FreeRTOS/Demo/CORTEX_STM32F103_GCC_Rowley/main.c

/*
 * FreeRTOS Kernel V10.1.0
 * Copyright (C) 2017 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
 * (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" task - This only executes every five seconds but has the highest
 * priority so is guaranteed to get processor time.  Its main function is to
 * check that all the standard demo tasks are still operational. The check task
 * will toggle LED 3 (PB11) every five seconds so long as no errors have been
 * detected.  The toggle rate will increase to half a second if an error has
 * been found in any task.
 *
 * "Echo" task - This is a very basic task that simply echoes any characters
 * received on COM0 (USART1).  This can be tested by transmitting a text file
 * from a dumb terminal to the STM32 USART then observing or capturing the text
 * that is echoed back.  Missing characters will be all the more obvious if the
 * file contains a simple repeating string of fixed width.
 *
 * Currently this demo does not include interrupt nesting examples.  High
 * frequency timer and simpler nesting examples can be found in most Cortex-M3
 * demo applications.
 *
 * The functions used to initialise, set and clear LED outputs are normally
 * defined in partest.c.  This demo includes two partest files, one that is
 * configured for use with the Keil MCBSTM32 evaluation board (called
 * ParTest_MCBSTM32.c) and one that is configured for use with the official
 * ST Eval board (called ParTest_ST_Eval.c).  One one of these files should be
 * included in the build at any one time, as appropriate for the hardware
 * actually being used.
 */

/* Standard includes. */
#include <string.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"

/* Library includes. */
#include "stm32f10x_it.h"

/* Demo app includes. */
#include "BlockQ.h"
#include "integer.h"
#include "flash.h"
#include "partest.h"
#include "semtest.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"

/* Driver includes. */
#include "STM32_USART.h"


/* The time between cycles of the 'check' task - which depends on whether the
check task has detected an error or not. */
#define mainCHECK_DELAY_NO_ERROR			( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
#define mainCHECK_DELAY_ERROR				( ( TickType_t ) 500 / portTICK_PERIOD_MS )

/* The LED controlled by the 'check' task. */
#define mainCHECK_LED						( 3 )

/* Task priorities. */
#define mainSEM_TEST_PRIORITY				( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY				( tskIDLE_PRIORITY + 3 )
#define mainFLASH_TASK_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainECHO_TASK_PRIORITY				( tskIDLE_PRIORITY + 1 )
#define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY			( tskIDLE_PRIORITY )

/* COM port and baud rate used by the echo task. */
#define mainCOM0							( 0 )
#define mainBAUD_RATE						( 115200 )

/*-----------------------------------------------------------*/

/*
 * Configure the hardware for the demo.
 */
static void prvSetupHardware( void );

/* The 'check' task as described at the top of this file. */
static void prvCheckTask( void *pvParameters );

/* A simple task that echoes all the characters that are received on COM0
(USART1). */
static void prvUSARTEchoTask( void *pvParameters );

/*-----------------------------------------------------------*/

int main( void )
{
#ifdef DEBUG
  debug();
#endif

	/* Set up the clocks and memory interface. */
	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 );
    vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
    vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
    vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
	vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
    vStartQueuePeekTasks();
    vStartRecursiveMutexTasks();

	/* Create the 'echo' task, which is also defined within this file. */
	xTaskCreate( prvUSARTEchoTask, "Echo", configMINIMAL_STACK_SIZE, NULL, mainECHO_TASK_PRIORITY, NULL );

	/* Create the 'check' task, which is also defined within this file. */
	xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_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( ;; );
}
/*-----------------------------------------------------------*/

/* Described at the top of this file. */
static void prvCheckTask( void *pvParameters )
{
TickType_t xLastExecutionTime;
unsigned long ulTicksToWait = mainCHECK_DELAY_NO_ERROR;

	/* Just to remove the compiler warning about the unused parameter. */
	( void ) pvParameters;

	/* Initialise the variable used to control our iteration rate prior to
	its first use. */
	xLastExecutionTime = xTaskGetTickCount();

	for( ;; )
	{
		/* Wait until it is time to run the tests again. */
		vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );

		/* Has an error been found in any task? */
		if( xAreGenericQueueTasksStillRunning() != pdTRUE )
		{
			/* Reduce the time between cycles of this task - which has the
			effect of increasing the rate at which the 'check' LED toggles to
			indicate the existence of an error to an observer. */
			ulTicksToWait = mainCHECK_DELAY_ERROR;
		}
		else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
		{
			ulTicksToWait = mainCHECK_DELAY_ERROR;
		}
		else if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			ulTicksToWait = mainCHECK_DELAY_ERROR;
		}
	    else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
	    {
	        ulTicksToWait = mainCHECK_DELAY_ERROR;
	    }
	    else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
	    {
	        ulTicksToWait = mainCHECK_DELAY_ERROR;
	    }
	    else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
	    {
	    	ulTicksToWait = mainCHECK_DELAY_ERROR;
	    }

		vParTestToggleLED( mainCHECK_LED );
	}
}
/*-----------------------------------------------------------*/

