Subversion Repositories openrisc

/*

    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.

    ***************************************************************************

    *                                                                         *

    * If you are:                                                             *

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    *    + New to FreeRTOS,                                                   *

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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   *

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    * and 8pm GMT (although please allow up to 24 hours in case of            *

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    *                                                                         *

    ***************************************************************************

    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.

*/

/*

        NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.

        The processor MUST be in supervisor mode when vTaskStartScheduler is

        called.  The demo applications included in the FreeRTOS.org download switch

        to supervisor mode prior to main being called.  If you are not using one of

        these demo application projects then ensure Supervisor mode is used.

*/

/*

 * Program entry point.

 *

 * main() is responsible for setting up the microcontroller peripherals, then

 * starting the demo application tasks.  Once the tasks have been created the

 * scheduler is started and main() should never complete.

 *

 * The demo creates the three standard 'flash' tasks to provide some visual

 * feedback that the system and scheduler are still operating correctly.

 *

 * The HTTP server task operates at the highest priority so will always preempt

 * the flash or idle task on TCP/IP events.

 */

/* Standard includes. */

#include <stdlib.h>

/* Scheduler include files. */

#include "FreeRTOS.h"

#include "semphr.h"

#include "task.h"

/* Application includes. */

#include "i2c.h"

#include "HTTP_Serv.h"

#include "flash.h"

#include "partest.h"

#include "dynamic.h"

#include "semtest.h"

#include "PollQ.h"

#include "BlockQ.h"

#include "integer.h"

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

/* Constants to setup the PLL. */

#define mainPLL_MUL_4           ( ( unsigned char ) 0x0003 )

#define mainPLL_DIV_1           ( ( unsigned char ) 0x0000 )

#define mainPLL_ENABLE          ( ( unsigned char ) 0x0001 )

#define mainPLL_CONNECT         ( ( unsigned char ) 0x0003 )

#define mainPLL_FEED_BYTE1      ( ( unsigned char ) 0xaa )

#define mainPLL_FEED_BYTE2      ( ( unsigned char ) 0x55 )

#define mainPLL_LOCK            ( ( unsigned long ) 0x0400 )

/* Constants to setup the MAM. */

#define mainMAM_TIM_3           ( ( unsigned char ) 0x03 )

#define mainMAM_MODE_FULL       ( ( unsigned char ) 0x02 )

/* Constants to setup the peripheral bus. */

#define mainBUS_CLK_FULL        ( ( unsigned char ) 0x01 )

/* Constants to setup I/O and processor. */

#define mainBUS_CLK_FULL        ( ( unsigned char ) 0x01 )

#define mainLED_TO_OUTPUT       ( ( unsigned long ) 0xff0000 )

#define mainJTAG_PORT           ( ( unsigned long ) 0x3E0000UL )

/* Priorities for the demo application tasks. */

#define mainLED_TASK_PRIORITY           ( tskIDLE_PRIORITY + 1 )

#define mainHTTP_TASK_PRIORITY          ( tskIDLE_PRIORITY + 2 )

#define mainBLOCK_Q_PRIORITY            ( tskIDLE_PRIORITY + 2 )

#define mainQUEUE_POLL_PRIORITY         ( tskIDLE_PRIORITY + 2 )

#define mainERROR_CHECK_PRIORITY        ( tskIDLE_PRIORITY + 1 )

/* Flash rates of the on board LED to indicate the health of the system. */

#define mainNO_ERROR_DELAY                      ( 3000 )

#define mainERROR_DELAY                         ( 500 )

#define mainON_BOARD_LED_BIT            ( ( unsigned long ) 0x80 )

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

/*

 * The Olimex demo board has a single built in LED.  This function simply

 * toggles its state.

 */

void prvToggleOnBoardLED( void );

/*

 * Configure the processor for use with the Olimex demo board.

 */

static void prvSetupHardware( void );

/*

 * Simply check for errors and toggle the onboard LED.

 */

static void prvErrorChecks( void *pvParameters );

/*

 * Return true if the demo tasks are executing without error - otherwise

 * return false.

 */

static void prvMainCheckOtherTasksAreStillRunning( void );

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

/* Flag set by prvMainCheckOtherTasksAreStillExecuting(). */

long lErrorInTask = pdFALSE;

/*

 * Application entry point:

 * Starts all the other tasks, then starts the scheduler.

