/* | |
* FreeRTOS Kernel V10.3.0 | |
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. | |
* | |
* Permission is hereby granted, free of charge, to any person obtaining a copy of | |
* this software and associated documentation files (the "Software"), to deal in | |
* the Software without restriction, including without limitation the rights to | |
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of | |
* the Software, and to permit persons to whom the Software is furnished to do so, | |
* subject to the following conditions: | |
* | |
* The above copyright notice and this permission notice shall be included in all | |
* copies or substantial portions of the Software. | |
* | |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS | |
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR | |
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER | |
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN | |
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | |
* | |
* http://www.FreeRTOS.org | |
* http://aws.amazon.com/freertos | |
* | |
* 1 tab == 4 spaces! | |
*/ | |
/* | |
NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode. | |
The processor MUST be in supervisor mode when vTaskStartScheduler is | |
called. The demo applications included in the FreeRTOS.org download switch | |
to supervisor mode prior to main being called. If you are not using one of | |
these demo application projects then ensure Supervisor mode is used. | |
*/ | |
/* | |
* Program entry point. | |
* | |
* main() is responsible for setting up the microcontroller peripherals, then | |
* starting the demo application tasks. Once the tasks have been created the | |
* scheduler is started and main() should never complete. | |
* | |
* The demo creates the three standard 'flash' tasks to provide some visual | |
* feedback that the system and scheduler are still operating correctly. | |
* | |
* The HTTP server task operates at the highest priority so will always preempt | |
* the flash or idle task on TCP/IP events. | |
*/ | |
/* Standard includes. */ | |
#include <stdlib.h> | |
/* Scheduler include files. */ | |
#include "FreeRTOS.h" | |
#include "semphr.h" | |
#include "task.h" | |
/* Application includes. */ | |
#include "i2c.h" | |
#include "HTTP_Serv.h" | |
#include "flash.h" | |
#include "partest.h" | |
#include "dynamic.h" | |
#include "semtest.h" | |
#include "PollQ.h" | |
#include "BlockQ.h" | |
#include "integer.h" | |
/*-----------------------------------------------------------*/ | |
/* Constants to setup the PLL. */ | |
#define mainPLL_MUL_4 ( ( unsigned char ) 0x0003 ) | |
#define mainPLL_DIV_1 ( ( unsigned char ) 0x0000 ) | |
#define mainPLL_ENABLE ( ( unsigned char ) 0x0001 ) | |
#define mainPLL_CONNECT ( ( unsigned char ) 0x0003 ) | |
#define mainPLL_FEED_BYTE1 ( ( unsigned char ) 0xaa ) | |
#define mainPLL_FEED_BYTE2 ( ( unsigned char ) 0x55 ) | |
#define mainPLL_LOCK ( ( unsigned long ) 0x0400 ) | |
/* Constants to setup the MAM. */ | |
#define mainMAM_TIM_3 ( ( unsigned char ) 0x03 ) | |
#define mainMAM_MODE_FULL ( ( unsigned char ) 0x02 ) | |
/* Constants to setup the peripheral bus. */ | |
#define mainBUS_CLK_FULL ( ( unsigned char ) 0x01 ) | |
/* Constants to setup I/O and processor. */ | |
#define mainBUS_CLK_FULL ( ( unsigned char ) 0x01 ) | |
#define mainLED_TO_OUTPUT ( ( unsigned long ) 0xff0000 ) | |
#define mainJTAG_PORT ( ( unsigned long ) 0x3E0000UL ) | |
/* Priorities for the demo application tasks. */ | |
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainHTTP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainERROR_CHECK_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
/* Flash rates of the on board LED to indicate the health of the system. */ | |
#define mainNO_ERROR_DELAY ( 3000 ) | |
#define mainERROR_DELAY ( 500 ) | |
#define mainON_BOARD_LED_BIT ( ( unsigned long ) 0x80 ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* The Olimex demo board has a single built in LED. This function simply | |
* toggles its state. | |
*/ | |
void prvToggleOnBoardLED( void ); | |
/* | |
* Configure the processor for use with the Olimex demo board. | |
*/ | |
static void prvSetupHardware( void ); | |
/* | |
* Simply check for errors and toggle the onboard LED. | |
*/ | |
static void prvErrorChecks( void *pvParameters ); | |
/* | |
* Return true if the demo tasks are executing without error - otherwise | |
* return false. | |
*/ | |
static void prvMainCheckOtherTasksAreStillRunning( void ); | |
/*-----------------------------------------------------------*/ | |
/* Flag set by prvMainCheckOtherTasksAreStillExecuting(). */ | |
long lErrorInTask = pdFALSE; | |
/* | |
