FreeRTOS-Kernel/Demo/CORTEX_A2F200_SoftConsole/main-full.c

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

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/*
This simple demo project runs on the STM32 Discovery board, which is
populated with an STM32F100RB Cortex-M3 microcontroller.  The discovery board 
makes an ideal low cost evaluation platform, but the 8K of RAM provided on the
STM32F100RB does not allow the simple application to demonstrate all of all the 
FreeRTOS kernel features.  Therefore, this simple demo only actively 
demonstrates task, queue, timer and interrupt functionality.  In addition, the 
demo is configured to include malloc failure, idle and stack overflow hook 
functions.

The idle hook function:
The idle hook function queries the amount of FreeRTOS heap space that is
remaining (see vApplicationIdleHook() defined in this file).  The demo 
application is configured use 7K or the available 8K of RAM as the FreeRTOS heap.
Memory is only allocated from this heap during initialisation, and this demo 
only actually uses 1.6K bytes of the configured 7K available - leaving 5.4K 
bytes of heap space unallocated.

The main() Function:
main() creates one software timer, one queue, and two tasks.  It then starts the
scheduler.

The Queue Send Task:
The queue send task is implemented by the prvQueueSendTask() function in this 
file.  prvQueueSendTask() sits in a loop that causes it to repeatedly block for 
200 milliseconds, before sending the value 100 to the queue that was created 
within main().  Once the value is sent, the task loops back around to block for
another 200 milliseconds.

The Queue Receive Task:
The queue receive task is implemented by the prvQueueReceiveTask() function
in this file.  prvQueueReceiveTask() sits in a loop that causes repeatedly 
attempt to read data from the queue that was created within main().  When data 
is received, the task checks the value of the data, and if the value equals 
the expected 100, toggles the green LED.  The 'block time' parameter passed to 
the queue receive function specifies that the task should be held in the Blocked 
state indefinitely to wait for data to be available on the queue.  The queue 
receive task will only leave the Blocked state when the queue send task writes 
to the queue.  As the queue send task writes to the queue every 200 
milliseconds, the queue receive task leaves the Blocked state every 200 
milliseconds, and therefore toggles the green LED every 200 milliseconds.

The LED Software Timer and the Button Interrupt:
The user button B1 is configured to generate an interrupt each time it is
pressed.  The interrupt service routine switches the red LED on, and resets the 
LED software timer.  The LED timer has a 5000 millisecond (5 second) period, and
uses a callback function that is defined to just turn the red LED off.  
Therefore, pressing the user button will turn the red LED on, and the LED will 
remain on until a full five seconds pass without the button being pressed.
*/

/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "timers.h"

/* Microsemi drivers/libraries includes. */
#include "mss_gpio.h"
#include "mss_watchdog.h"

/* Common demo includes. */
#include "partest.h"
#include "flash.h"
#include "BlockQ.h"
#include "death.h"
#include "blocktim.h"
#include "semtest.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"
#include "TimerDemo.h"

/* Priorities at which the tasks are created. */
#define mainQUEUE_RECEIVE_TASK_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define	mainQUEUE_SEND_TASK_PRIORITY		( tskIDLE_PRIORITY + 1 )

/* The rate at which data is sent to the queue, specified in milliseconds, and
converted to ticks using the portTICK_RATE_MS constant. */
#define mainQUEUE_SEND_FREQUENCY_MS			( 200 / portTICK_RATE_MS )

/* The number of items the queue can hold.  This is 1 as the receive task
will remove items as they are added, meaning the send task should always find
the queue empty. */
#define mainQUEUE_LENGTH			( 1 )

#define mainCHECK_LED				0x07UL
#define mainTIMER_CONTROLLED_LED	0x06UL
#define mainTASK_CONTROLLED_LED		0x05UL

#define mainTIMER_TEST_PERIOD		( 50 )

#define mainCHECK_TASK_PRIORITY		( configMAX_PRIORITIES - 1 )
#define mainQUEUE_POLL_PRIORITY		( tskIDLE_PRIORITY + 1 )
#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 mainuIP_TASK_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainINTEGER_TASK_PRIORITY   ( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY	( tskIDLE_PRIORITY )

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

/*
 * Setup the NVIC, LED outputs, and button inputs.
 */
static void prvSetupHardware( void );

/*
 * The tasks as described in the comments at the top of this file.
 */
static void prvQueueReceiveTask( void *pvParameters );
static void prvQueueSendTask( void *pvParameters );

/*
 * The LED timer callback function.  This does nothing but switch the red LED 
 * off.
 */
static void vLEDTimerCallback( xTimerHandle xTimer );

static void vCheckTimerCallback( xTimerHandle xTimer );

/*
 * This is not a 'standard' partest function, so the prototype is not in
 * partest.h.
 */
void vParTestSetLEDFromISR( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue );

