blob: e28c52542a304ea57c3eac8b6e4febcd77db6d5b [file] [log] [blame]
/*
* 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!
*/
/*
* 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 <stdio.h>
/* 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 ( ( TickType_t ) 5000 / portTICK_PERIOD_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. */
QueueHandle_t 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, "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, "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( TaskHandle_t pxTask, 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 );
}