/* | |
FreeRTOS V5.4.1 - Copyright (C) 2009 Real Time Engineers Ltd. | |
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 exception 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. | |
Alternative commercial license and support terms are also available upon | |
request. See the licensing section of http://www.FreeRTOS.org for full | |
license details. | |
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. See the GNU General Public License for | |
more details. | |
You should have received a copy of the GNU General Public License along | |
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59 | |
Temple Place, Suite 330, Boston, MA 02111-1307 USA. | |
*************************************************************************** | |
* * | |
* Looking for a quick start? Then check out the FreeRTOS eBook! * | |
* See http://www.FreeRTOS.org/Documentation for details * | |
* * | |
*************************************************************************** | |
1 tab == 4 spaces! | |
Please ensure to read the configuration and relevant port sections of the | |
online documentation. | |
http://www.FreeRTOS.org - Documentation, latest information, license and | |
contact details. | |
http://www.SafeRTOS.com - A version that is certified for use in safety | |
critical systems. | |
http://www.OpenRTOS.com - Commercial support, development, porting, | |
licensing and training services. | |
*/ | |
/* | |
* Creates all the demo application tasks, then starts the scheduler. The WEB | |
* documentation provides more details of the standard demo application tasks | |
* (which just exist to test the kernel port and provide an example of how to use | |
* each FreeRTOS API function). | |
* | |
* In addition to the standard demo tasks, the following tasks and tests are | |
* defined and/or created within this file: | |
* | |
* "Check" hook - This only executes fully every five seconds from the tick | |
* hook. Its main function is to check that all the standard demo tasks are | |
* still operational. The status can be viewed using on the Task Stats page | |
* served by the WEB server. | |
* | |
* "uIP" task - This is the task that handles the uIP stack. All TCP/IP | |
* processing is performed in this task. | |
*/ | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Demo app includes. */ | |
#include "BlockQ.h" | |
#include "integer.h" | |
#include "blocktim.h" | |
#include "flash.h" | |
#include "partest.h" | |
#include "semtest.h" | |
#include "PollQ.h" | |
#include "GenQTest.h" | |
#include "QPeek.h" | |
#include "recmutex.h" | |
/*-----------------------------------------------------------*/ | |
/* The time between cycles of the 'check' functionality (defined within the | |
tick hook). */ | |
#define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS ) | |
/* Task priorities. */ | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
/* The WEB server has a larger stack as it utilises stack hungry string | |
handling library calls. */ | |
#define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 ) | |
/* The message displayed by the WEB server when all tasks are executing | |
without an error being reported. */ | |
#define mainPASS_STATUS_MESSAGE "All tasks are executing without error." | |
/*-----------------------------------------------------------*/ | |
/* | |
* Configure the hardware for the demo. | |
*/ | |
static void prvSetupHardware( void ); | |
/* | |
* The task that handles the uIP stack. All TCP/IP processing is performed in | |
* this task. | |
*/ | |
extern void vuIP_Task( void *pvParameters ); | |
/* | |
* Simply returns the current status message for display on served WEB pages. | |
*/ | |
char *pcGetTaskStatusMessage( void ); | |
/*-----------------------------------------------------------*/ | |
/* Holds the status message displayed by the WEB server. */ | |
static char *pcStatusMessage = mainPASS_STATUS_MESSAGE; | |
/*-----------------------------------------------------------*/ | |
int main( void ) | |
{ | |
/* Configure the hardware for use by this demo. */ | |
prvSetupHardware(); | |
/* Start the standard demo tasks. These are just here to exercise the | |
kernel port and provide examples of how the FreeRTOS API can be used. */ | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
vCreateBlockTimeTasks(); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY ); | |
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY ); | |
vStartQueuePeekTasks(); | |
vStartRecursiveMutexTasks(); | |
vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY ); | |
/* Create the uIP task. The WEB server runs in this task. */ | |
xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL ); | |
/* Start the scheduler. */ | |
vTaskStartScheduler(); | |
