2 FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 This file is part of the FreeRTOS distribution.
\r
9 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
10 the terms of the GNU General Public License (version 2) as published by the
\r
11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
\r
13 ***************************************************************************
\r
14 >>! NOTE: The modification to the GPL is included to allow you to !<<
\r
15 >>! distribute a combined work that includes FreeRTOS without being !<<
\r
16 >>! obliged to provide the source code for proprietary components !<<
\r
17 >>! outside of the FreeRTOS kernel. !<<
\r
18 ***************************************************************************
\r
20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
\r
23 link: http://www.freertos.org/a00114.html
\r
25 ***************************************************************************
\r
27 * FreeRTOS provides completely free yet professionally developed, *
\r
28 * robust, strictly quality controlled, supported, and cross *
\r
29 * platform software that is more than just the market leader, it *
\r
30 * is the industry's de facto standard. *
\r
32 * Help yourself get started quickly while simultaneously helping *
\r
33 * to support the FreeRTOS project by purchasing a FreeRTOS *
\r
34 * tutorial book, reference manual, or both: *
\r
35 * http://www.FreeRTOS.org/Documentation *
\r
37 ***************************************************************************
\r
39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
\r
40 the FAQ page "My application does not run, what could be wrong?". Have you
\r
41 defined configASSERT()?
\r
43 http://www.FreeRTOS.org/support - In return for receiving this top quality
\r
44 embedded software for free we request you assist our global community by
\r
45 participating in the support forum.
\r
47 http://www.FreeRTOS.org/training - Investing in training allows your team to
\r
48 be as productive as possible as early as possible. Now you can receive
\r
49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
\r
50 Ltd, and the world's leading authority on the world's leading RTOS.
\r
52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
\r
57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
\r
59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
\r
60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
61 licenses offer ticketed support, indemnification and commercial middleware.
\r
63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
64 engineered and independently SIL3 certified version for use in safety and
\r
65 mission critical applications that require provable dependability.
\r
72 * Creates all the demo application tasks, then starts the scheduler. The WEB
\r
73 * documentation provides more details of the standard demo application tasks
\r
74 * (which just exist to test the kernel port and provide an example of how to use
\r
75 * each FreeRTOS API function).
\r
77 * In addition to the standard demo tasks, the following tasks and tests are
\r
78 * defined and/or created within this file:
\r
80 * "Check" hook - This only executes fully every five seconds from the tick
\r
81 * hook. Its main function is to check that all the standard demo tasks are
\r
82 * still operational. The status can be viewed using on the Task Stats page
\r
83 * served by the WEB server.
\r
85 * "uIP" task - This is the task that handles the uIP stack. All TCP/IP
\r
86 * processing is performed in this task.
\r
88 * "USB" task - Enumerates the USB device as a CDC class, then echoes back all
\r
89 * received characters with a configurable offset (for example, if the offset
\r
90 * is 1 and 'A' is received then 'B' will be sent back). A dumb terminal such
\r
91 * as Hyperterminal can be used to talk to the USB task.
\r
94 /* Scheduler includes. */
\r
95 #include "FreeRTOS.h"
\r
98 /* Demo app includes. */
\r
100 #include "integer.h"
\r
101 #include "blocktim.h"
\r
103 #include "partest.h"
\r
104 #include "semtest.h"
\r
106 #include "GenQTest.h"
\r
108 #include "recmutex.h"
\r
110 /*-----------------------------------------------------------*/
\r
112 /* The time between cycles of the 'check' functionality (defined within the
\r
114 #define mainCHECK_DELAY ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
\r
116 /* The toggle rate for the LED. */
\r
117 #define mainLED_TOGGLE_RATE ( ( TickType_t ) 1000 / portTICK_PERIOD_MS )
\r
119 /* Task priorities. */
\r
120 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
121 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
122 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
123 #define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
124 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
125 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
126 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
128 /* The WEB server has a larger stack as it utilises stack hungry string
\r
129 handling library calls. */
\r
130 #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
\r
132 /* The message displayed by the WEB server when all tasks are executing
\r
133 without an error being reported. */
\r
134 #define mainPASS_STATUS_MESSAGE "All tasks are executing without error."
\r
136 /*-----------------------------------------------------------*/
\r
139 * Configure the hardware for the demo.
\r
141 static void prvSetupHardware( void );
\r
144 * The task that handles the uIP stack. All TCP/IP processing is performed in
\r
147 extern void vuIP_Task( void *pvParameters );
\r
150 * The task that handles the USB stack.
