Set error state if no delay or already expired

[cmsis-freertos] / Demo / ARM7_STR75x_IAR / main.c

/*
 * FreeRTOS Kernel V10.1.1
 * Copyright (C) 2018 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * http://www.FreeRTOS.org
 * http://aws.amazon.com/freertos
 *
 * 1 tab == 4 spaces!
 */

/*
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
 * documentation provides more details of the demo application tasks.
 *
 * In addition to the standard demo tasks there are two tasks defined within
 * this file:
 *
 * 1 - The check task
 * The 'check' task is responsible for ensuring that all the standard demo
 * tasks are executing as expected.  It only executes every three seconds, but
 * has the highest priority within the system so is guaranteed to get execution
 * time.  Any errors discovered by the check task are latched until the
 * processor is reset.  At the end of each cycle the check task sends either
 * a pass or fail message to the 'print' task for display on the LCD.
 *
 * 2 - The print task
 * The print task is the LCD 'gatekeeper'.  That is, it is the only task that
 * should access the LCD directly so is always guaranteed exclusive (and
 * therefore consistent) access.  The print task simply blocks on a queue
 * to wait for messages from other tasks wishing to display text on the LCD.
 * When a message arrives it displays its contents on the LCD then blocks to
 * wait again.
 */

/* ST includes. */
#include "lcd.h"

/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"

/* Demo application includes. */
#include "partest.h"
#include "flash.h"
#include "integer.h"
#include "blocktim.h"
#include "BlockQ.h"
#include "comtest2.h"
#include "dynamic.h"

/* Demo application task priorities. */
#define mainCHECK_TASK_PRIORITY         ( tskIDLE_PRIORITY + 4 )
#define mainBLOCK_Q_PRIORITY            ( tskIDLE_PRIORITY + 2 )
#define mainLED_TASK_PRIORITY           ( tskIDLE_PRIORITY + 1 )
#define mainCOM_TEST_PRIORITY           ( tskIDLE_PRIORITY + 1 )
#define mainLCD_TASK_PRIORITY           ( tskIDLE_PRIORITY + 1 )

/* How often should we check the other tasks? */
#define mainCHECK_TASK_CYCLE_TIME       ( 3000 )

/* The maximum offset into the pass and fail strings sent to the LCD.  An
offset is used a simple method of using a different column each time a message
is written to the LCD. */
#define mainMAX_WRITE_COLUMN            ( 14 )

/* Baud rate used by the comtest tasks. */
#define mainCOM_TEST_BAUD_RATE          ( 19200 )

/* The LED used by the comtest tasks. See the comtest.c file for more
information. */
#define mainCOM_TEST_LED                        ( 3 )

/* The number of messages that can be queued for display on the LCD at any one
time. */
#define mainLCD_QUEUE_LENGTH            ( 2 )

/* The time to wait when sending to mainLCD_QUEUE_LENGTH. */
#define mainNO_DELAY                            ( 0 )

/*-----------------------------------------------------------*/

/* The type that is posted to the LCD queue. */
typedef struct LCD_MESSAGE
{
        unsigned char *pucString; /* Points to the string to be displayed. */
        unsigned char ucLine;     /* The line of the LCD that should be used. */
} LCDMessage;

/*-----------------------------------------------------------*/

/*
 * The task that executes at the highest priority and checks the operation of
 * all the other tasks in the system.  See the description at the top of the
 * file.
 */
static void vCheckTask( void *pvParameters );

/*
 * ST provided routine to configure the processor.
 */
static void prvSetupHardware(void);

/*
 * The only task that should access the LCD.  Other tasks wanting to write
 * to the LCD should send a message of type LCDMessage containing the
 * information to display to the print task.  The print task simply blocks
 * waiting for the arrival of such messages, displays the message, then blocks
 * again.
 */
static void vPrintTask( void *pvParameters );

/*-----------------------------------------------------------*/

/* The queue used to communicate with the LCD print task. */
static QueueHandle_t xLCDQueue;

/*-----------------------------------------------------------*/

/* Create all the demo application tasks, then start the scheduler. */
void main( void )
{
        /* Perform any hardware setup necessary. */
        prvSetupHardware();
        vParTestInitialise();

        /* Create the queue used to communicate with the LCD print task. */
        xLCDQueue = xQueueCreate( mainLCD_QUEUE_LENGTH, sizeof( LCDMessage ) );

        /* Create the standard demo application tasks.  See the WEB documentation
        for more information on these tasks. */
        vCreateBlockTimeTasks();
        vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
        vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
        vStartDynamicPriorityTasks();
        vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
        vStartIntegerMathTasks( tskIDLE_PRIORITY );

        /* Create the tasks defined within this file. */
        xTaskCreate( vPrintTask, "LCD", configMINIMAL_STACK_SIZE, NULL, mainLCD_TASK_PRIORITY, NULL );
        xTaskCreate( vCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

        vTaskStartScheduler();

