begriffs open source - cmsis-freertos/blob - Demo/CORTEX_STM32L152

1 /*

4

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

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

19

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

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

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38

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66

67 1 tab == 4 spaces!

68 */

69

70 /*

71 * The documentation page for this demo available on http://www.FreeRTOS.org

72 * documents the hardware configuration required to run this demo. It also

73 * provides more information on the expected demo application behaviour.

74 *

75 * main() creates all the demo application tasks, then starts the scheduler.

76 * A lot of the created tasks are from the pool of "standard demo" tasks. The

77 * web documentation provides more details of the standard demo tasks, which

78 * provide no particular functionality but do provide good examples of how to

79 * use the FreeRTOS API.

80 *

81 * In addition to the standard demo tasks, the following tasks, interrupts and

82 * tests are defined and/or created within this file:

83 *

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

85 * is permitted to access the LCD and therefore ensures access to the LCD is

86 * always serialised and there are no mutual exclusion issues. When a task or

87 * an interrupt wants to write to the LCD, it does not access the LCD directly

88 * but instead sends the message to the LCD task. The LCD task then performs

89 * the actual LCD output. This mechanism also allows interrupts to, in effect,

90 * write to the LCD by sending messages to the LCD task.

91 *

92 * The LCD task is also a demonstration of a 'controller' task design pattern.

93 * Some tasks do not actually send a string to the LCD task directly, but

94 * instead send a command that is interpreted by the LCD task. In a normal

95 * application these commands can be control values or set points, in this

96 * simple example the commands just result in messages being displayed on the

97 * LCD.

98 *

99 * "Button Poll" task - This task polls the state of the 'up' key on the

100 * joystick input device. It uses the vTaskDelay() API function to control

101 * the poll rate to ensure debouncing is not necessary and that the task does

102 * not use all the available CPU processing time.

103 *

104 * Button Interrupt and run time stats display - The select button on the

105 * joystick input device is configured to generate an external interrupt. The

106 * handler for this interrupt sends a message to LCD task, which interprets the

107 * message to mean, firstly write a message to the LCD, and secondly, generate

108 * a table of run time statistics. The run time statistics are displayed as a

109 * table that contains information on how much processing time each task has

110 * been allocated since the application started to execute. This information

111 * is provided both as an absolute time, and as a percentage of the total run

112 * time. The information is displayed in the terminal IO window of the IAR

113 * embedded workbench. The online documentation for this demo shows a screen

114 * shot demonstrating where the run time stats can be viewed.

115 *

116 * Idle Hook - The idle hook is a function that is called on each iteration of

117 * the idle task. In this case it is used to place the processor into a low

118 * power mode. Note however that this application is implemented using standard

119 * components, and is therefore not optimised for low power operation. Lower

120 * power consumption would be achieved by converting polling tasks into event

121 * driven tasks, and slowing the tick interrupt frequency.

122 *

123 * "Check" function called from the tick hook - The tick hook is called during

124 * each tick interrupt. It is called from an interrupt context so must execute

125 * quickly, not attempt to block, and not call any FreeRTOS API functions that

126 * do not end in "FromISR". In this case the tick hook executes a 'check'

127 * function. This only executes every five seconds. Its main function is to

128 * check that all the standard demo tasks are still operational. Each time it

129 * executes it sends a status code to the LCD task. The LCD task interprets the

130 * code and displays an appropriate message - which will be PASS if no tasks

131 * have reported any errors, or a message stating which task has reported an

132 * error.

133 */

134

135 /* Standard includes. */

136 #include <stdio.h>

137

138 /* Kernel includes. */

139 #include "FreeRTOS.h"

140 #include "task.h"

141 #include "queue.h"

142

143 /* Demo application includes. */

144 #include "partest.h"

145 #include "flash.h"

146 #include "dynamic.h"

147 #include "comtest2.h"

148 #include "GenQTest.h"

149

150 /* Eval board includes. */

151 #include "stm32_eval.h"

152 #include "stm32l152_eval_lcd.h"

153

154 /* The priorities assigned to the tasks. */

155 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )

156 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )

157 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )

158 #define mainGENERIC_QUEUE_TEST_PRIORITY ( tskIDLE_PRIORITY )

159

160 /* The length of the queue (the number of items the queue can hold) that is used

