2 * FreeRTOS Kernel V10.0.0
\r
3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
\r
5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
\r
6 * this software and associated documentation files (the "Software"), to deal in
\r
7 * the Software without restriction, including without limitation the rights to
\r
8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
\r
9 * the Software, and to permit persons to whom the Software is furnished to do so,
\r
10 * subject to the following conditions:
\r
12 * The above copyright notice and this permission notice shall be included in all
\r
13 * copies or substantial portions of the Software. If you wish to use our Amazon
\r
14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
\r
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
\r
17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
\r
18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
\r
19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
\r
20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
\r
21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
\r
23 * http://www.FreeRTOS.org
\r
24 * http://aws.amazon.com/freertos
\r
26 * 1 tab == 4 spaces!
\r
31 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
32 * documentation provides more details of the standard demo application tasks.
\r
33 * In addition to the standard demo tasks, the following tasks and tests are
\r
34 * defined and/or created within this file:
\r
36 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
\r
37 * using a free running timer to demonstrate the use of the
\r
38 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
\r
39 * service routine measures the number of processor clocks that occur between
\r
40 * each interrupt - and in so doing measures the jitter in the interrupt timing.
\r
41 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
\r
42 * displayed on the OLED display by the 'OLED' task as described below. The
\r
43 * fast interrupt is configured and handled in the timertest.c source file.
\r
45 * "OLED" task - the OLED task is a 'gatekeeper' task. It is the only task that
\r
46 * is permitted to access the display directly. Other tasks wishing to write a
\r
47 * message to the OLED send the message on a queue to the OLED task instead of
\r
48 * accessing the OLED themselves. The OLED task just blocks on the queue waiting
\r
49 * for messages - waking and displaying the messages as they arrive.
\r
51 * "Check" hook - This only executes every five seconds from the tick hook.
\r
52 * Its main function is to check that all the standard demo tasks are still
\r
53 * operational. Should any unexpected behaviour within a demo task be discovered
\r
54 * the tick hook will write an error to the OLED (via the OLED task). If all the
\r
55 * demo tasks are executing with their expected behaviour then the check task
\r
56 * writes PASS to the OLED (again via the OLED task), as described above.
\r
58 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
\r
59 * processing is performed in this task.
\r
65 /*************************************************************************
\r
66 * Please ensure to read http://www.freertos.org/portLM3Sxxxx_Eclipse.html
\r
67 * which provides information on configuring and running this demo for the
\r
68 * various Luminary Micro EKs.
\r
69 *************************************************************************/
\r
74 /* Standard includes. */
\r
77 /* Scheduler includes. */
\r
78 #include "FreeRTOS.h"
\r
83 /* Hardware library includes. */
\r
84 #include "hw_memmap.h"
\r
85 #include "hw_types.h"
\r
86 #include "hw_sysctl.h"
\r
90 #include "rit128x96x4.h"
\r
91 #include "osram128x64x4.h"
\r
92 #include "formike128x128x16.h"
\r
94 /* Demo app includes. */
\r
97 #include "integer.h"
\r
98 #include "blocktim.h"
\r
100 #include "partest.h"
\r
101 #include "semtest.h"
\r
103 #include "lcd_message.h"
\r
104 #include "bitmap.h"
\r
105 #include "GenQTest.h"
\r
107 #include "recmutex.h"
\r
108 #include "IntQueue.h"
\r
109 #include "QueueSet.h"
\r
111 /*-----------------------------------------------------------*/
\r
113 /* The time between cycles of the 'check' functionality (defined within the
\r
115 #define mainCHECK_DELAY ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
\r
117 /* Size of the stack allocated to the uIP task. */
\r
118 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
\r
120 /* The OLED task uses the sprintf function so requires a little more stack too. */
\r
121 #define mainOLED_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
\r
123 /* Task priorities. */
\r
124 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
125 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
126 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
127 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
128 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
129 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
130 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
132 /* The maximum number of message that can be waiting for display at any one
\r
134 #define mainOLED_QUEUE_SIZE ( 3 )
\r
136 /* Dimensions the buffer into which the jitter time is written. */
\r
137 #define mainMAX_MSG_LEN 25
\r
139 /* The period of the system clock in nano seconds. This is used to calculate
\r
140 the jitter time in nano seconds. */
\r
141 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
\r
143 /* Constants used when writing strings to the display. */
\r
144 #define mainCHARACTER_HEIGHT ( 9 )
\r
145 #define mainMAX_ROWS_128 ( mainCHARACTER_HEIGHT * 14 )
\r
146 #define mainMAX_ROWS_96 ( mainCHARACTER_HEIGHT * 10 )
\r
147 #define mainMAX_ROWS_64 ( mainCHARACTER_HEIGHT * 7 )
\r
148 #define mainFULL_SCALE ( 15 )
\r
149 #define ulSSI_FREQUENCY ( 3500000UL )
\r
151 /*-----------------------------------------------------------*/
\r
154 * The task that handles the uIP stack. All TCP/IP processing is performed in
\r
157 extern void vuIP_Task( void *pvParameters );
\r
160 * The display is written two by more than one task so is controlled by a
\r
161 * 'gatekeeper' task. This is the only task that is actually permitted to
\r
162 * access the display directly. Other tasks wanting to display a message send
\r
163 * the message to the gatekeeper.