 */

int main( void )

{

        /* Setup the hardware for use with the Olimex demo board. */

        prvSetupHardware();

        /* Start the standard flash tasks so the WEB server is not the only thing

        running. */

        vStartLEDFlashTasks( mainLED_TASK_PRIORITY );

        vStartSemaphoreTasks( tskIDLE_PRIORITY );

        vStartDynamicPriorityTasks();

        vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );

        vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

        vStartIntegerMathTasks( tskIDLE_PRIORITY );

        /* Start the WEB server task and the error check task. */

        xTaskCreate( vHTTPServerTask, ( signed char * ) "HTTP", configMINIMAL_STACK_SIZE, NULL, mainHTTP_TASK_PRIORITY, NULL );

        xTaskCreate( prvErrorChecks, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainERROR_CHECK_PRIORITY, NULL );

        /* Now all the tasks have been started - start the scheduler.

        NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.

        The processor MUST be in supervisor mode when vTaskStartScheduler is

        called.  The demo applications included in the FreeRTOS.org download switch

        to supervisor mode prior to main being called.  If you are not using one of

        these demo application projects then ensure Supervisor mode is used. */

        vTaskStartScheduler();

        /* Should never reach here! */

        return 0;

}

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

static void prvSetupHardware( void )

{

        #ifdef RUN_FROM_RAM

                /* Remap the interrupt vectors to RAM if we are are running from RAM. */

                SCB_MEMMAP = 2;

        #endif

        /* Set all GPIO to output other than the P0.14 (BSL), and the JTAG pins.

        The JTAG pins are left as input as I'm not sure what will happen if the

        Wiggler is connected after powerup - not that it would be a good idea to

        do that anyway. */

        GPIO_IODIR = ~( mainJTAG_PORT );

        /* Setup the PLL to multiply the XTAL input by 4. */

        SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );

        /* Activate the PLL by turning it on then feeding the correct sequence of

        bytes. */

        SCB_PLLCON = mainPLL_ENABLE;

        SCB_PLLFEED = mainPLL_FEED_BYTE1;

        SCB_PLLFEED = mainPLL_FEED_BYTE2;

        /* Wait for the PLL to lock... */

        while( !( SCB_PLLSTAT & mainPLL_LOCK ) );

        /* ...before connecting it using the feed sequence again. */

        SCB_PLLCON = mainPLL_CONNECT;

        SCB_PLLFEED = mainPLL_FEED_BYTE1;

        SCB_PLLFEED = mainPLL_FEED_BYTE2;

        /* Setup and turn on the MAM.  Three cycle access is used due to the fast

        PLL used.  It is possible faster overall performance could be obtained by

        tuning the MAM and PLL settings. */

        MAM_TIM = mainMAM_TIM_3;

        MAM_CR = mainMAM_MODE_FULL;

        /* Setup the peripheral bus to be the same as the PLL output. */

        SCB_VPBDIV = mainBUS_CLK_FULL;

        /* Initialise the i2c peripheral. */

        i2cInit();

        /* Initialise the LED's used by the flash tasks. */

        vParTestInitialise();

}

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

static void prvMainCheckOtherTasksAreStillRunning( void )

{

        /* Check all the demo tasks (other than the flash tasks) to ensure

        that they are all still running, and that none of them have detected

        an error. */

        /* This function is called from more than one task. */

        if( xAreIntegerMathsTaskStillRunning() != pdTRUE )

        {

                lErrorInTask = pdTRUE;

        }

        if( xArePollingQueuesStillRunning() != pdTRUE )

        {

                lErrorInTask = pdTRUE;

        }

        if( xAreSemaphoreTasksStillRunning() != pdTRUE )

        {

                lErrorInTask = pdTRUE;

        }

        if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )

        {

                lErrorInTask = pdTRUE;

        }

        if( xAreBlockingQueuesStillRunning() != pdTRUE )

        {

                lErrorInTask = pdTRUE;

        }

}

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

void prvToggleOnBoardLED( void )

{

unsigned long ulState;

        ulState = GPIO0_IOPIN;

        if( ulState & mainON_BOARD_LED_BIT )

        {

                GPIO_IOCLR = mainON_BOARD_LED_BIT;

        }

        else

        {

                GPIO_IOSET = mainON_BOARD_LED_BIT;

        }

}

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

static void prvErrorChecks( void *pvParameters )

{

portTickType xDelay = mainNO_ERROR_DELAY;

        /* The parameters are not used. */

        ( void ) pvParameters;

        for( ;; )

        {

                /* How long we delay depends on whether an error has been detected

                or not.  Therefore the flash rate of the on board LED indicates

                whether or not an error has occurred. */

                vTaskDelay( xDelay );

                /* Update the lErrorInTask flag. */

                prvMainCheckOtherTasksAreStillRunning();

                if( lErrorInTask )

                {

                        /* An error has been found so reduce the delay period and in so

                        doing speed up the flash rate of the on board LED. */

                        xDelay = mainERROR_DELAY;

                }

                prvToggleOnBoardLED();

        }

}