Set error state if no delay or already expired

[cmsis-freertos] / Demo / ARM9_STR91X_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!
 */

/*
        NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
        The processor MUST be in supervisor mode when vTaskStartScheduler is
        called.  The demo applications included in the FreeRTOS.org download switch
        to supervisor mode prior to main being called.  If you are not using one of
        these demo application projects then ensure Supervisor mode is used.
*/

/*
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
 * documentation provides more details of the demo application tasks.
 *
 * A few tasks are created that are not part of the standard demo.  These are
 * the 'LCD' task, the 'LCD Message' task, a WEB server task and the 'Check'
 * task.
 *
 * The LCD task is the only task that accesses the LCD directly, so mutual
 * exclusion is ensured.  Any task wishing to display text sends the LCD task
 * a message containing a pointer to the string that should be displayed.
 * The LCD task itself just blocks on a queue waiting for such a message to
 * arrive - processing each in turn.
 *
 * The LCD Message task does nothing other than periodically send messages to
 * the LCD task.  The messages originating from the LCD Message task are
 * displayed on the top row of the LCD.
 *
 * The Check task only executes every three seconds but has the highest
 * priority so is guaranteed to get processor time.  Its main function is to
 * check that all the other tasks are still operational. Most tasks maintain
 * a unique count that is incremented each time the task successfully completes
 * a cycle of its function.  Should any error occur within such a task the
 * count is permanently halted.  The check task sets a bit in an error status
 * flag should it find any counter variable at a value that indicates an
 * error has occurred.  The error flag value is converted to a string and sent
 * to the LCD task for display on the bottom row on the LCD.
 */

/* Standard includes. */
#include <stdio.h>

/* Library includes. */
#include "91x_lib.h"

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

/* Demo application includes. */
#include "lcd.h"
#include "flash.h"
#include "integer.h"
#include "PollQ.h"
#include "BlockQ.h"
#include "semtest.h"
#include "dynamic.h"
#include "partest.h"
#include "flop.h"
#include "comtest2.h"
#include "serial.h"
#include "GenQTest.h"
#include "QPeek.h"

#ifdef STACK_LWIP
        #include "BasicWEB.h"
        #include "sys.h"
#endif

/* Priorities for the demo application tasks. */
#define mainLED_TASK_PRIORITY           ( tskIDLE_PRIORITY + 1 )
#define mainQUEUE_POLL_PRIORITY         ( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY         ( tskIDLE_PRIORITY + 4 )
#define mainSEM_TEST_PRIORITY           ( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY            ( tskIDLE_PRIORITY + 2 )
#define mainCOM_TEST_PRIORITY           ( tskIDLE_PRIORITY + 3 )
#define mainLCD_TASK_PRIORITY           ( tskIDLE_PRIORITY + 1 )
#define mainMSG_TASK_PRIORITY           ( tskIDLE_PRIORITY + 1 )
#define mainGENERIC_QUEUE_PRIORITY      ( tskIDLE_PRIORITY )

/* Delays used by the various tasks defined in this file. */
#define mainCHECK_PERIOD                        ( ( TickType_t ) 3000 / portTICK_PERIOD_MS  )
#define mainSTRING_WRITE_DELAY          ( 500 / portTICK_PERIOD_MS )
#define mainLCD_DELAY                           ( 20 / portTICK_PERIOD_MS )

/* Constants for the ComTest tasks. */
#define mainCOM_TEST_BAUD_RATE          ( ( unsigned long ) 115200 )
#define mainCOM_TEST_LED                        ( 3 )

/* The maximum number of messages that can be pending to be written to the LCD. */
#define mainLCD_QUEUE_LEN                       ( 6 )

/* Dimension the buffer used to write the error flag string. */
#define mainMAX_FLAG_STRING_LEN         ( 32 )

/* The structure that is passed on the LCD message queue. */
typedef struct
{
        char **ppcMessageToDisplay; /*<< Points to a char* pointing to the message to display. */
        portBASE_TYPE xRow;                             /*<< The row on which the message should be displayed. */
} xLCDMessage;
/*-----------------------------------------------------------*/

/*
 * The task that executes at the highest priority and calls
 * prvCheckOtherTasksAreStillRunning().  See the description at the top
 * of the file.
 */
static void vErrorChecks( void *pvParameters );

/*
 * Configure the processor clock and ports.
 */
static void prvSetupHardware( void );

/*
 * Checks that all the demo application tasks are still executing without error
 * - as described at the top of the file.  Called by vErrorChecks().
 */
static void prvCheckOtherTasksAreStillRunning( void );

#ifdef STACK_UIP
        /*
         * The WEB server task prototype.  The task is created in this file but defined
         * elsewhere.  STACK_UIP is defined when the uIP stack is used in preference
         * to the lwIP stack.
         */
        extern void vuIP_Task(void *pvParameters);
#endif

