begriffs open source - cmsis-freertos/blob - Demo/CORTEX_STM32F103

1 /*

4

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

6

7 This file is part of the FreeRTOS distribution.

8

9 FreeRTOS is free software; you can redistribute it and/or modify it under

10 the terms of the GNU General Public License (version 2) as published by the

11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.

12

13 ***************************************************************************

14 >>! NOTE: The modification to the GPL is included to allow you to !<<

15 >>! distribute a combined work that includes FreeRTOS without being !<<

16 >>! obliged to provide the source code for proprietary components !<<

17 >>! outside of the FreeRTOS kernel. !<<

18 ***************************************************************************

19

20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY

21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS

22 FOR A PARTICULAR PURPOSE. Full license text is available on the following

23 link: http://www.freertos.org/a00114.html

24

25 ***************************************************************************

26 * *

27 * FreeRTOS provides completely free yet professionally developed, *

28 * robust, strictly quality controlled, supported, and cross *

29 * platform software that is more than just the market leader, it *

30 * is the industry's de facto standard. *

31 * *

32 * Help yourself get started quickly while simultaneously helping *

33 * to support the FreeRTOS project by purchasing a FreeRTOS *

34 * tutorial book, reference manual, or both: *

35 * http://www.FreeRTOS.org/Documentation *

36 * *

37 ***************************************************************************

38

39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading

40 the FAQ page "My application does not run, what could be wrong?". Have you

41 defined configASSERT()?

42

43 http://www.FreeRTOS.org/support - In return for receiving this top quality

44 embedded software for free we request you assist our global community by

45 participating in the support forum.

46

47 http://www.FreeRTOS.org/training - Investing in training allows your team to

48 be as productive as possible as early as possible. Now you can receive

49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers

50 Ltd, and the world's leading authority on the world's leading RTOS.

51

52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,

53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS

54 compatible FAT file system, and our tiny thread aware UDP/IP stack.

55

56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.

57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

58

59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High

60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS

61 licenses offer ticketed support, indemnification and commercial middleware.

62

63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety

64 engineered and independently SIL3 certified version for use in safety and

65 mission critical applications that require provable dependability.

66

67 1 tab == 4 spaces!

68 */

69

70 /*

71 * Creates all the demo application tasks, then starts the scheduler. The WEB

72 * documentation provides more details of the standard demo application tasks.

73 * In addition to the standard demo tasks, the following tasks and tests are

74 * defined and/or created within this file:

75 *

76 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated

77 * using a free running timer to demonstrate the use of the

78 * configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt

79 * service routine measures the number of processor clocks that occur between

80 * each interrupt - and in so doing measures the jitter in the interrupt timing.

81 * The maximum measured jitter time is latched in the ulMaxJitter variable, and

82 * displayed on the LCD by the 'Check' task as described below. The

83 * fast interrupt is configured and handled in the timertest.c source file.

84 *

85 * "LCD" task - the LCD task is a 'gatekeeper' task. It is the only task that

86 * is permitted to access the display directly. Other tasks wishing to write a

87 * message to the LCD send the message on a queue to the LCD task instead of

88 * accessing the LCD themselves. The LCD task just blocks on the queue waiting

89 * for messages - waking and displaying the messages as they arrive.

90 *

91 * "Check" task - This only executes every five seconds but has the highest

92 * priority so is guaranteed to get processor time. Its main function is to

93 * check that all the standard demo tasks are still operational. Should any

94 * unexpected behaviour within a demo task be discovered the 'check' task will

95 * write an error to the LCD (via the LCD task). If all the demo tasks are

96 * executing with their expected behaviour then the check task writes PASS

97 * along with the max jitter time to the LCD (again via the LCD task), as

98 * described above.

99 *

100 */

101

102 /* Standard includes. */

103 #include <stdio.h>

104

105 /* Scheduler includes. */

106 #include "FreeRTOS.h"

107 #include "task.h"

108 #include "queue.h"

109

110 /* Library includes. */

111 #include "stm32f10x_it.h"

112

113 /* Demo app includes. */

114 #include "lcd.h"

115 #include "LCD_Message.h"

116 #include "BlockQ.h"

117 #include "death.h"

118 #include "integer.h"

119 #include "blocktim.h"

120 #include "partest.h"

121 #include "semtest.h"

122 #include "PollQ.h"

123 #include "flash.h"

124 #include "comtest2.h"

125

126 /* Task priorities. */

127 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )

128 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )

129 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )

130 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )

131 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )

132 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )

133 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )

134 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )

135

136 /* Constants related to the LCD. */

137 #define mainMAX_LINE ( 240 )

138 #define mainROW_INCREMENT ( 24 )

139 #define mainMAX_COLUMN ( 20 )

140 #define mainCOLUMN_START ( 319 )

141 #define mainCOLUMN_INCREMENT ( 16 )

142

143 /* The maximum number of message that can be waiting for display at any one

144 time. */

145 #define mainLCD_QUEUE_SIZE ( 3 )

146

147 /* The check task uses the sprintf function so requires a little more stack. */

148 #define mainCHECK_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE + 50 )

