/* FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * * FreeRTOS provides completely free yet professionally developed, * * robust, strictly quality controlled, supported, and cross * * platform software that has become a de facto standard. * * * * Help yourself get started quickly and support the FreeRTOS * * project by purchasing a FreeRTOS tutorial book, reference * * manual, or both from: http://www.FreeRTOS.org/Documentation * * * * Thank you! * * * *************************************************************************** This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. >>! NOTE: The modification to the GPL is included to allow you to distribute >>! a combined work that includes FreeRTOS without being obliged to provide >>! the source code for proprietary components outside of the FreeRTOS >>! kernel. FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. Full license text is available from the following link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! *************************************************************************** * * * Having a problem? Start by reading the FAQ "My application does * * not run, what could be wrong?" * * * * http://www.FreeRTOS.org/FAQHelp.html * * * *************************************************************************** http://www.FreeRTOS.org - Documentation, books, training, latest versions, license and Real Time Engineers Ltd. contact details. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and mission critical applications that require provable dependability. 1 tab == 4 spaces! */ /* * Creates all the demo application tasks, then starts the scheduler. The WEB * documentation provides more details of the standard demo application tasks. * In addition to the standard demo tasks, the following tasks and tests are * defined and/or created within this file: * * "Fast Interrupt Test" - A high frequency periodic interrupt is generated * using a free running timer to demonstrate the use of the * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt * service routine measures the number of processor clocks that occur between * each interrupt - and in so doing measures the jitter in the interrupt timing. * The maximum measured jitter time is latched in the ulMaxJitter variable, and * displayed on the OLED display by the 'OLED' task as described below. The * fast interrupt is configured and handled in the timertest.c source file. * * "OLED" task - the OLED task is a 'gatekeeper' task. It is the only task that * is permitted to access the display directly. Other tasks wishing to write a * message to the OLED send the message on a queue to the OLED task instead of * accessing the OLED themselves. The OLED task just blocks on the queue waiting * for messages - waking and displaying the messages as they arrive. * * "Check" hook - This only executes every five seconds from the tick hook. * Its main function is to check that all the standard demo tasks are still * operational. Should any unexpected behaviour within a demo task be discovered * the tick hook will write an error to the OLED (via the OLED task). If all the * demo tasks are executing with their expected behaviour then the check task * writes PASS to the OLED (again via the OLED task), as described above. * * "uIP" task - This is the task that handles the uIP stack. All TCP/IP * processing is performed in this task. */ /************************************************************************* * Please ensure to read http://www.freertos.org/portLM3Sxxxx_Eclipse.html * which provides information on configuring and running this demo for the * various Luminary Micro EKs. *************************************************************************/ /* Standard includes. */ #include /* Scheduler includes. */ #include "FreeRTOS.h" #include "task.h" #include "queue.h" #include "semphr.h" /* Hardware library includes. */ #include "hw_memmap.h" #include "hw_types.h" #include "hw_sysctl.h" #include "sysctl.h" #include "gpio.h" #include "grlib.h" #include "rit128x96x4.h" #include "osram128x64x4.h" #include "formike128x128x16.h" /* Demo app includes. */ #include "BlockQ.h" #include "death.h" #include "integer.h" #include "blocktim.h" #include "flash.h" #include "partest.h" #include "semtest.h" #include "PollQ.h" #include "lcd_message.h" #include "bitmap.h" #include "GenQTest.h" #include "QPeek.h" #include "recmutex.h" #include "IntQueue.h" #include "QueueSet.h" /*-----------------------------------------------------------*/ /* The time between cycles of the 'check' functionality (defined within the tick hook. */ #define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS ) /* Size of the stack allocated to the uIP task. */ #define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 ) /* The OLED task uses the sprintf function so requires a little more stack