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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Demo/] [CORTEX_LM3Sxxxx_Rowley/] [main.c] - Blame information for rev 590

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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
/*
56
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
57
 * documentation provides more details of the standard demo application tasks.
58
 * In addition to the standard demo tasks, the following tasks and tests are
59
 * defined and/or created within this file:
60
 *
61
 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
62
 * using a free running timer to demonstrate the use of the
63
 * configKERNEL_INTERRUPT_PRIORITY configuration constant.  The interrupt
64
 * service routine measures the number of processor clocks that occur between
65
 * each interrupt - and in so doing measures the jitter in the interrupt timing.
66
 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
67
 * displayed on the OLED display by the 'OLED' task as described below.  The
68
 * fast interrupt is configured and handled in the timertest.c source file.
69
 *
70
 * "OLED" task - the OLED task is a 'gatekeeper' task.  It is the only task that
71
 * is permitted to access the display directly.  Other tasks wishing to write a
72
 * message to the OLED send the message on a queue to the OLED task instead of
73
 * accessing the OLED themselves.  The OLED task just blocks on the queue waiting
74
 * for messages - waking and displaying the messages as they arrive.
75
 *
76
 * "Check" hook -  This only executes every five seconds from the tick hook.
77
 * Its main function is to check that all the standard demo tasks are still
78
 * operational.  Should any unexpected behaviour within a demo task be discovered
79
 * the tick hook will write an error to the OLED (via the OLED task).  If all the
80
 * demo tasks are executing with their expected behaviour then the check task
81
 * writes PASS to the OLED (again via the OLED task), as described above.
82
 *
83
 * "uIP" task -  This is the task that handles the uIP stack.  All TCP/IP
84
 * processing is performed in this task.
85
 */
86
 
87
 
88
 
89
 
90
/*************************************************************************
91
 * Please ensure to read http://www.freertos.org/portLM3Sxxxx_Eclipse.html
92
 * which provides information on configuring and running this demo for the
93
 * various Luminary Micro EKs.
94
 *************************************************************************/
95
 
96
 
97
 
98
 
99
/* Standard includes. */
100
#include <stdio.h>
101
 
102
/* Scheduler includes. */
103
#include "FreeRTOS.h"
104
#include "task.h"
105
#include "queue.h"
106
#include "semphr.h"
107
 
108
/* Hardware library includes. */
109
#include "hw_memmap.h"
110
#include "hw_types.h"
111
#include "hw_sysctl.h"
112
#include "sysctl.h"
113
#include "gpio.h"
114
#include "grlib.h"
115
#include "rit128x96x4.h"
116
#include "osram128x64x4.h"
117
#include "formike128x128x16.h"
118
 
119
/* Demo app includes. */
120
#include "BlockQ.h"
121
#include "death.h"
122
#include "integer.h"
123
#include "blocktim.h"
124
#include "flash.h"
125
#include "partest.h"
126
#include "semtest.h"
127
#include "PollQ.h"
128
#include "lcd_message.h"
129
#include "bitmap.h"
130
#include "GenQTest.h"
131
#include "QPeek.h"
132
#include "recmutex.h"
133
#include "IntQueue.h"
134
 
135
/*-----------------------------------------------------------*/
136
 
137
/* The time between cycles of the 'check' functionality (defined within the
138
tick hook. */
139
#define mainCHECK_DELAY                                         ( ( portTickType ) 5000 / portTICK_RATE_MS )
140
 
141
/* Size of the stack allocated to the uIP task. */
142
#define mainBASIC_WEB_STACK_SIZE            ( configMINIMAL_STACK_SIZE * 3 )
143
 
144
/* The OLED task uses the sprintf function so requires a little more stack too. */
145
#define mainOLED_TASK_STACK_SIZE                        ( configMINIMAL_STACK_SIZE + 50 )
146
 