\r
152 extern void vUSBTask( void *pvParameters );
\r
155 * Very basic task that does nothing but use delays to flash an LED.
\r
157 static void prvFlashTask( void *pvParameters );
\r
160 * Simply returns the current status message for display on served WEB pages.
\r
162 char *pcGetTaskStatusMessage( void );
\r
164 /*-----------------------------------------------------------*/
\r
166 /* Holds the status message displayed by the WEB server. */
\r
167 static char *pcStatusMessage = mainPASS_STATUS_MESSAGE;
\r
169 /*-----------------------------------------------------------*/
\r
173 /* Configure the hardware for use by this demo. */
\r
174 prvSetupHardware();
\r
176 /* Start the standard demo tasks. These are just here to exercise the
\r
177 kernel port and provide examples of how the FreeRTOS API can be used. */
\r
178 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
179 vCreateBlockTimeTasks();
\r
180 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
181 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
182 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
\r
183 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
\r
184 vStartQueuePeekTasks();
\r
185 vStartRecursiveMutexTasks();
\r
187 /* Create the simple LED flash task. */
\r
188 xTaskCreate( prvFlashTask, "Flash", configMINIMAL_STACK_SIZE, ( void * ) NULL, mainFLASH_TASK_PRIORITY, NULL );
\r
190 /* Create the USB task. */
\r
191 xTaskCreate( vUSBTask, "USB", configMINIMAL_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, NULL );
\r
193 /* Create the uIP task. The WEB server runs in this task. */
\r
194 xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
\r
196 /* Start the scheduler. */
\r
197 vTaskStartScheduler();
\r
199 /* Will only get here if there was insufficient memory to create the idle
\r
200 task. The idle task is created within vTaskStartScheduler(). */
\r
203 /*-----------------------------------------------------------*/
\r
205 void vApplicationTickHook( void )
\r
207 static unsigned long ulTicksSinceLastDisplay = 0;
\r
209 /* Called from every tick interrupt as described in the comments at the top
\r
212 Have enough ticks passed to make it time to perform our health status
\r
214 ulTicksSinceLastDisplay++;
\r
215 if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
\r
217 /* Reset the counter so these checks run again in mainCHECK_DELAY
\r
219 ulTicksSinceLastDisplay = 0;
\r
221 /* Has an error been found in any task? */
\r
222 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
224 pcStatusMessage = "An error has been detected in the Generic Queue test/demo.";
\r
226 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
\r
228 pcStatusMessage = "An error has been detected in the Peek Queue test/demo.";
\r
230 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
232 pcStatusMessage = "An error has been detected in the Block Queue test/demo.";
\r
234 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
236 pcStatusMessage = "An error has been detected in the Block Time test/demo.";
\r
238 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
240 pcStatusMessage = "An error has been detected in the Semaphore test/demo.";
\r
242 else if( xArePollingQueuesStillRunning() != pdTRUE )
\r
244 pcStatusMessage = "An error has been detected in the Poll Queue test/demo.";
\r
246 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
\r
248 pcStatusMessage = "An error has been detected in the Int Math test/demo.";
\r
250 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
\r
252 pcStatusMessage = "An error has been detected in the Mutex test/demo.";
\r
256 /*-----------------------------------------------------------*/
\r
258 static void prvFlashTask( void *pvParameters )
\r
260 TickType_t xLastFlashTime;
\r
262 /* We need to initialise xLastFlashTime prior to the first call to
\r
263 vTaskDelayUntil(). */
\r
264 xLastFlashTime = xTaskGetTickCount();
\r
