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/*

    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,                                        *

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    *                                                                         *

    * 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.

 * In addition to the standard demo tasks, the following tasks and tests are

 * defined and/or created within this file:

 *

 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated

 * using a free running timer to demonstrate the use of the

 * configKERNEL_INTERRUPT_PRIORITY configuration constant.  The interrupt

 * service routine measures the number of processor clocks that occur between

 * each interrupt - and in so doing measures the jitter in the interrupt timing.

 * The maximum measured jitter time is latched in the ulMaxJitter variable, and

 * displayed on the LCD by the 'Check' task as described below.  The

 * fast interrupt is configured and handled in the timertest.c source 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.

 *

 * "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.  Should any

 * unexpected behaviour within a demo task be discovered the 'check' task 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

 * along with the max jitter time to the LCD (again via the LCD task), as

 * described above.

 *

 */

/* Standard includes. */

#include <stdio.h>

/* Scheduler includes. */

#include "FreeRTOS.h"

#include "task.h"

#include "queue.h"

/* Library includes. */

#include "stm32f10x_it.h"

/* Demo app includes. */

#include "lcd.h"

#include "LCD_Message.h"

#include "BlockQ.h"

#include "death.h"

#include "integer.h"

#include "blocktim.h"

#include "partest.h"

#include "semtest.h"

#include "PollQ.h"

#include "flash.h"

#include "comtest2.h"

/* Task priorities. */

#define mainQUEUE_POLL_PRIORITY                         ( tskIDLE_PRIORITY + 2 )

#define mainCHECK_TASK_PRIORITY                         ( tskIDLE_PRIORITY + 3 )

#define mainSEM_TEST_PRIORITY                           ( tskIDLE_PRIORITY + 1 )

#define mainBLOCK_Q_PRIORITY                            ( tskIDLE_PRIORITY + 2 )

#define mainCREATOR_TASK_PRIORITY           ( tskIDLE_PRIORITY + 3 )

#define mainFLASH_TASK_PRIORITY                         ( tskIDLE_PRIORITY + 1 )

#define mainCOM_TEST_PRIORITY                           ( tskIDLE_PRIORITY + 1 )

#define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )

/* Constants related to the LCD. */

#define mainMAX_LINE                                            ( 240 )

#define mainROW_INCREMENT                                       ( 24 )

#define mainMAX_COLUMN                                          ( 20 )

#define mainCOLUMN_START                                        ( 319 )

#define mainCOLUMN_INCREMENT                            ( 16 )

/* The maximum number of message that can be waiting for display at any one

time. */

#define mainLCD_QUEUE_SIZE                                      ( 3 )

/* The check task uses the sprintf function so requires a little more stack. */

#define mainCHECK_TASK_STACK_SIZE                       ( configMINIMAL_STACK_SIZE + 50 )

/* Dimensions the buffer into which the jitter time is written. */

#define mainMAX_MSG_LEN                                         25

/* The time between cycles of the 'check' task. */

#define mainCHECK_DELAY                                         ( ( portTickType ) 5000 / portTICK_RATE_MS )

/* The number of nano seconds between each processor clock. */

#define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )

/* Baud rate used by the comtest tasks. */

#define mainCOM_TEST_BAUD_RATE          ( 115200 )

/* The LED used by the comtest tasks. See the comtest.c file for more

information. */

#define mainCOM_TEST_LED                        ( 3 )

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

/*

 * Configure the clocks, GPIO and other peripherals as required by the demo.

 */

static void prvSetupHardware( void );

/*

 * Configure the LCD as required by the demo.

 */

static void prvConfigureLCD( void );

/*

 * The LCD is written two by more than one task so is controlled by a

 * 'gatekeeper' task.  This is the only task that is actually permitted to

 * access the LCD directly.  Other tasks wanting to display a message send

 * the message to the gatekeeper.

 */

static void vLCDTask( void *pvParameters );

/*

 * Retargets the C library printf function to the USART.

 */

int fputc( int ch, FILE *f );

/*

 * Checks the status of all the demo tasks then prints a message to the

 * display.  The message will be either PASS - and include in brackets the

 * maximum measured jitter time (as described at the to of the file), or a

 * message that describes which of the standard demo tasks an error has been

 * discovered in.

 *

 * Messages are not written directly to the terminal, but passed to vLCDTask

 * via a queue.

 */

static void vCheckTask( void *pvParameters );

/*

 * Configures the timers and interrupts for the fast interrupt test as

 * described at the top of this file.

 */

extern void vSetupTimerTest( void );

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

/* The queue used to send messages to the LCD task. */

xQueueHandle xLCDQueue;

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

int main( void )

{

#ifdef DEBUG

  debug();

#endif

        prvSetupHardware();

        /* Create the queue used by the LCD task.  Messages for display on the LCD

        are received via this queue. */

        xLCDQueue = xQueueCreate( mainLCD_QUEUE_SIZE, sizeof( xLCDMessage ) );

        /* Start the standard demo tasks. */

        vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

    vCreateBlockTimeTasks();

    vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );

    vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );

    vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );

        vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );

        vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );

        /* Start the tasks defined within this file/specific to this demo. */

    xTaskCreate( vCheckTask, ( signed portCHAR * ) "Check", mainCHECK_TASK_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

        xTaskCreate( vLCDTask, ( signed portCHAR * ) "LCD", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );

        /* The suicide tasks must be created last as they need to know how many

        tasks were running prior to their creation in order to ascertain whether

        or not the correct/expected number of tasks are running at any given time. */

    vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );

