Subversion Repositories openrisc

/*

    FreeRTOS V6.1.1 - Copyright (C) 2011 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

 * (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" 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.  The status can be viewed using on the Task Stats page

 * served by the WEB server.

 *

 * "uIP" task -  This is the task that handles the uIP stack.  All TCP/IP

 * processing is performed in this task.

 *

 * "USB" task - Enumerates the USB device as a CDC class, then echoes back all

 * received characters with a configurable offset (for example, if the offset

 * is 1 and 'A' is received then 'B' will be sent back).  A dumb terminal such

 * as Hyperterminal can be used to talk to the USB task.

 */

/* Scheduler includes. */

#include "FreeRTOS.h"

#include "task.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"

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

/* The time between cycles of the 'check' functionality (defined within the

tick hook). */

#define mainCHECK_DELAY                                         ( ( portTickType ) 5000 / portTICK_RATE_MS )

/* The toggle rate for the LED. */

#define mainLED_TOGGLE_RATE                                     ( ( portTickType ) 1000 / 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 mainFLASH_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 message displayed by the WEB server when all tasks are executing

without an error being reported. */

#define mainPASS_STATUS_MESSAGE                         "All tasks are executing without error."

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

/*

 * Configure the hardware for the demo.

 */

static void prvSetupHardware( void );

/*

 * The task that handles the uIP stack.  All TCP/IP processing is performed in

 * this task.

 */

extern void vuIP_Task( void *pvParameters );

/*

 * The task that handles the USB stack.

 */

extern void vUSBTask( void *pvParameters );

/*

 * Very basic task that does nothing but use delays to flash an LED.

 */

static void prvFlashTask( void *pvParameters );

/*

 * Simply returns the current status message for display on served WEB pages.

 */

char *pcGetTaskStatusMessage( void );

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

/* Holds the status message displayed by the WEB server. */

static char *pcStatusMessage = mainPASS_STATUS_MESSAGE;

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

int main( void )

{

        /* 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();

        /* Create the simple LED flash task. */

        xTaskCreate( prvFlashTask, ( signed char * ) "Flash", configMINIMAL_STACK_SIZE, ( void * ) NULL, mainFLASH_TASK_PRIORITY, NULL );

    /* Create the USB task. */

    xTaskCreate( vUSBTask, ( signed char * ) "USB", configMINIMAL_STACK_SIZE, ( void * ) NULL, 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 );

    /* 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( ;; );

}

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

void vApplicationTickHook( void )

{

static unsigned long ulTicksSinceLastDisplay = 0;

        /* 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 )

                {

                        pcStatusMessage = "An error has been detected in the Generic Queue test/demo.";

                }

                else if( xAreQueuePeekTasksStillRunning() != pdTRUE )

                {

                        pcStatusMessage = "An error has been detected in the Peek Queue test/demo.";

                }

                else if( xAreBlockingQueuesStillRunning() != pdTRUE )

                {

                        pcStatusMessage = "An error has been detected in the Block Queue test/demo.";

                }

                else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )

                {

                        pcStatusMessage = "An error has been detected in the Block Time test/demo.";

                }

            else if( xAreSemaphoreTasksStillRunning() != pdTRUE )

            {

                pcStatusMessage = "An error has been detected in the Semaphore test/demo.";

            }

            else if( xArePollingQueuesStillRunning() != pdTRUE )

            {

                pcStatusMessage = "An error has been detected in the Poll Queue test/demo.";

            }

            else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )

            {

                pcStatusMessage = "An error has been detected in the Int Math test/demo.";

            }

            else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )

            {

                pcStatusMessage = "An error has been detected in the Mutex test/demo.";

            }

        }

}

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

static void prvFlashTask( void *pvParameters )

{

portTickType xLastFlashTime;

        /* We need to initialise xLastFlashTime prior to the first call to

        vTaskDelayUntil(). */

        xLastFlashTime = xTaskGetTickCount();

        for(;;)

        {

                /* Simply toggle the LED between delays. */

                vTaskDelayUntil( &xLastFlashTime, mainLED_TOGGLE_RATE );

                vParTestToggleLED( 0 );