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

/* The queue used by both tasks. */
static xQueueHandle xQueue = NULL;

/* The LED software timer.  This uses vLEDTimerCallback() as its callback
function. */
static xTimerHandle xLEDTimer = NULL;

static xTimerHandle xCheckTimer = NULL;

/* The status message that is displayed at the bottom of the "task stats" web
page, which is served by the uIP task.  This will report any errors picked up
by the reg test task. */
static const char *pcStatusMessage = NULL;


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

int main(void)
{
	/* Configure the NVIC, LED outputs and button inputs. */
	prvSetupHardware();

	/* Create the queue. */
	xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );

	if( xQueue != NULL )
	{
		/* Start the two tasks as described in the comments at the top of this
		file. */
		xTaskCreate( prvQueueReceiveTask, ( signed char * ) "Rx", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_RECEIVE_TASK_PRIORITY, NULL );
		xTaskCreate( prvQueueSendTask, ( signed char * ) "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );

		/* Create the software timer that is responsible for turning off the LED 
		if the button is not pushed within 5000ms, as described at the top of 
		this file. */
		xLEDTimer = xTimerCreate( 	( const signed char * ) "LEDTimer", /* A text name, purely to help debugging. */
									( 5000 / portTICK_RATE_MS ),		/* The timer period, in this case 5000ms (5s). */
									pdFALSE,							/* This is a one shot timer, so xAutoReload is set to pdFALSE. */
									( void * ) 0,						/* The ID is not used, so can be set to anything. */
									vLEDTimerCallback					/* The callback function that switches the LED off. */
								);

		xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer", 	/* A text name, purely to help debugging. */
									( 3000 / portTICK_RATE_MS ),			/* The timer period, in this case 3000ms (3s). */
									pdTRUE,									/* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
									( void * ) 0,							/* The ID is not used, so can be set to anything. */
									vCheckTimerCallback						/* The callback function that inspects the status of all the other tasks. */
								  );

		vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
		vCreateBlockTimeTasks();
		vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
		vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
		vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
		vStartQueuePeekTasks();
		vStartRecursiveMutexTasks();
		vStartTimerDemoTask( mainTIMER_TEST_PERIOD );

		/* Start the tasks and timer running. */
		vTaskStartScheduler();
	}

	/* If all is well, the scheduler will now be running, and the following line
	will never be reached.  If the following line does execute, then there was
	insufficient FreeRTOS heap memory available for the idle and/or timer tasks
	to be created.  See the memory management section on the FreeRTOS web site
	for more details. */
	for( ;; );
}
/*-----------------------------------------------------------*/

static void vCheckTimerCallback( xTimerHandle xTimer )
{
	/* Check the standard demo tasks are running without error. */
	if( xAreGenericQueueTasksStillRunning() != pdTRUE )
	{
		/* Increase the rate at which this task cycles, which will increase the
		rate at which mainCHECK_LED flashes to give visual feedback that an error
		has occurred. */
		pcStatusMessage = "Error: GenQueue";
//		xPrintf( pcStatusMessage );
	}

	if( xAreQueuePeekTasksStillRunning() != pdTRUE )
	{
		pcStatusMessage = "Error: QueuePeek\r\n";
//		xPrintf( pcStatusMessage );
	}

	if( xAreBlockingQueuesStillRunning() != pdTRUE )
	{
		pcStatusMessage = "Error: BlockQueue\r\n";
//		xPrintf( pcStatusMessage );
	}

	if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
	{
		pcStatusMessage = "Error: BlockTime\r\n";
//		xPrintf( pcStatusMessage );
	}

	if( xAreSemaphoreTasksStillRunning() != pdTRUE )
	{
		pcStatusMessage = "Error: SemTest\r\n";
//		xPrintf( pcStatusMessage );
	}

	if( xIsCreateTaskStillRunning() != pdTRUE )
	{
		pcStatusMessage = "Error: Death\r\n";
//		xPrintf( pcStatusMessage );
	}

	if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
	{
		pcStatusMessage = "Error: RecMutex\r\n";
//		xPrintf( pcStatusMessage );
	}

	if( xAreTimerDemoTasksStillRunning( ( 3000 / portTICK_RATE_MS ) ) != pdTRUE )
	{
		pcStatusMessage = "Error: TimerDemo";
	}

	/* Toggle the check LED to give an indication of the system status.  If
	the LED toggles every 5 seconds then everything is ok.  A faster toggle
	indicates an error. */
	vParTestToggleLED( mainCHECK_LED );

	if( pcStatusMessage != NULL )
	{
		/* The block time is set to zero as a timer callback must *never*
		attempt to block. */
		xTimerChangePeriod( xCheckTimer, ( 500 / portTICK_RATE_MS ), 0 );
	}
}
/*-----------------------------------------------------------*/

static void vLEDTimerCallback( xTimerHandle xTimer )
{
	/* The timer has expired - so no button pushes have occurred in the last
	five seconds - turn the LED off.  NOTE - accessing the LED port should use
	a critical section because it is accessed from multiple tasks, and the
	button interrupt - in this trivial case, for simplicity, the critical
	section is omitted. */
	vParTestSetLED( mainTIMER_CONTROLLED_LED, pdFALSE );
}
/*-----------------------------------------------------------*/