/*
 * The task that displays text on the LCD.
 */
static void prvLCDTask( void * pvParameters );

/*
 * The task that sends messages to be displayed on the top row of the LCD.
 */
static void prvLCDMessageTask( void * pvParameters );

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

/* The queue used to pass messages to the LCD task. */
static QueueHandle_t xLCDQueue;

/* Error status flag. */
static unsigned long ulErrorFlags = 0;

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

/*
 * Starts all the other tasks, then starts the scheduler.
 */
void main( void )
{
        #ifdef DEBUG
                debug();
        #endif
        
        /* Setup any hardware that has not already been configured by the low
        level init routines. */
        prvSetupHardware();
        /* Create the queue used to send data to the LCD task. */
        xLCDQueue = xQueueCreate( mainLCD_QUEUE_LEN, sizeof( xLCDMessage ) );
        
        /* Start all the standard demo application tasks. */
        vStartIntegerMathTasks( tskIDLE_PRIORITY );
        vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
        vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
        vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
        vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
        vStartDynamicPriorityTasks();
        vStartMathTasks( tskIDLE_PRIORITY );
        vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
        vStartGenericQueueTasks( mainGENERIC_QUEUE_PRIORITY );
        vStartQueuePeekTasks(); 

        /* Start the tasks which are defined in this file. */
        xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
        xTaskCreate( prvLCDTask, "LCD", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainLCD_TASK_PRIORITY, NULL );
        xTaskCreate( prvLCDMessageTask, "MSG", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainMSG_TASK_PRIORITY, NULL );

        /* Start either the uIP TCP/IP stack or the lwIP TCP/IP stack. */
        #ifdef STACK_UIP
                /* Finally, create the WEB server task. */
                xTaskCreate( vuIP_Task, "uIP", configMINIMAL_STACK_SIZE * 3, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
        #endif

        #ifdef STACK_LWIP       
                /* Create the lwIP task.  This uses the lwIP RTOS abstraction layer.*/
                vlwIPInit();
                sys_set_state(  ( signed char * ) "httpd", lwipBASIC_SERVER_STACK_SIZE );
                sys_thread_new( vBasicWEBServer, ( void * ) NULL, basicwebWEBSERVER_PRIORITY );
                sys_set_default_state();
        #endif

        /* Start the scheduler.

        NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
        The processor MUST be in supervisor mode when vTaskStartScheduler is
        called.  The demo applications included in the FreeRTOS.org download switch
        to supervisor mode prior to main being called.  If you are not using one of
        these demo application projects then ensure Supervisor mode is used here. */

        vTaskStartScheduler();

        /* We should never get here as control is now taken by the scheduler. */
        for( ;; );
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
        /* Configuration taken from the ST code.

        Set Flash banks size & address */
        FMI_BankRemapConfig( 4, 2, 0, 0x80000 );

        /* FMI Waite States */
        FMI_Config( FMI_READ_WAIT_STATE_2, FMI_WRITE_WAIT_STATE_0, FMI_PWD_ENABLE, FMI_LVD_ENABLE, FMI_FREQ_HIGH );

        /* Configure the FPLL = 96MHz, and APB to 48MHz. */
        SCU_PCLKDivisorConfig( SCU_PCLK_Div2 );
        SCU_PLLFactorsConfig( 192, 25, 2 );
        SCU_PLLCmd( ENABLE );
        SCU_MCLKSourceConfig( SCU_MCLK_PLL );

        WDG_Cmd( DISABLE );
        VIC_DeInit();

        /* GPIO8 clock source enable, used by the LCD. */
        SCU_APBPeriphClockConfig(__GPIO8, ENABLE);
        GPIO_DeInit(GPIO8);

        /* GPIO 9 clock source enable, used by the LCD. */
        SCU_APBPeriphClockConfig(__GPIO9, ENABLE);
        GPIO_DeInit(GPIO9);

        /* Enable VIC clock */
        SCU_AHBPeriphClockConfig(__VIC, ENABLE);
        SCU_AHBPeriphReset(__VIC, DISABLE);

        /* Peripheral initialisation. */
        vParTestInitialise();
}
/*-----------------------------------------------------------*/

static void vErrorChecks( void *pvParameters )
{
static char cCheckVal[ mainMAX_FLAG_STRING_LEN ];
char *pcFlagString;
xLCDMessage xMessageToSend;
TickType_t xLastWakeTime;
char *pcStringsToDisplay[] = {                                                                          
                                                                        "Check status flag"
                                                                 };

        /* The parameters are not used in this task. */
        ( void ) pvParameters;
        
        pcFlagString = &cCheckVal[ 0 ]; 

        /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
        functions correctly. */
        xLastWakeTime = xTaskGetTickCount();

