2 FreeRTOS V7.5.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 mission critical applications that require provable dependability.
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66 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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67 The processor MUST be in supervisor mode when vTaskStartScheduler is
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68 called. The demo applications included in the FreeRTOS.org download switch
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69 to supervisor mode prior to main being called. If you are not using one of
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70 these demo application projects then ensure Supervisor mode is used.
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74 * Creates all the demo application tasks, then starts the scheduler. The WEB
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75 * documentation provides more details of the demo application tasks.
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77 * A few tasks are created that are not part of the standard demo. These are
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78 * the 'LCD' task, the 'LCD Message' task, a WEB server task and the 'Check'
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81 * The LCD task is the only task that accesses the LCD directly, so mutual
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82 * exclusion is ensured. Any task wishing to display text sends the LCD task
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83 * a message containing a pointer to the string that should be displayed.
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84 * The LCD task itself just blocks on a queue waiting for such a message to
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85 * arrive - processing each in turn.
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87 * The LCD Message task does nothing other than periodically send messages to
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88 * the LCD task. The messages originating from the LCD Message task are
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89 * displayed on the top row of the LCD.
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91 * The Check task only executes every three seconds but has the highest
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92 * priority so is guaranteed to get processor time. Its main function is to
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93 * check that all the other tasks are still operational. Most tasks maintain
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94 * a unique count that is incremented each time the task successfully completes
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95 * a cycle of its function. Should any error occur within such a task the
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96 * count is permanently halted. The check task sets a bit in an error status
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97 * flag should it find any counter variable at a value that indicates an
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98 * error has occurred. The error flag value is converted to a string and sent
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99 * to the LCD task for display on the bottom row on the LCD.
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102 /* Standard includes. */
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105 /* Library includes. */
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106 #include "91x_lib.h"
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108 /* Scheduler includes. */
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109 #include "FreeRTOS.h"
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113 /* Demo application includes. */
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116 #include "integer.h"
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118 #include "BlockQ.h"
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119 #include "semtest.h"
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120 #include "dynamic.h"
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121 #include "partest.h"
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123 #include "comtest2.h"
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124 #include "serial.h"
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125 #include "GenQTest.h"
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129 #include "BasicWEB.h"
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133 /* Priorities for the demo application tasks. */
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134 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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135 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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136 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
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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 mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
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140 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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141 #define mainMSG_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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142 #define mainGENERIC_QUEUE_PRIORITY ( tskIDLE_PRIORITY )
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144 /* Delays used by the various tasks defined in this file. */
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145 #define mainCHECK_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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146 #define mainSTRING_WRITE_DELAY ( 500 / portTICK_RATE_MS )
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147 #define mainLCD_DELAY ( 20 / portTICK_RATE_MS )
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149 /* Constants for the ComTest tasks. */
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150 #define mainCOM_TEST_BAUD_RATE ( ( unsigned long ) 115200 )
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151 #define mainCOM_TEST_LED ( 3 )
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153 /* The maximum number of messages that can be pending to be written to the LCD. */
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154 #define mainLCD_QUEUE_LEN ( 6 )
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156 /* Dimension the buffer used to write the error flag string. */
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157 #define mainMAX_FLAG_STRING_LEN ( 32 )
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159 /* The structure that is passed on the LCD message queue. */
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162 char **ppcMessageToDisplay; /*<< Points to a char* pointing to the message to display. */
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163 portBASE_TYPE xRow; /*<< The row on which the message should be displayed. */
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165 /*-----------------------------------------------------------*/
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168 * The task that executes at the highest priority and calls
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169 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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172 static void vErrorChecks( void *pvParameters );
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175 * Configure the processor clock and ports.
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177 static void prvSetupHardware( void );
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180 * Checks that all the demo application tasks are still executing without error
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181 * - as described at the top of the file. Called by vErrorChecks().
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183 static void prvCheckOtherTasksAreStillRunning( void );
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187 * The WEB server task prototype. The task is created in this file but defined
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188 * elsewhere. STACK_UIP is defined when the uIP stack is used in preference
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189 * to the lwIP stack.
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191 extern void vuIP_Task(void *pvParameters);
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195 * The task that displays text on the LCD.
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197 static void prvLCDTask( void * pvParameters );
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200 * The task that sends messages to be displayed on the top row of the LCD.