161 to send messages from tasks and interrupts the the LCD task. */

162 #define mainQUEUE_LENGTH ( 5 )

163

164 /* Codes sent within messages to the LCD task so the LCD task can interpret

165 exactly what the message it just received was. These are sent in the

166 cMessageID member of the message structure (defined below). */

167 #define mainMESSAGE_BUTTON_UP ( 1 )

168 #define mainMESSAGE_BUTTON_SEL ( 2 )

169 #define mainMESSAGE_STATUS ( 3 )

170

171 /* When the cMessageID member of the message sent to the LCD task is

172 mainMESSAGE_STATUS then these definitions are sent in the lMessageValue member

173 of the same message and indicate what the status actually is. */

174 #define mainERROR_DYNAMIC_TASKS ( pdPASS + 1 )

175 #define mainERROR_COM_TEST ( pdPASS + 2 )

176 #define mainERROR_GEN_QUEUE_TEST ( pdPASS + 3 )

177

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

179 #define mainCOM_TEST_BAUD_RATE ( 115200 )

180

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

182 information. */

183 #define mainCOM_TEST_LED ( 3 )

184

185 /* The LCD task uses printf() so requires more stack than most of the other

186 tasks. */

187 #define mainLCD_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )

188

189 /*-----------------------------------------------------------*/

190

191 /*

192 * System configuration is performed prior to main() being called, this function

193 * configures the peripherals used by the demo application.

194 */

195 static void prvSetupHardware( void );

196

197 /*

198 * Definition of the LCD/controller task described in the comments at the top

199 * of this file.

200 */

201 static void prvLCDTask( void *pvParameters );

202

203 /*

204 * Definition of the button poll task described in the comments at the top of

205 * this file.

206 */

207 static void prvButtonPollTask( void *pvParameters );

208

209 /*

210 * Converts a status message value into an appropriate string for display on

211 * the LCD. The string is written to pcBuffer.

212 */

213 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue );

214

215 /*-----------------------------------------------------------*/

216

217 /* The time base for the run time stats is generated by the 16 bit timer 6.

218 Each time the timer overflows ulTIM6_OverflowCount is incremented. Therefore,

219 when converting the total run time to a 32 bit number, the most significant two

220 bytes are given by ulTIM6_OverflowCount and the least significant two bytes are

221 given by the current TIM6 counter value. Care must be taken with data

222 consistency when combining the two in case a timer overflow occurs as the

223 value is being read. */

224 unsigned long ulTIM6_OverflowCount = 0UL;

225

226 /* The handle of the queue used to send messages from tasks and interrupts to

227 the LCD task. */

228 static QueueHandle_t xLCDQueue = NULL;

229

230 /* The definition of each message sent from tasks and interrupts to the LCD

231 task. */

232 typedef struct

233 {

234 char cMessageID; /* << States what the message is. */

235 long lMessageValue; /* << States the message value (can be an integer, string pointer, etc. depending on the value of cMessageID). */

236 } xQueueMessage;

237

238 /*-----------------------------------------------------------*/

239

240 void main( void )

241 {

242 /* Configure the peripherals used by this demo application. This includes

243 configuring the joystick input select button to generate interrupts. */

244 prvSetupHardware();

245

246 /* Create the queue used by tasks and interrupts to send strings to the LCD

247 task. */

248 xLCDQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( xQueueMessage ) );

249

250 /* If the queue could not be created then don't create any tasks that might

251 attempt to use the queue. */

252 if( xLCDQueue != NULL )

253 {

254 /* Add the created queue to the queue registry so it can be viewed in

255 the IAR FreeRTOS state viewer plug-in. */

256 vQueueAddToRegistry( xLCDQueue, "LCDQueue" );

257

258 /* Create the LCD and button poll tasks, as described at the top of this

259 file. */

260 xTaskCreate( prvLCDTask, "LCD", mainLCD_TASK_STACK_SIZE, NULL, mainLCD_TASK_PRIORITY, NULL );

261 xTaskCreate( prvButtonPollTask, "ButPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );

262

263 /* Create a subset of the standard demo tasks. */

264 vStartDynamicPriorityTasks();

265 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );

266 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );

267 vStartGenericQueueTasks( mainGENERIC_QUEUE_TEST_PRIORITY );

