2 FreeRTOS V8.0.0 - Copyright (C) 2014 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/portLM3Sxxxx_Eclipse.html
\r
104 * which provides information on configuring and running this demo for the
\r
105 * various Luminary Micro EKs.
\r
106 *************************************************************************/
\r
111 /* Standard includes. */
\r
114 /* Scheduler includes. */
\r
115 #include "FreeRTOS.h"
\r
118 #include "semphr.h"
\r
120 /* Hardware library includes. */
\r
121 #include "hw_memmap.h"
\r
122 #include "hw_types.h"
\r
123 #include "hw_sysctl.h"
\r
124 #include "sysctl.h"
\r
127 #include "rit128x96x4.h"
\r
128 #include "osram128x64x4.h"
\r
129 #include "formike128x128x16.h"
\r
131 /* Demo app includes. */
\r
132 #include "BlockQ.h"
\r
134 #include "integer.h"
\r
135 #include "blocktim.h"
\r
137 #include "partest.h"
\r
138 #include "semtest.h"
\r
140 #include "lcd_message.h"
\r
141 #include "bitmap.h"
\r
142 #include "GenQTest.h"
\r
144 #include "recmutex.h"
\r
145 #include "IntQueue.h"
\r
146 #include "QueueSet.h"
\r
148 /*-----------------------------------------------------------*/
\r
150 /* The time between cycles of the 'check' functionality (defined within the
\r
152 #define mainCHECK_DELAY ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
\r
154 /* Size of the stack allocated to the uIP task. */
\r
155 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
\r
157 /* The OLED task uses the sprintf function so requires a little more stack too. */
\r
158 #define mainOLED_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
\r
160 /* Task priorities. */
\r
161 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
162 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
163 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
164 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
165 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
166 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
167 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
169 /* The maximum number of message that can be waiting for display at any one
\r
171 #define mainOLED_QUEUE_SIZE ( 3 )
\r
173 /* Dimensions the buffer into which the jitter time is written. */
\r
174 #define mainMAX_MSG_LEN 25
\r
176 /* The period of the system clock in nano seconds. This is used to calculate
\r
177 the jitter time in nano seconds. */
\r
178 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
\r
180 /* Constants used when writing strings to the display. */
\r
181 #define mainCHARACTER_HEIGHT ( 9 )
\r
182 #define mainMAX_ROWS_128 ( mainCHARACTER_HEIGHT * 14 )
\r
183 #define mainMAX_ROWS_96 ( mainCHARACTER_HEIGHT * 10 )
\r
184 #define mainMAX_ROWS_64 ( mainCHARACTER_HEIGHT * 7 )
\r
185 #define mainFULL_SCALE ( 15 )
\r
186 #define ulSSI_FREQUENCY ( 3500000UL )
\r
188 /*-----------------------------------------------------------*/
\r
191 * The task that handles the uIP stack. All TCP/IP processing is performed in
\r
194 extern void vuIP_Task( void *pvParameters );
\r
197 * The display is written two by more than one task so is controlled by a
\r
198 * 'gatekeeper' task. This is the only task that is actually permitted to
\r
199 * access the display directly. Other tasks wanting to display a message send
\r
200 * the message to the gatekeeper.
\r
202 static void vOLEDTask( void *pvParameters );
\r
205 * Configure the hardware for the demo.
\r
207 static void prvSetupHardware( void );
\r
210 * Configures the high frequency timers - those used to measure the timing
\r
211 * jitter while the real time kernel is executing.
\r
213 extern void vSetupHighFrequencyTimer( void );
\r
216 * The idle hook is used to run a test of the scheduler context switch
\r
219 void vApplicationIdleHook( void ) __attribute__((naked));
\r
220 /*-----------------------------------------------------------*/
\r
222 /* The queue used to send messages to the OLED task. */
\r
223 QueueHandle_t xOLEDQueue;
\r
225 /* The welcome text. */
\r
226 const char * const pcWelcomeMessage = " www.FreeRTOS.org";
\r
228 /* Variables used to detect the test in the idle hook failing. */
\r
229 unsigned long ulIdleError = pdFALSE;
\r
231 /*-----------------------------------------------------------*/
\r
233 /*************************************************************************
\r
234 * Please ensure to read http://www.freertos.org/portLM3Sxxxx_Eclipse.html
\r
235 * which provides information on configuring and running this demo for the
\r
236 * various Luminary Micro EKs.
