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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [CORTEX_LM3S316_IAR/] [main.c] - Blame information for rev 595

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1 581 jeremybenn
/*
2
    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
3
 
4
    ***************************************************************************
5
    *                                                                         *
6
    * If you are:                                                             *
7
    *                                                                         *
8
    *    + New to FreeRTOS,                                                   *
9
    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
10
    *    + Looking for basic training,                                        *
11
    *    + Wanting to improve your FreeRTOS skills and productivity           *
12
    *                                                                         *
13
    * then take a look at the FreeRTOS books - available as PDF or paperback  *
14
    *                                                                         *
15
    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
16
    *                  http://www.FreeRTOS.org/Documentation                  *
17
    *                                                                         *
18
    * A pdf reference manual is also available.  Both are usually delivered   *
19
    * to your inbox within 20 minutes to two hours when purchased between 8am *
20
    * and 8pm GMT (although please allow up to 24 hours in case of            *
21
    * exceptional circumstances).  Thank you for your support!                *
22
    *                                                                         *
23
    ***************************************************************************
24
 
25
    This file is part of the FreeRTOS distribution.
26
 
27
    FreeRTOS is free software; you can redistribute it and/or modify it under
28
    the terms of the GNU General Public License (version 2) as published by the
29
    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
30
    ***NOTE*** The exception to the GPL is included to allow you to distribute
31
    a combined work that includes FreeRTOS without being obliged to provide the
32
    source code for proprietary components outside of the FreeRTOS kernel.
33
    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
34
    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
35
    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
36
    more details. You should have received a copy of the GNU General Public
37
    License and the FreeRTOS license exception along with FreeRTOS; if not it
38
    can be viewed here: http://www.freertos.org/a00114.html and also obtained
39
    by writing to Richard Barry, contact details for whom are available on the
40
    FreeRTOS WEB site.
41
 
42
    1 tab == 4 spaces!
43
 
44
    http://www.FreeRTOS.org - Documentation, latest information, license and
45
    contact details.
46
 
47
    http://www.SafeRTOS.com - A version that is certified for use in safety
48
    critical systems.
49
 
50
    http://www.OpenRTOS.com - Commercial support, development, porting,
51
    licensing and training services.
52
*/
53
 
54
/*
55
 * This demo application creates eight co-routines and four tasks (five
56
 * including the idle task).  The co-routines execute as part of the idle task
57
 * hook.  The application is limited in size to allow its compilation using
58
 * the KickStart version of the IAR compiler.
59
 *
60
 * Six of the created co-routines are the standard 'co-routine flash'
61
 * co-routines contained within the Demo/Common/Minimal/crflash.c file and
62
 * documented on the FreeRTOS.org WEB site.
63
 *
64
 * The 'LCD Task' waits on a message queue for messages informing it what and
65
 * where to display text.  This is the only task that accesses the LCD
66
 * so mutual exclusion is guaranteed.
67
 *
68
 * The 'LCD Message Task' periodically sends strings to the LCD Task using
69
 * the message queue.  The strings are rotated to form a short message and
70
 * are written to the top row of the LCD.
71
 *
72
 * The 'ADC Co-routine' periodically reads the ADC input that is connected to
73
 * the light sensor, forms a short message from the value, and then sends this
74
 * message to the LCD Task using the same message queue.  The ADC readings are
75
 * displayed on the bottom row of the LCD.
76
 *
77
 * The eighth co-routine and final task control the transmission and reception
78
 * of a string to UART 0.  The co-routine periodically sends the first
79
 * character of the string to the UART, with the UART's TxEnd interrupt being
80
 * used to transmit the remaining characters.  The UART's RxEnd interrupt
81
 * receives the characters and places them on a queue to be processed by the
82
 * 'COMs Rx' task.  An error is latched should an unexpected character be
83
 * received, or any character be received out of sequence.
84
 *
85
 * A loopback connector is required to ensure that each character transmitted
86
 * on the UART is also received on the same UART.  For test purposes the UART
87
 * FIFO's are not utalised in order to maximise the interrupt overhead.  Also
88
 * a pseudo random interval is used between the start of each transmission in
89
 * order that the resultant interrupts are more randomly distributed and
90
 * therefore more likely to highlight any problems.
91
 *
92
 * The flash co-routines control LED's zero to four.  LED five is toggled each
93
 * time the string is transmitted on the UART.  LED six is toggled each time
94
 * the string is CORRECTLY received on the UART.  LED seven is latched on
95
 * should an error be detected in any task or co-routine.
96
 *
97
 * In addition the idle task makes repetitive calls to
98
 * vSetAndCheckRegisters().  This simply loads the general purpose registers
99
 * with a known value, then checks each register to ensure the held value is
100
 * still correct.  As a low priority task this checking routine is likely to
101
 * get repeatedly swapped in and out.  A register being found to contain an
102
 * incorrect value is therefore indicative of an error in the task switching
103
 * mechanism.
104
 *
105
 */
106
 
