mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-09-02 20:33:49 -04:00
Work in progress on the LPC1766 port.
This commit is contained in:
Richard Barry
parent
a9a108a751
commit
6003973d5e
11 changed files with 742 additions and 453 deletions
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@ -50,7 +50,39 @@
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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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* LED tasks - These just demonstrate how multiple instances of a single task
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* definition can be created. Each LED task simply toggles an LED. The task
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* parameter is used to pass the number of the LED to be toggled into the task.
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*
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* "uIP" task - This is the task that handles the uIP stack. All TCP/IP
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* processing is performed in this task.
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*/
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/* Standard includes. */
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#include <stdio.h>
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@ -64,9 +96,6 @@
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/* Hardware library includes. */
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#include "LPC17xx_defs.h"
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#define NUM_LEDS 8
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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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@ -79,28 +108,33 @@
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#include "QPeek.h"
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#include "recmutex.h"
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#include "lcd/portlcd.h"
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#include "LED.h"
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/*-----------------------------------------------------------*/
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/* The number of LED tasks that will be created. */
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#define mainNUM_LED_TASKS ( 6 )
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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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/* Task priorities. */
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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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 mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainUIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainLCD_TASK_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 period of the system clock in nano seconds. This is used to calculate
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the jitter time in nano seconds. */
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#define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )
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/* The WEB server has a larger stack as it utilises stack hungry string
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handling library calls. */
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#define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
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/* The length of the queue used to send messages to the LCD task. */
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#define mainQUEUE_SIZE ( 3 )
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/*-----------------------------------------------------------*/
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/*
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@ -108,11 +142,6 @@ the jitter time in nano seconds. */
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*/
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static void prvSetupHardware( void );
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/*
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* Simply toggles the indicated LED.
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*/
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static void vToggleLED( unsigned portBASE_TYPE uxLED );
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/*
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* Very simple task that toggles an LED.
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*/
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@ -124,20 +153,29 @@ static void vLEDTask( void *pvParameters );
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*/
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extern void vuIP_Task( void *pvParameters );
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/*
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* The LCD gatekeeper task as described in the comments at the top of this file.
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* */
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static void vLCDTask( void *pvParameters );
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/*-----------------------------------------------------------*/
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/* The queue used to send messages to the LCD task. */
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xQueueHandle xLCDQueue;
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/*-----------------------------------------------------------*/
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int main( void )
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{
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long l;
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/* Configure the hardware for use by this demo. */
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prvSetupHardware();
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/* Start the standard demo tasks. */
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/* Start the standard demo tasks. These are just here to exercise the
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kernel port and provide examples of how the FreeRTOS API can be used. */
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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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@ -147,34 +185,36 @@ long l;
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vStartQueuePeekTasks();
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vStartRecursiveMutexTasks();
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/* Start 8 tasks, each of which toggles a different LED at a different rate. */
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for( l = 0; l < NUM_LEDS; l++ )
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/* Start the tasks that toggle LEDs - the LED to toggle is passed in as the
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task parameter. */
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for( l = 0; l < mainNUM_LED_TASKS; l++ )
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{
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xTaskCreate( vLEDTask, (signed char *) "LED", configMINIMAL_STACK_SIZE, ( void * ) l, tskIDLE_PRIORITY+1, NULL );
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xTaskCreate( vLEDTask, (signed char *) "LED", configMINIMAL_STACK_SIZE, ( void * ) l, tskIDLE_PRIORITY, NULL );
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}
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/* Create the uIP task. This uses the lwIP RTOS abstraction layer.*/
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xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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/* Create the uIP task. The WEB server runs in this task. */
