2 FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 ***************************************************************************
\r
9 * FreeRTOS provides completely free yet professionally developed, *
\r
10 * robust, strictly quality controlled, supported, and cross *
\r
11 * platform software that has become a de facto standard. *
\r
13 * Help yourself get started quickly and support the FreeRTOS *
\r
14 * project by purchasing a FreeRTOS tutorial book, reference *
\r
15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
\r
19 ***************************************************************************
\r
21 This file is part of the FreeRTOS distribution.
\r
23 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
24 the terms of the GNU General Public License (version 2) as published by the
\r
25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
\r
27 >>! NOTE: The modification to the GPL is included to allow you to distribute
\r
28 >>! a combined work that includes FreeRTOS without being obliged to provide
\r
29 >>! the source code for proprietary components outside of the FreeRTOS
\r
32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
\r
35 link: http://www.freertos.org/a00114.html
\r
39 ***************************************************************************
\r
41 * Having a problem? Start by reading the FAQ "My application does *
\r
42 * not run, what could be wrong?" *
\r
44 * http://www.FreeRTOS.org/FAQHelp.html *
\r
46 ***************************************************************************
\r
48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
\r
49 license and Real Time Engineers Ltd. contact details.
\r
51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
\r
56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
57 licenses offer ticketed support, indemnification and middleware.
\r
59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
60 engineered and independently SIL3 certified version for use in safety and
\r
61 mission critical applications that require provable dependability.
\r
68 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
69 * documentation provides more details of the standard demo application tasks.
\r
70 * In addition to the standard demo tasks, the following tasks and tests are
\r
71 * defined and/or created within this file:
\r
73 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
\r
74 * using a free running timer to demonstrate the use of the
\r
75 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
\r
76 * service routine measures the number of processor clocks that occur between
\r
77 * each interrupt - and in so doing measures the jitter in the interrupt timing.
\r
78 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
\r
79 * displayed on the OLED display by the 'OLED' task as described below. The
\r
80 * fast interrupt is configured and handled in the timertest.c source file.
\r
82 * "OLED" task - the OLED task is a 'gatekeeper' task. It is the only task that
\r
83 * is permitted to access the display directly. Other tasks wishing to write a
\r
84 * message to the OLED send the message on a queue to the OLED task instead of
\r
85 * accessing the OLED themselves. The OLED task just blocks on the queue waiting
\r
86 * for messages - waking and displaying the messages as they arrive.
\r
88 * "Check" hook - This only executes every five seconds from the tick hook.
\r
89 * Its main function is to check that all the standard demo tasks are still
\r
90 * operational. Should any unexpected behaviour within a demo task be discovered
\r
91 * the tick hook will write an error to the OLED (via the OLED task). If all the
\r
92 * demo tasks are executing with their expected behaviour then the check task
\r
93 * writes PASS to the OLED (again via the OLED task), as described above.
\r
95 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
\r
96 * processing is performed in this task.
\r
102 /*************************************************************************
\r
103 * Please ensure to read http://www.freertos.org/portlm3sx965.html
\r
104 * which provides information on configuring and running this demo for the
\r
105 * various Luminary Micro EKs.
