2 FreeRTOS.org V4.7.0 - Copyright (C) 2003-2007 Richard Barry.
\r
4 This file is part of the FreeRTOS distribution.
\r
6 FreeRTOS is free software; you can redistribute it and/or modify
\r
7 it under the terms of the GNU General Public License as published by
\r
8 the Free Software Foundation; either version 2 of the License, or
\r
9 (at your option) any later version.
\r
11 FreeRTOS is distributed in the hope that it will be useful,
\r
12 but WITHOUT ANY WARRANTY; without even the implied warranty of
\r
13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
\r
14 GNU General Public License for more details.
\r
16 You should have received a copy of the GNU General Public License
\r
17 along with FreeRTOS; if not, write to the Free Software
\r
18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
\r
20 A special exception to the GPL can be applied should you wish to distribute
\r
21 a combined work that includes FreeRTOS, without being obliged to provide
\r
22 the source code for any proprietary components. See the licensing section
\r
23 of http://www.FreeRTOS.org for full details of how and when the exception
\r
26 ***************************************************************************
\r
27 See http://www.FreeRTOS.org for documentation, latest information, license
\r
28 and contact details. Please ensure to read the configuration and relevant
\r
29 port sections of the online documentation.
\r
31 Also see http://www.SafeRTOS.com a version that has been certified for use
\r
32 in safety critical systems, plus commercial licensing, development and
\r
34 ***************************************************************************
\r
38 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
\r
39 The processor MUST be in supervisor mode when vTaskStartScheduler is
\r
40 called. The demo applications included in the FreeRTOS.org download switch
\r
41 to supervisor mode prior to main being called. If you are not using one of
\r
42 these demo application projects then ensure Supervisor mode is used.
\r
46 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
47 * documentation provides more details of the demo application tasks.
\r
49 * A few tasks are created that are not part of the standard demo. These are
\r
50 * the 'LCD' task, the 'LCD Message' task, a WEB server task and the 'Check'
\r
53 * The LCD task is the only task that accesses the LCD directly, so mutual
\r
54 * exclusion is ensured. Any task wishing to display text sends the LCD task
\r
55 * a message containing a pointer to the string that should be displayed.
\r
56 * The LCD task itself just blocks on a queue waiting for such a message to
\r
57 * arrive - processing each in turn.
\r
59 * The LCD Message task does nothing other than periodically send messages to
\r
60 * the LCD task. The messages originating from the LCD Message task are
\r
61 * displayed on the top row of the LCD.
\r
63 * The Check task only executes every three seconds but has the highest
\r
64 * priority so is guaranteed to get processor time. Its main function is to
\r
65 * check that all the other tasks are still operational. Most tasks maintain
\r
66 * a unique count that is incremented each time the task successfully completes
\r
67 * a cycle of its function. Should any error occur within such a task the
\r
68 * count is permanently halted. The check task sets a bit in an error status
\r
69 * flag should it find any counter variable at a value that indicates an
\r
70 * error has occurred. The error flag value is converted to a string and sent
\r
71 * to the LCD task for display on the bottom row on the LCD.