        /* Execution will only reach here if there was insufficient heap to
        start the scheduler. */
}
/*-----------------------------------------------------------*/

static void vCheckTask( void *pvParameters )
{
static unsigned long ulErrorDetected = pdFALSE;
TickType_t xLastExecutionTime;
unsigned char *cErrorMessage = "              FAIL";
unsigned char *cSuccessMessage = "              PASS";
unsigned portBASE_TYPE uxColumn = mainMAX_WRITE_COLUMN;
LCDMessage xMessage;

        /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
        works correctly. */
        xLastExecutionTime = xTaskGetTickCount();

        for( ;; )
        {
                /* Wait until it is time for the next cycle. */
                vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_CYCLE_TIME );

                /* Has an error been found in any of the standard demo tasks? */

                if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
                {
                        ulErrorDetected = pdTRUE;
                }

                if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
                {
                        ulErrorDetected = pdTRUE;
                }

                if( xAreBlockingQueuesStillRunning() != pdTRUE )
                {
                        ulErrorDetected = pdTRUE;
                }

                if( xAreComTestTasksStillRunning() != pdTRUE )
                {
                        ulErrorDetected = pdTRUE;
                }

                if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
                {
                        ulErrorDetected = pdTRUE;
                }

                /* Calculate the LCD line on which we would like the message to
                be displayed.  The column variable is used for convenience as
                it is incremented each cycle anyway. */
                xMessage.ucLine = ( unsigned char ) ( uxColumn & 0x01 );

                /* The message displayed depends on whether an error was found or
                not.  Any discovered error is latched.  Here the column variable
                is used as an index into the text string as a simple way of moving
                the text from column to column. */
                if( ulErrorDetected == pdFALSE )
                {
                        xMessage.pucString = cSuccessMessage + uxColumn;
                }
                else
                {
                        xMessage.pucString = cErrorMessage + uxColumn;
                }

                /* Send the message to the print task for display. */
                xQueueSend( xLCDQueue, ( void * ) &xMessage, mainNO_DELAY );

                /* Make sure the message is printed in a different column the next
                time around. */
                uxColumn--;
                if( uxColumn == 0 )
                {
                        uxColumn = mainMAX_WRITE_COLUMN;
                }
        }
}
/*-----------------------------------------------------------*/

static void vPrintTask( void *pvParameters )
{
LCDMessage xMessage;

        for( ;; )
        {
                /* Wait until a message arrives. */
                while( xQueueReceive( xLCDQueue, ( void * ) &xMessage, portMAX_DELAY ) != pdPASS );

                /* The message contains the text to display, and the line on which the
                text should be displayed. */
                LCD_Clear();
                LCD_DisplayString( xMessage.ucLine, xMessage.pucString, BlackText );
        }
}
/*-----------------------------------------------------------*/

static void prvSetupHardware(void)
{
ErrorStatus OSC4MStartUpStatus01;

        /* ST provided routine. */

        /* MRCC system reset */
        MRCC_DeInit();

        /* Wait for OSC4M start-up */
        OSC4MStartUpStatus01 = MRCC_WaitForOSC4MStartUp();

        if(OSC4MStartUpStatus01 == SUCCESS)
        {
                /* Set HCLK to 60MHz */
                MRCC_HCLKConfig(MRCC_CKSYS_Div1);

                /* Set CKTIM to 60MHz */
                MRCC_CKTIMConfig(MRCC_HCLK_Div1);

                /* Set PCLK to 30MHz */
                MRCC_PCLKConfig(MRCC_CKTIM_Div2);

                /* Enable Flash Burst mode */
                CFG_FLASHBurstConfig(CFG_FLASHBurst_Enable);

                /* Set CK_SYS to 60 MHz */
                MRCC_CKSYSConfig(MRCC_CKSYS_OSC4MPLL, MRCC_PLL_Mul_15);
        }

        /* GPIO pins optimized for 3V3 operation */
        MRCC_IOVoltageRangeConfig(MRCC_IOVoltageRange_3V3);

        /* GPIO clock source enable */
        MRCC_PeripheralClockConfig(MRCC_Peripheral_GPIO, ENABLE);

        /* EXTIT clock source enable */
        MRCC_PeripheralClockConfig(MRCC_Peripheral_EXTIT, ENABLE);
        /* TB clock source enable */
        MRCC_PeripheralClockConfig(MRCC_Peripheral_TB, ENABLE);

        /* Initialize the demonstration menu */
        LCD_Init();

        LCD_DisplayString(Line1, "www.FreeRTOS.org", BlackText);
        LCD_DisplayString(Line2, "  STR750 Demo  ", BlackText);

        EIC_IRQCmd(ENABLE);
}
/*-----------------------------------------------------------*/