/* | |
FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd. | |
*************************************************************************** | |
* * | |
* If you are: * | |
* * | |
* + New to FreeRTOS, * | |
* + Wanting to learn FreeRTOS or multitasking in general quickly * | |
* + Looking for basic training, * | |
* + Wanting to improve your FreeRTOS skills and productivity * | |
* * | |
* then take a look at the FreeRTOS books - available as PDF or paperback * | |
* * | |
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" * | |
* http://www.FreeRTOS.org/Documentation * | |
* * | |
* A pdf reference manual is also available. Both are usually delivered * | |
* to your inbox within 20 minutes to two hours when purchased between 8am * | |
* and 8pm GMT (although please allow up to 24 hours in case of * | |
* exceptional circumstances). Thank you for your support! * | |
* * | |
*************************************************************************** | |
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. | |
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 and the FreeRTOS license exception along with FreeRTOS; if not it | |
can be viewed here: http://www.freertos.org/a00114.html and also obtained | |
by writing to Richard Barry, contact details for whom are available on the | |
FreeRTOS WEB site. | |
1 tab == 4 spaces! | |
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. | |
* In addition to the standard demo tasks, the following tasks and tests are | |
* defined and/or created within this file: | |
* | |
* "LCD test" task - the LCD task writes a continually repeating series of patterns | |
* to the LCD display. | |
* | |
* "LED test" task - This is a very simple task that just turns on user LEDs | |
* 8 to 15 in turn, before turning them off again. | |
* | |
* "Check task" - The check task only runs every five seconds but has the highest | |
* priority so is guaranteed to get processing time. Its main job is to inspect | |
* all the other standard demo tasks to ensure they are executing without error. | |
* The Check task will toggle LED 0 every five seconds while no errors exist, | |
* with the toggle frequency increasing to 200ms should an error be detected in | |
* any other task. | |
* | |
* Both the check task and the idle task place the processor into energy saving | |
* mode 1, which will be exited following each tick interrupt. The check task | |
* is the highest priority task in the system, so while it is executing no other | |
* task will execute. If the check task places the processor into a low power | |
* mode without blocking then the energy consumption as viewed on the Energy | |
* Micro Gecko board will go down noticeably as in effect no tasks will be running. | |
* The check task places the processor into low power mode for two out of every | |
* five seconds. The current use of low power modes is very basic. Future | |
* FreeRTOS releases will aim to make significant improvements. | |
* | |
*/ | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "croutine.h" | |
#include "task.h" | |
#include "queue.h" | |
#include "semphr.h" | |
/* Common demo application includes. */ | |
#include "partest.h" | |
#include "GenQTest.h" | |
#include "QPeek.h" | |
#include "recmutex.h" | |
#include "semtest.h" | |
/* Demo application includes. */ | |
#include "lcdcontroller.h" | |
#include "ledtest.h" | |
#include "lcdtest.h" | |
#include "chip.h" | |
/* Task priorities. */ | |
#define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainGEN_Q_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainSEMAPHORE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
/* A period of two seconds, adjusted to use the tick frequency. */ | |
#define mainTWO_SECONDS ( 2000 / portTICK_RATE_MS ) | |
/* The length of the delay between each cycle of the check task when an error | |
has / has not been detected. */ | |
#define mainNO_ERROR_CHECK_FREQUENCY ( 5000 / portTICK_RATE_MS ) | |
#define mainERROR_CHECK_FREQUENCY ( 200 / portTICK_RATE_MS ) | |
/* The LED that is toggled by the check task. The rate of the toggle indicates | |
whether or not an error has been found, as defined by the | |
mainNO_ERROR_CHECK_FREQUENCY and mainERROR_CHECK_FREQUENCY definitions above. */ | |
#define mainCHECK_LED ( 0 ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* Configure the hardware as required by the demo. | |
*/ | |
