/*
FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org 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
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
Please ensure to read the configuration and relevant port sections of the
online documentation.
+++ 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