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xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, ( void * ) NULL, mainUIP_TASK_PRIORITY, NULL );
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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( mainQUEUE_SIZE, sizeof( xLCDMessage ) );
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/* Start the tasks defined within this file/specific to this demo. */
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xTaskCreate( vLCDTask, ( signed portCHAR * ) "LCD", configMINIMAL_STACK_SIZE * 2, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
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/* Start the LCD gatekeeper task - as described in the comments at the top
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of this file. */
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xTaskCreate( vLCDTask, ( signed portCHAR * ) "LCD", configMINIMAL_STACK_SIZE * 2, NULL, mainLCD_TASK_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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task. The idle task is created within vTaskStartScheduler(). */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void vLEDTask( void *pvParameters )
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{
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/* The LED to toggle is passed in as the task paramter. */
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/* The LED to toggle is passed in as the task parameter. */
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long lLED = ( long ) pvParameters;
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unsigned long ulLEDToToggle = 1 << lLED;
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@ -183,46 +223,149 @@ unsigned long ulDelayPeriod = 100 * ( lLED + 1 );
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for( ;; )
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{
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/* Delay for the calculated time. */
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vTaskDelay( ulDelayPeriod );
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/* Toggle the LED before going back to delay again. */
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vToggleLED( ulLEDToToggle );
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}
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}
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/*-----------------------------------------------------------*/
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static void vToggleLED( unsigned portBASE_TYPE uxLED )
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void vLCDTask( void *pvParameters )
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{
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if( FIO2PIN & uxLED )
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xLCDMessage xMessage;
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unsigned long ulRow = 0;
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char cIPAddr[ 17 ]; /* To fit max IP address length of xxx.xxx.xxx.xxx\0 */
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( void ) pvParameters;
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/* The LCD gatekeeper task as described in the comments at the top of this
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file. */
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/* Initialise the LCD and display a startup message that includes the
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configured IP address. */
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LCD_init();
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LCD_cur_off();
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LCD_cls();
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LCD_gotoxy( 1, 1 );
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LCD_puts( "www.FreeRTOS.org" );
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LCD_gotoxy( 1, 2 );
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sprintf( cIPAddr, "%d.%d.%d.%d", configIP_ADDR0, configIP_ADDR1, configIP_ADDR2, configIP_ADDR3 );
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LCD_puts( cIPAddr );
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for( ;; )
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{
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FIO2CLR = uxLED;
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/* Wait for a message to arrive to be displayed. */
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while( xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY ) != pdPASS );
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/* Clear the old message. */
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LCD_cls();
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/* Switch LCD rows, jut to make it obvious that messages are arriving. */
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ulRow++;
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LCD_gotoxy( 1, ( ulRow & 0x01 ) + 1 );
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/* Display the received text. */
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LCD_puts( xMessage.pcMessage );
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}
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else
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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 portLONG ulTicksSinceLastDisplay = 0;
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portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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/* Called from every tick interrupt as described in the comments at the top
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of this file.
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Have enough ticks passed to make it time to perform our health status
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check again? */
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ulTicksSinceLastDisplay++;
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if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
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{
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FIO2SET = uxLED;
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/* Reset the counter so these checks run again in mainCHECK_DELAY
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ticks time. */
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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: GEN Q";
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}
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else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR: PEEK Q";
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}
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else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR: 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: 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: SEMAPHR";
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}
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else if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR: POLL Q";
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}
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else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR: INT MATH";
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}
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else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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xMessage.pcMessage = "ERROR: REC MUTEX";
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}
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/* Send the message to the OLED gatekeeper for display. The
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xHigherPriorityTaskWoken parameter is not actually used here
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as this function is running in the tick interrupt anyway - but
