/* | |
FreeRTOS.org V5.4.0 - Copyright (C) 2003-2009 Richard Barry. | |
This file is part of the FreeRTOS.org distribution. | |
FreeRTOS.org 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.org without being obliged to provide | |
the source code for any proprietary components. Alternative commercial | |
license and support terms are also available upon request. See the | |
licensing section of http://www.FreeRTOS.org for full details. | |
FreeRTOS.org 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.org; if not, write to the Free Software Foundation, Inc., 59 | |
Temple Place, Suite 330, Boston, MA 02111-1307 USA. | |
*************************************************************************** | |
* * | |
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation * | |
* * | |
* This is a concise, step by step, 'hands on' guide that describes both * | |
* general multitasking concepts and FreeRTOS specifics. It presents and * | |
* explains numerous examples that are written using the FreeRTOS API. * | |
* Full source code for all the examples is provided in an accompanying * | |
* .zip file. * | |
* * | |
*************************************************************************** | |
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: | |
* | |
* "LCD" task - the LCD 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 LCD send the message on a queue to the LCD task instead of | |
* accessing the LCD themselves. The LCD task just blocks on the queue waiting | |
* for messages - waking and displaying the messages as they arrive. The use | |
* of a gatekeeper in this manner permits both tasks and interrupts to write to | |
* the LCD without worrying about mutual exclusion. This is demonstrated by the | |
* check hook (see below) which sends messages to the display even though it | |
* executes from an interrupt context. | |
* | |
* "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. Should any unexpected behaviour be discovered within a | |
* demo task then the tick hook will write an error to the LCD (via the LCD task). | |
* If all the demo tasks are executing with their expected behaviour then the | |
* check task writes PASS to the LCD (again via the LCD task), as described above. | |
* | |
* LED tasks - These just demonstrate how multiple instances of a single task | |
* definition can be created. Each LED task simply toggles an LED. The task | |
* parameter is used to pass the number of the LED to be toggled into the task. | |
* | |
* "uIP" task - This is the task that handles the uIP stack. All TCP/IP | |
* processing is performed in this task. | |
*/ | |
/* Standard includes. */ | |
#include <stdio.h> | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "queue.h" | |
#include "semphr.h" | |
/* Hardware library includes. */ | |
#include "LPC17xx_defs.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" | |
#include "lcd/portlcd.h" | |
#include "LED.h" | |
/*-----------------------------------------------------------*/ | |
/* The number of LED tasks that will be created. */ | |
#define mainNUM_LED_TASKS ( 6 ) | |
/* 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 mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
/* 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 length of the queue used to send messages to the LCD task. */ | |
#define mainQUEUE_SIZE ( 3 ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* Configure the hardware for the demo. | |
*/ | |
static void prvSetupHardware( void ); | |
/* | |
* Very simple task that toggles an LED. | |
*/ | |
static void vLEDTask( void *pvParameters ); | |
/* | |
* The task that handles the uIP stack. All TCP/IP processing is performed in | |
* this task. | |
*/ | |
extern void vuIP_Task( void *pvParameters ); | |
/* | |
* The LCD gatekeeper task as described in the comments at the top of this file. | |
* */ | |
static void vLCDTask( void *pvParameters ); | |
/*-----------------------------------------------------------*/ | |
/* The queue used to send messages to the LCD task. */ | |
xQueueHandle xLCDQueue; | |
/*-----------------------------------------------------------*/ | |
int main( void ) | |
{ | |
long l; | |
/* 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(); | |
/* Start the tasks that toggle LEDs - the LED to toggle is passed in as the | |
task parameter. */ | |
for( l = 0; l < mainNUM_LED_TASKS; l++ ) | |
{ | |
xTaskCreate( vLEDTask, (signed char *) "LED", configMINIMAL_STACK_SIZE, ( void * ) l, tskIDLE_PRIORITY, NULL ); | |
} | |
/* 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 ); | |
/* Create the queue used by the LCD task. Messages for display on the LCD | |
are received via this queue. */ | |
xLCDQueue = xQueueCreate( mainQUEUE_SIZE, sizeof( xLCDMessage ) ); | |
/* Start the LCD gatekeeper task - as described in the comments at the top | |
of this file. */ | |
xTaskCreate( vLCDTask, ( signed portCHAR * ) "LCD", configMINIMAL_STACK_SIZE * 2, NULL, mainLCD_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( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void vLEDTask( void *pvParameters ) | |
