372 lines
13 KiB
C
372 lines
13 KiB
C
/*
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FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/* Standard includes. */
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#include <stdio.h>
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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/* Demo application includes. */
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#include "partest.h"
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#include "flash.h"
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#include "dynamic.h"
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#include "comtest2.h"
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#include "GenQTest.h"
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/* ST driver includes. */
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#include "stm32l1xx_usart.h"
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/* Eval board includes. */
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#include "stm32_eval.h"
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#include "stm32l152_eval_lcd.h"
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#define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainGENERIC_QUEUE_TEST_PRIORITY ( tskIDLE_PRIORITY )
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#define mainLCD_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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#define mainQUEUE_LENGTH ( 5 )
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#define mainMESSAGE_BUTTON_UP ( 1 )
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#define mainMESSAGE_BUTTON_DOWN ( 2 )
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#define mainMESSAGE_BUTTON_LEFT ( 3 )
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#define mainMESSAGE_BUTTON_RIGHT ( 4 )
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#define mainMESSAGE_BUTTON_SEL ( 5 )
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#define mainMESSAGE_STATUS ( 6 )
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#define mainERROR_DYNAMIC_TASKS ( 2 )
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#define mainERROR_COM_TEST ( 3 )
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#define mainERROR_GEN_QUEUE_TEST ( 4 )
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/* Baud rate used by the comtest tasks. */
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#define mainCOM_TEST_BAUD_RATE ( 9600 )
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/* The LED used by the comtest tasks. See the comtest.c file for more
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information. */
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#define mainCOM_TEST_LED ( 3 )
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/*
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* System configuration is performed prior to main() being called, this function
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* configures the peripherals used by the demo application.
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*/
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static void prvSetupHardware( void );
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static void prvLCDTask( void *pvParameters );
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static void vTempTask( void *pv );
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static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue );
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unsigned long ulTIM6_OverflowCount = 0UL;
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static xQueueHandle xLCDQueue = NULL;
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typedef struct
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{
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char cMessageID;
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long lMessageValue;
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} xQueueMessage;
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void main( void )
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{
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prvSetupHardware();
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/* Create the queue used by tasks and interrupts to send strings to the LCD
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task. */
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xLCDQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( xQueueMessage ) );
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if( xLCDQueue != NULL )
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{
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vQueueAddToRegistry( xLCDQueue, "LCDQueue" );
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xTaskCreate( prvLCDTask, ( signed char * ) "LCD", mainLCD_TASK_STACK_SIZE, NULL, mainLCD_TASK_PRIORITY, NULL );
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xTaskCreate( vTempTask, ( signed char * ) "Temp", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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vStartDynamicPriorityTasks();
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vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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vStartGenericQueueTasks( mainGENERIC_QUEUE_TEST_PRIORITY );
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vTaskStartScheduler();
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}
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvLCDTask( void *pvParameters )
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{
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xQueueMessage xReceivedMessage;
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long lLine = Line1;
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const long lFontHeight = (((sFONT *)LCD_GetFont())->Height);
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static char cBuffer[ 512 ];
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/* This function is the only function that uses printf(). If printf() is
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used from any other function then some sort of mutual exclusion on stdout
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will be necessary. */
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printf( "%d bytes of heap space remain unallocated\n", xPortGetFreeHeapSize() );
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for( ;; )
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{
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xQueueReceive( xLCDQueue, &xReceivedMessage, portMAX_DELAY );
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if( lLine > Line9 )
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{
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LCD_Clear( Blue );
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lLine = 0;
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}
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switch( xReceivedMessage.cMessageID )
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{
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case mainMESSAGE_BUTTON_UP : sprintf( cBuffer, "Button up = %d", xReceivedMessage.lMessageValue );
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break;
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case mainMESSAGE_BUTTON_DOWN : sprintf( cBuffer, "Button down = %d", xReceivedMessage.lMessageValue );
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break;
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case mainMESSAGE_BUTTON_LEFT : sprintf( cBuffer, "Button left = %d", xReceivedMessage.lMessageValue );
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break;
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case mainMESSAGE_BUTTON_RIGHT : sprintf( cBuffer, "Button right = %d", xReceivedMessage.lMessageValue );
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break;
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case mainMESSAGE_BUTTON_SEL : printf( "\nTask\t Abs Time\t %%Time\n*****************************************" );
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vTaskGetRunTimeStats( ( signed char * ) cBuffer );
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printf( cBuffer );
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/* The select button passes its
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own string to print out. */
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sprintf( cBuffer, "%s", ( char * ) xReceivedMessage.lMessageValue );
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break;
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case mainMESSAGE_STATUS : prvGenerateStatusMessage( cBuffer, xReceivedMessage.lMessageValue );
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break;
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default : sprintf( cBuffer, "Unknown message" );
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break;
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}
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LCD_DisplayStringLine( lLine, ( uint8_t * ) cBuffer );
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lLine += lFontHeight;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue )
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{
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switch( lStatusValue )
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{
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case pdPASS : sprintf( pcBuffer, "Task status = PASS" );
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break;
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case mainERROR_DYNAMIC_TASKS : sprintf( pcBuffer, "Error: Dynamic tasks" );
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break;
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case mainERROR_COM_TEST : sprintf( pcBuffer, "Error: COM test" );
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break;
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case mainERROR_GEN_QUEUE_TEST : sprintf( pcBuffer, "Error: Gen Q test" );