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it must still be supplied. */
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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 prvSetupHardware( void )
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{
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PCONP = 0; /* Disable peripherals power. */
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PCONP = PCONP_PCGPIO; /* Enable GPIO power. */
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PINSEL10 = 0; /* Disable TPIU. */
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/* Disable peripherals power. */
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PCONP = 0;
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PLL0CON &= ~PLLCON_PLLC; /* Disconnect the main PLL. */
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/* Enable GPIO power. */
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PCONP = PCONP_PCGPIO;
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/* Disable TPIU. */
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PINSEL10 = 0;
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/* Disconnect the main PLL. */
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PLL0CON &= ~PLLCON_PLLC;
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PLL0FEED = PLLFEED_FEED1;
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PLL0FEED = PLLFEED_FEED2;
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while ((PLL0STAT & PLLSTAT_PLLC) != 0);
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PLL0CON &= ~PLLCON_PLLE; /* Turn off the main PLL. */
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/* Turn off the main PLL. */
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PLL0CON &= ~PLLCON_PLLE;
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PLL0FEED = PLLFEED_FEED1;
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PLL0FEED = PLLFEED_FEED2;
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while ((PLL0STAT & PLLSTAT_PLLE) != 0);
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CCLKCFG = 0; /* No CPU clock divider. */
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SCS = 0x20; /* OSCEN. */
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/* No CPU clock divider. */
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CCLKCFG = 0;
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/* OSCEN. */
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SCS = 0x20;
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while ((SCS & 0x40) == 0);
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CLKSRCSEL = 1; /* Use main oscillator. */
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/* Use main oscillator. */
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CLKSRCSEL = 1;
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PLL0CFG = (PLLCFG_MUL16 | PLLCFG_DIV1);
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PLL0FEED = PLLFEED_FEED1;
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PLL0FEED = PLLFEED_FEED1;
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PLL0FEED = PLLFEED_FEED2;
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CCLKCFG = 5; /* 6x CPU clock divider (72 MHz) */
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/* 6x CPU clock divider (72 MHz) */
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CCLKCFG = 5;
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/* Wait for the PLL to lock. */
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while ((PLL0STAT & PLLSTAT_PLOCK) == 0);
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void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
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{
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/* This function will get called if a task overflows its stack. */
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( void ) pxTask;
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( void ) pcTaskName;
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@ -265,8 +411,17 @@ void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTask
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void vConfigureTimerForRunTimeStats( void )
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{
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const unsigned long TCR_COUNT_RESET = 2, CTCR_CTM_TIMER = 0x00, TCR_COUNT_ENABLE = 0x01;
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/* This function configures a timer that is used as the time base when
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collecting run time statistical information - basically the percentage
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of CPU time that each task is utilising. It is called automatically when
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the scheduler is started (assuming configGENERATE_RUN_TIME_STATS is set
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to 1. */
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/* Power up and feed the timer. */
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PCONP |= 0x02UL;
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_PCLKSEL0 = (_PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
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PCLKSEL0 = (PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
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/* Reset Timer 0 */
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T0TCR = TCR_COUNT_RESET;
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@ -283,32 +438,3 @@ void vConfigureTimerForRunTimeStats( void )
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}
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/*-----------------------------------------------------------*/
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void vLCDTask( void *pvParameters )
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{
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xLCDMessage xMessage;
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char cIPAddr[ 17 ]; /* To fit max IP address length of xxx.xxx.xxx.xxx\0 */
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( void ) pvParameters;
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/* Initialise the LCD and display a startup message. */
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LCD_init();
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LCD_cur_off();
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LCD_cls();
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LCD_gotoxy( 1, 1 );
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LCD_puts( "www.FreeRTOS.org" );
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LCD_gotoxy( 1, 2 );
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sprintf( cIPAddr, "%d.%d.%d.%d", configIP_ADDR0, configIP_ADDR1, configIP_ADDR2, configIP_ADDR3 );
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LCD_puts( cIPAddr );
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for( ;; )
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{
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/* Wait for a message to arrive that requires displaying. */
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while( xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY ) != pdPASS );
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/* Display the message. Print each message to a different position. */
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LCD_cls();
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LCD_gotoxy( ( xMessage.xColumn & 0x07 ) + 1, ( xMessage.xColumn & 0x01 ) + 1 );
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LCD_puts( xMessage.pcMessage );
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}
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}
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/*-----------------------------------------------------------*/
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