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First version under SVN is V4.0.1
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Richard Barry
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298
Demo/lwIP_Demo_Rowley_ARM7/main.c
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298
Demo/lwIP_Demo_Rowley_ARM7/main.c
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/*
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FreeRTOS V4.0.1 - copyright (C) 2003-2006 Richard Barry.
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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
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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See http://www.FreeRTOS.org for documentation, latest information, license
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and contact details. Please ensure to read the configuration and relevant
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port sections of the online documentation.
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***************************************************************************
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*/
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/*
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NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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The processor MUST be in supervisor mode when vTaskStartScheduler is
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called. The demo applications included in the FreeRTOS.org download switch
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to supervisor mode prior to main being called. If you are not using one of
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these demo application projects then ensure Supervisor mode is used.
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*/
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/*
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* Creates all the application tasks, then starts the scheduler.
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*
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* A task defined by the function vBasicWEBServer is created. This executes
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* the lwIP stack and basic WEB server sample. A task defined by the function
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* vUSBCDCTask. This executes the USB to serial CDC example. All the other
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* tasks are from the set of standard demo tasks. The WEB documentation
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* provides more details of the standard demo application tasks.
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*
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* Main.c also creates a task called "Check". This only executes every three
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* seconds but has the highest priority so is guaranteed to get processor time.
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* Its main function is to check the status of all the other demo application
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* tasks. LED mainCHECK_LED is toggled every three seconds by the check task
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* should no error conditions be detected in any of the standard demo tasks.
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* The toggle rate increasing to 500ms indicates that at least one error has
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* been detected.
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*
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* Main.c includes an idle hook function that simply periodically sends data
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* to the USB task for transmission.
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*/
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/*
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Changes from V3.2.2
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+ Modified the stack sizes used by some tasks to permit use of the
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command line GCC tools.
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*/
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/* Library includes. */
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#include <string.h>
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#include <stdio.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo application includes. */
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#include "partest.h"
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#include "PollQ.h"
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#include "semtest.h"
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#include "flash.h"
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#include "integer.h"
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#include "BlockQ.h"
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#include "BasicWEB.h"
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#include "USB-CDC.h"
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/* lwIP includes. */
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#include "lwip/api.h"
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/* Hardware specific headers. */
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#include "Board.h"
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#include "AT91SAM7X256.h"
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/* Priorities/stacks for the various tasks within the demo application. */
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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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 mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainWEBSERVER_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainUSB_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainUSB_TASK_STACK ( 200 )
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/* The rate at which the on board LED will toggle when there is/is not an
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error. */
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#define mainNO_ERROR_FLASH_PERIOD ( ( portTickType ) 3000 / portTICK_RATE_MS )
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#define mainERROR_FLASH_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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/* The rate at which the idle hook sends data to the USB port. */
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#define mainUSB_TX_FREQUENCY ( 100 / portTICK_RATE_MS )
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/* The string that is transmitted down the USB port. */
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#define mainFIRST_TX_CHAR 'a'
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#define mainLAST_TX_CHAR 'z'
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/* The LED used by the check task to indicate the system status. */
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#define mainCHECK_LED ( 3 )
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/*-----------------------------------------------------------*/
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/*
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* Checks that all the demo application tasks are still executing without error
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* - as described at the top of the file.
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*/
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static portLONG prvCheckOtherTasksAreStillRunning( void );
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/*
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* The task that executes at the highest priority and calls
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* prvCheckOtherTasksAreStillRunning(). See the description at the top
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* of the file.
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*/
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static void vErrorChecks( void *pvParameters );
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/*
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* Configure the processor for use with the Atmel demo board. This is very
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* minimal as most of the setup is performed in the startup code.
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*/
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static void prvSetupHardware( void );
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/*
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* The idle hook is just used to stream data to the USB port.
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*/
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void vApplicationIdleHook( void );
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/*-----------------------------------------------------------*/
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/*
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* Setup hardware then start all the demo application tasks.
