Set error state if no delay or already expired

[cmsis-freertos] / Demo / lwIP_Demo_Rowley_ARM7 / 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 application tasks, then starts the scheduler.
 *
 * A task defined by the function vBasicWEBServer is created.  This executes
 * the lwIP stack and basic WEB server sample.  A task defined by the function
 * vUSBCDCTask.  This executes the USB to serial CDC example.  All the other
 * tasks are from the set of standard demo tasks.  The WEB documentation
 * provides more details of the standard demo application tasks.
 *
 * Main.c also creates a task called "Check".  This only executes every three
 * seconds but has the highest priority so is guaranteed to get processor time.
 * Its main function is to check the status of all the other demo application
 * tasks.  LED mainCHECK_LED is toggled every three seconds by the check task
 * should no error conditions be detected in any of the standard demo tasks.
 * The toggle rate increasing to 500ms indicates that at least one error has
 * been detected.
 *
 * Main.c includes an idle hook function that simply periodically sends data
 * to the USB task for transmission.
 */

/*
        Changes from V3.2.2

        + Modified the stack sizes used by some tasks to permit use of the
          command line GCC tools.
*/

/* Library includes. */
#include <string.h>
#include <stdio.h>

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

/* Demo application includes. */
#include "partest.h"
#include "PollQ.h"
#include "semtest.h"
#include "flash.h"
#include "integer.h"
#include "BlockQ.h"
#include "BasicWEB.h"
#include "USB-CDC.h"

/* lwIP includes. */
#include "lwip/api.h"

/* Hardware specific headers. */
#include "Board.h"
#include "AT91SAM7X256.h"

/* Priorities/stacks for the various tasks within the demo application. */
#define mainQUEUE_POLL_PRIORITY         ( tskIDLE_PRIORITY + 1 )
#define mainCHECK_TASK_PRIORITY         ( tskIDLE_PRIORITY + 3 )
#define mainSEM_TEST_PRIORITY           ( tskIDLE_PRIORITY + 1 )
#define mainFLASH_PRIORITY                      ( tskIDLE_PRIORITY + 2 )
#define mainBLOCK_Q_PRIORITY            ( tskIDLE_PRIORITY + 1 )
#define mainWEBSERVER_PRIORITY      ( tskIDLE_PRIORITY + 2 )
#define mainUSB_PRIORITY                        ( tskIDLE_PRIORITY + 1 )
#define mainUSB_TASK_STACK                      ( 200 )

/* The rate at which the on board LED will toggle when there is/is not an
error. */
#define mainNO_ERROR_FLASH_PERIOD       ( ( TickType_t ) 3000 / portTICK_PERIOD_MS  )
#define mainERROR_FLASH_PERIOD          ( ( TickType_t ) 500 / portTICK_PERIOD_MS  )

/* The rate at which the idle hook sends data to the USB port. */
#define mainUSB_TX_FREQUENCY            ( 100 / portTICK_PERIOD_MS )

/* The string that is transmitted down the USB port. */
#define mainFIRST_TX_CHAR                       'a'
#define mainLAST_TX_CHAR                        'z'

/* The LED used by the check task to indicate the system status. */
#define mainCHECK_LED                           ( 3 )
/*-----------------------------------------------------------*/

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

/*
 * 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 for use with the Atmel demo board.  This is very
 * minimal as most of the setup is performed in the startup code.
 */
static void prvSetupHardware( void );

/*
 * The idle hook is just used to stream data to the USB port.
 */
void vApplicationIdleHook( void );
/*-----------------------------------------------------------*/

/*
 * Setup hardware then start all the demo application tasks.
 */
int main( void )
{
        /* Setup the ports. */
        prvSetupHardware();

        /* Setup the IO required for the LED's. */
        vParTestInitialise();

        /* Setup lwIP. */
    vlwIPInit();

        /* Create the lwIP task.  This uses the lwIP RTOS abstraction layer.*/
    sys_thread_new( vBasicWEBServer, ( void * ) NULL, mainWEBSERVER_PRIORITY );

        /* Create the demo USB CDC task. */
        xTaskCreate( vUSBCDCTask, "USB", mainUSB_TASK_STACK, NULL, mainUSB_PRIORITY, NULL );

        /* Create the standard demo application tasks. */
        vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
        vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
        vStartLEDFlashTasks( mainFLASH_PRIORITY );
        vStartIntegerMathTasks( tskIDLE_PRIORITY );
        vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

        /* Start the check task - which is defined in this file. */
    xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

        /* Finally, 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();

        /* Should never get here! */
        return 0;
}
/*-----------------------------------------------------------*/


static void prvSetupHardware( void )
{
        /* When using the JTAG debugger the hardware is not always initialised to
        the correct default state.  This line just ensures that this does not
        cause all interrupts to be masked at the start. */
        AT91C_BASE_AIC->AIC_EOICR = 0;

        /* Most setup is performed by the low level init function called from the
        startup asm file.

        Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as
        well as the UART Tx line. */
        AT91C_BASE_PIOB->PIO_PER = LED_MASK; // Set in PIO mode
        AT91C_BASE_PIOB->PIO_OER = LED_MASK; // Configure in Output


        /* Enable the peripheral clock. */
    AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOA;
    AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOB;
        AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_EMAC;
}
/*-----------------------------------------------------------*/

static void vErrorChecks( void *pvParameters )
{
TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
TickType_t xLastWakeTime;

        /* The parameters are not used. */
        ( void ) pvParameters;

        /* 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.  If an error is detected then the delay period
        is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
        the Check LED flash rate will increase. */
        for( ;; )
        {
                /* Delay until it is time to execute again.  The delay period is
                shorter following an error. */
                vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );

                /* Check all the standard demo application tasks are executing without
                error.  */
                if( prvCheckOtherTasksAreStillRunning() != pdPASS )
                {
                        /* An error has been detected in one of the tasks - flash faster. */
                        xDelayPeriod = mainERROR_FLASH_PERIOD;
                }

                vParTestToggleLED( mainCHECK_LED );
        }
}
/*-----------------------------------------------------------*/

static long prvCheckOtherTasksAreStillRunning( void )
{
long lReturn = ( long ) pdPASS;

        /* Check all the demo tasks (other than the flash tasks) to ensure
        that they are all still running, and that none of them have detected
        an error. */

        if( xArePollingQueuesStillRunning() != pdTRUE )
        {
                lReturn = ( long ) pdFAIL;
        }

        if( xAreSemaphoreTasksStillRunning() != pdTRUE )
        {
                lReturn = ( long ) pdFAIL;
        }

        if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
        {
                lReturn = ( long ) pdFAIL;
        }

        if( xAreBlockingQueuesStillRunning() != pdTRUE )
        {
                lReturn = ( long ) pdFAIL;
        }

        return lReturn;
}
/*-----------------------------------------------------------*/

void vApplicationIdleHook( void )
{
static TickType_t xLastTx = 0;
char cTxByte;

        /* The idle hook simply sends a string of characters to the USB port.
        The characters will be buffered and sent once the port is connected. */
        if( ( xTaskGetTickCount() - xLastTx ) > mainUSB_TX_FREQUENCY )
        {
                xLastTx = xTaskGetTickCount();
                for( cTxByte = mainFIRST_TX_CHAR; cTxByte <= mainLAST_TX_CHAR; cTxByte++ )
                {
                        vUSBSendByte( cTxByte );
                }
        }
}