/* The ISR executed when the user button is pushed. */
void GPIO8_IRQHandler( void )
{
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

	/* The button was pushed, so ensure the LED is on before resetting the
	LED timer.  The LED timer will turn the LED off if the button is not
	pushed within 5000ms. */
	vParTestSetLEDFromISR( mainTIMER_CONTROLLED_LED, pdTRUE );

	/* This interrupt safe FreeRTOS function can be called from this interrupt
	because the interrupt priority is below the
	configMAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */
	xTimerResetFromISR( xLEDTimer, &xHigherPriorityTaskWoken );

	/* Clear the interrupt before leaving. */
    MSS_GPIO_clear_irq( MSS_GPIO_8 );

	/* If calling xTimerResetFromISR() caused a task (in this case the timer
	service/daemon task) to unblock, and the unblocked task has a priority
	higher than or equal to the task that was interrupted, then
	xHigherPriorityTaskWoken will now be set to pdTRUE, and calling
	portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
	portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
}
/*-----------------------------------------------------------*/

static void prvQueueSendTask( void *pvParameters )
{
portTickType xNextWakeTime;
const unsigned long ulValueToSend = 100UL;

	/* 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 );

	xTimerStart( xCheckTimer, portMAX_DELAY );

	/* Initialise xNextWakeTime - this only needs to be done once. */
	xNextWakeTime = xTaskGetTickCount();

	for( ;; )
	{
		/* Place this task in the blocked state until it is time to run again.
		The block time is specified in ticks, the constant used converts ticks
		to ms.  While in the Blocked state this task will not consume any CPU
		time. */
		vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );

		/* Send to the queue - causing the queue receive task to unblock and
		toggle an LED.  0 is used as the block time so the sending operation
		will not block - it shouldn't need to block as the queue should always
		be empty at this point in the code. */
		xQueueSend( xQueue, &ulValueToSend, 0 );
	}
}
/*-----------------------------------------------------------*/

static void prvQueueReceiveTask( void *pvParameters )
{
unsigned long ulReceivedValue;

	for( ;; )
	{
		/* Wait until something arrives in the queue - this task will block
		indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
		FreeRTOSConfig.h. */
		xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );

		/*  To get here something must have been received from the queue, but
		is it the expected value?  If it is, toggle the green LED. */
		if( ulReceivedValue == 100UL )
		{
			/* NOTE - accessing the LED port should use a critical section
			because it is accessed from multiple tasks, and the button interrupt 
			- in this trivial case, for simplicity, the critical section is 
			omitted. */
			vParTestToggleLED( mainTASK_CONTROLLED_LED );
		}
	}
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
	/* Disable the Watch Dog Timer */
	MSS_WD_disable( );

	/* Configure the GPIO for the LEDs. */
	vParTestInitialise();

	/* Setup the GPIO and the NVIC for the switch used in this simple demo. */
    NVIC_EnableIRQ( GPIO8_IRQn );
    MSS_GPIO_config( MSS_GPIO_8, MSS_GPIO_INPUT_MODE | MSS_GPIO_IRQ_EDGE_NEGATIVE );
    MSS_GPIO_enable_irq( MSS_GPIO_8 );
}
/*-----------------------------------------------------------*/

void vApplicationMallocFailedHook( void )
{
	/* Called if a call to pvPortMalloc() fails because there is insufficient
	free memory available in the FreeRTOS heap.  pvPortMalloc() is called
	internally by FreeRTOS API functions that create tasks, queues, software 
	timers, and semaphores.  The size of the FreeRTOS heap is set by the
	configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
	for( ;; );
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
{
	( void ) pcTaskName;
	( void ) pxTask;

	/* Run time stack overflow checking is performed if
	configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2.  This hook
	function is called if a stack overflow is detected. */
	for( ;; );
}
/*-----------------------------------------------------------*/

void vApplicationIdleHook( void )
{
volatile size_t xFreeStackSpace;

	/* This function is called on each cycle of the idle task.  In this case it
	does nothing useful, other than report the amout of FreeRTOS heap that 
	remains unallocated. */
	xFreeStackSpace = xPortGetFreeHeapSize();

	if( xFreeStackSpace > 100 )
	{
		/* By now, the kernel has allocated everything it is going to, so
		if there is a lot of heap remaining unallocated then
		the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be
		reduced accordingly. */
	}
}