268

269 /* Start the scheduler. */

270 vTaskStartScheduler();

271 }

272

273 /* If all is well then this line will never be reached. If it is reached

274 then it is likely that there was insufficient (FreeRTOS) heap memory space

275 to create the idle task. This may have been trapped by the malloc() failed

276 hook function, if one is configured. */

277 for( ;; );

278 }

279 /*-----------------------------------------------------------*/

280

281 static void prvLCDTask( void *pvParameters )

282 {

283 xQueueMessage xReceivedMessage;

284 long lLine = Line1;

285 const long lFontHeight = (((sFONT *)LCD_GetFont())->Height);

286

287 /* Buffer into which strings are formatted and placed ready for display on the

288 LCD. Note this is a static variable to prevent it being allocated on the task

289 stack, which is too small to hold such a variable. The stack size is configured

290 when the task is created. */

291 static char cBuffer[ 512 ];

292

293 /* This function is the only function that uses printf(). If printf() is

294 used from any other function then some sort of mutual exclusion on stdout

295 will be necessary.

296

297 This is also the only function that is permitted to access the LCD.

298

299 First print out the number of bytes that remain in the FreeRTOS heap. This

300 can be viewed in the terminal IO window within the IAR Embedded Workbench. */

301 printf( "%d bytes of heap space remain unallocated\n", xPortGetFreeHeapSize() );

302

303 for( ;; )

304 {

305 /* Wait for a message to be received. Using portMAX_DELAY as the block

306 time will result in an indefinite wait provided INCLUDE_vTaskSuspend is

307 set to 1 in FreeRTOSConfig.h, therefore there is no need to check the

308 function return value and the function will only return when a value

309 has been received. */

310 xQueueReceive( xLCDQueue, &xReceivedMessage, portMAX_DELAY );

311

312 /* Clear the LCD if no room remains for any more text output. */

313 if( lLine > Line9 )

314 {

315 LCD_Clear( Blue );

316 lLine = 0;

317 }

318

319 /* What is this message? What does it contain? */

320 switch( xReceivedMessage.cMessageID )

321 {

322 case mainMESSAGE_BUTTON_UP : /* The button poll task has just

323 informed this task that the up

324 button on the joystick input has

325 been pressed or released. */

326 sprintf( cBuffer, "Button up = %d", xReceivedMessage.lMessageValue );

327 break;

328

329 case mainMESSAGE_BUTTON_SEL : /* The select button interrupt

330 just informed this task that the

331 select button was pressed.

332 Generate a table of task run time

333 statistics and output this to

334 the terminal IO window in the IAR

335 embedded workbench. */

336 printf( "\nTask\t Abs Time\t %%Time\n*****************************************" );

337 vTaskGetRunTimeStats( cBuffer );

338 printf( cBuffer );

339

340 /* Also print out a message to

341 the LCD - in this case the

342 pointer to the string to print

343 is sent directly in the

344 lMessageValue member of the

345 message. This just demonstrates

346 a different communication

347 technique. */

348 sprintf( cBuffer, "%s", ( char * ) xReceivedMessage.lMessageValue );

349 break;

350

351 case mainMESSAGE_STATUS : /* The tick interrupt hook

352 function has just informed this

353 task of the system status.

354 Generate a string in accordance

355 with the status value. */

356 prvGenerateStatusMessage( cBuffer, xReceivedMessage.lMessageValue );

357 break;

358

359 default : sprintf( cBuffer, "Unknown message" );

360 break;

361 }

362

363 /* Output the message that was placed into the cBuffer array within the

364 switch statement above. */

365 LCD_DisplayStringLine( lLine, ( uint8_t * ) cBuffer );

366

367 /* Move onto the next LCD line, ready for the next iteration of this

368 loop. */

369 lLine += lFontHeight;

370 }

371 }

372 /*-----------------------------------------------------------*/

373

374 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue )

375 {

376 /* Just a utility function to convert a status value into a meaningful

377 string for output onto the LCD. */

378 switch( lStatusValue )

379 {

380 case pdPASS : sprintf( pcBuffer, "Task status = PASS" );

381 break;

382 case mainERROR_DYNAMIC_TASKS : sprintf( pcBuffer, "Error: Dynamic tasks" );

383 break;