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break;
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default : sprintf( pcBuffer, "Unknown status" );
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break;
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}
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}
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/*-----------------------------------------------------------*/
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void EXTI9_5_IRQHandler( void )
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{
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const xQueueMessage xMessage = { mainMESSAGE_BUTTON_SEL, ( unsigned long ) "Select Interrupt!" };
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long lHigherPriorityTaskWoken = pdFALSE;
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xQueueSendFromISR( xLCDQueue, &xMessage, &lHigherPriorityTaskWoken );
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EXTI_ClearITPendingBit( SEL_BUTTON_EXTI_LINE );
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portEND_SWITCHING_ISR( lHigherPriorityTaskWoken );
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}
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/*-----------------------------------------------------------*/
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void vApplicationTickHook( void )
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{
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static unsigned long ulCounter = 0;
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static const unsigned long ulCheckFrequency = 5000UL / portTICK_RATE_MS;
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static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };
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long lHigherPriorityTaskWoken = pdFALSE; /* Not used in this case as this is the tick hook. */
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ulCounter++;
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if( ulCounter >= ulCheckFrequency )
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{
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if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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{
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xStatusMessage.lMessageValue = mainERROR_DYNAMIC_TASKS;
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}
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if( xAreComTestTasksStillRunning() != pdPASS )
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{
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xStatusMessage.lMessageValue = mainERROR_COM_TEST;
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}
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if( xAreGenericQueueTasksStillRunning() != pdPASS )
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{
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xStatusMessage.lMessageValue = mainERROR_GEN_QUEUE_TEST;
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}
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xQueueSendFromISR( xLCDQueue, &xStatusMessage, &lHigherPriorityTaskWoken );
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ulCounter = 0;
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}
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}
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/*-----------------------------------------------------------*/
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static void vTempTask( void *pv )
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{
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long lLastState = pdTRUE;
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long lState;
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xQueueMessage xMessage;
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for( ;; )
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{
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lState = STM_EVAL_PBGetState( BUTTON_UP );
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if( lState != lLastState )
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{
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xMessage.cMessageID = mainMESSAGE_BUTTON_UP;
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xMessage.lMessageValue = lState;
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lLastState = lState;
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xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
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vTaskDelay( 10 );
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}
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}
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
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/* Initialise the LEDs. */
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vParTestInitialise();
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/* Initialise the joystick inputs. */
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STM_EVAL_PBInit( BUTTON_UP, BUTTON_MODE_GPIO );
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STM_EVAL_PBInit( BUTTON_DOWN, BUTTON_MODE_GPIO );
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STM_EVAL_PBInit( BUTTON_LEFT, BUTTON_MODE_GPIO );
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STM_EVAL_PBInit( BUTTON_RIGHT, BUTTON_MODE_GPIO );
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/* The select button in the middle of the joystick is configured to generate
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an interrupt. The Eval board library will configure the interrupt
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priority to be the lowest priority available - this is important as the
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interrupt service routine makes use of a FreeRTOS API function so must
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therefore use a priority equal to or below that set by the
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configMAX_SYSCALL_INTERRUPT_PRIORITY() value set in FreeRTOSConfig.h. */
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STM_EVAL_PBInit( BUTTON_SEL, BUTTON_MODE_EXTI );
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/* Initialize the LCD */
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STM32L152_LCD_Init();
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LCD_Clear(Blue);
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LCD_SetBackColor(Blue);
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LCD_SetTextColor(White);
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LCD_DisplayStringLine(Line0, " www.FreeRTOS.org");
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}
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/*-----------------------------------------------------------*/
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void vConfigureTimerForRunTimeStats( void )
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{
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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NVIC_InitTypeDef NVIC_InitStructure;
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/* TIM6 clock enable */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
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/* The 32MHz clock divided by 5000 should tick (very) approximately every
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150uS and overflow a 16bit timer (very) approximately every 10 seconds. */
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TIM_TimeBaseStructure.TIM_Period = 65535;
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TIM_TimeBaseStructure.TIM_Prescaler = 5000;
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TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_TimeBaseInit( TIM6, &TIM_TimeBaseStructure );
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/* Only interrupt on overflow events. */
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TIM6->CR1 |= TIM_CR1_URS;
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TIM_ITConfig( TIM6, TIM_IT_Update, ENABLE );
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/* Enable the TIM6 gloabal Interrupt */
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NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = configLIBRARY_LOWEST_INTERRUPT_PRIORITY;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x00; /* Not used as 4 bits are used for the pre-emption priority. */
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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TIM_ClearITPendingBit( TIM6, TIM_IT_Update );
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NVIC_Init(&NVIC_InitStructure);
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TIM_Cmd( TIM6, ENABLE );
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}
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/*-----------------------------------------------------------*/
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void TIM6_IRQHandler( void )
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{
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if( TIM_GetITStatus( TIM6, TIM_IT_Update) != RESET)
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{
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ulTIM6_OverflowCount++;
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TIM_ClearITPendingBit( TIM6, TIM_IT_Update );
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}
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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{
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( void ) pcTaskName;
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( void ) pxTask;
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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void vApplicationMallocFailedHook( void )
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{
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for( ;; );
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}
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