332 lines
12 KiB
C
332 lines
12 KiB
C
/*
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FreeRTOS.org V4.4.0 - Copyright (C) 2003-2007 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS.org is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS.org; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS.org, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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See http://www.FreeRTOS.org for documentation, latest information, license
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and contact details. Please ensure to read the configuration and relevant
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port sections of the online documentation.
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***************************************************************************
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*/
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/*
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* Creates all the demo application tasks, then starts the scheduler. The WEB
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* documentation provides more details of the standard demo application tasks.
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* In addition to the standard demo tasks, the following tasks and tests are
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* defined and/or created within this file:
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*
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* "Fast Interrupt Test" - A high frequency periodic interrupt is generated
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* using a free running timer to demonstrate the use of the
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* configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
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* service routine measures the number of processor clocks that occur between
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* each interrupt - and in so doing measures the jitter in the interrupt timing.
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* The maximum measured jitter time is latched in the ulMaxJitter variable, and
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* displayed on the OLED display by the 'Check' task as described below. The
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* fast interrupt is configured and handled in the timertest.c source file.
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*
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* "OLED" task - the OLED task is a 'gatekeeper' task. It is the only task that
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* is permitted to access the display directly. Other tasks wishing to write a
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* message to the OLED send the message on a queue to the OLED task instead of
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* accessing the OLED themselves. The OLED task just blocks on the queue waiting
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* for messages - waking and displaying the messages as they arrive.
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*
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* "Check" task - This only executes every five seconds but has the highest
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* priority so is guaranteed to get processor time. Its main function is to
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* check that all the standard demo tasks are still operational. Should any
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* unexpected behaviour within a demo task be discovered the 'check' task will
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* write an error to the OLED (via the OLED task). If all the demo tasks are
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* executing with their expected behaviour then the check task writes PASS
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* along with the max jitter time to the OLED (again via the OLED task), as
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* described above.
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*
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* "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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* processing is performed in this task.
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*/
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/* Standard includes. */
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#include <stdio.h>
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/* Scheduler 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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#include "semphr.h"
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/* Demo app includes. */
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#include "BlockQ.h"
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#include "death.h"
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#include "integer.h"
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#include "blocktim.h"
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#include "flash.h"
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#include "partest.h"
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#include "semtest.h"
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#include "pollq.h"
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#include "lcd_message.h"
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#include "bitmap.h"
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/* Hardware library includes. */
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#include "hw_memmap.h"
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#include "hw_types.h"
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#include "sysctl.h"
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#include "gpio.h"
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#include "osram128x64x4.h"
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/*-----------------------------------------------------------*/
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/* The time between cycles of the 'check' task. */
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#define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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/* Size of the stack allocated to the uIP task. */
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#define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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/* The check task uses the sprintf function so requires a little more stack too. */
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#define mainCHECK_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
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/* Task priorities. */
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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/* The maximum number of message that can be waiting for display at any one
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time. */
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#define mainOLED_QUEUE_SIZE ( 3 )
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/* Dimensions the buffer into which the jitter time is written. */
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#define mainMAX_MSG_LEN 25
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/* The period of the system clock in nano seconds. This is used to calculate
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the jitter time in nano seconds. */
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#define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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/* Constants used when writing strings to the display. */
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#define mainCHARACTER_HEIGHT ( 9 )
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#define mainMAX_ROWS ( mainCHARACTER_HEIGHT * 7 )
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#define mainFULL_SCALE ( 15 )
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#define ulSSI_FREQUENCY 1000000
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/*-----------------------------------------------------------*/
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/*
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* Checks the status of all the demo tasks then prints a message to the
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* display. The message will be either PASS - an include in brackets the
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* maximum measured jitter time (as described at the to of the file), or a
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* message that describes which of the standard demo tasks an error has been
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* discovered in.
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*
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* Messages are not written directly to the terminal, but passed to vOLEDTask
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* via a queue.
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*/
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static void vCheckTask( void *pvParameters );
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/*
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* The task that handles the uIP stack. All TCP/IP processing is performed in
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* this task.
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*/
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extern void vuIP_Task( void *pvParameters );
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/*
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* The display is written two by more than one task so is controlled by a
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* 'gatekeeper' task. This is the only task that is actually permitted to
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* access the display directly. Other tasks wanting to display a message send
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* the message to the gatekeeper.
