FreeRTOS-Kernel/Demo/CORTEX_STM32F103_GCC_Rowley/main.c

/*
    FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.

    ***************************************************************************
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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.
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    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
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    License and the FreeRTOS license exception along with FreeRTOS; if not it 
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*/


/*
 * 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" 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. The check task
 * will toggle LED 7 (PB15) every five seconds so long as no errors have been
 * detected.  The toggle rate will increase to half a second if an error has 
 * been found in any task.
 *
 */

/* Standard includes. */
#include <stdio.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"

/* Library includes. */
#include "stm32f10x_it.h"
#include "stm32f10x_tim.h"

/* Demo app includes. */
#include "BlockQ.h"
#include "integer.h"
#include "flash.h"
#include "partest.h"
#include "semtest.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"


/* The time between cycles of the 'check' task - which depends on whether the
check task has detected an error or not. */
#define mainCHECK_DELAY_NO_ERROR			( ( portTickType ) 5000 / portTICK_RATE_MS )
#define mainCHECK_DELAY_ERROR				( ( portTickType ) 500 / portTICK_RATE_MS )

/* The LED controlled by the 'check' task. */
#define mainCHECK_LED						( 3 )

/* Task priorities. */
#define mainSEM_TEST_PRIORITY				( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainCHECK_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 )

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

/*
 * Configure the hardware for the demo.
 */
static void prvSetupHardware( void );

/* The 'check' task as described at the top of this file. */
static void prvCheckTask( void *pvParameters );

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

int main( void )
{
#ifdef DEBUG
  debug();
#endif

	/* Set up the clocks and memory interface. */
	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 );
    vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
    vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
    vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
	vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
    vStartQueuePeekTasks();
    vStartRecursiveMutexTasks();

	/* Create the 'check' task, which is defined within this file. */
	xTaskCreate( prvCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_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( ;; );
}
/*-----------------------------------------------------------*/

static void prvCheckTask( void *pvParameters )
{
portTickType xLastExecutionTime;
unsigned long ulTicksToWait = mainCHECK_DELAY_NO_ERROR;

	/* Just to remove the compiler warning about the unused parameter. */
	( void ) pvParameters;

	/* Initialise the variable used to control our iteration rate prior to
	its first use. */
	xLastExecutionTime = xTaskGetTickCount();

	for( ;; )
	{
		/* Wait until it is time to run the tests again. */
		vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );

		/* Has an error been found in any task? */
		if( xAreGenericQueueTasksStillRunning() != pdTRUE )
		{
			/* Reduce the time between cycles of this task - which has the
			effect of increasing the rate at which the 'check' LED toggles to
			indicate the existence of an error to an observer. */
			ulTicksToWait = mainCHECK_DELAY_ERROR;
		}
		else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
		{
			ulTicksToWait = mainCHECK_DELAY_ERROR;
		}
		else if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			ulTicksToWait = mainCHECK_DELAY_ERROR;
		}
	    else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
	    {
	        ulTicksToWait = mainCHECK_DELAY_ERROR;
	    }
	    else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
	    {
	        ulTicksToWait = mainCHECK_DELAY_ERROR;
	    }
	    else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
	    {
	    	ulTicksToWait = mainCHECK_DELAY_ERROR;
	    }

		vParTestToggleLED( mainCHECK_LED );
	}
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
	/* RCC system reset(for debug purpose). */
	RCC_DeInit ();                        

    /* Enable HSE. */
	RCC_HSEConfig( RCC_HSE_ON );           
	
	/* Wait till HSE is ready. */
	while (RCC_GetFlagStatus(RCC_FLAG_HSERDY) == RESET);
	
    /* HCLK = SYSCLK. */
	RCC_HCLKConfig( RCC_SYSCLK_Div1 );   

    /* PCLK2  = HCLK. */
	RCC_PCLK2Config( RCC_HCLK_Div1 );     

    /* PCLK1  = HCLK/2. */
	RCC_PCLK1Config( RCC_HCLK_Div2 );     

	/* ADCCLK = PCLK2/4. */
	RCC_ADCCLKConfig( RCC_PCLK2_Div4 );    
	
    /* Flash 2 wait state. */
	*( volatile unsigned long  * )0x40022000 = 0x01;           
	
	/* 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 );

	/* 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 );

	/* Initialise the IO used for the LED outputs. */
	vParTestInitialise();

	/* SPI2 Periph clock enable */
	RCC_APB1PeriphClockCmd( RCC_APB1Periph_SPI2, ENABLE );

	/* Initialize the SPI FLASH driver */
	SPI_FLASH_Init();
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
{
	/* This function will get called if a task overflows its stack.   If the
	parameters are corrupt then inspect pxCurrentTCB to find which was the
	offending task. */

	( void ) pxTask;
	( void ) pcTaskName;

	for( ;; );
}
/*-----------------------------------------------------------*/

void assert_failed( unsigned char *pucFile, unsigned long ulLine )
{
	( void ) pucFile;
	( void ) ulLine;

	for( ;; );
}