149

150 /* Dimensions the buffer into which the jitter time is written. */

151 #define mainMAX_MSG_LEN 25

152

153 /* The time between cycles of the 'check' task. */

154 #define mainCHECK_DELAY ( ( TickType_t ) 5000 / portTICK_PERIOD_MS )

155

156 /* The number of nano seconds between each processor clock. */

157 #define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )

158

159 /* Baud rate used by the comtest tasks. */

160 #define mainCOM_TEST_BAUD_RATE ( 115200 )

161

162 /* The LED used by the comtest tasks. See the comtest.c file for more

163 information. */

164 #define mainCOM_TEST_LED ( 3 )

165

166 /*-----------------------------------------------------------*/

167

168 /*

169 * Configure the clocks, GPIO and other peripherals as required by the demo.

170 */

171 static void prvSetupHardware( void );

172

173 /*

174 * Configure the LCD as required by the demo.

175 */

176 static void prvConfigureLCD( void );

177

178 /*

179 * The LCD is written two by more than one task so is controlled by a

180 * 'gatekeeper' task. This is the only task that is actually permitted to

181 * access the LCD directly. Other tasks wanting to display a message send

182 * the message to the gatekeeper.

183 */

184 static void vLCDTask( void *pvParameters );

185

186 /*

187 * Retargets the C library printf function to the USART.

188 */

189 int fputc( int ch, FILE *f );

190

191 /*

192 * Checks the status of all the demo tasks then prints a message to the

193 * display. The message will be either PASS - and include in brackets the

194 * maximum measured jitter time (as described at the to of the file), or a

195 * message that describes which of the standard demo tasks an error has been

196 * discovered in.

197 *

198 * Messages are not written directly to the terminal, but passed to vLCDTask

199 * via a queue.

200 */

201 static void vCheckTask( void *pvParameters );

202

203 /*

204 * Configures the timers and interrupts for the fast interrupt test as

205 * described at the top of this file.

206 */

207 extern void vSetupTimerTest( void );

208

209 /*-----------------------------------------------------------*/

210

211 /* The queue used to send messages to the LCD task. */

212 QueueHandle_t xLCDQueue;

213

214 /*-----------------------------------------------------------*/

215

216 int main( void )

217 {

218 #ifdef DEBUG

219 debug();

220 #endif

221

222 prvSetupHardware();

223

224 /* Create the queue used by the LCD task. Messages for display on the LCD

225 are received via this queue. */

226 xLCDQueue = xQueueCreate( mainLCD_QUEUE_SIZE, sizeof( xLCDMessage ) );

227

228 /* Start the standard demo tasks. */

229 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

230 vCreateBlockTimeTasks();

231 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );

232 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );

233 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );

234 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );

235 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );

236

237 /* Start the tasks defined within this file/specific to this demo. */

238 xTaskCreate( vCheckTask, "Check", mainCHECK_TASK_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

239 xTaskCreate( vLCDTask, "LCD", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );

240

241 /* The suicide tasks must be created last as they need to know how many

242 tasks were running prior to their creation in order to ascertain whether

243 or not the correct/expected number of tasks are running at any given time. */

244 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );

245

246 /* Configure the timers used by the fast interrupt timer test. */

247 vSetupTimerTest();

248

249 /* Start the scheduler. */

250 vTaskStartScheduler();

251

252 /* Will only get here if there was not enough heap space to create the

253 idle task. */

254 return 0;

255 }

256 /*-----------------------------------------------------------*/

257

258 void vLCDTask( void *pvParameters )

259 {

260 xLCDMessage xMessage;

261

262 /* Initialise the LCD and display a startup message. */

263 prvConfigureLCD();

264 LCD_DrawMonoPict( ( unsigned long * ) pcBitmap );

265

266 for( ;; )

267 {

268 /* Wait for a message to arrive that requires displaying. */

269 while( xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY ) != pdPASS );

270

271 /* Display the message. Print each message to a different position. */

272 printf( ( char const * ) xMessage.pcMessage );

273 }

274 }

275 /*-----------------------------------------------------------*/

276

277 static void vCheckTask( void *pvParameters )

278 {

279 TickType_t xLastExecutionTime;

280 xLCDMessage xMessage;

281 static signed char cPassMessage[ mainMAX_MSG_LEN ];

282 extern unsigned short usMaxJitter;

283

284 xLastExecutionTime = xTaskGetTickCount();

285 xMessage.pcMessage = cPassMessage;

286

287 for( ;; )

288 {

289 /* Perform this check every mainCHECK_DELAY milliseconds. */

290 vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );

291

292 /* Has an error been found in any task? */

293

294 if( xAreBlockingQueuesStillRunning() != pdTRUE )

295 {

296 xMessage.pcMessage = "ERROR IN BLOCK Q\n";

297 }

298 else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )

299 {

300 xMessage.pcMessage = "ERROR IN BLOCK TIME\n";

301 }

302 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )

303 {

304 xMessage.pcMessage = "ERROR IN SEMAPHORE\n";

305 }

306 else if( xArePollingQueuesStillRunning() != pdTRUE )