384 case mainERROR_COM_TEST : sprintf( pcBuffer, "Err: loop connected?" ); /* Error in COM test - is the Loopback connector connected? */

385 break;

386 case mainERROR_GEN_QUEUE_TEST : sprintf( pcBuffer, "Error: Gen Q test" );

387 break;

388 default : sprintf( pcBuffer, "Unknown status" );

389 break;

390 }

391 }

392 /*-----------------------------------------------------------*/

393

394 void EXTI9_5_IRQHandler( void )

395 {

396 /* Define the message sent to the LCD task from this interrupt. */

397 const xQueueMessage xMessage = { mainMESSAGE_BUTTON_SEL, ( unsigned long ) "Select Interrupt!" };

398 long lHigherPriorityTaskWoken = pdFALSE;

399

400 /* This is the interrupt handler for the joystick select button input.

401 The button has been pushed, write a message to the LCD via the LCD task. */

402 xQueueSendFromISR( xLCDQueue, &xMessage, &lHigherPriorityTaskWoken );

403

404 EXTI_ClearITPendingBit( SEL_BUTTON_EXTI_LINE );

405

406 /* If writing to xLCDQueue caused a task to unblock, and the unblocked task

407 has a priority equal to or above the task that this interrupt interrupted,

408 then lHigherPriorityTaskWoken will have been set to pdTRUE internally within

409 xQueuesendFromISR(), and portEND_SWITCHING_ISR() will ensure that this

410 interrupt returns directly to the higher priority unblocked task. */

411 portEND_SWITCHING_ISR( lHigherPriorityTaskWoken );

412 }

413 /*-----------------------------------------------------------*/

414

415 void vApplicationTickHook( void )

416 {

417 static unsigned long ulCounter = 0;

418 static const unsigned long ulCheckFrequency = 5000UL / portTICK_PERIOD_MS;

419 long lHigherPriorityTaskWoken = pdFALSE;

420

421 /* Define the status message that is sent to the LCD task. By default the

422 status is PASS. */

423 static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };

424

425 /* This is called from within the tick interrupt and performs the 'check'

426 functionality as described in the comments at the top of this file.

427

428 Is it time to perform the 'check' functionality again? */

429 ulCounter++;

430 if( ulCounter >= ulCheckFrequency )

431 {

432 /* See if the standard demo tasks are executing as expected, changing

433 the message that is sent to the LCD task from PASS to an error code if

434 any tasks set reports an error. */

435 if( xAreDynamicPriorityTasksStillRunning() != pdPASS )

436 {

437 xStatusMessage.lMessageValue = mainERROR_DYNAMIC_TASKS;

438 }

439

440 if( xAreComTestTasksStillRunning() != pdPASS )

441 {

442 xStatusMessage.lMessageValue = mainERROR_COM_TEST;

443 }

444

445 if( xAreGenericQueueTasksStillRunning() != pdPASS )

446 {

447 xStatusMessage.lMessageValue = mainERROR_GEN_QUEUE_TEST;

448 }

449

450 /* As this is the tick hook the lHigherPriorityTaskWoken parameter is not

451 needed (a context switch is going to be performed anyway), but it must

452 still be provided. */

453 xQueueSendFromISR( xLCDQueue, &xStatusMessage, &lHigherPriorityTaskWoken );

454 ulCounter = 0;

455 }

456 }

457 /*-----------------------------------------------------------*/

458

459 static void prvButtonPollTask( void *pvParameters )

460 {

461 long lLastState = pdTRUE;

462 long lState;

463 xQueueMessage xMessage;

464

465 /* This tasks performs the button polling functionality as described at the

466 top of this file. */

467 for( ;; )

468 {

469 /* Check the button state. */

470 lState = STM_EVAL_PBGetState( BUTTON_UP );

471 if( lState != lLastState )

472 {

473 /* The state has changed, send a message to the LCD task. */

474 xMessage.cMessageID = mainMESSAGE_BUTTON_UP;

475 xMessage.lMessageValue = lState;

476 lLastState = lState;

477 xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );

478 }

479

480 /* Block for 10 milliseconds so this task does not utilise all the CPU

481 time and debouncing of the button is not necessary. */

482 vTaskDelay( 10 / portTICK_PERIOD_MS );