\r
106 *************************************************************************/
\r
108 /* Set the following option to 1 to include the WEB server in the build. By
\r
109 default the WEB server is excluded to keep the compiled code size under the 32K
\r
110 limit imposed by the KickStart version of the IAR compiler. The graphics
\r
111 libraries take up a lot of ROM space, hence including the graphics libraries
\r
112 and the TCP/IP stack together cannot be accommodated with the 32K size limit. */
\r
113 #define mainINCLUDE_WEB_SERVER 0
\r
116 /* Standard includes. */
\r
118 #include <string.h>
\r
120 /* Scheduler includes. */
\r
121 #include "FreeRTOS.h"
\r
124 #include "semphr.h"
\r
126 /* Hardware library includes. */
\r
127 #include "hw_memmap.h"
\r
128 #include "hw_types.h"
\r
129 #include "hw_sysctl.h"
\r
130 #include "sysctl.h"
\r
133 #include "rit128x96x4.h"
\r
134 #include "osram128x64x4.h"
\r
135 #include "formike128x128x16.h"
\r
137 /* Demo app includes. */
\r
138 #include "BlockQ.h"
\r
140 #include "integer.h"
\r
141 #include "blocktim.h"
\r
143 #include "partest.h"
\r
144 #include "semtest.h"
\r
146 #include "lcd_message.h"
\r
147 #include "bitmap.h"
\r
148 #include "GenQTest.h"
\r
150 #include "recmutex.h"
\r
151 #include "IntQueue.h"
\r
152 #include "QueueSet.h"
\r
154 /*-----------------------------------------------------------*/
\r
156 /* The time between cycles of the 'check' functionality (defined within the
\r
158 #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
\r
160 /* Size of the stack allocated to the uIP task. */
\r
161 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
\r
163 /* The OLED task uses the sprintf function so requires a little more stack too. */
\r
164 #define mainOLED_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
\r
166 /* Task priorities. */
\r
167 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
168 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
169 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
170 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
171 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
172 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
173 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
175 /* The maximum number of message that can be waiting for display at any one
\r
177 #define mainOLED_QUEUE_SIZE ( 3 )
\r
179 /* Dimensions the buffer into which the jitter time is written. */
\r
180 #define mainMAX_MSG_LEN 25
\r
182 /* The period of the system clock in nano seconds. This is used to calculate
\r
183 the jitter time in nano seconds. */
\r
184 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
\r
186 /* Constants used when writing strings to the display. */
\r
187 #define mainCHARACTER_HEIGHT ( 9 )
\r
188 #define mainMAX_ROWS_128 ( mainCHARACTER_HEIGHT * 14 )
\r
189 #define mainMAX_ROWS_96 ( mainCHARACTER_HEIGHT * 10 )
\r
190 #define mainMAX_ROWS_64 ( mainCHARACTER_HEIGHT * 7 )
\r
191 #define mainFULL_SCALE ( 15 )
\r
192 #define ulSSI_FREQUENCY ( 3500000UL )
\r
194 /*-----------------------------------------------------------*/
\r
197 * The task that handles the uIP stack. All TCP/IP processing is performed in
\r
200 extern void vuIP_Task( void *pvParameters );
\r
203 * The display is written two by more than one task so is controlled by a
\r
204 * 'gatekeeper' task. This is the only task that is actually permitted to
\r
205 * access the display directly. Other tasks wanting to display a message send
\r
206 * the message to the gatekeeper.
\r
208 static void vOLEDTask( void *pvParameters );
\r
211 * Configure the hardware for the demo.
\r
213 static void prvSetupHardware( void );
\r
216 * Configures the high frequency timers - those used to measure the timing
\r
217 * jitter while the real time kernel is executing.
\r
219 extern void vSetupHighFrequencyTimer( void );
\r
222 * Hook functions that can get called by the kernel.
\r
224 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
\r
225 void vApplicationTickHook( void );
\r
228 /*-----------------------------------------------------------*/
\r
230 /* The queue used to send messages to the OLED task. */
\r
231 xQueueHandle xOLEDQueue;
\r
233 /* The welcome text. */
\r
234 const char * const pcWelcomeMessage = " www.FreeRTOS.org";
\r
236 /*-----------------------------------------------------------*/
\r
239 /*************************************************************************
\r
240 * Please ensure to read http://www.freertos.org/portlm3sx965.html
\r
241 * which provides information on configuring and running this demo for the
\r
242 * various Luminary Micro EKs.