\r
165 static void vOLEDTask( void *pvParameters );
\r
168 * Configure the hardware for the demo.
\r
170 static void prvSetupHardware( void );
\r
173 * Configures the high frequency timers - those used to measure the timing
\r
174 * jitter while the real time kernel is executing.
\r
176 extern void vSetupHighFrequencyTimer( void );
\r
179 * The idle hook is used to run a test of the scheduler context switch
\r
182 void vApplicationIdleHook( void ) __attribute__((naked));
\r
183 /*-----------------------------------------------------------*/
\r
185 /* The queue used to send messages to the OLED task. */
\r
186 QueueHandle_t xOLEDQueue;
\r
188 /* The welcome text. */
\r
189 const char * const pcWelcomeMessage = " www.FreeRTOS.org";
\r
191 /* Variables used to detect the test in the idle hook failing. */
\r
192 unsigned long ulIdleError = pdFALSE;
\r
194 /*-----------------------------------------------------------*/
\r
196 /*************************************************************************
\r
197 * Please ensure to read http://www.freertos.org/portLM3Sxxxx_Eclipse.html
\r
198 * which provides information on configuring and running this demo for the
\r
199 * various Luminary Micro EKs.
\r
200 *************************************************************************/
\r
203 prvSetupHardware();
\r
205 /* Create the queue used by the OLED task. Messages for display on the OLED
\r
206 are received via this queue. */
\r
207 xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
\r
209 /* Create the uIP task if running on a processor that includes a MAC and
\r
211 if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) )
\r
213 xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
\r
216 /* Start the standard demo tasks. */
\r
217 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
218 vCreateBlockTimeTasks();
\r
219 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
220 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
221 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
\r
222 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
\r
223 vStartQueuePeekTasks();
\r
224 vStartRecursiveMutexTasks();
\r
225 vStartInterruptQueueTasks();
\r
226 vStartQueueSetTasks();
\r
228 /* Start the tasks defined within this file/specific to this demo. */
\r
229 xTaskCreate( vOLEDTask, "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
\r
231 /* The suicide tasks must be created last as they need to know how many
\r
232 tasks were running prior to their creation in order to ascertain whether
\r
233 or not the correct/expected number of tasks are running at any given time. */
\r
234 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
\r
236 /* Configure the high frequency interrupt used to measure the interrupt
\r
238 vSetupHighFrequencyTimer();
\r
240 /* Start the scheduler. */
\r
241 vTaskStartScheduler();
\r
243 /* Will only get here if there was insufficient memory to create the idle
\r
248 /*-----------------------------------------------------------*/
\r
250 void prvSetupHardware( void )
\r
252 /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is
\r
253 a workaround to allow the PLL to operate reliably. */
\r
254 if( DEVICE_IS_REVA2 )
\r
256 SysCtlLDOSet( SYSCTL_LDO_2_75V );
\r
259 /* Set the clocking to run from the PLL at 50 MHz */
\r
260 SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
\r
262 /* Enable Port F for Ethernet LEDs
\r
264 LED1 Bit 2 Output */
\r
265 SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
\r
266 GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
\r
267 GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
\r
269 vParTestInitialise();
\r
271 /*-----------------------------------------------------------*/
\r
273 void vApplicationTickHook( void )
\r
275 static xOLEDMessage xMessage = { "PASS" };
\r
276 static unsigned long ulTicksSinceLastDisplay = 0;
\r
277 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
\r
279 /* Called from every tick interrupt. Have enough ticks passed to make it
\r
280 time to perform our health status check again? */
\r
281 ulTicksSinceLastDisplay++;
\r
282 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
\r
284 ulTicksSinceLastDisplay = 0;
\r
286 /* Has an error been found in any task? */
\r
287 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
289 xMessage.pcMessage = "ERROR IN GEN Q";
\r
291 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
\r
293 xMessage.pcMessage = "ERROR IN PEEK Q";
\r
295 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