        /* Configure the timers used by the fast interrupt timer test. */

        vSetupTimerTest();

        /* Start the scheduler. */

        vTaskStartScheduler();

        /* Will only get here if there was not enough heap space to create the

        idle task. */

        return 0;

}

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

void vLCDTask( void *pvParameters )

{

xLCDMessage xMessage;

        /* Initialise the LCD and display a startup message. */

        prvConfigureLCD();

        LCD_DrawMonoPict( ( unsigned portLONG * ) pcBitmap );

        for( ;; )

        {

                /* Wait for a message to arrive that requires displaying. */

                while( xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY ) != pdPASS );

                /* Display the message.  Print each message to a different position. */

                printf( ( portCHAR const * ) xMessage.pcMessage );

        }

}

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

static void vCheckTask( void *pvParameters )

{

portTickType xLastExecutionTime;

xLCDMessage xMessage;

static signed portCHAR cPassMessage[ mainMAX_MSG_LEN ];

extern unsigned portSHORT usMaxJitter;

        xLastExecutionTime = xTaskGetTickCount();

        xMessage.pcMessage = cPassMessage;

    for( ;; )

        {

                /* Perform this check every mainCHECK_DELAY milliseconds. */

                vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );

                /* Has an error been found in any task? */

        if( xAreBlockingQueuesStillRunning() != pdTRUE )

                {

                        xMessage.pcMessage = "ERROR IN BLOCK Q\n";

                }

                else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )

                {

                        xMessage.pcMessage = "ERROR IN BLOCK TIME\n";

                }

        else if( xAreSemaphoreTasksStillRunning() != pdTRUE )

        {

            xMessage.pcMessage = "ERROR IN SEMAPHORE\n";

        }

        else if( xArePollingQueuesStillRunning() != pdTRUE )

        {

            xMessage.pcMessage = "ERROR IN POLL Q\n";

        }

        else if( xIsCreateTaskStillRunning() != pdTRUE )

        {

            xMessage.pcMessage = "ERROR IN CREATE\n";

        }

        else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )

        {

            xMessage.pcMessage = "ERROR IN MATH\n";

        }

                else if( xAreComTestTasksStillRunning() != pdTRUE )

                {

                        xMessage.pcMessage = "ERROR IN COM TEST\n";

                }

                else

                {

                        sprintf( ( portCHAR * ) cPassMessage, "PASS [%uns]\n", ( ( unsigned portLONG ) usMaxJitter ) * mainNS_PER_CLOCK );

                }

                /* Send the message to the LCD gatekeeper for display. */

                xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );

        }

}

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

static void prvSetupHardware( void )

{

        /* Start with the clocks in their expected state. */

        RCC_DeInit();

        /* Enable HSE (high speed external clock). */

        RCC_HSEConfig( RCC_HSE_ON );

        /* Wait till HSE is ready. */

        while( RCC_GetFlagStatus( RCC_FLAG_HSERDY ) == RESET )

        {

        }

        /* 2 wait states required on the flash. */

        *( ( unsigned portLONG * ) 0x40022000 ) = 0x02;

        /* HCLK = SYSCLK */

        RCC_HCLKConfig( RCC_SYSCLK_Div1 );

        /* PCLK2 = HCLK */

        RCC_PCLK2Config( RCC_HCLK_Div1 );

        /* PCLK1 = HCLK/2 */

        RCC_PCLK1Config( RCC_HCLK_Div2 );

        /* 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 );

        /* SPI2 Periph clock enable */

        RCC_APB1PeriphClockCmd( RCC_APB1Periph_SPI2, 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 );

        vParTestInitialise();

}

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

static void prvConfigureLCD( void )

{

GPIO_InitTypeDef GPIO_InitStructure;

        /* Configure LCD Back Light (PA8) as output push-pull */

        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;

        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;

        GPIO_Init( GPIOA, &GPIO_InitStructure );

        /* Set the Backlight Pin */

        GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_SET);

        /* Initialize the LCD */

        LCD_Init();

        /* Set the Back Color */

        LCD_SetBackColor( White );

        /* Set the Text Color */

        LCD_SetTextColor( 0x051F );

        LCD_Clear();

}

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

int fputc( int ch, FILE *f )

{

static unsigned portSHORT usColumn = 0, usRefColumn = mainCOLUMN_START;

static unsigned portCHAR ucLine = 0;

        if( ( usColumn == 0 ) && ( ucLine == 0 ) )

        {

                LCD_Clear();

        }

        if( ch != '\n' )

        {

                /* Display one character on LCD */

                LCD_DisplayChar( ucLine, usRefColumn, (u8) ch );

                /* Decrement the column position by 16 */

                usRefColumn -= mainCOLUMN_INCREMENT;

                /* Increment the character counter */

                usColumn++;

                if( usColumn == mainMAX_COLUMN )

                {

                        ucLine += mainROW_INCREMENT;

                        usRefColumn = mainCOLUMN_START;

                        usColumn = 0;

                }

        }

        else

        {

                /* Move back to the first column of the next line. */

                ucLine += mainROW_INCREMENT;

                usRefColumn = mainCOLUMN_START;

                usColumn = 0;

        }

        /* Wrap back to the top of the display. */

        if( ucLine >= mainMAX_LINE )

        {

                ucLine = 0;

        }

        return ch;

}

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

#ifdef  DEBUG

/* Keep the linker happy. */

void assert_failed( unsigned portCHAR* pcFile, unsigned portLONG ulLine )

{

        for( ;; )

        {

        }

}

#endif