\r
74 /* Standard includes. */
\r
77 /* Library includes. */
\r
78 #include "91x_lib.h"
\r
80 /* Scheduler includes. */
\r
81 #include "FreeRTOS.h"
\r
85 /* Demo application includes. */
\r
88 #include "integer.h"
\r
91 #include "semtest.h"
\r
92 #include "dynamic.h"
\r
93 #include "partest.h"
\r
95 #include "comtest2.h"
\r
97 #include "GenQTest.h"
\r
101 #include "BasicWEB.h"
\r
105 /* Priorities for the demo application tasks. */
\r
106 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
107 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
108 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
\r
109 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
110 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
111 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
112 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
113 #define mainMSG_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
114 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
\r
116 /* Delays used by the various tasks defined in this file. */
\r
117 #define mainCHECK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
\r
118 #define mainSTRING_WRITE_DELAY ( 500 / portTICK_RATE_MS )
\r
119 #define mainLCD_DELAY ( 20 / portTICK_RATE_MS )
\r
121 /* Constants for the ComTest tasks. */
\r
122 #define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 115200 )
\r
123 #define mainCOM_TEST_LED ( 3 )
\r
125 /* The maximum number of messages that can be pending to be written to the LCD. */
\r
126 #define mainLCD_QUEUE_LEN ( 6 )
\r
128 /* Dimension the buffer used to write the error flag string. */
\r
129 #define mainMAX_FLAG_STRING_LEN ( 32 )
\r
131 /* The structure that is passed on the LCD message queue. */
\r
134 portCHAR **ppcMessageToDisplay; /*<< Points to a char* pointing to the message to display. */
\r
135 portBASE_TYPE xRow; /*<< The row on which the message should be displayed. */
\r
137 /*-----------------------------------------------------------*/
\r
140 * The task that executes at the highest priority and calls
\r
141 * prvCheckOtherTasksAreStillRunning(). See the description at the top
\r
144 static void vErrorChecks( void *pvParameters );
\r
147 * Configure the processor clock and ports.
\r
149 static void prvSetupHardware( void );
\r
152 * Checks that all the demo application tasks are still executing without error
\r
153 * - as described at the top of the file. Called by vErrorChecks().
\r
155 static void prvCheckOtherTasksAreStillRunning( void );
\r
159 * The WEB server task prototype. The task is created in this file but defined
\r
160 * elsewhere. STACK_UIP is defined when the uIP stack is used in preference
\r
161 * to the lwIP stack.
\r
163 extern void vuIP_Task(void *pvParameters);
\r
167 * The task that displays text on the LCD.
\r
169 static void prvLCDTask( void * pvParameters );
\r
172 * The task that sends messages to be displayed on the top row of the LCD.
\r
174 static void prvLCDMessageTask( void * pvParameters );
\r
176 /*-----------------------------------------------------------*/
\r
178 /* The queue used to pass messages to the LCD task. */
\r
179 static xQueueHandle xLCDQueue;
\r
181 /* Error status flag. */
\r
182 static unsigned portLONG ulErrorFlags = 0;
\r
184 /*-----------------------------------------------------------*/
\r
187 * Starts all the other tasks, then starts the scheduler.
\r
195 /* Setup any hardware that has not already been configured by the low
\r
196 level init routines. */
\r
197 prvSetupHardware();
\r
198 /* Create the queue used to send data to the LCD task. */
\r
199 xLCDQueue = xQueueCreate( mainLCD_QUEUE_LEN, sizeof( xLCDMessage ) );
\r
201 /* Start all the standard demo application tasks. */
\r
202 vStartIntegerMathTasks( tskIDLE_PRIORITY );
\r
203 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
\r
204 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
205 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
206 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
207 vStartDynamicPriorityTasks();
\r
208 vStartMathTasks( tskIDLE_PRIORITY );
\r
209 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
\r
210 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
\r
211 vStartQueuePeekTasks();
\r
213 /* Start the tasks which are defined in this file. */
\r
214 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
\r
215 xTaskCreate( prvLCDTask, "LCD", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainLCD_TASK_PRIORITY, NULL );
\r
216 xTaskCreate( prvLCDMessageTask, "MSG", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainMSG_TASK_PRIORITY, NULL );
\r
218 /* Start either the uIP TCP/IP stack or the lwIP TCP/IP stack. */
\r
220 /* Finally, create the WEB server task. */
\r
221 xTaskCreate( vuIP_Task, "uIP", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
\r
225 /* Create the lwIP task. This uses the lwIP RTOS abstraction layer.*/
\r
227 sys_set_state( ( signed portCHAR * ) "httpd", lwipBASIC_SERVER_STACK_SIZE );
\r
228 sys_thread_new( vBasicWEBServer, ( void * ) NULL, basicwebWEBSERVER_PRIORITY );
\r
229 sys_set_default_state();
\r
232 /* Start the scheduler.
