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Update to V4.3.0 as described in http://www.FreeRTOS.org/History.txt

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Richard Barry 2007-06-05 09:43:26 +00:00
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/*
FreeRTOS.org V4.3.0 - Copyright (C) 2003-2007 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.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
***************************************************************************
*/
/*
* 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 OLED display by the 'Check' task as described below. The
* fast interrupt is configured and handled in the timertest.c source file.
*
* "OLED" task - the OLED 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 OLED send the message on a queue to the OLED task instead of
* accessing the OLED themselves. The OLED 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 OLED (via the OLED 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 OLED (again via the OLED task), as
* described above.
*
*/
/* Standard includes. */
#include <stdio.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "Task.h"
#include "queue.h"
#include "semphr.h"
/* Demo app includes. */
#include "BlockQ.h"
#include "death.h"
#include "integer.h"
#include "blocktim.h"
#include "flash.h"
#include "partest.h"
#include "semtest.h"
#include "pollq.h"
#include "lcd_message.h"
#include "bitmap.h"
/* Hardware library includes. */
#include "hw_memmap.h"
#include "hw_types.h"
#include "sysctl.h"
#include "gpio.h"
#include "osram128x64x4.h"
/*-----------------------------------------------------------*/
/* The time between cycles of the 'check' task. */
#define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
/* The check task uses the sprintf function so requires a little more stack too. */
#define mainCHECK_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )
/* 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 mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
/* The maximum number of message that can be waiting for display at any one
time. */
#define mainOLED_QUEUE_SIZE ( 3 )
/* Dimensions the buffer into which the jitter time is written. */
#define mainMAX_MSG_LEN 25
/* The period of the system clock in nano seconds. This is used to calculate
the jitter time in nano seconds. */
#define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
/* Constants used when writing strings to the display. */
#define mainCHARACTER_HEIGHT ( 9 )
#define mainMAX_ROWS ( mainCHARACTER_HEIGHT * 7 )
#define mainFULL_SCALE ( 15 )
#define ulSSI_FREQUENCY 1000000
/*-----------------------------------------------------------*/
/*
* Checks the status of all the demo tasks then prints a message to the
* display. The message will be either PASS - an 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 vOLEDTask
* via a queue.
*/
static void vCheckTask( void *pvParameters );
/*
* The display 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 display directly. Other tasks wanting to display a message send
* the message to the gatekeeper.
*/
static void vOLEDTask( void *pvParameters );
/*
* Configure the hardware for the demo.
*/
static void prvSetupHardware( void );
/*
* Configures the high frequency timers - those used to measure the timing
* jitter while the real time kernel is executing.
*/
extern void vSetupTimer( void );
/*-----------------------------------------------------------*/
/* The queue used to send messages to the OLED task. */
xQueueHandle xOLEDQueue;
/* The welcome text. */
const portCHAR * const pcWelcomeMessage = " www.FreeRTOS.org";
/*-----------------------------------------------------------*/
int main( void )
{
prvSetupHardware();
/* Create the queue used by the OLED task. Messages for display on the OLED
are received via this queue. */
xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );
/* Start the standard demo tasks. */
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
vCreateBlockTimeTasks();
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
/* 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( vOLEDTask, ( signed portCHAR * ) "OLED", 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 high frequency interrupt used to measure the interrupt
jitter time. */
#ifdef __ICCARM__
vSetupTimer();
#endif
/* Start the scheduler. */
vTaskStartScheduler();
/* Will only get here if there was insufficient memory to create the idle
task. */
return 0;
}
/*-----------------------------------------------------------*/
void prvSetupHardware( void )
{
/* Set the clocking to run from the PLL at 50 MHz */
SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );
/* Enable Port F for Ethernet LEDs
LED0 Bit 3 Output
LED1 Bit 2 Output */
SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );
vParTestInitialise();
}
/*-----------------------------------------------------------*/
static void vCheckTask( void *pvParameters )
{
portTickType xLastExecutionTime;
xOLEDMessage xMessage;
static portCHAR cPassMessage[ mainMAX_MSG_LEN ];
extern unsigned portLONG ulMaxJitter;
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";
}
else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
xMessage.pcMessage = "ERROR IN BLOCK TIME";
}
else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
xMessage.pcMessage = "ERROR IN SEMAPHORE";
}
else if( xArePollingQueuesStillRunning() != pdTRUE )
{
xMessage.pcMessage = "ERROR IN POLL Q";
}
else if( xIsCreateTaskStillRunning() != pdTRUE )
{
xMessage.pcMessage = "ERROR IN CREATE";
}
else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
xMessage.pcMessage = "ERROR IN MATH";
}
else
{
#ifdef __ICCARM__
sprintf( cPassMessage, "PASS [%uns]", ulMaxJitter * mainNS_PER_CLOCK );
#else
sprintf( cPassMessage, "PASS" );
#endif
}
/* Send the message to the OLED gatekeeper for display. */
xQueueSend( xOLEDQueue, &xMessage, portMAX_DELAY );
}
}
/*-----------------------------------------------------------*/
void vOLEDTask( void *pvParameters )
{
xOLEDMessage xMessage;
unsigned portLONG ulY = mainMAX_ROWS;
/* Initialise the OLED and display a startup message. */
OSRAM128x64x4Init( ulSSI_FREQUENCY );
OSRAM128x64x4StringDraw( " POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
OSRAM128x64x4ImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );
for( ;; )
{
/* Wait for a message to arrive that requires displaying. */
xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );
/* Write the message on the next available row. */
ulY += mainCHARACTER_HEIGHT;
if( ulY >= mainMAX_ROWS )
{
ulY = mainCHARACTER_HEIGHT;
OSRAM128x64x4Clear();
OSRAM128x64x4StringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
}
/* Display the message. */
OSRAM128x64x4StringDraw( xMessage.pcMessage, 0, ulY, mainFULL_SCALE );
}
}