147
/* Task priorities. */
148
#define mainQUEUE_POLL_PRIORITY                         ( tskIDLE_PRIORITY + 2 )
149
#define mainCHECK_TASK_PRIORITY                         ( tskIDLE_PRIORITY + 3 )
150
#define mainSEM_TEST_PRIORITY                           ( tskIDLE_PRIORITY + 1 )
151
#define mainBLOCK_Q_PRIORITY                            ( tskIDLE_PRIORITY + 2 )
152
#define mainCREATOR_TASK_PRIORITY           ( tskIDLE_PRIORITY + 3 )
153
#define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )
154
#define mainGEN_QUEUE_TASK_PRIORITY                     ( tskIDLE_PRIORITY )
155
 
156
/* The maximum number of message that can be waiting for display at any one
157
time. */
158
#define mainOLED_QUEUE_SIZE                                     ( 3 )
159
 
160
/* Dimensions the buffer into which the jitter time is written. */
161
#define mainMAX_MSG_LEN                                         25
162
 
163
/* The period of the system clock in nano seconds.  This is used to calculate
164
the jitter time in nano seconds. */
165
#define mainNS_PER_CLOCK                                        ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
166
 
167
/* Constants used when writing strings to the display. */
168
#define mainCHARACTER_HEIGHT                            ( 9 )
169
#define mainMAX_ROWS_128                                        ( mainCHARACTER_HEIGHT * 14 )
170
#define mainMAX_ROWS_96                                         ( mainCHARACTER_HEIGHT * 10 )
171
#define mainMAX_ROWS_64                                         ( mainCHARACTER_HEIGHT * 7 )
172
#define mainFULL_SCALE                                          ( 15 )
173
#define ulSSI_FREQUENCY                                         ( 3500000UL )
174
 
175
/*-----------------------------------------------------------*/
176
 
177
/*
178
 * The task that handles the uIP stack.  All TCP/IP processing is performed in
179
 * this task.
180
 */
181
extern void vuIP_Task( void *pvParameters );
182
 
183
/*
184
 * The display is written two by more than one task so is controlled by a
185
 * 'gatekeeper' task.  This is the only task that is actually permitted to
186
 * access the display directly.  Other tasks wanting to display a message send
187
 * the message to the gatekeeper.
188
 */
189
static void vOLEDTask( void *pvParameters );
190
 
191
/*
192
 * Configure the hardware for the demo.
193
 */
194
static void prvSetupHardware( void );
195
 
196
/*
197
 * Configures the high frequency timers - those used to measure the timing
198
 * jitter while the real time kernel is executing.
199
 */
200
extern void vSetupHighFrequencyTimer( void );
201
 
202
/*
203
 * The idle hook is used to run a test of the scheduler context switch
204
 * mechanism.
205
 */
206
void vApplicationIdleHook( void ) __attribute__((naked));
207
/*-----------------------------------------------------------*/
208
 
209
/* The queue used to send messages to the OLED task. */
210
xQueueHandle xOLEDQueue;
211
 
212
/* The welcome text. */
213
const char * const pcWelcomeMessage = "   www.FreeRTOS.org";
214
 
215
/* Variables used to detect the test in the idle hook failing. */
216
unsigned long ulIdleError = pdFALSE;
217
 
218
/*-----------------------------------------------------------*/
219
 
220
/*************************************************************************
221
 * Please ensure to read http://www.freertos.org/portLM3Sxxxx_Eclipse.html
222
 * which provides information on configuring and running this demo for the
223
 * various Luminary Micro EKs.
224
 *************************************************************************/
225
int main( void )
226
{
227
        prvSetupHardware();
228
 
229
        /* Create the queue used by the OLED task.  Messages for display on the OLED
230
        are received via this queue. */
231
        xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
232
 
233
        /* Create the uIP task if running on a processor that includes a MAC and
234
        PHY. */
235
        if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) )
236
        {
237
                xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
238
        }
239
 
240
        /* Start the standard demo tasks. */
241
        vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
242
    vCreateBlockTimeTasks();
243
    vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
244
    vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
245
    vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
246
    vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
247
    vStartQueuePeekTasks();
248
    vStartRecursiveMutexTasks();
249
    vStartInterruptQueueTasks();
250
 
251
        /* Start the tasks defined within this file/specific to this demo. */
252
        xTaskCreate( vOLEDTask, ( signed char * ) "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
253
 