\r
237 *************************************************************************/
\r
240 prvSetupHardware();
\r
242 /* Create the queue used by the OLED task. Messages for display on the OLED
\r
243 are received via this queue. */
\r
244 xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
\r
246 /* Create the uIP task if running on a processor that includes a MAC and
\r
248 if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) )
\r
250 xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
\r
253 /* Start the standard demo tasks. */
\r
254 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
255 vCreateBlockTimeTasks();
\r
256 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
257 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
258 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
\r
259 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
\r
260 vStartQueuePeekTasks();
\r
261 vStartRecursiveMutexTasks();
\r
262 vStartInterruptQueueTasks();
\r
263 vStartQueueSetTasks();
\r
265 /* Start the tasks defined within this file/specific to this demo. */
\r
266 xTaskCreate( vOLEDTask, "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
\r
268 /* The suicide tasks must be created last as they need to know how many
\r
269 tasks were running prior to their creation in order to ascertain whether
\r
270 or not the correct/expected number of tasks are running at any given time. */
\r
271 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
\r
273 /* Configure the high frequency interrupt used to measure the interrupt
\r
275 vSetupHighFrequencyTimer();
\r
277 /* Start the scheduler. */
\r
278 vTaskStartScheduler();
\r
280 /* Will only get here if there was insufficient memory to create the idle
\r
285 /*-----------------------------------------------------------*/
\r
287 void prvSetupHardware( void )
\r
289 /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
\r
290 a workaround to allow the PLL to operate reliably. */
\r
291 if( DEVICE_IS_REVA2 )
\r
293 SysCtlLDOSet( SYSCTL_LDO_2_75V );
\r
296 /* Set the clocking to run from the PLL at 50 MHz */
\r
297 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
\r
299 /* Enable Port F for Ethernet LEDs
\r
301 LED1 Bit 2 Output */
\r
302 SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
\r
303 GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
\r
304 GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
\r
306 vParTestInitialise();
\r
308 /*-----------------------------------------------------------*/
\r
310 void vApplicationTickHook( void )
\r
312 static xOLEDMessage xMessage = { "PASS" };
\r
313 static unsigned long ulTicksSinceLastDisplay = 0;
\r
314 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
\r
316 /* Called from every tick interrupt. Have enough ticks passed to make it
\r
317 time to perform our health status check again? */
\r
318 ulTicksSinceLastDisplay++;
\r
319 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
\r
321 ulTicksSinceLastDisplay = 0;
\r
323 /* Has an error been found in any task? */
\r
324 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
326 xMessage.pcMessage = "ERROR IN GEN Q";
\r
328 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
\r
330 xMessage.pcMessage = "ERROR IN PEEK Q";
\r
332 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
334 xMessage.pcMessage = "ERROR IN BLOCK Q";
\r
336 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
338 xMessage.pcMessage = "ERROR IN BLOCK TIME";
\r
340 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
342 xMessage.pcMessage = "ERROR IN SEMAPHORE";
\r
344 else if( xArePollingQueuesStillRunning() != pdTRUE )
\r
346 xMessage.pcMessage = "ERROR IN POLL Q";
\r
348 else if( xIsCreateTaskStillRunning() != pdTRUE )
\r
350 xMessage.pcMessage = "ERROR IN CREATE";
\r
352 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
354 xMessage.pcMessage = "ERROR IN MATH";
\r
356 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