\r
234 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
\r
235 The processor MUST be in supervisor mode when vTaskStartScheduler is
\r
236 called. The demo applications included in the FreeRTOS.org download switch
\r
237 to supervisor mode prior to main being called. If you are not using one of
\r
238 these demo application projects then ensure Supervisor mode is used here. */
\r
240 vTaskStartScheduler();
\r
242 /* We should never get here as control is now taken by the scheduler. */
\r
245 /*-----------------------------------------------------------*/
\r
247 static void prvSetupHardware( void )
\r
249 /* Configuration taken from the ST code.
\r
251 Set Flash banks size & address */
\r
252 FMI_BankRemapConfig( 4, 2, 0, 0x80000 );
\r
254 /* FMI Waite States */
\r
255 FMI_Config( FMI_READ_WAIT_STATE_2, FMI_WRITE_WAIT_STATE_0, FMI_PWD_ENABLE, FMI_LVD_ENABLE, FMI_FREQ_HIGH );
\r
257 /* Configure the FPLL = 96MHz, and APB to 48MHz. */
\r
258 SCU_PCLKDivisorConfig( SCU_PCLK_Div2 );
\r
259 SCU_PLLFactorsConfig( 192, 25, 2 );
\r
260 SCU_PLLCmd( ENABLE );
\r
261 SCU_MCLKSourceConfig( SCU_MCLK_PLL );
\r
263 WDG_Cmd( DISABLE );
\r
266 /* GPIO8 clock source enable, used by the LCD. */
\r
267 SCU_APBPeriphClockConfig(__GPIO8, ENABLE);
\r
268 GPIO_DeInit(GPIO8);
\r
270 /* GPIO 9 clock source enable, used by the LCD. */
\r
271 SCU_APBPeriphClockConfig(__GPIO9, ENABLE);
\r
272 GPIO_DeInit(GPIO9);
\r
274 /* Enable VIC clock */
\r
275 SCU_AHBPeriphClockConfig(__VIC, ENABLE);
\r
276 SCU_AHBPeriphReset(__VIC, DISABLE);
\r
278 /* Peripheral initialisation. */
\r
279 vParTestInitialise();
\r
281 /*-----------------------------------------------------------*/
\r
283 static void vErrorChecks( void *pvParameters )
\r
285 static portCHAR cCheckVal[ mainMAX_FLAG_STRING_LEN ];
\r
286 portCHAR *pcFlagString;
\r
287 xLCDMessage xMessageToSend;
\r
288 portTickType xLastWakeTime;
\r
289 portCHAR *pcStringsToDisplay[] = {
\r
290 "Check status flag"
\r
293 /* The parameters are not used in this task. */
\r
294 ( void ) pvParameters;
\r
296 pcFlagString = &cCheckVal[ 0 ];
\r
298 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
\r
299 functions correctly. */
\r
300 xLastWakeTime = xTaskGetTickCount();
\r
302 /* Cycle for ever, delaying then checking all the other tasks are still
\r
303 operating without error. */
\r
306 /* Delay until it is time to execute again. */
\r
307 vTaskDelayUntil( &xLastWakeTime, mainCHECK_PERIOD );
\r
309 /* Check all the other tasks to see if the error flag needs updating. */
\r
310 prvCheckOtherTasksAreStillRunning();
\r
312 /* Create a string indicating the error flag status. */
\r
313 sprintf( cCheckVal, "equals 0x%x ", ulErrorFlags );
\r
314 xMessageToSend.xRow = Line2;
\r
316 /* Send the first part of the message to the LCD task. */
\r
317 xMessageToSend.ppcMessageToDisplay = &pcStringsToDisplay[ 0 ];
\r
318 xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 );
\r
319 vTaskDelay( mainSTRING_WRITE_DELAY );
\r
321 /* Send the second part of the message to the LCD task. */
\r
322 xMessageToSend.ppcMessageToDisplay = &pcFlagString;
\r
323 xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 );
\r