        }

}

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

char *pcGetTaskStatusMessage( void )

{

        /* Not bothered about a critical section here. */

        return pcStatusMessage;

}

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

void prvSetupHardware( void )

{

        /* Disable peripherals power. */

        SC->PCONP = 0;

        /* Enable GPIO power. */

        SC->PCONP = PCONP_PCGPIO;

        /* Disable TPIU. */

        PINCON->PINSEL10 = 0;

        if ( SC->PLL0STAT & ( 1 << 25 ) )

        {

                /* Enable PLL, disconnected. */

                SC->PLL0CON = 1;

                SC->PLL0FEED = PLLFEED_FEED1;

                SC->PLL0FEED = PLLFEED_FEED2;

        }

        /* Disable PLL, disconnected. */

        SC->PLL0CON = 0;

        SC->PLL0FEED = PLLFEED_FEED1;

        SC->PLL0FEED = PLLFEED_FEED2;

        /* Enable main OSC. */

        SC->SCS |= 0x20;

        while( !( SC->SCS & 0x40 ) );

        /* select main OSC, 12MHz, as the PLL clock source. */

        SC->CLKSRCSEL = 0x1;

        SC->PLL0CFG = 0x20031;

        SC->PLL0FEED = PLLFEED_FEED1;

        SC->PLL0FEED = PLLFEED_FEED2;

        /* Enable PLL, disconnected. */

        SC->PLL0CON = 1;

        SC->PLL0FEED = PLLFEED_FEED1;

        SC->PLL0FEED = PLLFEED_FEED2;

        /* Set clock divider. */

        SC->CCLKCFG = 0x03;

        /* Configure flash accelerator. */

        SC->FLASHCFG = 0x403a;

        /* Check lock bit status. */

        while( ( ( SC->PLL0STAT & ( 1 << 26 ) ) == 0 ) );

        /* Enable and connect. */

        SC->PLL0CON = 3;

        SC->PLL0FEED = PLLFEED_FEED1;

        SC->PLL0FEED = PLLFEED_FEED2;

        while( ( ( SC->PLL0STAT & ( 1 << 25 ) ) == 0 ) );

        /* Configure the clock for the USB. */

        if( SC->PLL1STAT & ( 1 << 9 ) )

        {

                /* Enable PLL, disconnected. */

                SC->PLL1CON = 1;

                SC->PLL1FEED = PLLFEED_FEED1;

                SC->PLL1FEED = PLLFEED_FEED2;

        }

        /* Disable PLL, disconnected. */

        SC->PLL1CON = 0;

        SC->PLL1FEED = PLLFEED_FEED1;

        SC->PLL1FEED = PLLFEED_FEED2;

        SC->PLL1CFG = 0x23;

        SC->PLL1FEED = PLLFEED_FEED1;

        SC->PLL1FEED = PLLFEED_FEED2;

        /* Enable PLL, disconnected. */

        SC->PLL1CON = 1;

        SC->PLL1FEED = PLLFEED_FEED1;

        SC->PLL1FEED = PLLFEED_FEED2;

        while( ( ( SC->PLL1STAT & ( 1 << 10 ) ) == 0 ) );

        /* Enable and connect. */

        SC->PLL1CON = 3;

        SC->PLL1FEED = PLLFEED_FEED1;

        SC->PLL1FEED = PLLFEED_FEED2;

        while( ( ( SC->PLL1STAT & ( 1 << 9 ) ) == 0 ) );

        /*  Setup the peripheral bus to be the same as the PLL output (64 MHz). */

        SC->PCLKSEL0 = 0x05555555;

        /* Configure the LEDs. */

        vParTestInitialise();

}

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

void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *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. */

        SC->PCONP |= 0x02UL;

        SC->PCLKSEL0 = (SC->PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);

        /* Reset Timer 0 */

        TIM0->TCR = TCR_COUNT_RESET;

        /* Just count up. */

        TIM0->CTCR = 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. */

        TIM0->PR =  ( configCPU_CLOCK_HZ / 10000UL ) - 1UL;

        /* Start the counter. */

        TIM0->TCR = TCR_COUNT_ENABLE;

}

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