254
        /* The suicide tasks must be created last as they need to know how many
255
        tasks were running prior to their creation in order to ascertain whether
256
        or not the correct/expected number of tasks are running at any given time. */
257
    vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
258
 
259
        /* Configure the high frequency interrupt used to measure the interrupt
260
        jitter time. */
261
        vSetupHighFrequencyTimer();
262
 
263
        /* Start the scheduler. */
264
        vTaskStartScheduler();
265
 
266
    /* Will only get here if there was insufficient memory to create the idle
267
    task. */
268
        for( ;; );
269
        return 0;
270
}
271
/*-----------------------------------------------------------*/
272
 
273
void prvSetupHardware( void )
274
{
275
    /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V.  This is
276
    a workaround to allow the PLL to operate reliably. */
277
    if( DEVICE_IS_REVA2 )
278
    {
279
        SysCtlLDOSet( SYSCTL_LDO_2_75V );
280
    }
281
 
282
        /* Set the clocking to run from the PLL at 50 MHz */
283
        SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
284
 
285
        /*      Enable Port F for Ethernet LEDs
286
                LED0        Bit 3   Output
287
                LED1        Bit 2   Output */
288
        SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
289
        GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
290
        GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
291
 
292
        vParTestInitialise();
293
}
294
/*-----------------------------------------------------------*/
295
 
296
void vApplicationTickHook( void )
297
{
298
static xOLEDMessage xMessage = { "PASS" };
299
static unsigned long ulTicksSinceLastDisplay = 0;
300
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
301
 
302
        /* Called from every tick interrupt.  Have enough ticks passed to make it
303
        time to perform our health status check again? */
304
        ulTicksSinceLastDisplay++;
305
        if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
306
        {
307
                ulTicksSinceLastDisplay = 0;
308
 
309
                /* Has an error been found in any task? */
310
                if( xAreGenericQueueTasksStillRunning() != pdTRUE )
311
                {
312
                        xMessage.pcMessage = "ERROR IN GEN Q";
313
                }
314
                else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
315
                {
316
                        xMessage.pcMessage = "ERROR IN PEEK Q";
317
                }
318
                else if( xAreBlockingQueuesStillRunning() != pdTRUE )
319
                {
320
                        xMessage.pcMessage = "ERROR IN BLOCK Q";
321
                }
322
                else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
323
                {
324
                        xMessage.pcMessage = "ERROR IN BLOCK TIME";
325
                }
326
            else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
327
            {
328
                xMessage.pcMessage = "ERROR IN SEMAPHORE";
329
            }
330
            else if( xArePollingQueuesStillRunning() != pdTRUE )
331
            {
332
                xMessage.pcMessage = "ERROR IN POLL Q";
333
            }
334
            else if( xIsCreateTaskStillRunning() != pdTRUE )
335
            {
336
                xMessage.pcMessage = "ERROR IN CREATE";
337
            }
338
            else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
339
            {
340
                xMessage.pcMessage = "ERROR IN MATH";
341
            }
342
            else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
343
            {
344
                xMessage.pcMessage = "ERROR IN REC MUTEX";
345
            }
346
                else if( ulIdleError != pdFALSE )
347
                {
348
                        xMessage.pcMessage = "ERROR IN HOOK";
349
                }
350
                else if( xAreIntQueueTasksStillRunning() != pdTRUE )
351
                {
352
                        xMessage.pcMessage = "ERROR IN INT QUEUE";
353
                }
354
 
355
 
356
                /* Send the message to the OLED gatekeeper for display. */
357
                xHigherPriorityTaskWoken = pdFALSE;
358
                xQueueSendFromISR( xOLEDQueue, &xMessage, &xHigherPriorityTaskWoken );
359
        }
360
}
361
/*-----------------------------------------------------------*/
362
 
363
void vOLEDTask( void *pvParameters )
364
{
365
xOLEDMessage xMessage;
366
unsigned long ulY, ulMaxY;
367
static char cMessage[ mainMAX_MSG_LEN ];
368
extern volatile unsigned long ulMaxJitter;
369
unsigned portBASE_TYPE uxUnusedStackOnEntry, uxUnusedStackNow;
370
const unsigned char *pucImage;
371
 