326 /*-----------------------------------------------------------*/
\r
328 static void prvCheckOtherTasksAreStillRunning( void )
\r
330 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
332 ulErrorFlags |= 0x01;
\r
335 if( xArePollingQueuesStillRunning() != pdTRUE )
\r
337 ulErrorFlags |= 0x02;
\r
340 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
342 ulErrorFlags |= 0x04;
\r
345 if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
347 ulErrorFlags |= 0x08;
\r
350 if( xAreComTestTasksStillRunning() != pdTRUE )
\r
352 ulErrorFlags |= 0x10;
\r
355 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
\r
357 ulErrorFlags |= 0x20;
\r
360 if( xAreMathsTaskStillRunning() != pdTRUE )
\r
362 ulErrorFlags |= 0x40;
\r
365 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
367 ulErrorFlags |= 0x80;
\r
370 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
\r
372 ulErrorFlags |= 0x100;
\r
376 /*-----------------------------------------------------------*/
\r
378 static void prvLCDMessageTask( void * pvParameters )
\r
380 xQueueHandle *pxLCDQueue;
\r
381 xLCDMessage xMessageToSend;
\r
382 portBASE_TYPE xIndex = 0;
\r
384 /* The strings that are written to the LCD. */
\r
385 portCHAR *pcStringsToDisplay[] = {
\r
389 "www.FreeRTOS.org",
\r
394 /* To test the parameter passing mechanism, the queue on which messages are
\r
395 posted is passed in as a parameter even though it is available as a file
\r
396 scope variable anyway. */
\r
397 pxLCDQueue = ( xQueueHandle * ) pvParameters;
\r
401 /* Wait until it is time to move onto the next string. */
\r
402 vTaskDelay( mainSTRING_WRITE_DELAY );
\r
404 /* Configure the message object to send to the LCD task. */
\r
405 xMessageToSend.ppcMessageToDisplay = &pcStringsToDisplay[ xIndex ];
\r
406 xMessageToSend.xRow = Line1;
\r
408 /* Post the message to be displayed. */
\r
409 xQueueSend( *pxLCDQueue, ( void * ) &xMessageToSend, 0 );
\r
411 /* Move onto the next message, wrapping when necessary. */
\r
413 if( *( pcStringsToDisplay[ xIndex ] ) == 0x00 )
\r
417 /* Delay longer before going back to the start of the messages. */
\r
418 vTaskDelay( mainSTRING_WRITE_DELAY * 2 );
\r
422 /*-----------------------------------------------------------*/
\r
424 void prvLCDTask( void * pvParameters )
\r
426 xQueueHandle *pxLCDQueue;
\r
427 xLCDMessage xReceivedMessage;
\r
428 portCHAR *pcString;
\r
430 /* To test the parameter passing mechanism, the queue on which messages are
\r
431 received is passed in as a parameter even though it is available as a file
\r
432 scope variable anyway. */
\r
433 pxLCDQueue = ( xQueueHandle * ) pvParameters;
\r
439 /* Wait for a message to arrive. */
\r
440 if( xQueueReceive( *pxLCDQueue, &xReceivedMessage, portMAX_DELAY ) )
\r
442 /* Where is the string we are going to display? */
\r
443 pcString = *xReceivedMessage.ppcMessageToDisplay;
\r
444 LCD_DisplayString(xReceivedMessage.xRow, pcString, BlackText);
\r
446 /* The delay here is just to ensure the LCD task does not starve
\r
447 out lower priority tasks as writing to the LCD can take a long
\r
449 vTaskDelay( mainLCD_DELAY );
\r
453 /*-----------------------------------------------------------*/
\r