107
/* standard include files. */
108
#include <stdio.h>
109
 
110
/* Scheduler include files. */
111
#include "FreeRTOS.h"
112
#include "task.h"
113
#include "queue.h"
114
#include "croutine.h"
115
 
116
/* Demo application include files. */
117
#include "partest.h"
118
#include "crflash.h"
119
#include "commstest.h"
120
 
121
/* Library include files. */
122
#include "DriverLib.h"
123
 
124
/* The time to delay between writing each character to the LCD. */
125
#define mainCHAR_WRITE_DELAY            ( 2 / portTICK_RATE_MS )
126
 
127
/* The time to delay between writing each string to the LCD. */
128
#define mainSTRING_WRITE_DELAY          ( 400 / portTICK_RATE_MS )
129
 
130
#define mainADC_DELAY                           ( 200 / portTICK_RATE_MS )
131
 
132
/* The number of flash co-routines to create. */
133
#define mainNUM_FLASH_CO_ROUTINES       ( 5 )
134
 
135
/* The length of the queue used to send messages to the LCD task. */
136
#define mainLCD_QUEUE_LEN                       ( 3 )
137
 
138
/* The priority of the co-routine used to initiate the transmission of the
139
string on UART 0. */
140
#define mainTX_CO_ROUTINE_PRIORITY      ( 1 )
141
#define mainADC_CO_ROUTINE_PRIORITY     ( 2 )
142
 
143
/* Only one of each co-routine is created so its index is not important. */
144
#define mainTX_CO_ROUTINE_INDEX         ( 0 )
145
#define mainADC_CO_ROUTINE_INDEX        ( 0 )
146
 
147
/* The task priorities. */
148
#define mainLCD_TASK_PRIORITY           ( tskIDLE_PRIORITY + 1 )
149
#define mainMSG_TASK_PRIORITY           ( mainLCD_TASK_PRIORITY - 1 )
150
#define mainCOMMS_RX_TASK_PRIORITY      ( tskIDLE_PRIORITY + 1 )
151
 
152
/* The LCD had two rows. */
153
#define mainTOP_ROW             0
154
#define mainBOTTOM_ROW  1
155
 
156
/* Dimension for the buffer into which the ADC value string is written. */
157
#define mainMAX_ADC_STRING_LEN  20
158
 
159
/* The LED that is lit should an error be detected in any of the tasks or
160
co-routines. */
161
#define mainFAIL_LED                    ( 7 )
162
 
163
/*-----------------------------------------------------------*/
164
 
165
/*
166
 * The task that displays text on the LCD.
167
 */
168
static void prvLCDTask( void * pvParameters );
169
 
170
/*
171
 * The task that sends messages to be displayed on the top row of the LCD.
172
 */
173
static void prvLCDMessageTask( void * pvParameters );
174
 