{ | |
/* The LED to toggle is passed in as the task parameter. */ | |
long lLED = ( long ) pvParameters; | |
unsigned long ulLEDToToggle = 1 << lLED; | |
/* Calculate a delay period based on the LED number. */ | |
unsigned long ulDelayPeriod = 100 * ( lLED + 1 ); | |
for( ;; ) | |
{ | |
/* Delay for the calculated time. */ | |
vTaskDelay( ulDelayPeriod ); | |
/* Toggle the LED before going back to delay again. */ | |
vToggleLED( ulLEDToToggle ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
void vLCDTask( void *pvParameters ) | |
{ | |
xLCDMessage xMessage; | |
unsigned long ulRow = 0; | |
char cIPAddr[ 17 ]; /* To fit max IP address length of xxx.xxx.xxx.xxx\0 */ | |
( void ) pvParameters; | |
/* The LCD gatekeeper task as described in the comments at the top of this | |
file. */ | |
/* Initialise the LCD and display a startup message that includes the | |
configured IP address. */ | |
LCD_init(); | |
LCD_cur_off(); | |
LCD_cls(); | |
LCD_gotoxy( 1, 1 ); | |
LCD_puts( "www.FreeRTOS.org" ); | |
LCD_gotoxy( 1, 2 ); | |
sprintf( cIPAddr, "%d.%d.%d.%d", configIP_ADDR0, configIP_ADDR1, configIP_ADDR2, configIP_ADDR3 ); | |
LCD_puts( cIPAddr ); | |
for( ;; ) | |
{ | |
/* Wait for a message to arrive to be displayed. */ | |
while( xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY ) != pdPASS ); | |
/* Clear the old message. */ | |
LCD_cls(); | |
/* Switch LCD rows, jut to make it obvious that messages are arriving. */ | |
ulRow++; | |
LCD_gotoxy( 1, ( ulRow & 0x01 ) + 1 ); | |
/* Display the received text. */ | |
LCD_puts( xMessage.pcMessage ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationTickHook( void ) | |
{ | |
static xLCDMessage xMessage = { "PASS" }; | |
static unsigned portLONG ulTicksSinceLastDisplay = 0; | |
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE; | |
/* 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 ) | |
{ | |
xMessage.pcMessage = "ERROR: GEN Q"; | |
} | |
else if( xAreQueuePeekTasksStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR: PEEK Q"; | |
} | |
else if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR: BLOCK Q"; | |
} | |
else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR: BLOCK TIME"; | |
} | |
else if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR: SEMAPHR"; | |
} | |
else if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR: POLL Q"; | |
} | |
else if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR: INT MATH"; | |
} | |
else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) | |
{ | |
xMessage.pcMessage = "ERROR: REC MUTEX"; | |
} | |
/* Send the message to the OLED gatekeeper for display. The | |
xHigherPriorityTaskWoken parameter is not actually used here | |
as this function is running in the tick interrupt anyway - but | |
it must still be supplied. */ | |
xHigherPriorityTaskWoken = pdFALSE; | |
xQueueSendFromISR( xLCDQueue, &xMessage, &xHigherPriorityTaskWoken ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
void prvSetupHardware( void ) | |
{ | |
/* Disable peripherals power. */ | |
PCONP = 0; | |
/* Enable GPIO power. */ | |
PCONP = PCONP_PCGPIO; | |
/* Disable TPIU. */ | |
PINSEL10 = 0; | |
/* Disconnect the main PLL. */ | |
PLL0CON &= ~PLLCON_PLLC; | |
PLL0FEED = PLLFEED_FEED1; | |
PLL0FEED = PLLFEED_FEED2; | |
while ((PLL0STAT & PLLSTAT_PLLC) != 0); | |
/* Turn off the main PLL. */ | |
PLL0CON &= ~PLLCON_PLLE; | |
PLL0FEED = PLLFEED_FEED1; | |
PLL0FEED = PLLFEED_FEED2; | |
while ((PLL0STAT & PLLSTAT_PLLE) != 0); | |
/* No CPU clock divider. */ | |
CCLKCFG = 0; | |
/* OSCEN. */ | |
SCS = 0x20; | |
while ((SCS & 0x40) == 0); | |
/* Use main oscillator. */ | |
CLKSRCSEL = 1; | |
PLL0CFG = (PLLCFG_MUL16 | PLLCFG_DIV1); | |
PLL0FEED = PLLFEED_FEED1; | |
PLL0FEED = PLLFEED_FEED2; | |
/* Activate the PLL by turning it on then feeding the correct | |
sequence of bytes. */ | |
PLL0CON = PLLCON_PLLE; | |
PLL0FEED = PLLFEED_FEED1; | |
PLL0FEED = PLLFEED_FEED2; | |
/* 6x CPU clock divider (64 MHz) */ | |
CCLKCFG = 5; | |
/* Wait for the PLL to lock. */ | |
while ((PLL0STAT & PLLSTAT_PLOCK) == 0); | |
/* Connect the PLL. */ | |
PLL0CON = PLLCON_PLLC | PLLCON_PLLE; | |
PLL0FEED = PLLFEED_FEED1; | |
PLL0FEED = PLLFEED_FEED2; | |
/* Setup the peripheral bus to be the same as the PLL output (64 MHz). */ | |
PCLKSEL0 = 0x05555555; | |
/* Configure LED GPIOs as outputs. */ | |
FIO2DIR = 0xff; | |
FIO2CLR = 0xff; | |
FIO2MASK = 0; | |
} | |
/*-----------------------------------------------------------*/ | |
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. */ | |
PCONP |= 0x02UL; | |
PCLKSEL0 = (PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2); | |
/* Reset Timer 0 */ | |
T0TCR = TCR_COUNT_RESET; | |
/* Just count up. */ | |
T0CTCR = 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. */ | |
T0PR = ( configCPU_CLOCK_HZ / 10000UL ) - 1UL; | |
/* Start the counter. */ | |
T0TCR = TCR_COUNT_ENABLE; | |
} | |
/*-----------------------------------------------------------*/ | |