too. */ #define mainOLED_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 ) /* Task priorities. */ #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 ) #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY ) #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY ) /* The maximum number of message that can be waiting for display at any one time. */ #define mainOLED_QUEUE_SIZE ( 3 ) /* Dimensions the buffer into which the jitter time is written. */ #define mainMAX_MSG_LEN 25 /* The period of the system clock in nano seconds. This is used to calculate the jitter time in nano seconds. */ #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) ) /* Constants used when writing strings to the display. */ #define mainCHARACTER_HEIGHT ( 9 ) #define mainMAX_ROWS_128 ( mainCHARACTER_HEIGHT * 14 ) #define mainMAX_ROWS_96 ( mainCHARACTER_HEIGHT * 10 ) #define mainMAX_ROWS_64 ( mainCHARACTER_HEIGHT * 7 ) #define mainFULL_SCALE ( 15 ) #define ulSSI_FREQUENCY ( 3500000UL ) /*-----------------------------------------------------------*/ /* * The task that handles the uIP stack. All TCP/IP processing is performed in * this task. */ extern void vuIP_Task( void *pvParameters ); /* * The display is written two by more than one task so is controlled by a * 'gatekeeper' task. This is the only task that is actually permitted to * access the display directly. Other tasks wanting to display a message send * the message to the gatekeeper. */ static void vOLEDTask( void *pvParameters ); /* * Configure the hardware for the demo. */ static void prvSetupHardware( void ); /* * Configures the high frequency timers - those used to measure the timing * jitter while the real time kernel is executing. */ extern void vSetupHighFrequencyTimer( void ); /* * The idle hook is used to run a test of the scheduler context switch * mechanism. */ void vApplicationIdleHook( void ) __attribute__((naked)); /*-----------------------------------------------------------*/ /* The queue used to send messages to the OLED task. */ xQueueHandle xOLEDQueue; /* The welcome text. */ const char * const pcWelcomeMessage = " www.FreeRTOS.org"; /* Variables used to detect the test in the idle hook failing. */ unsigned long ulIdleError = pdFALSE; /*-----------------------------------------------------------*/ /************************************************************************* * Please ensure to read http://www.freertos.org/portLM3Sxxxx_Eclipse.html * which provides information on configuring and running this demo for the * various Luminary Micro EKs. *************************************************************************/ int main( void ) { prvSetupHardware(); /* Create the queue used by the OLED task. Messages for display on the OLED are received via this queue. */ xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) ); /* Create the uIP task if running on a processor that includes a MAC and PHY. */ if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) ) { xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL ); } /* Start the standard demo tasks. */ vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); vCreateBlockTimeTasks(); vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY ); vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY ); vStartQueuePeekTasks(); vStartRecursiveMutexTasks(); vStartInterruptQueueTasks(); vStartQueueSetTasks(); /* Start the tasks defined within this file/specific to this demo. */ xTaskCreate( vOLEDTask, ( signed char * ) "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); /* The suicide tasks must be created last as they need to know how many tasks were running prior to their creation in order to ascertain whether or not the correct/expected number of tasks are running at any given time. */ vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY ); /* Configure the high frequency interrupt used to measure the interrupt jitter time. */ vSetupHighFrequencyTimer(); /* Start the scheduler. */ vTaskStartScheduler(); /* Will only get here if there was insufficient memory to create the idle task. */ for( ;; ); return 0; } /*-----------------------------------------------------------*/ void prvSetupHardware( void ) { /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is a workaround to allow the PLL to operate reliably. */ if( DEVICE_IS_REVA2 ) { SysCtlLDOSet( SYSCTL_LDO_2_75V ); } /* Set the clocking to run from the PLL at 50 MHz */ SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ ); /* Enable Port F for Ethernet LEDs LED0 Bit 3 Output LED1 Bit 2 Output */ SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF ); GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW ); GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD ); vParTestInitialise(); } /*-----------------------------------------------------------*/ void vApplicationTickHook( void ) { static