175
/*
176
 * The co-routine that reads the ADC and sends messages for display on the
177
 * bottom row of the LCD.
178
 */
179
static void prvADCCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex );
180
 
181
/*
182
 * Function to simply set a known value into the general purpose registers
183
 * then read them back to ensure they remain set correctly.  An incorrect value
184
 * being indicative of an error in the task switching mechanism.
185
 */
186
extern void vSetAndCheckRegisters( void );
187
 
188
/*
189
 * Latch the LED that indicates that an error has occurred.
190
 */
191
void vSetErrorLED( void );
192
 
193
/*
194
 * Thread safe write to the PDC.
195
 */
196
static void prvPDCWrite( char cAddress, char cData );
197
 
198
/*
199
 * Sets up the hardware used by the demo.
200
 */
201
static void prvSetupHardware( void );
202
 
203
 
204
/*-----------------------------------------------------------*/
205
 
206
/* The structure that is passed on the LCD message queue. */
207
typedef struct
208
{
209
        char **ppcMessageToDisplay; /*<< Points to a char* pointing to the message to display. */
210
        portBASE_TYPE xRow;                             /*<< The row on which the message should be displayed. */
211
} xLCDMessage;
212
 
213
/* Error flag set to pdFAIL if an error is encountered in the tasks/co-routines
214
defined within this file. */
215
unsigned portBASE_TYPE uxErrorStatus = pdPASS;
216
 
217
/* The queue used to transmit messages to the LCD task. */
218
static xQueueHandle xLCDQueue;
219
 
220
/*-----------------------------------------------------------*/
221
 
222
/*
223
 * Setup the hardware, create the tasks/co-routines, then start the scheduler.
224
 */
225
void main( void )
226
{
227
        /* Create the queue used by tasks wanting to write to the LCD. */
228
        xLCDQueue = xQueueCreate( mainLCD_QUEUE_LEN, sizeof( xLCDMessage ) );
229
 
230
        /* Setup the ports used by the demo and the clock. */
231
        prvSetupHardware();
232
 
233
        /* Create the co-routines that flash the LED's. */
234
        vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
235
 
236
        /* Create the co-routine that initiates the transmission of characters
237
        on the UART and the task that receives them, as described at the top of
238
        this file. */
239
        xCoRoutineCreate( vSerialTxCoRoutine, mainTX_CO_ROUTINE_PRIORITY, mainTX_CO_ROUTINE_INDEX );
240
        xTaskCreate( vCommsRxTask, "CMS", configMINIMAL_STACK_SIZE, NULL, mainCOMMS_RX_TASK_PRIORITY, NULL );
241
 
242
        /* Create the task that waits for messages to display on the LCD, plus the
243
        task and co-routine that send messages for display (as described at the top
244
        of this file. */
245
        xTaskCreate( prvLCDTask, "LCD", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainLCD_TASK_PRIORITY, NULL );
246
        xTaskCreate( prvLCDMessageTask, "MSG", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainMSG_TASK_PRIORITY, NULL );
247
        xCoRoutineCreate( prvADCCoRoutine, mainADC_CO_ROUTINE_PRIORITY, mainADC_CO_ROUTINE_INDEX );
248
 
249
        /* Start the scheduler running the tasks and co-routines just created. */
250
        vTaskStartScheduler();
251
 
252
        /* Should not get here unless we did not have enough memory to start the
253
        scheduler. */
254
        for( ;; );
255
}
256
/*-----------------------------------------------------------*/
257
 
258
static void prvLCDMessageTask( void * pvParameters )
259
{
260
/* The strings that are written to the LCD. */
261
char *pcStringsToDisplay[] = {
262
                                                                        "IAR             ",
263
                                                                        "Stellaris       ",
264
                                                                        "Demo            ",
265
                                                                        "www.FreeRTOS.org",
266
                                                                        ""
267
                                                                };
268
 
