Update cmsis_os2.c

[cmsis-freertos] / Demo / CORTEX_STM32F103_GCC_Rowley / main.c

/*
    FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
    All rights reserved

    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

    This file is part of the FreeRTOS distribution.

    FreeRTOS is free software; you can redistribute it and/or modify it under
    the terms of the GNU General Public License (version 2) as published by the
    Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.

    ***************************************************************************
    >>!   NOTE: The modification to the GPL is included to allow you to     !<<
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    >>!   outside of the FreeRTOS kernel.                                   !<<
    ***************************************************************************

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    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
    FOR A PARTICULAR PURPOSE.  Full license text is available on the following
    link: http://www.freertos.org/a00114.html

    ***************************************************************************
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*/


/*
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
 * documentation provides more details of the standard demo application tasks
 * (which just exist to test the kernel port and provide an example of how to use
 * each FreeRTOS API function).
 *
 * In addition to the standard demo tasks, the following tasks and tests are
 * defined and/or created within this file:
 *
 * "Check" task - This only executes every five seconds but has the highest
 * priority so is guaranteed to get processor time.  Its main function is to
 * check that all the standard demo tasks are still operational. The check task
 * will toggle LED 3 (PB11) every five seconds so long as no errors have been
 * detected.  The toggle rate will increase to half a second if an error has
 * been found in any task.
 *
 * "Echo" task - This is a very basic task that simply echoes any characters
 * received on COM0 (USART1).  This can be tested by transmitting a text file
 * from a dumb terminal to the STM32 USART then observing or capturing the text
 * that is echoed back.  Missing characters will be all the more obvious if the
 * file contains a simple repeating string of fixed width.
 *
 * Currently this demo does not include interrupt nesting examples.  High
 * frequency timer and simpler nesting examples can be found in most Cortex-M3
 * demo applications.
 *
 * The functions used to initialise, set and clear LED outputs are normally
 * defined in partest.c.  This demo includes two partest files, one that is
 * configured for use with the Keil MCBSTM32 evaluation board (called
 * ParTest_MCBSTM32.c) and one that is configured for use with the official
 * ST Eval board (called ParTest_ST_Eval.c).  One one of these files should be
 * included in the build at any one time, as appropriate for the hardware
 * actually being used.
 */

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

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

/* Library includes. */
#include "stm32f10x_it.h"

/* Demo app includes. */
#include "BlockQ.h"
#include "integer.h"
#include "flash.h"
#include "partest.h"
#include "semtest.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"

/* Driver includes. */
#include "STM32_USART.h"


/* The time between cycles of the 'check' task - which depends on whether the
check task has detected an error or not. */
#define mainCHECK_DELAY_NO_ERROR                        ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
#define mainCHECK_DELAY_ERROR                           ( ( TickType_t ) 500 / portTICK_PERIOD_MS )

/* The LED controlled by the 'check' task. */
#define mainCHECK_LED                                           ( 3 )

/* Task priorities. */
#define mainSEM_TEST_PRIORITY                           ( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY                            ( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY                         ( tskIDLE_PRIORITY + 3 )
#define mainFLASH_TASK_PRIORITY                         ( tskIDLE_PRIORITY + 2 )
#define mainECHO_TASK_PRIORITY                          ( tskIDLE_PRIORITY + 1 )
#define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY                     ( tskIDLE_PRIORITY )

/* COM port and baud rate used by the echo task. */
#define mainCOM0                                                        ( 0 )
#define mainBAUD_RATE                                           ( 115200 )

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

/*
 * Configure the hardware for the demo.
 */
static void prvSetupHardware( void );

/* The 'check' task as described at the top of this file. */
static void prvCheckTask( void *pvParameters );

/* A simple task that echoes all the characters that are received on COM0
(USART1). */
static void prvUSARTEchoTask( void *pvParameters );

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

int main( void )
{
#ifdef DEBUG
  debug();
#endif

        /* Set up the clocks and memory interface. */
        prvSetupHardware();

        /* Start the standard demo tasks.  These are just here to exercise the
        kernel port and provide examples of how the FreeRTOS API can be used. */
        vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
    vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
    vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
    vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
        vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
    vStartQueuePeekTasks();
    vStartRecursiveMutexTasks();

        /* Create the 'echo' task, which is also defined within this file. */
        xTaskCreate( prvUSARTEchoTask, "Echo", configMINIMAL_STACK_SIZE, NULL, mainECHO_TASK_PRIORITY, NULL );

        /* Create the 'check' task, which is also defined within this file. */
        xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

    /* Start the scheduler. */
        vTaskStartScheduler();

    /* Will only get here if there was insufficient memory to create the idle
    task.  The idle task is created within vTaskStartScheduler(). */
        for( ;; );
}
/*-----------------------------------------------------------*/

/* Described at the top of this file. */
static void prvCheckTask( void *pvParameters )
{
TickType_t xLastExecutionTime;
unsigned long ulTicksToWait = mainCHECK_DELAY_NO_ERROR;

        /* Just to remove the compiler warning about the unused parameter. */
        ( void ) pvParameters;

        /* Initialise the variable used to control our iteration rate prior to
        its first use. */
        xLastExecutionTime = xTaskGetTickCount();

        for( ;; )
        {
                /* Wait until it is time to run the tests again. */
                vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );

                /* Has an error been found in any task? */
                if( xAreGenericQueueTasksStillRunning() != pdTRUE )
                {
                        /* Reduce the time between cycles of this task - which has the
                        effect of increasing the rate at which the 'check' LED toggles to
                        indicate the existence of an error to an observer. */
                        ulTicksToWait = mainCHECK_DELAY_ERROR;
                }
                else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
                {
                        ulTicksToWait = mainCHECK_DELAY_ERROR;
                }
                else if( xAreBlockingQueuesStillRunning() != pdTRUE )
                {
                        ulTicksToWait = mainCHECK_DELAY_ERROR;
                }
            else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
            {
                ulTicksToWait = mainCHECK_DELAY_ERROR;
            }
            else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
            {
                ulTicksToWait = mainCHECK_DELAY_ERROR;
            }
            else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
            {
                ulTicksToWait = mainCHECK_DELAY_ERROR;
            }

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

/* Described at the top of this file. */
static void prvUSARTEchoTask( void *pvParameters )
{
signed char cChar;

/* String declared static to ensure it does not end up on the stack, no matter
what the optimisation level. */
static const char *pcLongishString =
"ABBA was a Swedish pop music group formed in Stockholm in 1972, consisting of Anni-Frid Frida Lyngstad, "
"Björn Ulvaeus, Benny Andersson and Agnetha Fältskog. Throughout the band's existence, Fältskog and Ulvaeus "
"were a married couple, as were Lyngstad and Andersson - although both couples later divorced. They became one "
"of the most commercially successful acts in the history of popular music, and they topped the charts worldwide "
"from 1972 to 1983.  ABBA gained international popularity employing catchy song hooks, simple lyrics, sound "
"effects (reverb, phasing) and a Wall of Sound achieved by overdubbing the female singers' voices in multiple "
"harmonies. As their popularity grew, they were sought after to tour Europe, Australia, and North America, drawing "
"crowds of ardent fans, notably in Australia. Touring became a contentious issue, being particularly cumbersome for "
"Fältskog, but they continued to release studio albums to widespread commercial success. At the height of their "
"popularity, however, both relationships began suffering strain that led ultimately to the collapse of first the "
"Ulvaeus-Fältskog marriage (in 1979) and then of the Andersson-Lyngstad marriage in 1981. In the late 1970s and early "
"1980s these relationship changes began manifesting in the group's music, as they produced more thoughtful, "
"introspective lyrics with different compositions.";

        /* Just to avoid compiler warnings. */
        ( void ) pvParameters;

        /* Initialise COM0, which is USART1 according to the STM32 libraries. */
        lCOMPortInit( mainCOM0, mainBAUD_RATE );

        /* Try sending out a string all in one go, as a very basic test of the
    lSerialPutString() function. */
    lSerialPutString( mainCOM0, pcLongishString, strlen( pcLongishString ) );

        for( ;; )
        {
                /* Block to wait for a character to be received on COM0. */
                xSerialGetChar( mainCOM0, &cChar, portMAX_DELAY );

                /* Write the received character back to COM0. */
                xSerialPutChar( mainCOM0, cChar, 0 );
        }
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
        /* RCC system reset(for debug purpose). */
        RCC_DeInit ();

    /* Enable HSE. */
        RCC_HSEConfig( RCC_HSE_ON );

        /* Wait till HSE is ready. */
        while (RCC_GetFlagStatus(RCC_FLAG_HSERDY) == RESET);

    /* HCLK = SYSCLK. */
        RCC_HCLKConfig( RCC_SYSCLK_Div1 );

    /* PCLK2  = HCLK. */
        RCC_PCLK2Config( RCC_HCLK_Div1 );

    /* PCLK1  = HCLK/2. */
        RCC_PCLK1Config( RCC_HCLK_Div2 );

        /* ADCCLK = PCLK2/4. */
        RCC_ADCCLKConfig( RCC_PCLK2_Div4 );

    /* Flash 2 wait state. */
        *( volatile unsigned long  * )0x40022000 = 0x01;

        /* PLLCLK = 8MHz * 9 = 72 MHz */
        RCC_PLLConfig( RCC_PLLSource_HSE_Div1, RCC_PLLMul_9 );

    /* Enable PLL. */
        RCC_PLLCmd( ENABLE );

        /* Wait till PLL is ready. */
        while (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET);

        /* Select PLL as system clock source. */
        RCC_SYSCLKConfig (RCC_SYSCLKSource_PLLCLK);

        /* Wait till PLL is used as system clock source. */
        while (RCC_GetSYSCLKSource() != 0x08);

        /* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
        RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
                                                        | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );

        /* Set the Vector Table base address at 0x08000000. */
        NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );

        NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );

        /* Configure HCLK clock as SysTick clock source. */
        SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );

        /* Initialise the IO used for the LED outputs. */
        vParTestInitialise();

        /* SPI2 Periph clock enable */
        RCC_APB1PeriphClockCmd( RCC_APB1Periph_SPI2, ENABLE );
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
{
        /* This function will get called if a task overflows its stack.   If the
        parameters are corrupt then inspect pxCurrentTCB to find which was the
        offending task. */

        ( void ) pxTask;
        ( void ) pcTaskName;

        for( ;; );
}
/*-----------------------------------------------------------*/

void assert_failed( unsigned char *pucFile, unsigned long ulLine )
{
        ( void ) pucFile;
        ( void ) ulLine;

        for( ;; );
}