xOLEDMessage xMessage = { "PASS" }; static unsigned long ulTicksSinceLastDisplay = 0; portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE; /* Called from every tick interrupt. Have enough ticks passed to make it time to perform our health status check again? */ ulTicksSinceLastDisplay++; if( ulTicksSinceLastDisplay >= mainCHECK_DELAY ) { ulTicksSinceLastDisplay = 0; /* Has an error been found in any task? */ if( xAreGenericQueueTasksStillRunning() != pdTRUE ) { xMessage.pcMessage = "ERROR IN GEN Q"; } else if( xAreQueuePeekTasksStillRunning() != pdTRUE ) { xMessage.pcMessage = "ERROR IN PEEK Q"; } else if( xAreBlockingQueuesStillRunning() != pdTRUE ) { xMessage.pcMessage = "ERROR IN BLOCK Q"; } else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) { xMessage.pcMessage = "ERROR IN BLOCK TIME"; } else if( xAreSemaphoreTasksStillRunning() != pdTRUE ) { xMessage.pcMessage = "ERROR IN SEMAPHORE"; } else if( xArePollingQueuesStillRunning() != pdTRUE ) { xMessage.pcMessage = "ERROR IN POLL Q"; } else if( xIsCreateTaskStillRunning() != pdTRUE ) { xMessage.pcMessage = "ERROR IN CREATE"; } else if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) { xMessage.pcMessage = "ERROR IN MATH"; } else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) { xMessage.pcMessage = "ERROR IN REC MUTEX"; } else if( ulIdleError != pdFALSE ) { xMessage.pcMessage = "ERROR IN HOOK"; } else if( xAreIntQueueTasksStillRunning() != pdTRUE ) { xMessage.pcMessage = "ERROR IN INT QUEUE"; } else if( xAreQueueSetTasksStillRunning() != pdTRUE ) { xMessage.pcMessage = "ERROR IN QUEUE SET"; } /* Send the message to the OLED gatekeeper for display. */ xHigherPriorityTaskWoken = pdFALSE; xQueueSendFromISR( xOLEDQueue, &xMessage, &xHigherPriorityTaskWoken ); } /* Exercise the queue sets from an ISR. */ vQueueSetAccessQueueSetFromISR(); } /*-----------------------------------------------------------*/ void vOLEDTask( void *pvParameters ) { xOLEDMessage xMessage; unsigned long ulY, ulMaxY; static char cMessage[ mainMAX_MSG_LEN ]; extern volatile unsigned long ulMaxJitter; unsigned portBASE_TYPE uxUnusedStackOnEntry; const unsigned char *pucImage; /* Functions to access the OLED. The one used depends on the dev kit being used. */ void ( *vOLEDInit )( unsigned long ) = NULL; void ( *vOLEDStringDraw )( const char *, unsigned long, unsigned long, unsigned char ) = NULL; void ( *vOLEDImageDraw )( const unsigned char *, unsigned long, unsigned long, unsigned long, unsigned long ) = NULL; void ( *vOLEDClear )( void ) = NULL; /* Just for demo purposes. */ uxUnusedStackOnEntry = uxTaskGetStackHighWaterMark( NULL ); /* Map the OLED access functions to the driver functions that are appropriate for the evaluation kit being used. */ switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK ) { case SYSCTL_DID1_PRTNO_6965 : case SYSCTL_DID1_PRTNO_2965 : vOLEDInit = OSRAM128x64x4Init; vOLEDStringDraw = OSRAM128x64x4StringDraw; vOLEDImageDraw = OSRAM128x64x4ImageDraw; vOLEDClear = OSRAM128x64x4Clear; ulMaxY = mainMAX_ROWS_64; pucImage = pucBasicBitmap; break; case SYSCTL_DID1_PRTNO_1968 : case SYSCTL_DID1_PRTNO_8962 : vOLEDInit = RIT128x96x4Init; vOLEDStringDraw = RIT128x96x4StringDraw; vOLEDImageDraw = RIT128x96x4ImageDraw; vOLEDClear = RIT128x96x4Clear; ulMaxY = mainMAX_ROWS_96; pucImage = pucBasicBitmap; break; default : vOLEDInit = vFormike128x128x16Init; vOLEDStringDraw = vFormike128x128x16StringDraw; vOLEDImageDraw = vFormike128x128x16ImageDraw; vOLEDClear = vFormike128x128x16Clear; ulMaxY = mainMAX_ROWS_128; pucImage = pucGrLibBitmap; break; } ulY = ulMaxY; /* Initialise the OLED and display a startup message. */ vOLEDInit( ulSSI_FREQUENCY ); vOLEDStringDraw( "POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE ); vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT ); for( ;; ) { /* Wait for a message to arrive that requires displaying. */ xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY ); /* Write the message on the next available row. */ ulY += mainCHARACTER_HEIGHT; if( ulY >= ulMaxY ) { ulY = mainCHARACTER_HEIGHT; vOLEDClear(); vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE ); } /* Display the message along with the maximum jitter time from the high priority time test. */ sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK ); vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE ); } } /*-----------------------------------------------------------*/ void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName ) { for( ;; ); } /*-----------------------------------------------------------*/ void vApplicationMallocFailedHook( void ) { for( ;; ); } /*-----------------------------------------------------------*/ /* Just to keep the linker happy. */ void __error__( char *pcFilename, unsigned long ulLine ) { for( ;; ); } int uipprintf( const char *fmt, ... ) { return( 0 ); }