297 xMessage.pcMessage = "ERROR IN BLOCK Q";
\r
299 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
301 xMessage.pcMessage = "ERROR IN BLOCK TIME";
\r
303 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
305 xMessage.pcMessage = "ERROR IN SEMAPHORE";
\r
307 else if( xArePollingQueuesStillRunning() != pdTRUE )
\r
309 xMessage.pcMessage = "ERROR IN POLL Q";
\r
311 else if( xIsCreateTaskStillRunning() != pdTRUE )
\r
313 xMessage.pcMessage = "ERROR IN CREATE";
\r
315 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
317 xMessage.pcMessage = "ERROR IN MATH";
\r
319 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
\r
321 xMessage.pcMessage = "ERROR IN REC MUTEX";
\r
323 else if( ulIdleError != pdFALSE )
\r
325 xMessage.pcMessage = "ERROR IN HOOK";
\r
327 else if( xAreIntQueueTasksStillRunning() != pdTRUE )
\r
329 xMessage.pcMessage = "ERROR IN INT QUEUE";
\r
331 else if( xAreQueueSetTasksStillRunning() != pdTRUE )
\r
333 xMessage.pcMessage = "ERROR IN QUEUE SET";
\r
336 /* Send the message to the OLED gatekeeper for display. */
\r
337 xHigherPriorityTaskWoken = pdFALSE;
\r
338 xQueueSendFromISR( xOLEDQueue, &xMessage, &xHigherPriorityTaskWoken );
\r
341 /* Exercise the queue sets from an ISR. */
\r
342 vQueueSetAccessQueueSetFromISR();
\r
344 /*-----------------------------------------------------------*/
\r
346 void vOLEDTask( void *pvParameters )
\r
348 xOLEDMessage xMessage;
\r
349 unsigned long ulY, ulMaxY;
\r
350 static char cMessage[ mainMAX_MSG_LEN ];
\r
351 extern volatile unsigned long ulMaxJitter;
\r
352 unsigned portBASE_TYPE uxUnusedStackOnEntry;
\r
353 const unsigned char *pucImage;
\r
355 /* Functions to access the OLED. The one used depends on the dev kit
\r
357 void ( *vOLEDInit )( unsigned long ) = NULL;
\r
358 void ( *vOLEDStringDraw )( const char *, unsigned long, unsigned long, unsigned char ) = NULL;
\r
359 void ( *vOLEDImageDraw )( const unsigned char *, unsigned long, unsigned long, unsigned long, unsigned long ) = NULL;
\r
360 void ( *vOLEDClear )( void ) = NULL;
\r
362 /* Just for demo purposes. */
\r
363 uxUnusedStackOnEntry = uxTaskGetStackHighWaterMark( NULL );
\r
365 /* Map the OLED access functions to the driver functions that are appropriate
\r
366 for the evaluation kit being used. */
\r
367 switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK )
\r
369 case SYSCTL_DID1_PRTNO_6965 :
\r
370 case SYSCTL_DID1_PRTNO_2965 : vOLEDInit = OSRAM128x64x4Init;
\r
371 vOLEDStringDraw = OSRAM128x64x4StringDraw;
\r
372 vOLEDImageDraw = OSRAM128x64x4ImageDraw;
\r
373 vOLEDClear = OSRAM128x64x4Clear;
\r
374 ulMaxY = mainMAX_ROWS_64;
\r
375 pucImage = pucBasicBitmap;
\r
378 case SYSCTL_DID1_PRTNO_1968 :
\r
379 case SYSCTL_DID1_PRTNO_8962 : vOLEDInit = RIT128x96x4Init;
\r
380 vOLEDStringDraw = RIT128x96x4StringDraw;
\r
381 vOLEDImageDraw = RIT128x96x4ImageDraw;
\r
382 vOLEDClear = RIT128x96x4Clear;
\r
383 ulMaxY = mainMAX_ROWS_96;
\r
384 pucImage = pucBasicBitmap;
\r
387 default : vOLEDInit = vFormike128x128x16Init;
\r
388 vOLEDStringDraw = vFormike128x128x16StringDraw;
\r
389 vOLEDImageDraw = vFormike128x128x16ImageDraw;
\r
390 vOLEDClear = vFormike128x128x16Clear;
\r
391 ulMaxY = mainMAX_ROWS_128;
\r
392 pucImage = pucGrLibBitmap;
\r
398 /* Initialise the OLED and display a startup message. */
\r
399 vOLEDInit( ulSSI_FREQUENCY );
\r
400 vOLEDStringDraw( "POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
\r
401 vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
\r
405 /* Wait for a message to arrive that requires displaying. */
\r
406 xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
\r
408 /* Write the message on the next available row. */
\r
409 ulY += mainCHARACTER_HEIGHT;
\r
410 if( ulY >= ulMaxY )
\r
412 ulY = mainCHARACTER_HEIGHT;
\r
414 vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
\r
417 /* Display the message along with the maximum jitter time from the
\r
418 high priority time test. */
\r
419 sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK );
\r
420 vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE );
\r
423 /*-----------------------------------------------------------*/
\r
425 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
\r
429 /*-----------------------------------------------------------*/
\r
431 void vApplicationMallocFailedHook( void )
\r
435 /*-----------------------------------------------------------*/
\r
437 /* Just to keep the linker happy. */
\r
438 void __error__( char *pcFilename, unsigned long ulLine )
\r
443 int uipprintf( const char *fmt, ... )
\r