372
/* Functions to access the OLED.  The one used depends on the dev kit
373
being used. */
374
void ( *vOLEDInit )( unsigned long ) = NULL;
375
void ( *vOLEDStringDraw )( const char *, unsigned long, unsigned long, unsigned char ) = NULL;
376
void ( *vOLEDImageDraw )( const unsigned char *, unsigned long, unsigned long, unsigned long, unsigned long ) = NULL;
377
void ( *vOLEDClear )( void ) = NULL;
378
 
379
        /* Just for demo purposes. */
380
        uxUnusedStackOnEntry = uxTaskGetStackHighWaterMark( NULL );
381
 
382
        /* Map the OLED access functions to the driver functions that are appropriate
383
        for the evaluation kit being used. */
384
        switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK )
385
        {
386
                case SYSCTL_DID1_PRTNO_6965     :
387
                case SYSCTL_DID1_PRTNO_2965     :       vOLEDInit = OSRAM128x64x4Init;
388
                                                                                vOLEDStringDraw = OSRAM128x64x4StringDraw;
389
                                                                                vOLEDImageDraw = OSRAM128x64x4ImageDraw;
390
                                                                                vOLEDClear = OSRAM128x64x4Clear;
391
                                                                                ulMaxY = mainMAX_ROWS_64;
392
                                                                                pucImage = pucBasicBitmap;
393
                                                                                break;
394
 
395
                case SYSCTL_DID1_PRTNO_1968     :
396
                case SYSCTL_DID1_PRTNO_8962 :   vOLEDInit = RIT128x96x4Init;
397
                                                                                vOLEDStringDraw = RIT128x96x4StringDraw;
398
                                                                                vOLEDImageDraw = RIT128x96x4ImageDraw;
399
                                                                                vOLEDClear = RIT128x96x4Clear;
400
                                                                                ulMaxY = mainMAX_ROWS_96;
401
                                                                                pucImage = pucBasicBitmap;
402
                                                                                break;
403
 
404
                default                                         :       vOLEDInit = vFormike128x128x16Init;
405
                                                                                vOLEDStringDraw = vFormike128x128x16StringDraw;
406
                                                                                vOLEDImageDraw = vFormike128x128x16ImageDraw;
407
                                                                                vOLEDClear = vFormike128x128x16Clear;
408
                                                                                ulMaxY = mainMAX_ROWS_128;
409
                                                                                pucImage = pucGrLibBitmap;
410
                                                                                break;
411
        }
412
 
413
        ulY = ulMaxY;
414
 
415
        /* Initialise the OLED and display a startup message. */
416
        vOLEDInit( ulSSI_FREQUENCY );
417
        vOLEDStringDraw( "POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
418
        vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
419
 
420
        for( ;; )
421
        {
422
                /* Wait for a message to arrive that requires displaying. */
423
                xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
424
 
425
                /* Write the message on the next available row. */
426
                ulY += mainCHARACTER_HEIGHT;
427
                if( ulY >= ulMaxY )
428
                {
429
                        ulY = mainCHARACTER_HEIGHT;
430
                        vOLEDClear();
431
                        vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
432
                }
433
 
434
                /* Display the message along with the maximum jitter time from the
435
                high priority time test. */
436
                sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK );
437
                vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE );
438
        }
439
}
440
/*-----------------------------------------------------------*/
441
 
442
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
443
{
444
        for( ;; );
445
}
446
/*-----------------------------------------------------------*/
447
 
448
void vApplicationMallocFailedHook( void )
449
{
450
        for( ;; );
451
}
452
/*-----------------------------------------------------------*/
453
 
454
/* Just to keep the linker happy. */
455
void __error__( char *pcFilename, unsigned long ulLine )
456
{
457
        for( ;; );
458
}
459
 
460
int uipprintf( const char *fmt, ... )
461
{
462
        return( 0 );
463
}

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