268 /* Simply toggle the LED between delays. */
\r
269 vTaskDelayUntil( &xLastFlashTime, mainLED_TOGGLE_RATE );
\r
270 vParTestToggleLED( 0 );
\r
273 /*-----------------------------------------------------------*/
\r
275 char *pcGetTaskStatusMessage( void )
\r
277 /* Not bothered about a critical section here. */
\r
278 return pcStatusMessage;
\r
280 /*-----------------------------------------------------------*/
\r
282 void prvSetupHardware( void )
\r
284 /* Disable peripherals power. */
\r
287 /* Enable GPIO power. */
\r
288 SC->PCONP = PCONP_PCGPIO;
\r
290 /* Disable TPIU. */
\r
291 PINCON->PINSEL10 = 0;
\r
293 if ( SC->PLL0STAT & ( 1 << 25 ) )
\r
295 /* Enable PLL, disconnected. */
\r
297 SC->PLL0FEED = PLLFEED_FEED1;
\r
298 SC->PLL0FEED = PLLFEED_FEED2;
\r
301 /* Disable PLL, disconnected. */
\r
303 SC->PLL0FEED = PLLFEED_FEED1;
\r
304 SC->PLL0FEED = PLLFEED_FEED2;
\r
306 /* Enable main OSC. */
\r
308 while( !( SC->SCS & 0x40 ) );
\r
310 /* select main OSC, 12MHz, as the PLL clock source. */
\r
311 SC->CLKSRCSEL = 0x1;
\r
313 SC->PLL0CFG = 0x20031;
\r
314 SC->PLL0FEED = PLLFEED_FEED1;
\r
315 SC->PLL0FEED = PLLFEED_FEED2;
\r
317 /* Enable PLL, disconnected. */
\r
319 SC->PLL0FEED = PLLFEED_FEED1;
\r
320 SC->PLL0FEED = PLLFEED_FEED2;
\r
322 /* Set clock divider. */
\r
323 SC->CCLKCFG = 0x03;
\r
325 /* Configure flash accelerator. */
\r
326 SC->FLASHCFG = 0x403a;
\r
328 /* Check lock bit status. */
\r
329 while( ( ( SC->PLL0STAT & ( 1 << 26 ) ) == 0 ) );
\r
331 /* Enable and connect. */
\r
333 SC->PLL0FEED = PLLFEED_FEED1;
\r
334 SC->PLL0FEED = PLLFEED_FEED2;
\r
335 while( ( ( SC->PLL0STAT & ( 1 << 25 ) ) == 0 ) );
\r
340 /* Configure the clock for the USB. */
\r
342 if( SC->PLL1STAT & ( 1 << 9 ) )
\r
344 /* Enable PLL, disconnected. */
\r
346 SC->PLL1FEED = PLLFEED_FEED1;
\r
347 SC->PLL1FEED = PLLFEED_FEED2;
\r
350 /* Disable PLL, disconnected. */
\r
352 SC->PLL1FEED = PLLFEED_FEED1;
\r
353 SC->PLL1FEED = PLLFEED_FEED2;
\r
355 SC->PLL1CFG = 0x23;
\r
356 SC->PLL1FEED = PLLFEED_FEED1;
\r
357 SC->PLL1FEED = PLLFEED_FEED2;
\r
359 /* Enable PLL, disconnected. */
\r
361 SC->PLL1FEED = PLLFEED_FEED1;
\r
362 SC->PLL1FEED = PLLFEED_FEED2;
\r
363 while( ( ( SC->PLL1STAT & ( 1 << 10 ) ) == 0 ) );
\r
365 /* Enable and connect. */
\r
367 SC->PLL1FEED = PLLFEED_FEED1;
\r
368 SC->PLL1FEED = PLLFEED_FEED2;
\r
369 while( ( ( SC->PLL1STAT & ( 1 << 9 ) ) == 0 ) );
\r
371 /* Setup the peripheral bus to be the same as the CPU output (100 MHz). */
\r
372 SC->PCLKSEL0 = 0x05555555;
\r
374 /* Configure the LEDs. */
\r
375 vParTestInitialise();
\r
377 /*-----------------------------------------------------------*/
\r
379 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
\r
381 /* This function will get called if a task overflows its stack. */
\r
384 ( void ) pcTaskName;
\r
388 /*-----------------------------------------------------------*/
\r
390 void vConfigureTimerForRunTimeStats( void )
\r
392 const unsigned long TCR_COUNT_RESET = 2, CTCR_CTM_TIMER = 0x00, TCR_COUNT_ENABLE = 0x01;
\r
394 /* This function configures a timer that is used as the time base when
\r
395 collecting run time statistical information - basically the percentage
\r
396 of CPU time that each task is utilising. It is called automatically when
\r
397 the scheduler is started (assuming configGENERATE_RUN_TIME_STATS is set
\r
400 /* Power up and feed the timer. */
\r
401 SC->PCONP |= 0x02UL;
\r
402 SC->PCLKSEL0 = (SC->PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
\r
404 /* Reset Timer 0 */
\r
405 TIM0->TCR = TCR_COUNT_RESET;
\r
407 /* Just count up. */
\r
408 TIM0->CTCR = CTCR_CTM_TIMER;
\r
410 /* Prescale to a frequency that is good enough to get a decent resolution,
\r
411 but not too fast so as to overflow all the time. */
\r
412 TIM0->PR = ( configCPU_CLOCK_HZ / 10000UL ) - 1UL;
\r
414 /* Start the counter. */
\r
415 TIM0->TCR = TCR_COUNT_ENABLE;
\r
417 /*-----------------------------------------------------------*/
\r