\r
358 xMessage.pcMessage = "ERROR IN REC MUTEX";
\r
360 else if( ulIdleError != pdFALSE )
\r
362 xMessage.pcMessage = "ERROR IN HOOK";
\r
364 else if( xAreIntQueueTasksStillRunning() != pdTRUE )
\r
366 xMessage.pcMessage = "ERROR IN INT QUEUE";
\r
368 else if( xAreQueueSetTasksStillRunning() != pdTRUE )
\r
370 xMessage.pcMessage = "ERROR IN QUEUE SET";
\r
373 /* Send the message to the OLED gatekeeper for display. */
\r
374 xHigherPriorityTaskWoken = pdFALSE;
\r
375 xQueueSendFromISR( xOLEDQueue, &xMessage, &xHigherPriorityTaskWoken );
\r
378 /* Exercise the queue sets from an ISR. */
\r
379 vQueueSetAccessQueueSetFromISR();
\r
381 /*-----------------------------------------------------------*/
\r
383 void vOLEDTask( void *pvParameters )
\r
385 xOLEDMessage xMessage;
\r
386 unsigned long ulY, ulMaxY;
\r
387 static char cMessage[ mainMAX_MSG_LEN ];
\r
388 extern volatile unsigned long ulMaxJitter;
\r
389 unsigned portBASE_TYPE uxUnusedStackOnEntry;
\r
390 const unsigned char *pucImage;
\r
392 /* Functions to access the OLED. The one used depends on the dev kit
\r
394 void ( *vOLEDInit )( unsigned long ) = NULL;
\r
395 void ( *vOLEDStringDraw )( const char *, unsigned long, unsigned long, unsigned char ) = NULL;
\r
396 void ( *vOLEDImageDraw )( const unsigned char *, unsigned long, unsigned long, unsigned long, unsigned long ) = NULL;
\r
397 void ( *vOLEDClear )( void ) = NULL;
\r
399 /* Just for demo purposes. */
\r
400 uxUnusedStackOnEntry = uxTaskGetStackHighWaterMark( NULL );
\r
402 /* Map the OLED access functions to the driver functions that are appropriate
\r
403 for the evaluation kit being used. */
\r
404 switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK )
\r
406 case SYSCTL_DID1_PRTNO_6965 :
\r
407 case SYSCTL_DID1_PRTNO_2965 : vOLEDInit = OSRAM128x64x4Init;
\r
408 vOLEDStringDraw = OSRAM128x64x4StringDraw;
\r
409 vOLEDImageDraw = OSRAM128x64x4ImageDraw;
\r
410 vOLEDClear = OSRAM128x64x4Clear;
\r
411 ulMaxY = mainMAX_ROWS_64;
\r
412 pucImage = pucBasicBitmap;
\r
415 case SYSCTL_DID1_PRTNO_1968 :
\r
416 case SYSCTL_DID1_PRTNO_8962 : vOLEDInit = RIT128x96x4Init;
\r
417 vOLEDStringDraw = RIT128x96x4StringDraw;
\r
418 vOLEDImageDraw = RIT128x96x4ImageDraw;
\r
419 vOLEDClear = RIT128x96x4Clear;
\r
420 ulMaxY = mainMAX_ROWS_96;
\r
421 pucImage = pucBasicBitmap;
\r
424 default : vOLEDInit = vFormike128x128x16Init;
\r
425 vOLEDStringDraw = vFormike128x128x16StringDraw;
\r
426 vOLEDImageDraw = vFormike128x128x16ImageDraw;
\r
427 vOLEDClear = vFormike128x128x16Clear;
\r
428 ulMaxY = mainMAX_ROWS_128;
\r
429 pucImage = pucGrLibBitmap;
\r
435 /* Initialise the OLED and display a startup message. */
\r
436 vOLEDInit( ulSSI_FREQUENCY );
\r
437 vOLEDStringDraw( "POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
\r
438 vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
\r
442 /* Wait for a message to arrive that requires displaying. */
\r
443 xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
\r
445 /* Write the message on the next available row. */
\r
446 ulY += mainCHARACTER_HEIGHT;
\r
447 if( ulY >= ulMaxY )
\r
449 ulY = mainCHARACTER_HEIGHT;
\r
451 vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
\r
454 /* Display the message along with the maximum jitter time from the
\r
455 high priority time test. */
\r
456 sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK );
\r
457 vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE );
\r
460 /*-----------------------------------------------------------*/
\r
462 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
\r
466 /*-----------------------------------------------------------*/
\r
468 void vApplicationMallocFailedHook( void )
\r
472 /*-----------------------------------------------------------*/
\r
474 /* Just to keep the linker happy. */
\r
475 void __error__( char *pcFilename, unsigned long ulLine )
\r
480 int uipprintf( const char *fmt, ... )
\r