\r
243 *************************************************************************/
\r
246 prvSetupHardware();
\r
248 /* Create the queue used by the OLED task. Messages for display on the OLED
\r
249 are received via this queue. */
\r
250 xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
\r
252 /* Start the standard demo tasks. */
\r
253 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
\r
254 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
\r
255 vStartInterruptQueueTasks();
\r
256 vStartRecursiveMutexTasks();
\r
257 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
258 vCreateBlockTimeTasks();
\r
259 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
260 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
261 vStartQueuePeekTasks();
\r
262 vStartQueueSetTasks();
\r
264 /* Exclude some tasks if using the kickstart version to ensure we stay within
\r
265 the 32K code size limit. */
\r
266 #if mainINCLUDE_WEB_SERVER != 0
\r
268 /* Create the uIP task if running on a processor that includes a MAC and
\r
270 if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) )
\r
272 xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
\r
279 /* Start the tasks defined within this file/specific to this demo. */
\r
280 xTaskCreate( vOLEDTask, "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
\r
282 /* The suicide tasks must be created last as they need to know how many
\r
283 tasks were running prior to their creation in order to ascertain whether
\r
284 or not the correct/expected number of tasks are running at any given time. */
\r
285 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
\r
287 /* Configure the high frequency interrupt used to measure the interrupt
\r
289 vSetupHighFrequencyTimer();
\r
291 /* Start the scheduler. */
\r
292 vTaskStartScheduler();
\r
294 /* Will only get here if there was insufficient memory to create the idle
\r
298 /*-----------------------------------------------------------*/
\r
300 void prvSetupHardware( void )
\r
302 /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
\r
303 a workaround to allow the PLL to operate reliably. */
\r
304 if( DEVICE_IS_REVA2 )
\r
306 SysCtlLDOSet( SYSCTL_LDO_2_75V );
\r
309 /* Set the clocking to run from the PLL at 50 MHz */
\r
310 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
\r
312 /* Enable Port F for Ethernet LEDs
\r
314 LED1 Bit 2 Output */
\r
315 SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
\r
316 GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
\r
317 GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
\r
319 vParTestInitialise();
\r
321 /*-----------------------------------------------------------*/
\r
323 void vApplicationTickHook( void )
\r
325 static xOLEDMessage xMessage = { "PASS" };
\r
326 static unsigned long ulTicksSinceLastDisplay = 0;
\r
327 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
\r
329 /* Called from every tick interrupt. Have enough ticks passed to make it
\r
330 time to perform our health status check again? */
\r
331 ulTicksSinceLastDisplay++;
\r
332 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
\r
334 ulTicksSinceLastDisplay = 0;
\r
336 /* Has an error been found in any task? */
\r
337 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
339 xMessage.pcMessage = "ERROR IN GEN Q";
\r
341 else if( xIsCreateTaskStillRunning() != pdTRUE )
\r
343 xMessage.pcMessage = "ERROR IN CREATE";
\r
345 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
347 xMessage.pcMessage = "ERROR IN MATH";
\r
349 else if( xAreIntQueueTasksStillRunning() != pdTRUE )
\r
351 xMessage.pcMessage = "ERROR IN INT QUEUE";
\r
353 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
355 xMessage.pcMessage = "ERROR IN BLOCK Q";
\r
357 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
359 xMessage.pcMessage = "ERROR IN BLOCK TIME";
\r
361 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
363 xMessage.pcMessage = "ERROR IN SEMAPHORE";
\r
365 else if( xArePollingQueuesStillRunning() != pdTRUE )
\r
367 xMessage.pcMessage = "ERROR IN POLL Q";
