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320 lines
12 KiB
C
320 lines
12 KiB
C
/*
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FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* FreeRTOS tutorial books are available in pdf and paperback. *
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* Complete, revised, and edited pdf reference manuals are also *
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* available. *
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* *
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* Purchasing FreeRTOS documentation will not only help you, by *
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* ensuring you get running as quickly as possible and with an *
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* in-depth knowledge of how to use FreeRTOS, it will also help *
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* the FreeRTOS project to continue with its mission of providing *
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* professional grade, cross platform, de facto standard solutions *
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* for microcontrollers - completely free of charge! *
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* *
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* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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* *
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* Thank you for using FreeRTOS, and thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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>>>NOTE<<< The modification to the GPL is included to allow you to
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distribute a combined work that includes FreeRTOS without being obliged to
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provide the source code for proprietary components outside of the FreeRTOS
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kernel. FreeRTOS is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/*
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* Creates all the demo application tasks, then starts the scheduler. The WEB
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* documentation provides more details of the standard demo application tasks
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* (which just exist to test the kernel port and provide an example of how to use
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* each FreeRTOS API function).
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*
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* In addition to the standard demo tasks, the following tasks and tests are
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* defined and/or created within this file:
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*
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* "LCD" task - the LCD task is a 'gatekeeper' task. It is the only task that
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* is permitted to access the display directly. Other tasks wishing to write a
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* message to the LCD send the message on a queue to the LCD task instead of
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* accessing the LCD themselves. The LCD task just blocks on the queue waiting
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* for messages - waking and displaying the messages as they arrive. The use
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* of a gatekeeper in this manner permits both tasks and interrupts to write to
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* the LCD without worrying about mutual exclusion. This is demonstrated by the
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* check hook (see below) which sends messages to the display even though it
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* executes from an interrupt context.
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*
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* "Check" hook - This only executes fully every five seconds from the tick
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* hook. Its main function is to check that all the standard demo tasks are
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* still operational. Should any unexpected behaviour be discovered within a
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* demo task then the tick hook will write an error to the LCD (via the LCD task).
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* If all the demo tasks are executing with their expected behaviour then the
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* check task writes PASS to the LCD (again via the LCD task), as described above.
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*
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*/
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "semphr.h"
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/* Demo app includes. */
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#include "BlockQ.h"
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#include "integer.h"
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#include "blocktim.h"
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#include "flash.h"
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#include "partest.h"
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#include "semtest.h"
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#include "PollQ.h"
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#include "lcd_message.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "recmutex.h"
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#include "flash.h"
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#include "comtest2.h"
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/* Atmel library includes. */
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#include <board.h>
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#include <lcd/color.h>
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#include <lcd/lcdd.h>
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#include <lcd/draw.h>
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/*-----------------------------------------------------------*/
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/* The time between cycles of the 'check' functionality (defined within the
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tick hook). */
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#define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
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/* The LCD task uses the sprintf function so requires a little more stack too. */
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#define mainLCD_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
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/* Task priorities. */
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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/* The maximum number of message that can be waiting for display at any one
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time. */
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#define mainLCD_QUEUE_SIZE ( 3 )
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/* Constants used by the comtest tasks. There isn't a spare LED so an invalid
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LED is specified. */
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#define mainBAUD_RATE ( 115200 )
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#define mainCOM_TEST_LED ( 10 )
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/*-----------------------------------------------------------*/
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/*
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* Configure the hardware for the demo.
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*/
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static void prvSetupHardware( void );
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/*
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* The LCD gatekeeper task. Tasks wishing to write to the LCD do not access
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* the LCD directly, but instead send the message to the LCD gatekeeper task.
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*/
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static void prvLCDTask( void *pvParameters );
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/*
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* Hook functions that can get called by the kernel. The 'check' functionality
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* is implemented within the tick hook.
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*/
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
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/*
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* The tick hook function as described in the comments at the top of this file.
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* The tick hook is used to monitor all the standard demo tasks to look for
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* errors. The tick hook is also used to demonstrate how the LCD gatekeeper
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* task can be used to allow interrupts to write to the LCD.