* Application entry point: | |
* Starts all the other tasks, then starts the scheduler. | |
*/ | |
int main( void ) | |
{ | |
/* Setup the hardware for use with the Olimex demo board. */ | |
prvSetupHardware(); | |
/* Start the standard flash tasks so the WEB server is not the only thing | |
running. */ | |
vStartLEDFlashTasks( mainLED_TASK_PRIORITY ); | |
vStartSemaphoreTasks( tskIDLE_PRIORITY ); | |
vStartDynamicPriorityTasks(); | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
vStartIntegerMathTasks( tskIDLE_PRIORITY ); | |
/* Start the WEB server task and the error check task. */ | |
xTaskCreate( vHTTPServerTask, "HTTP", configMINIMAL_STACK_SIZE, NULL, mainHTTP_TASK_PRIORITY, NULL ); | |
xTaskCreate( prvErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainERROR_CHECK_PRIORITY, NULL ); | |
/* Now all the tasks have been started - start the scheduler. | |
NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode. | |
The processor MUST be in supervisor mode when vTaskStartScheduler is | |
called. The demo applications included in the FreeRTOS.org download switch | |
to supervisor mode prior to main being called. If you are not using one of | |
these demo application projects then ensure Supervisor mode is used. */ | |
vTaskStartScheduler(); | |
/* Should never reach here! */ | |
return 0; | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHardware( void ) | |
{ | |
#ifdef RUN_FROM_RAM | |
/* Remap the interrupt vectors to RAM if we are are running from RAM. */ | |
SCB_MEMMAP = 2; | |
#endif | |
/* Set all GPIO to output other than the P0.14 (BSL), and the JTAG pins. | |
The JTAG pins are left as input as I'm not sure what will happen if the | |
Wiggler is connected after powerup - not that it would be a good idea to | |
do that anyway. */ | |
GPIO_IODIR = ~( mainJTAG_PORT ); | |
/* Setup the PLL to multiply the XTAL input by 4. */ | |
SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 ); | |
/* Activate the PLL by turning it on then feeding the correct sequence of | |
bytes. */ | |
SCB_PLLCON = mainPLL_ENABLE; | |
SCB_PLLFEED = mainPLL_FEED_BYTE1; | |
SCB_PLLFEED = mainPLL_FEED_BYTE2; | |
/* Wait for the PLL to lock... */ | |
while( !( SCB_PLLSTAT & mainPLL_LOCK ) ); | |
/* ...before connecting it using the feed sequence again. */ | |
SCB_PLLCON = mainPLL_CONNECT; | |
SCB_PLLFEED = mainPLL_FEED_BYTE1; | |
SCB_PLLFEED = mainPLL_FEED_BYTE2; | |
/* Setup and turn on the MAM. Three cycle access is used due to the fast | |
PLL used. It is possible faster overall performance could be obtained by | |
tuning the MAM and PLL settings. */ | |
MAM_TIM = mainMAM_TIM_3; | |
MAM_CR = mainMAM_MODE_FULL; | |
/* Setup the peripheral bus to be the same as the PLL output. */ | |
SCB_VPBDIV = mainBUS_CLK_FULL; | |
/* Initialise the i2c peripheral. */ | |
i2cInit(); | |
/* Initialise the LED's used by the flash tasks. */ | |
vParTestInitialise(); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvMainCheckOtherTasksAreStillRunning( void ) | |
{ | |
/* Check all the demo tasks (other than the flash tasks) to ensure | |
that they are all still running, and that none of them have detected | |
an error. */ | |
/* This function is called from more than one task. */ | |
if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
lErrorInTask = pdTRUE; | |
} | |
if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
lErrorInTask = pdTRUE; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
lErrorInTask = pdTRUE; | |
} | |
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
lErrorInTask = pdTRUE; | |
} | |
if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
lErrorInTask = pdTRUE; | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
void prvToggleOnBoardLED( void ) | |
{ | |
unsigned long ulState; | |
ulState = GPIO0_IOPIN; | |
if( ulState & mainON_BOARD_LED_BIT ) | |
{ | |
GPIO_IOCLR = mainON_BOARD_LED_BIT; | |
} | |
else | |
{ | |
GPIO_IOSET = mainON_BOARD_LED_BIT; | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvErrorChecks( void *pvParameters ) | |
{ | |
TickType_t xDelay = mainNO_ERROR_DELAY; | |
/* The parameters are not used. */ | |
( void ) pvParameters; | |
for( ;; ) | |
{ | |
/* How long we delay depends on whether an error has been detected | |
or not. Therefore the flash rate of the on board LED indicates | |
whether or not an error has occurred. */ | |
vTaskDelay( xDelay ); | |
/* Update the lErrorInTask flag. */ | |
prvMainCheckOtherTasksAreStillRunning(); | |
if( lErrorInTask ) | |
{ | |
/* An error has been found so reduce the delay period and in so | |
doing speed up the flash rate of the on board LED. */ | |
xDelay = mainERROR_DELAY; | |
} | |
prvToggleOnBoardLED(); | |
} | |
} | |