\r
369 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
\r
371 xMessage.pcMessage = "ERROR IN PEEK Q";
\r
373 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
\r
375 xMessage.pcMessage = "ERROR IN REC MUTEX";
\r
377 else if( xAreQueueSetTasksStillRunning() != pdPASS )
\r
379 xMessage.pcMessage = "ERROR IN Q SET";
\r
382 configASSERT( strcmp( ( const char * ) xMessage.pcMessage, "PASS" ) == 0 );
\r
384 /* Send the message to the OLED gatekeeper for display. */
\r
385 xHigherPriorityTaskWoken = pdFALSE;
\r
386 xQueueSendFromISR( xOLEDQueue, &xMessage, &xHigherPriorityTaskWoken );
\r
389 /* Write to a queue that is in use as part of the queue set demo to
\r
390 demonstrate using queue sets from an ISR. */
\r
391 vQueueSetAccessQueueSetFromISR();
\r
393 /*-----------------------------------------------------------*/
\r
395 void vOLEDTask( void *pvParameters )
\r
397 xOLEDMessage xMessage;
\r
398 unsigned long ulY, ulMaxY;
\r
399 static char cMessage[ mainMAX_MSG_LEN ];
\r
400 extern volatile unsigned long ulMaxJitter;
\r
401 const unsigned char *pucImage;
\r
403 /* Functions to access the OLED. The one used depends on the dev kit
\r
405 void ( *vOLEDInit )( unsigned long ) = NULL;
\r
406 void ( *vOLEDStringDraw )( const char *, unsigned long, unsigned long, unsigned char ) = NULL;
\r
407 void ( *vOLEDImageDraw )( const unsigned char *, unsigned long, unsigned long, unsigned long, unsigned long ) = NULL;
\r
408 void ( *vOLEDClear )( void ) = NULL;
\r
410 /* Map the OLED access functions to the driver functions that are appropriate
\r
411 for the evaluation kit being used. */
\r
412 switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK )
\r
414 case SYSCTL_DID1_PRTNO_6965 :
\r
415 case SYSCTL_DID1_PRTNO_2965 : vOLEDInit = OSRAM128x64x4Init;
\r
416 vOLEDStringDraw = OSRAM128x64x4StringDraw;
\r
417 vOLEDImageDraw = OSRAM128x64x4ImageDraw;
\r
418 vOLEDClear = OSRAM128x64x4Clear;
\r
419 ulMaxY = mainMAX_ROWS_64;
\r
420 pucImage = pucBasicBitmap;
\r
423 case SYSCTL_DID1_PRTNO_1968 :
\r
424 case SYSCTL_DID1_PRTNO_8962 : vOLEDInit = RIT128x96x4Init;
\r
425 vOLEDStringDraw = RIT128x96x4StringDraw;
\r
426 vOLEDImageDraw = RIT128x96x4ImageDraw;
\r
427 vOLEDClear = RIT128x96x4Clear;
\r
428 ulMaxY = mainMAX_ROWS_96;
\r
429 pucImage = pucBasicBitmap;
\r
432 default : vOLEDInit = vFormike128x128x16Init;
\r
433 vOLEDStringDraw = vFormike128x128x16StringDraw;
\r
434 vOLEDImageDraw = vFormike128x128x16ImageDraw;
\r
435 vOLEDClear = vFormike128x128x16Clear;
\r
436 ulMaxY = mainMAX_ROWS_128;
\r
437 pucImage = pucGrLibBitmap;
\r
444 /* Initialise the OLED and display a startup message. */
\r
445 vOLEDInit( ulSSI_FREQUENCY );
\r
446 vOLEDStringDraw( "POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
\r
447 vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
\r
451 /* Wait for a message to arrive that requires displaying. */
\r
452 xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
\r
454 /* Write the message on the next available row. */
\r
455 ulY += mainCHARACTER_HEIGHT;
\r
456 if( ulY >= ulMaxY )
\r
458 ulY = mainCHARACTER_HEIGHT;
\r
460 vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
\r
463 /* Display the message along with the maximum jitter time from the
\r
464 high priority time test. */
\r
465 sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK );
\r
466 vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE );
\r
469 /*-----------------------------------------------------------*/
\r
471 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
\r
474 ( void ) pcTaskName;
\r
478 /*-----------------------------------------------------------*/
\r
480 void vAssertCalled( const char *pcFile, unsigned long ulLine )
\r
482 volatile unsigned long ulSetTo1InDebuggerToExit = 0;
\r
484 taskENTER_CRITICAL();
\r
486 while( ulSetTo1InDebuggerToExit == 0 )
\r
488 /* Nothing do do here. Set the loop variable to a non zero value in
\r
489 the debugger to step out of this function to the point that caused
\r
495 taskEXIT_CRITICAL();
\r