        /* Cycle for ever, delaying then checking all the other tasks are still
        operating without error. */
        for( ;; )
        {
                /* Delay until it is time to execute again. */
                vTaskDelayUntil( &xLastWakeTime, mainCHECK_PERIOD );
        
                /* Check all the other tasks to see if the error flag needs updating. */
                prvCheckOtherTasksAreStillRunning();
                
                /* Create a string indicating the error flag status. */
                sprintf( cCheckVal, "equals 0x%x       ", ulErrorFlags );
                xMessageToSend.xRow = Line2;

                /* Send the first part of the message to the LCD task. */
                xMessageToSend.ppcMessageToDisplay = &pcStringsToDisplay[ 0 ];
                xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 );
                vTaskDelay( mainSTRING_WRITE_DELAY );

                /* Send the second part of the message to the LCD task. */
                xMessageToSend.ppcMessageToDisplay = &pcFlagString;
                xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 );
        }
}
/*-----------------------------------------------------------*/

static void prvCheckOtherTasksAreStillRunning( void )
{
        if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
        {
                ulErrorFlags |= 0x01;
        }

        if( xArePollingQueuesStillRunning() != pdTRUE )
        {
                ulErrorFlags |=  0x02;
        }

        if( xAreSemaphoreTasksStillRunning() != pdTRUE )
        {
                ulErrorFlags |= 0x04;
        }

        if( xAreBlockingQueuesStillRunning() != pdTRUE )
        {
                ulErrorFlags |= 0x08;
        }

        if( xAreComTestTasksStillRunning() != pdTRUE )
        {
                ulErrorFlags |= 0x10;
        }

        if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
        {
                ulErrorFlags |= 0x20;
        }

        if( xAreMathsTaskStillRunning() != pdTRUE )
        {
                ulErrorFlags |= 0x40;
        }
        
        if( xAreGenericQueueTasksStillRunning() != pdTRUE )
        {
                ulErrorFlags |= 0x80;
        }

        if( xAreQueuePeekTasksStillRunning() != pdTRUE )
        {
                ulErrorFlags |= 0x100;
        }
        
}
/*-----------------------------------------------------------*/

static void prvLCDMessageTask( void * pvParameters )
{
QueueHandle_t *pxLCDQueue;      
xLCDMessage xMessageToSend;
portBASE_TYPE xIndex = 0;

/* The strings that are written to the LCD. */
char *pcStringsToDisplay[] = {                                                                          
                                                                        "IAR             ",
                                                                        "STR912          ",
                                                                        "Demo            ",
                                                                        "www.FreeRTOS.org",
                                                                        ""
                                                                };


        /* To test the parameter passing mechanism, the queue on which messages are
        posted is passed in as a parameter even though it is available as a file
        scope variable anyway. */
        pxLCDQueue = ( QueueHandle_t * ) pvParameters;

        for( ;; )
        {
                /* Wait until it is time to move onto the next string. */
                vTaskDelay( mainSTRING_WRITE_DELAY );           
                
                /* Configure the message object to send to the LCD task. */
                xMessageToSend.ppcMessageToDisplay = &pcStringsToDisplay[ xIndex ];
                xMessageToSend.xRow = Line1;
                
                /* Post the message to be displayed. */
                xQueueSend( *pxLCDQueue, ( void * ) &xMessageToSend, 0 );
                
                /* Move onto the next message, wrapping when necessary. */
                xIndex++;               
                if( *( pcStringsToDisplay[ xIndex ] ) == 0x00 )
                {
                        xIndex = 0;

                        /* Delay longer before going back to the start of the messages. */
                        vTaskDelay( mainSTRING_WRITE_DELAY * 2 );
                }
        }
}
/*-----------------------------------------------------------*/

void prvLCDTask( void * pvParameters )
{
QueueHandle_t *pxLCDQueue;
xLCDMessage xReceivedMessage;
char *pcString;

        /* To test the parameter passing mechanism, the queue on which messages are
        received is passed in as a parameter even though it is available as a file
        scope variable anyway. */
        pxLCDQueue = ( QueueHandle_t * ) pvParameters;

        LCD_Init();

        for( ;; )
        {
                /* Wait for a message to arrive. */
                if( xQueueReceive( *pxLCDQueue, &xReceivedMessage, portMAX_DELAY ) )
                {
                        /* Where is the string we are going to display? */
                        pcString = *xReceivedMessage.ppcMessageToDisplay;
                        LCD_DisplayString(xReceivedMessage.xRow, pcString, BlackText);

                        /* The delay here is just to ensure the LCD task does not starve
                        out lower priority tasks as writing to the LCD can take a long
                        time. */
                        vTaskDelay( mainLCD_DELAY );
                }
        }
}
/*-----------------------------------------------------------*/