269
xQueueHandle *pxLCDQueue;
270
xLCDMessage xMessageToSend;
271
portBASE_TYPE xIndex = 0;
272
 
273
        /* To test the parameter passing mechanism, the queue on which messages are
274
        posted is passed in as a parameter even though it is available as a file
275
        scope variable anyway. */
276
        pxLCDQueue = ( xQueueHandle * ) pvParameters;
277
 
278
        for( ;; )
279
        {
280
                /* Wait until it is time to move onto the next string. */
281
                vTaskDelay( mainSTRING_WRITE_DELAY );
282
 
283
                /* Create the message object to send to the LCD task. */
284
                xMessageToSend.ppcMessageToDisplay = &pcStringsToDisplay[ xIndex ];
285
                xMessageToSend.xRow = mainTOP_ROW;
286
 
287
                /* Post the message to be displayed. */
288
                if( !xQueueSend( *pxLCDQueue, ( void * ) &xMessageToSend, 0 ) )
289
                {
290
                        uxErrorStatus = pdFAIL;
291
                }
292
 
293
                /* Move onto the next message, wrapping when necessary. */
294
                xIndex++;
295
                if( *( pcStringsToDisplay[ xIndex ] ) == 0x00 )
296
                {
297
                        xIndex = 0;
298
 
299
                        /* Delay longer before going back to the start of the messages. */
300
                        vTaskDelay( mainSTRING_WRITE_DELAY * 2 );
301
                }
302
        }
303
}
304
/*-----------------------------------------------------------*/
305
 
306
void prvLCDTask( void * pvParameters )
307
{
308
unsigned portBASE_TYPE uxIndex;
309
xQueueHandle *pxLCDQueue;
310
xLCDMessage xReceivedMessage;
311
char *pcString;
312
const unsigned char ucCFGData[] = {
313
                                                                                        0x30,   /* Set data bus to 8-bits. */
314
                                                                                        0x30,
315
                                                                                        0x30,
316
                                                                                        0x3C,   /* Number of lines/font. */
317
                                                                                        0x08,   /* Display off. */
318
                                                                                        0x01,   /* Display clear. */
319
                                                                                        0x06,   /* Entry mode [cursor dir][shift]. */
320
                                                                                        0x0C    /* Display on [display on][curson on][blinking on]. */
321
                                                                          };
322
 
323
        /* To test the parameter passing mechanism, the queue on which messages are
324
        received is passed in as a parameter even though it is available as a file
325
        scope variable anyway. */
326
        pxLCDQueue = ( xQueueHandle * ) pvParameters;
327
 
328
        /* Configure the LCD. */
329
        uxIndex = 0;
330
        while( uxIndex < sizeof( ucCFGData ) )
331
        {
332
                prvPDCWrite( PDC_LCD_CSR, ucCFGData[ uxIndex ] );
333
                uxIndex++;
334
                vTaskDelay( mainCHAR_WRITE_DELAY );
335
        }
336
 
337
        /* Turn the LCD Backlight on. */
338
        prvPDCWrite( PDC_CSR, 0x01 );
339
 
340
        /* Clear display. */
341
        vTaskDelay( mainCHAR_WRITE_DELAY );
342
        prvPDCWrite( PDC_LCD_CSR, LCD_CLEAR );
343
 
344
        uxIndex = 0;
345
        for( ;; )
346
        {
347
                /* Wait for a message to arrive. */
348
                if( xQueueReceive( *pxLCDQueue, &xReceivedMessage, portMAX_DELAY ) )
349
                {
350
                        /* Which row does the received message say to write to? */
351
                        PDCLCDSetPos( 0, xReceivedMessage.xRow );
352
 
353
                        /* Where is the string we are going to display? */
354
                        pcString = *xReceivedMessage.ppcMessageToDisplay;
355
 