/* Described at the top of this file. */
static void prvUSARTEchoTask( void *pvParameters )
{
signed char cChar;

/* String declared static to ensure it does not end up on the stack, no matter
what the optimisation level. */
static const char *pcLongishString =
"ABBA was a Swedish pop music group formed in Stockholm in 1972, consisting of Anni-Frid Frida Lyngstad, "
"Björn Ulvaeus, Benny Andersson and Agnetha Fältskog. Throughout the band's existence, Fältskog and Ulvaeus "
"were a married couple, as were Lyngstad and Andersson - although both couples later divorced. They became one "
"of the most commercially successful acts in the history of popular music, and they topped the charts worldwide "
"from 1972 to 1983.  ABBA gained international popularity employing catchy song hooks, simple lyrics, sound "
"effects (reverb, phasing) and a Wall of Sound achieved by overdubbing the female singers' voices in multiple "
"harmonies. As their popularity grew, they were sought after to tour Europe, Australia, and North America, drawing "
"crowds of ardent fans, notably in Australia. Touring became a contentious issue, being particularly cumbersome for "
"Fältskog, but they continued to release studio albums to widespread commercial success. At the height of their "
"popularity, however, both relationships began suffering strain that led ultimately to the collapse of first the "
"Ulvaeus-Fältskog marriage (in 1979) and then of the Andersson-Lyngstad marriage in 1981. In the late 1970s and early "
"1980s these relationship changes began manifesting in the group's music, as they produced more thoughtful, "
"introspective lyrics with different compositions.";

	/* Just to avoid compiler warnings. */
	( void ) pvParameters;

	/* Initialise COM0, which is USART1 according to the STM32 libraries. */
	lCOMPortInit( mainCOM0, mainBAUD_RATE );

	/* Try sending out a string all in one go, as a very basic test of the
    lSerialPutString() function. */
    lSerialPutString( mainCOM0, pcLongishString, strlen( pcLongishString ) );

	for( ;; )
	{
		/* Block to wait for a character to be received on COM0. */
		xSerialGetChar( mainCOM0, &cChar, portMAX_DELAY );

		/* Write the received character back to COM0. */
		xSerialPutChar( mainCOM0, cChar, 0 );
	}
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
	/* RCC system reset(for debug purpose). */
	RCC_DeInit ();

    /* Enable HSE. */
	RCC_HSEConfig( RCC_HSE_ON );

	/* Wait till HSE is ready. */
	while (RCC_GetFlagStatus(RCC_FLAG_HSERDY) == RESET);

    /* HCLK = SYSCLK. */
	RCC_HCLKConfig( RCC_SYSCLK_Div1 );

    /* PCLK2  = HCLK. */
	RCC_PCLK2Config( RCC_HCLK_Div1 );

    /* PCLK1  = HCLK/2. */
	RCC_PCLK1Config( RCC_HCLK_Div2 );

	/* ADCCLK = PCLK2/4. */
	RCC_ADCCLKConfig( RCC_PCLK2_Div4 );

    /* Flash 2 wait state. */
	*( volatile unsigned long  * )0x40022000 = 0x01;

	/* PLLCLK = 8MHz * 9 = 72 MHz */
	RCC_PLLConfig( RCC_PLLSource_HSE_Div1, RCC_PLLMul_9 );

    /* Enable PLL. */
	RCC_PLLCmd( ENABLE );

	/* Wait till PLL is ready. */
	while (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET);

	/* Select PLL as system clock source. */
	RCC_SYSCLKConfig (RCC_SYSCLKSource_PLLCLK);

	/* Wait till PLL is used as system clock source. */
	while (RCC_GetSYSCLKSource() != 0x08);

	/* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
	RCC_APB2PeriphClockCmd(	RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
							| RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );

	/* Set the Vector Table base address at 0x08000000. */
	NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );

	NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );

	/* Configure HCLK clock as SysTick clock source. */
	SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );

	/* Initialise the IO used for the LED outputs. */
	vParTestInitialise();

	/* SPI2 Periph clock enable */
	RCC_APB1PeriphClockCmd( RCC_APB1Periph_SPI2, ENABLE );
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
{
	/* This function will get called if a task overflows its stack.   If the
	parameters are corrupt then inspect pxCurrentTCB to find which was the
	offending task. */

	( void ) pxTask;
	( void ) pcTaskName;

	for( ;; );
}
/*-----------------------------------------------------------*/

void assert_failed( unsigned char *pucFile, unsigned long ulLine )
{
	( void ) pucFile;
	( void ) ulLine;

	for( ;; );
}