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*/
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int main( void )
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{
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/* Setup the ports. */
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prvSetupHardware();
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/* Setup the IO required for the LED's. */
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vParTestInitialise();
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/* Setup lwIP. */
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vlwIPInit();
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/* Create the lwIP task. This uses the lwIP RTOS abstraction layer.*/
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sys_thread_new( vBasicWEBServer, ( void * ) NULL, mainWEBSERVER_PRIORITY );
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/* Create the demo USB CDC task. */
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xTaskCreate( vUSBCDCTask, ( signed portCHAR * ) "USB", mainUSB_TASK_STACK, NULL, mainUSB_PRIORITY, NULL );
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/* Create the standard demo application tasks. */
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartLEDFlashTasks( mainFLASH_PRIORITY );
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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/* Start the check task - which is defined in this file. */
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xTaskCreate( vErrorChecks, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Finally, start the scheduler.
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NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
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The processor MUST be in supervisor mode when vTaskStartScheduler is
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called. The demo applications included in the FreeRTOS.org download switch
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to supervisor mode prior to main being called. If you are not using one of
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these demo application projects then ensure Supervisor mode is used here. */
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vTaskStartScheduler();
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/* Should never get here! */
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return 0;
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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/* When using the JTAG debugger the hardware is not always initialised to
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the correct default state. This line just ensures that this does not
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cause all interrupts to be masked at the start. */
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AT91C_BASE_AIC->AIC_EOICR = 0;
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/* Most setup is performed by the low level init function called from the
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startup asm file.
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Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as
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well as the UART Tx line. */
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AT91C_BASE_PIOB->PIO_PER = LED_MASK; // Set in PIO mode
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AT91C_BASE_PIOB->PIO_OER = LED_MASK; // Configure in Output
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/* Enable the peripheral clock. */
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AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOA;
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AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOB;
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AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_EMAC;
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}
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/*-----------------------------------------------------------*/
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static void vErrorChecks( void *pvParameters )
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{
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portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
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portTickType xLastWakeTime;
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/* The parameters are not used. */
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( void ) pvParameters;
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/* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
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functions correctly. */
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xLastWakeTime = xTaskGetTickCount();
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/* Cycle for ever, delaying then checking all the other tasks are still
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operating without error. If an error is detected then the delay period
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is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
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the Check LED flash rate will increase. */
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for( ;; )
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{
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/* Delay until it is time to execute again. The delay period is
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shorter following an error. */
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vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
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/* Check all the standard demo application tasks are executing without
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error. */
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if( prvCheckOtherTasksAreStillRunning() != pdPASS )
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{
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/* An error has been detected in one of the tasks - flash faster. */
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xDelayPeriod = mainERROR_FLASH_PERIOD;
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}
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vParTestToggleLED( mainCHECK_LED );
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}
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}
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/*-----------------------------------------------------------*/
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static portLONG prvCheckOtherTasksAreStillRunning( void )
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{
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portLONG lReturn = ( portLONG ) pdPASS;
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/* Check all the demo tasks (other than the flash tasks) to ensure
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that they are all still running, and that none of them have detected
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an error. */
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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lReturn = ( portLONG ) pdFAIL;
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}
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return lReturn;
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}
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/*-----------------------------------------------------------*/
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void vApplicationIdleHook( void )
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{
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static portTickType xLastTx = 0;
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portCHAR cTxByte;
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/* The idle hook simply sends a string of characters to the USB port.
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The characters will be buffered and sent once the port is connected. */
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if( ( xTaskGetTickCount() - xLastTx ) > mainUSB_TX_FREQUENCY )
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{
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xLastTx = xTaskGetTickCount();
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for( cTxByte = mainFIRST_TX_CHAR; cTxByte <= mainLAST_TX_CHAR; cTxByte++ )
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{
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vUSBSendByte( cTxByte );
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}
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}
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}
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