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202 static void prvLCDMessageTask( void * pvParameters );
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204 /*-----------------------------------------------------------*/
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206 /* The queue used to pass messages to the LCD task. */
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207 static xQueueHandle xLCDQueue;
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209 /* Error status flag. */
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210 static unsigned long ulErrorFlags = 0;
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212 /*-----------------------------------------------------------*/
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215 * Starts all the other tasks, then starts the scheduler.
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223 /* Setup any hardware that has not already been configured by the low
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224 level init routines. */
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225 prvSetupHardware();
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226 /* Create the queue used to send data to the LCD task. */
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227 xLCDQueue = xQueueCreate( mainLCD_QUEUE_LEN, sizeof( xLCDMessage ) );
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229 /* Start all the standard demo application tasks. */
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230 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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231 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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232 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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233 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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234 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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235 vStartDynamicPriorityTasks();
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236 vStartMathTasks( tskIDLE_PRIORITY );
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237 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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238 vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
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239 vStartQueuePeekTasks();
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241 /* Start the tasks which are defined in this file. */
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242 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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243 xTaskCreate( prvLCDTask, "LCD", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainLCD_TASK_PRIORITY, NULL );
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244 xTaskCreate( prvLCDMessageTask, "MSG", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainMSG_TASK_PRIORITY, NULL );
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246 /* Start either the uIP TCP/IP stack or the lwIP TCP/IP stack. */
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248 /* Finally, create the WEB server task. */
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249 xTaskCreate( vuIP_Task, "uIP", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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253 /* Create the lwIP task. This uses the lwIP RTOS abstraction layer.*/
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255 sys_set_state( ( signed char * ) "httpd", lwipBASIC_SERVER_STACK_SIZE );
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256 sys_thread_new( vBasicWEBServer, ( void * ) NULL, basicwebWEBSERVER_PRIORITY );
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257 sys_set_default_state();
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260 /* Start the scheduler.
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262 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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263 The processor MUST be in supervisor mode when vTaskStartScheduler is
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264 called. The demo applications included in the FreeRTOS.org download switch
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265 to supervisor mode prior to main being called. If you are not using one of
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266 these demo application projects then ensure Supervisor mode is used here. */
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268 vTaskStartScheduler();
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270 /* We should never get here as control is now taken by the scheduler. */
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273 /*-----------------------------------------------------------*/
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275 static void prvSetupHardware( void )
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277 /* Configuration taken from the ST code.
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279 Set Flash banks size & address */
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280 FMI_BankRemapConfig( 4, 2, 0, 0x80000 );
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282 /* FMI Waite States */
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283 FMI_Config( FMI_READ_WAIT_STATE_2, FMI_WRITE_WAIT_STATE_0, FMI_PWD_ENABLE, FMI_LVD_ENABLE, FMI_FREQ_HIGH );
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285 /* Configure the FPLL = 96MHz, and APB to 48MHz. */
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286 SCU_PCLKDivisorConfig( SCU_PCLK_Div2 );
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287 SCU_PLLFactorsConfig( 192, 25, 2 );
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288 SCU_PLLCmd( ENABLE );
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289 SCU_MCLKSourceConfig( SCU_MCLK_PLL );
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291 WDG_Cmd( DISABLE );
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294 /* GPIO8 clock source enable, used by the LCD. */
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295 SCU_APBPeriphClockConfig(__GPIO8, ENABLE);
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296 GPIO_DeInit(GPIO8);
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298 /* GPIO 9 clock source enable, used by the LCD. */
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299 SCU_APBPeriphClockConfig(__GPIO9, ENABLE);
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300 GPIO_DeInit(GPIO9);
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302 /* Enable VIC clock */
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303 SCU_AHBPeriphClockConfig(__VIC, ENABLE);
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304 SCU_AHBPeriphReset(__VIC, DISABLE);
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306 /* Peripheral initialisation. */
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307 vParTestInitialise();
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309 /*-----------------------------------------------------------*/
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311 static void vErrorChecks( void *pvParameters )
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313 static char cCheckVal[ mainMAX_FLAG_STRING_LEN ];
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314 char *pcFlagString;
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315 xLCDMessage xMessageToSend;
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316 portTickType xLastWakeTime;
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317 char *pcStringsToDisplay[] = {
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318 "Check status flag"
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321 /* The parameters are not used in this task. */
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322 ( void ) pvParameters;
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324 pcFlagString = &cCheckVal[ 0 ];