static void prvSetupHardware( void ); | |
/* | |
* The check task as described at the top of this file. | |
*/ | |
static void prvCheckTask( void *pvParameters ); | |
/* | |
* Put the CPU into the least low power low power mode. | |
*/ | |
static void prvLowPowerMode1( void ); | |
/*-----------------------------------------------------------*/ | |
int main( void ) | |
{ | |
/* Perform the necessary hardware configuration. */ | |
prvSetupHardware(); | |
/* Create the task that writes various text and patterns to the LCD. */ | |
xTaskCreate( vLCDTask, "LCD", configMINIMAL_STACK_SIZE, NULL, mainLCD_TASK_PRIORITY, NULL ); | |
/* Create a task that writes to LEDs 8 to 15. */ | |
xTaskCreate( vLEDTask, "LCDTask", configMINIMAL_STACK_SIZE, NULL, mainLED_TASK_PRIORITY, NULL ); | |
/* Create some of the standard demo tasks. These just test the port and | |
demonstrate how the FreeRTOS API can be used. They do not provide any | |
specific functionality. */ | |
vStartGenericQueueTasks( mainGEN_Q_TASK_PRIORITY ); | |
vStartQueuePeekTasks(); | |
vStartRecursiveMutexTasks(); | |
vStartSemaphoreTasks( mainSEMAPHORE_TASK_PRIORITY ); | |
/* Create the check task as described at the top of this file. */ | |
xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* Start the scheduler. */ | |
vTaskStartScheduler(); | |
/* The scheduler should now be running the tasks so the following code should | |
never be reached. If it is reached then there was insufficient heap space | |
for the idle task to be created. In this case the heap size is set by | |
configTOTAL_HEAP_SIZE in FreeRTOSConfig.h. */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationIdleHook( void ) | |
{ | |
/* Use the idle task to place the CPU into a low power mode. Greater power | |
saving could be achieved by not including any demo tasks that never block. */ | |
prvLowPowerMode1(); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ) | |
{ | |
/* This function will be called if a task overflows its stack, if | |
configCHECK_FOR_STACK_OVERFLOW != 0. It might be that the function | |
parameters have been corrupted, depending on the severity of the stack | |
overflow. When this is the case pxCurrentTCB can be inspected in the | |
debugger to find the offending task. */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvCheckTask( void *pvParameters ) | |
{ | |
portTickType xLastExecutionTime, xFrequency = mainNO_ERROR_CHECK_FREQUENCY; | |
long lCount; | |
/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil() | |
works correctly. */ | |
xLastExecutionTime = xTaskGetTickCount(); | |
for( ;; ) | |
{ | |
/* Perform this check at a frequency that indicates whether or not an | |
error has been found. */ | |
vTaskDelayUntil( &xLastExecutionTime, xFrequency ); | |
/* Check all the other tasks are running without error. */ | |
if( xAreGenericQueueTasksStillRunning() != pdPASS ) | |
{ | |
xFrequency = mainERROR_CHECK_FREQUENCY; | |
} | |
if( xAreQueuePeekTasksStillRunning() != pdPASS ) | |
{ | |
xFrequency = mainERROR_CHECK_FREQUENCY; | |
} | |
if( xAreRecursiveMutexTasksStillRunning() != pdPASS ) | |
{ | |
xFrequency = mainERROR_CHECK_FREQUENCY; | |
} | |
if( xAreSemaphoreTasksStillRunning() != pdPASS ) | |
{ | |
xFrequency = mainERROR_CHECK_FREQUENCY; | |
} | |
/* Toggle the LED to show that the check hook function is running. | |
The toggle freequency will increase if an error has been found in any | |
task. */ | |
vParTestToggleLED( mainCHECK_LED ); | |
/* Just loop around putting the processor into low power mode 1 for | |
a while. This is the highest priority task, and this loop does not | |
cause it to block, so it will remain as the running task. Each time it | |
runs for the next two seconds it will simply put the processor to sleep. | |
No other task will run so nothing else will happen. This periodic two | |
seconds of lower power should be viewable using the Advanced Energy | |
Monitor on the Energy Micro Gecko board. */ | |
for( lCount = 0; lCount < mainTWO_SECONDS; lCount++ ) | |
{ | |
prvLowPowerMode1(); | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHardware( void ) | |
{ | |
/* Initialise the LEDs. */ | |
vParTestInitialise(); | |
/* Configure the LCD. */ | |
LCD_Init( LCD ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvLowPowerMode1( void ) | |
{ | |
/* Clear SLEEPDEEP for EM1 */ | |
SCB->SCR &= ~( 1 << SCB_SCR_SLEEPDEEP_Pos ); | |
/* Power down. */ | |
__WFI(); | |
} | |