERROR;
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241 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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243 ulTicksToWait = mainCHECK_DELAY_ERROR;
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246 vParTestToggleLED( mainCHECK_LED );
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249 /*-----------------------------------------------------------*/
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251 /* Described at the top of this file. */
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252 static void prvUSARTEchoTask( void *pvParameters )
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256 /* String declared static to ensure it does not end up on the stack, no matter
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257 what the optimisation level. */
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258 static const char *pcLongishString =
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259 "ABBA was a Swedish pop music group formed in Stockholm in 1972, consisting of Anni-Frid Frida Lyngstad, "
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260 "Björn Ulvaeus, Benny Andersson and Agnetha Fältskog. Throughout the band's existence, Fältskog and Ulvaeus "
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261 "were a married couple, as were Lyngstad and Andersson - although both couples later divorced. They became one "
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262 "of the most commercially successful acts in the history of popular music, and they topped the charts worldwide "
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263 "from 1972 to 1983. ABBA gained international popularity employing catchy song hooks, simple lyrics, sound "
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264 "effects (reverb, phasing) and a Wall of Sound achieved by overdubbing the female singers' voices in multiple "
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265 "harmonies. As their popularity grew, they were sought after to tour Europe, Australia, and North America, drawing "
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266 "crowds of ardent fans, notably in Australia. Touring became a contentious issue, being particularly cumbersome for "
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267 "Fältskog, but they continued to release studio albums to widespread commercial success. At the height of their "
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268 "popularity, however, both relationships began suffering strain that led ultimately to the collapse of first the "
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269 "Ulvaeus-Fältskog marriage (in 1979) and then of the Andersson-Lyngstad marriage in 1981. In the late 1970s and early "
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270 "1980s these relationship changes began manifesting in the group's music, as they produced more thoughtful, "
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271 "introspective lyrics with different compositions.";
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273 /* Just to avoid compiler warnings. */
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274 ( void ) pvParameters;
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276 /* Initialise COM0, which is USART1 according to the STM32 libraries. */
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277 lCOMPortInit( mainCOM0, mainBAUD_RATE );
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279 /* Try sending out a string all in one go, as a very basic test of the
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280 lSerialPutString() function. */
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281 lSerialPutString( mainCOM0, pcLongishString, strlen( pcLongishString ) );
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285 /* Block to wait for a character to be received on COM0. */
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286 xSerialGetChar( mainCOM0, &cChar, portMAX_DELAY );
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288 /* Write the received character back to COM0. */
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289 xSerialPutChar( mainCOM0, cChar, 0 );
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292 /*-----------------------------------------------------------*/
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294 static void prvSetupHardware( void )
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296 /* RCC system reset(for debug purpose). */
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300 RCC_HSEConfig( RCC_HSE_ON );
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302 /* Wait till HSE is ready. */
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303 while (RCC_GetFlagStatus(RCC_FLAG_HSERDY) == RESET);
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305 /* HCLK = SYSCLK. */
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306 RCC_HCLKConfig( RCC_SYSCLK_Div1 );
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308 /* PCLK2 = HCLK. */
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309 RCC_PCLK2Config( RCC_HCLK_Div1 );
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311 /* PCLK1 = HCLK/2. */
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312 RCC_PCLK1Config( RCC_HCLK_Div2 );
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314 /* ADCCLK = PCLK2/4. */
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315 RCC_ADCCLKConfig( RCC_PCLK2_Div4 );
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317 /* Flash 2 wait state. */
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318 *( volatile unsigned long * )0x40022000 = 0x01;
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320 /* PLLCLK = 8MHz * 9 = 72 MHz */
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321 RCC_PLLConfig( RCC_PLLSource_HSE_Div1, RCC_PLLMul_9 );
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324 RCC_PLLCmd( ENABLE );
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326 /* Wait till PLL is ready. */
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327 while (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET);
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329 /* Select PLL as system clock source. */
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330 RCC_SYSCLKConfig (RCC_SYSCLKSource_PLLCLK);
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332 /* Wait till PLL is used as system clock source. */
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333 while (RCC_GetSYSCLKSource() != 0x08);
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335 /* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
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336 RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
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337 | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );
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339 /* Set the Vector Table base address at 0x08000000. */
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340 NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );
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342 NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
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344 /* Configure HCLK clock as SysTick clock source. */
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345 SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
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347 /* Initialise the IO used for the LED outputs. */
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348 vParTestInitialise();
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350 /* SPI2 Periph clock enable */
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351 RCC_APB1PeriphClockCmd( RCC_APB1Periph_SPI2, ENABLE );
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353 /*-----------------------------------------------------------*/
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355 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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357 /* This function will get called if a task overflows its stack. If the
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358 parameters are corrupt then inspect pxCurrentTCB to find which was the
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362 ( void ) pcTaskName;
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366 /*-----------------------------------------------------------*/
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368 void assert_failed( unsigned char *pucFile, unsigned long ulLine )
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