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326 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
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327 functions correctly. */
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328 xLastWakeTime = xTaskGetTickCount();
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330 /* Cycle for ever, delaying then checking all the other tasks are still
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331 operating without error. */
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334 /* Delay until it is time to execute again. */
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335 vTaskDelayUntil( &xLastWakeTime, mainCHECK_PERIOD );
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337 /* Check all the other tasks to see if the error flag needs updating. */
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338 prvCheckOtherTasksAreStillRunning();
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340 /* Create a string indicating the error flag status. */
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341 sprintf( cCheckVal, "equals 0x%x ", ulErrorFlags );
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342 xMessageToSend.xRow = Line2;
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344 /* Send the first part of the message to the LCD task. */
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345 xMessageToSend.ppcMessageToDisplay = &pcStringsToDisplay[ 0 ];
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346 xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 );
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347 vTaskDelay( mainSTRING_WRITE_DELAY );
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349 /* Send the second part of the message to the LCD task. */
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350 xMessageToSend.ppcMessageToDisplay = &pcFlagString;
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351 xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 );
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354 /*-----------------------------------------------------------*/
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356 static void prvCheckOtherTasksAreStillRunning( void )
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358 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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360 ulErrorFlags |= 0x01;
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363 if( xArePollingQueuesStillRunning() != pdTRUE )
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365 ulErrorFlags |= 0x02;
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368 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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370 ulErrorFlags |= 0x04;
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373 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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375 ulErrorFlags |= 0x08;
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378 if( xAreComTestTasksStillRunning() != pdTRUE )
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380 ulErrorFlags |= 0x10;
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383 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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385 ulErrorFlags |= 0x20;
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388 if( xAreMathsTaskStillRunning() != pdTRUE )
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390 ulErrorFlags |= 0x40;
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393 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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395 ulErrorFlags |= 0x80;
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398 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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400 ulErrorFlags |= 0x100;
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404 /*-----------------------------------------------------------*/
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406 static void prvLCDMessageTask( void * pvParameters )
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408 xQueueHandle *pxLCDQueue;
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409 xLCDMessage xMessageToSend;
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410 portBASE_TYPE xIndex = 0;
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412 /* The strings that are written to the LCD. */
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413 char *pcStringsToDisplay[] = {
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417 "www.FreeRTOS.org",
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422 /* To test the parameter passing mechanism, the queue on which messages are
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423 posted is passed in as a parameter even though it is available as a file
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424 scope variable anyway. */
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425 pxLCDQueue = ( xQueueHandle * ) pvParameters;
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429 /* Wait until it is time to move onto the next string. */
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430 vTaskDelay( mainSTRING_WRITE_DELAY );
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432 /* Configure the message object to send to the LCD task. */
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433 xMessageToSend.ppcMessageToDisplay = &pcStringsToDisplay[ xIndex ];
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434 xMessageToSend.xRow = Line1;
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436 /* Post the message to be displayed. */
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437 xQueueSend( *pxLCDQueue, ( void * ) &xMessageToSend, 0 );
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439 /* Move onto the next message, wrapping when necessary. */
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441 if( *( pcStringsToDisplay[ xIndex ] ) == 0x00 )
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445 /* Delay longer before going back to the start of the messages. */
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446 vTaskDelay( mainSTRING_WRITE_DELAY * 2 );
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450 /*-----------------------------------------------------------*/
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452 void prvLCDTask( void * pvParameters )
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454 xQueueHandle *pxLCDQueue;
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455 xLCDMessage xReceivedMessage;
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458 /* To test the parameter passing mechanism, the queue on which messages are
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459 received is passed in as a parameter even though it is available as a file
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460 scope variable anyway. */
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461 pxLCDQueue = ( xQueueHandle * ) pvParameters;
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467 /* Wait for a message to arrive. */
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468 if( xQueueReceive( *pxLCDQueue, &xReceivedMessage, portMAX_DELAY ) )
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470 /* Where is the string we are going to display? */
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471 pcString = *xReceivedMessage.ppcMessageToDisplay;
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472 LCD_DisplayString(xReceivedMessage.xRow, pcString, BlackText);
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474 /* The delay here is just to ensure the LCD task does not starve
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475 out lower priority tasks as writing to the LCD can take a long
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477 vTaskDelay( mainLCD_DELAY );
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481 /*-----------------------------------------------------------*/
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