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*/
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void vApplicationTickHook( void );
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/*-----------------------------------------------------------*/
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/* The queue used to send messages to the LCD task. */
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static xQueueHandle xLCDQueue;
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/*-----------------------------------------------------------*/
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int main( void )
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{
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/* Prepare the hardware. */
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prvSetupHardware();
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/* Create the queue used by the LCD task. Messages for display on the LCD
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are received via this queue. */
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xLCDQueue = xQueueCreate( mainLCD_QUEUE_SIZE, sizeof( xLCDMessage ) );
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/* Start the standard demo tasks. These do nothing other than test the
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port and provide some APU usage examples. */
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vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartRecursiveMutexTasks();
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vCreateBlockTimeTasks();
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartQueuePeekTasks();
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vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_TEST_LED );
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/* Start the tasks defined within this file/specific to this demo. */
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xTaskCreate( prvLCDTask, ( signed char * ) "LCD", mainLCD_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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/* Start the scheduler. */
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vTaskStartScheduler();
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/* Will only get here if there was insufficient memory to create the idle
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task. */
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return 0;
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}
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/*-----------------------------------------------------------*/
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void prvSetupHardware( void )
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{
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/* Initialise the port used for the LED outputs. */
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vParTestInitialise();
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}
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/*-----------------------------------------------------------*/
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void vApplicationTickHook( void )
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{
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static xLCDMessage xMessage = { "PASS" };
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static unsigned long ulTicksSinceLastDisplay = 0;
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portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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/* Called from every tick interrupt. Have enough ticks passed to make it
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time to perform our health status check again? */
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ulTicksSinceLastDisplay++;
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if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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{
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ulTicksSinceLastDisplay = 0;
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/* Has an error been found in any task? */
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if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN GEN Q";
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}
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN MATH";
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}
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else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN BLOCK Q";
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}
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else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN BLOCK TIME";
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}
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else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN SEMAPHORE";
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}
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else if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN POLL Q";
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}
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else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN PEEK Q";
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}
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else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN REC MUTEX";
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}
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else if( xAreComTestTasksStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR IN COMTEST";
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}
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/* Send the message to the LCD gatekeeper for display. */
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xHigherPriorityTaskWoken = pdFALSE;
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xQueueSendFromISR( xLCDQueue, &xMessage, &xHigherPriorityTaskWoken );
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}
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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{
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( void ) pxTask;
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( void ) pcTaskName;
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/* If the parameters have been corrupted then inspect pxCurrentTCB to
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identify which task has overflowed its stack. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void prvLCDTask( void *pvParameters )
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{
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xLCDMessage xMessage;
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unsigned long ulY = 0;
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const unsigned long ulX = 5;
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const unsigned long ulMaxY = 250, ulYIncrement = 22, ulWidth = 250, ulHeight = 20;;
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/* Initialize LCD. */
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LCDD_Initialize();
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LCDD_Start();
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LCDD_Fill( ( void * ) BOARD_LCD_BASE, COLOR_WHITE );
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LCDD_DrawString( ( void * ) BOARD_LCD_BASE, 1, ulY + 3, " www.FreeRTOS.org", COLOR_BLACK );
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for( ;; )
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{
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/* Wait for a message from the check function (which is executed in
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the tick hook). */
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xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY );
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/* Clear the space where the old message was. */
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LCDD_DrawRectangle( ( void * ) BOARD_LCD_BASE, 0, ulY, ulWidth, ulHeight, COLOR_WHITE );
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/* Increment to the next drawing position. */
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ulY += ulYIncrement;
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/* Have the Y position moved past the end of the LCD? */
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if( ulY >= ulMaxY )
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{
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ulY = 0;
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}
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/* Draw a new rectangle, in which the message will be written. */
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LCDD_DrawRectangle( ( void * ) BOARD_LCD_BASE, 0, ulY, ulWidth, ulHeight, COLOR_GREEN );
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/* Write the message. */
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LCDD_DrawString( ( void * ) BOARD_LCD_BASE, ulX, ulY + 3, xMessage.pcMessage, COLOR_BLACK );
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}
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}
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