/* Will only get here if there was insufficient memory to create the idle | |
task. The idle task is created within vTaskStartScheduler(). */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationTickHook( void ) | |
{ | |
static unsigned portLONG ulTicksSinceLastDisplay = 0; | |
/* Called from every tick interrupt as described in the comments at the top | |
of this file. | |
Have enough ticks passed to make it time to perform our health status | |
check again? */ | |
ulTicksSinceLastDisplay++; | |
if( ulTicksSinceLastDisplay >= mainCHECK_DELAY ) | |
{ | |
/* Reset the counter so these checks run again in mainCHECK_DELAY | |
ticks time. */ | |
ulTicksSinceLastDisplay = 0; | |
/* Has an error been found in any task? */ | |
if( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "An error has been detected in the Generic Queue test/demo."; | |
} | |
else if( xAreQueuePeekTasksStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "An error has been detected in the Peek Queue test/demo."; | |
} | |
else if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "An error has been detected in the Block Queue test/demo."; | |
} | |
else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "An error has been detected in the Block Time test/demo."; | |
} | |
else if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "An error has been detected in the Semaphore test/demo."; | |
} | |
else if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "An error has been detected in the Poll Queue test/demo."; | |
} | |
else if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "An error has been detected in the Int Math test/demo."; | |
} | |
else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "An error has been detected in the Mutex test/demo."; | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
char *pcGetTaskStatusMessage( void ) | |
{ | |
/* Not bothered about a critical section here. */ | |
return pcStatusMessage; | |
} | |
/*-----------------------------------------------------------*/ | |
void prvSetupHardware( void ) | |
{ | |
/* Disable peripherals power. */ | |
SC->PCONP = 0; | |
/* Enable GPIO power. */ | |
SC->PCONP = PCONP_PCGPIO; | |
/* Disable TPIU. */ | |
PINCON->PINSEL10 = 0; | |
/* Disconnect the main PLL. */ | |
SC->PLL0CON &= ~PLLCON_PLLC; | |
SC->PLL0FEED = PLLFEED_FEED1; | |
SC->PLL0FEED = PLLFEED_FEED2; | |
while ((SC->PLL0STAT & PLLSTAT_PLLC) != 0); | |
/* Turn off the main PLL. */ | |
SC->PLL0CON &= ~PLLCON_PLLE; | |
SC->PLL0FEED = PLLFEED_FEED1; | |
SC->PLL0FEED = PLLFEED_FEED2; | |
while ((SC->PLL0STAT & PLLSTAT_PLLE) != 0); | |
/* No CPU clock divider. */ | |
SC->CCLKCFG = 0; | |
/* OSCEN. */ | |
SC->SCS = 0x20; | |
while ((SC->SCS & 0x40) == 0); | |
/* Use main oscillator. */ | |
SC->CLKSRCSEL = 1; | |
SC->PLL0CFG = (PLLCFG_MUL16 | PLLCFG_DIV1); | |
SC->PLL0FEED = PLLFEED_FEED1; | |
SC->PLL0FEED = PLLFEED_FEED2; | |
/* Activate the PLL by turning it on then feeding the correct | |
sequence of bytes. */ | |
SC->PLL0CON = PLLCON_PLLE; | |
SC->PLL0FEED = PLLFEED_FEED1; | |
SC->PLL0FEED = PLLFEED_FEED2; | |
/* 6x CPU clock divider (64 MHz) */ | |
SC->CCLKCFG = 5; | |
/* Wait for the PLL to lock. */ | |
while ((SC->PLL0STAT & PLLSTAT_PLOCK) == 0); | |
/* Connect the PLL. */ | |
SC->PLL0CON = PLLCON_PLLC | PLLCON_PLLE; | |
SC->PLL0FEED = PLLFEED_FEED1; | |
SC->PLL0FEED = PLLFEED_FEED2; | |
/* Setup the peripheral bus to be the same as the PLL output (64 MHz). */ | |
SC->PCLKSEL0 = 0x05555555; | |
/* Configure the LEDs. */ | |
vParTestInitialise(); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName ) | |
{ | |
/* This function will get called if a task overflows its stack. */ | |
( void ) pxTask; | |
( void ) pcTaskName; | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vConfigureTimerForRunTimeStats( void ) | |
{ | |
const unsigned long TCR_COUNT_RESET = 2, CTCR_CTM_TIMER = 0x00, TCR_COUNT_ENABLE = 0x01; | |
/* This function configures a timer that is used as the time base when | |
collecting run time statistical information - basically the percentage | |
of CPU time that each task is utilising. It is called automatically when | |
the scheduler is started (assuming configGENERATE_RUN_TIME_STATS is set | |
to 1). */ | |
/* Power up and feed the timer. */ | |
SC->PCONP |= 0x02UL; | |
SC->PCLKSEL0 = (SC->PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2); | |
/* Reset Timer 0 */ | |
TIM0->TCR = TCR_COUNT_RESET; | |
/* Just count up. */ | |
TIM0->CTCR = CTCR_CTM_TIMER; | |
/* Prescale to a frequency that is good enough to get a decent resolution, | |
but not too fast so as to overflow all the time. */ | |
TIM0->PR = ( configCPU_CLOCK_HZ / 10000UL ) - 1UL; | |
/* Start the counter. */ | |
TIM0->TCR = TCR_COUNT_ENABLE; | |
} | |
/*-----------------------------------------------------------*/ | |