356
                        while( *pcString )
357
                        {
358
                                /* Don't write out the string too quickly as LCD's are usually
359
                                pretty slow devices. */
360
                                vTaskDelay( mainCHAR_WRITE_DELAY );
361
                                prvPDCWrite( PDC_LCD_RAM, *pcString );
362
                                pcString++;
363
                        }
364
                }
365
        }
366
}
367
/*-----------------------------------------------------------*/
368
 
369
static void prvADCCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
370
{
371
static unsigned long ulADCValue;
372
static char cMessageBuffer[ mainMAX_ADC_STRING_LEN ];
373
static char *pcMessage;
374
static xLCDMessage xMessageToSend;
375
 
376
        /* Co-routines MUST start with a call to crSTART(). */
377
        crSTART( xHandle );
378
 
379
        for( ;; )
380
        {
381
                /* Start an ADC conversion. */
382
                ADCProcessorTrigger( ADC_BASE, 0 );
383
 
384
                /* Simply delay - when we unblock the result should be available */
385
                crDELAY( xHandle, mainADC_DELAY );
386
 
387
                /* Get the ADC result. */
388
                ADCSequenceDataGet( ADC_BASE, 0, &ulADCValue );
389
 
390
                /* Create a string with the result. */
391
                sprintf( cMessageBuffer, "ADC = %d   ", ulADCValue );
392
                pcMessage = cMessageBuffer;
393
 
394
                /* Configure the message we are going to send for display. */
395
                xMessageToSend.ppcMessageToDisplay = ( char** ) &pcMessage;
396
                xMessageToSend.xRow = mainBOTTOM_ROW;
397
 
398
                /* Send the string to the LCD task for display.  We are sending
399
                on a task queue so do not have the option to block. */
400
                if( !xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 ) )
401
                {
402
                        uxErrorStatus = pdFAIL;
403
                }
404
        }
405
 
406
        /* Co-routines MUST end with a call to crEND(). */
407
        crEND();
408
}
409
/*-----------------------------------------------------------*/
410
 
411
static void prvSetupHardware( void )
412
{
413
        /* Setup the PLL. */
414
        SysCtlClockSet( SYSCTL_SYSDIV_10 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_6MHZ );
415
 
416
        /* Initialise the hardware used to talk to the LCD, LED's and UART. */
417
        PDCInit();
418
        vParTestInitialise();
419
        vSerialInit();
420
 
421
        /* The ADC is used to read the light sensor. */
422
        SysCtlPeripheralEnable( SYSCTL_PERIPH_ADC );
423
    ADCSequenceConfigure( ADC_BASE, 3, ADC_TRIGGER_PROCESSOR, 0);
424
    ADCSequenceStepConfigure( ADC_BASE, 0, 0, ADC_CTL_CH0 | ADC_CTL_END );
425
    ADCSequenceEnable( ADC_BASE, 0 );
426
 
427
}
428
/*-----------------------------------------------------------*/
429
 
430
static void prvPDCWrite( char cAddress, char cData )
431
{
432
        vTaskSuspendAll();
433
        {
434
                PDCWrite( cAddress, cData );
435
        }
436
        xTaskResumeAll();
437
}
438
/*-----------------------------------------------------------*/
439
 
440
void vSetErrorLED( void )
441
{
442
        vParTestSetLED( mainFAIL_LED, pdTRUE );
443
}
444
/*-----------------------------------------------------------*/
445
 
446
void vApplicationIdleHook( void )
447
{
448
        /* The co-routines are executed in the idle task using the idle task
449
        hook. */
450
        for( ;; )
451
        {
452
                /* Schedule the co-routines. */
453
                vCoRoutineSchedule();
454
 
455
                /* Run the register check function between each co-routine. */
456
                vSetAndCheckRegisters();
457
 
458
                /* See if the comms task and co-routine has found any errors. */
459
                if( uxGetCommsStatus() != pdPASS )
460
                {
461
                        vParTestSetLED( mainFAIL_LED, pdTRUE );
462
                }
463
        }
464
}
465
/*-----------------------------------------------------------*/

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