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*/
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static void vOLEDTask( void *pvParameters );
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/*
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* Configure the hardware for the demo.
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*/
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static void prvSetupHardware( void );
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/*
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* Configures the high frequency timers - those used to measure the timing
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* jitter while the real time kernel is executing.
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*/
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extern void vSetupTimer( void );
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/*-----------------------------------------------------------*/
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/* The queue used to send messages to the OLED task. */
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xQueueHandle xOLEDQueue;
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/* The welcome text. */
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const portCHAR * const pcWelcomeMessage = " www.FreeRTOS.org";
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/*-----------------------------------------------------------*/
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int main( void )
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{
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prvSetupHardware();
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/* Create the queue used by the OLED task. Messages for display on the OLED
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are received via this queue. */
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xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
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/* Create the uIP task. */
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xTaskCreate( vuIP_Task, ( signed portCHAR * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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/* Start the standard demo tasks. */
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vCreateBlockTimeTasks();
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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/* Start the tasks defined within this file/specific to this demo. */
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xTaskCreate( vCheckTask, ( signed portCHAR * ) "Check", mainCHECK_TASK_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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xTaskCreate( vOLEDTask, ( signed portCHAR * ) "OLED", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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/* The suicide tasks must be created last as they need to know how many
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tasks were running prior to their creation in order to ascertain whether
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or not the correct/expected number of tasks are running at any given time. */
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vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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/* Configure the high frequency interrupt used to measure the interrupt
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jitter time. */
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#ifdef __ICCARM__
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vSetupTimer();
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#endif
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/* Start the scheduler. */
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vTaskStartScheduler();
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/* Will only get here if there was insufficient memory to create the idle
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task. */
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return 0;
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}
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/*-----------------------------------------------------------*/
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void prvSetupHardware( void )
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{
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/* Set the clocking to run from the PLL at 50 MHz */
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SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
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/* Enable/Reset the Ethernet Controller */
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SysCtlPeripheralEnable( SYSCTL_PERIPH_ETH );
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SysCtlPeripheralReset( SYSCTL_PERIPH_ETH );
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/* Enable Port F for Ethernet LEDs
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LED0 Bit 3 Output
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LED1 Bit 2 Output */
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SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
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GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
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GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
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vParTestInitialise();
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}
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/*-----------------------------------------------------------*/
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static void vCheckTask( void *pvParameters )
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{
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portTickType xLastExecutionTime;
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xOLEDMessage xMessage;
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static portCHAR cPassMessage[ mainMAX_MSG_LEN ];
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extern unsigned portLONG ulMaxJitter;
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xLastExecutionTime = xTaskGetTickCount();
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xMessage.pcMessage = cPassMessage;
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for( ;; )
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{
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/* Perform this check every mainCHECK_DELAY milliseconds. */
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vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );
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/* Has an error been found in any task? */
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN BLOCK Q";
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}
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else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN BLOCK TIME";
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}
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else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN SEMAPHORE";
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}
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else if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN POLL Q";
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}
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else if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN CREATE";
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}
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else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN MATH";
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}
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else
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{
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#ifdef __ICCARM__
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sprintf( cPassMessage, "PASS [%uns]", ulMaxJitter * mainNS_PER_CLOCK );
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#else
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sprintf( cPassMessage, "PASS" );
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#endif
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}
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/* Send the message to the OLED gatekeeper for display. */
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xQueueSend( xOLEDQueue, &xMessage, portMAX_DELAY );
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}
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}
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/*-----------------------------------------------------------*/
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void vOLEDTask( void *pvParameters )
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{
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xOLEDMessage xMessage;
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unsigned portLONG ulY = mainMAX_ROWS;
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/* Initialise the OLED and display a startup message. */
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OSRAM128x64x4Init( ulSSI_FREQUENCY );
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OSRAM128x64x4StringDraw( " POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
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OSRAM128x64x4ImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
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for( ;; )
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{
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/* Wait for a message to arrive that requires displaying. */
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xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
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/* Write the message on the next available row. */
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ulY += mainCHARACTER_HEIGHT;
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if( ulY >= mainMAX_ROWS )
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{
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ulY = mainCHARACTER_HEIGHT;
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OSRAM128x64x4Clear();
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OSRAM128x64x4StringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
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}
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/* Display the message. */
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OSRAM128x64x4StringDraw( xMessage.pcMessage, 0, ulY, mainFULL_SCALE );
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}
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}
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