307 {

308 xMessage.pcMessage = "ERROR IN POLL Q\n";

309 }

310 else if( xIsCreateTaskStillRunning() != pdTRUE )

311 {

312 xMessage.pcMessage = "ERROR IN CREATE\n";

313 }

314 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )

315 {

316 xMessage.pcMessage = "ERROR IN MATH\n";

317 }

318 else if( xAreComTestTasksStillRunning() != pdTRUE )

319 {

320 xMessage.pcMessage = "ERROR IN COM TEST\n";

321 }

322 else

323 {

324 sprintf( ( char * ) cPassMessage, "PASS [%uns]\n", ( ( unsigned long ) usMaxJitter ) * mainNS_PER_CLOCK );

325 }

326

327 /* Send the message to the LCD gatekeeper for display. */

328 xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );

329 }

330 }

331 /*-----------------------------------------------------------*/

332

333 static void prvSetupHardware( void )

334 {

335 /* Start with the clocks in their expected state. */

336 RCC_DeInit();

337

338 /* Enable HSE (high speed external clock). */

339 RCC_HSEConfig( RCC_HSE_ON );

340

341 /* Wait till HSE is ready. */

342 while( RCC_GetFlagStatus( RCC_FLAG_HSERDY ) == RESET )

343 {

344 }

345

346 /* 2 wait states required on the flash. */

347 *( ( unsigned long * ) 0x40022000 ) = 0x02;

348

349 /* HCLK = SYSCLK */

350 RCC_HCLKConfig( RCC_SYSCLK_Div1 );

351

352 /* PCLK2 = HCLK */

353 RCC_PCLK2Config( RCC_HCLK_Div1 );

354

355 /* PCLK1 = HCLK/2 */

356 RCC_PCLK1Config( RCC_HCLK_Div2 );

357

358 /* PLLCLK = 8MHz * 9 = 72 MHz. */

359 RCC_PLLConfig( RCC_PLLSource_HSE_Div1, RCC_PLLMul_9 );

360

361 /* Enable PLL. */

362 RCC_PLLCmd( ENABLE );

363

364 /* Wait till PLL is ready. */

365 while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)

366 {

367 }

368

369 /* Select PLL as system clock source. */

370 RCC_SYSCLKConfig( RCC_SYSCLKSource_PLLCLK );

371

372 /* Wait till PLL is used as system clock source. */

373 while( RCC_GetSYSCLKSource() != 0x08 )

374 {

375 }

376

377 /* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */

378 RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC

379 | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );

380

381 /* SPI2 Periph clock enable */

382 RCC_APB1PeriphClockCmd( RCC_APB1Periph_SPI2, ENABLE );

383

384

385 /* Set the Vector Table base address at 0x08000000 */

386 NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );

387

388 NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );

389

390 /* Configure HCLK clock as SysTick clock source. */

391 SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );

392

393 vParTestInitialise();

394 }

395 /*-----------------------------------------------------------*/

396

397 static void prvConfigureLCD( void )

398 {

399 GPIO_InitTypeDef GPIO_InitStructure;

400

401 /* Configure LCD Back Light (PA8) as output push-pull */

402 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;

403 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

404 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;

405 GPIO_Init( GPIOA, &GPIO_InitStructure );

406

407 /* Set the Backlight Pin */

408 GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_SET);

409

410 /* Initialize the LCD */

411 LCD_Init();

412

413 /* Set the Back Color */

414 LCD_SetBackColor( White );

415

416 /* Set the Text Color */

417 LCD_SetTextColor( 0x051F );

418

419 LCD_Clear();

420 }

421 /*-----------------------------------------------------------*/

422

423 int fputc( int ch, FILE *f )

424 {

425 static unsigned short usColumn = 0, usRefColumn = mainCOLUMN_START;

426 static unsigned char ucLine = 0;

427

428 if( ( usColumn == 0 ) && ( ucLine == 0 ) )

429 {

430 LCD_Clear();

431 }

432

433 if( ch != '\n' )

434 {

435 /* Display one character on LCD */

436 LCD_DisplayChar( ucLine, usRefColumn, (u8) ch );

437

438 /* Decrement the column position by 16 */

439 usRefColumn -= mainCOLUMN_INCREMENT;

440

441 /* Increment the character counter */

442 usColumn++;

443 if( usColumn == mainMAX_COLUMN )

444 {

445 ucLine += mainROW_INCREMENT;

446 usRefColumn = mainCOLUMN_START;

447 usColumn = 0;

448 }

449 }

450 else

451 {

452 /* Move back to the first column of the next line. */

453 ucLine += mainROW_INCREMENT;

454 usRefColumn = mainCOLUMN_START;

455 usColumn = 0;

456 }

457

458 /* Wrap back to the top of the display. */

459 if( ucLine >= mainMAX_LINE )

460 {

461 ucLine = 0;

462 }

463

464 return ch;

465 }

466 /*-----------------------------------------------------------*/

467

468 #ifdef DEBUG

469 /* Keep the linker happy. */

470 void assert_failed( unsigned char* pcFile, unsigned long ulLine )

471 {

472 for( ;; )

473 {

474 }

475 }

476 #endif