483 }

484 }

485 /*-----------------------------------------------------------*/

486

487 static void prvSetupHardware( void )

488 {

489 /* Ensure that all 4 interrupt priority bits are used as the pre-emption

490 priority. */

491 NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );

492

493 /* Initialise the LEDs. */

494 vParTestInitialise();

495

496 /* Initialise the joystick inputs. */

497 STM_EVAL_PBInit( BUTTON_UP, BUTTON_MODE_GPIO );

498 STM_EVAL_PBInit( BUTTON_DOWN, BUTTON_MODE_GPIO );

499 STM_EVAL_PBInit( BUTTON_LEFT, BUTTON_MODE_GPIO );

500 STM_EVAL_PBInit( BUTTON_RIGHT, BUTTON_MODE_GPIO );

501

502 /* The select button in the middle of the joystick is configured to generate

503 an interrupt. The Eval board library will configure the interrupt

504 priority to be the lowest priority available so the priority need not be

505 set here explicitly. It is important that the priority is equal to or

506 below that set by the configMAX_SYSCALL_INTERRUPT_PRIORITY value set in

507 FreeRTOSConfig.h. */

508 STM_EVAL_PBInit( BUTTON_SEL, BUTTON_MODE_EXTI );

509

510 /* Initialize the LCD */

511 STM32L152_LCD_Init();

512 LCD_Clear( Blue );

513 LCD_SetBackColor( Blue );

514 LCD_SetTextColor( White );

515 LCD_DisplayStringLine( Line0, " www.FreeRTOS.org" );

516 }

517 /*-----------------------------------------------------------*/

518

519 void vConfigureTimerForRunTimeStats( void )

520 {

521 TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;

522 NVIC_InitTypeDef NVIC_InitStructure;

523

524 /* The time base for the run time stats is generated by the 16 bit timer 6.

525 Each time the timer overflows ulTIM6_OverflowCount is incremented.

526 Therefore, when converting the total run time to a 32 bit number, the most

527 significant two bytes are given by ulTIM6_OverflowCount and the least

528 significant two bytes are given by the current TIM6 counter value. Care

529 must be taken with data consistency when combining the two in case a timer

530 overflow occurs as the value is being read.

531

532 The portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro (in FreeRTOSConfig.h) is

533 defined to call this function, so the kernel will call this function

534 automatically at the appropriate time. */

535

536 /* TIM6 clock enable */

537 RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM6, ENABLE );

538

539 /* The 32MHz clock divided by 5000 should tick (very) approximately every

540 150uS and overflow a 16bit timer (very) approximately every 10 seconds. */

541 TIM_TimeBaseStructure.TIM_Period = 65535;

542 TIM_TimeBaseStructure.TIM_Prescaler = 5000;

543 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;

544 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;

545

546 TIM_TimeBaseInit( TIM6, &TIM_TimeBaseStructure );

547

548 /* Only interrupt on overflow events. */

549 TIM6->CR1 |= TIM_CR1_URS;

550

551 /* Enable the interrupt. */

552 TIM_ITConfig( TIM6, TIM_IT_Update, ENABLE );

553

554 /* Enable the TIM6 global Interrupt */

555 NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;

556 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = configLIBRARY_LOWEST_INTERRUPT_PRIORITY;

557 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x00; /* Not used as 4 bits are used for the pre-emption priority. */

558 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

559 NVIC_Init(&NVIC_InitStructure);

560

561 TIM_ClearITPendingBit( TIM6, TIM_IT_Update );

562 TIM_Cmd( TIM6, ENABLE );

563 }

564 /*-----------------------------------------------------------*/

565

566 void TIM6_IRQHandler( void )

567 {

568 /* Interrupt handler for TIM 6

569

570 The time base for the run time stats is generated by the 16 bit timer 6.

571 Each time the timer overflows ulTIM6_OverflowCount is incremented.

572 Therefore, when converting the total run time to a 32 bit number, the most

573 significant two bytes are given by ulTIM6_OverflowCount and the least

574 significant two bytes are given by the current TIM6 counter value. Care

575 must be taken with data consistency when combining the two in case a timer

576 overflow occurs as the value is being read. */

577 if( TIM_GetITStatus( TIM6, TIM_IT_Update) != RESET)

578 {

579 ulTIM6_OverflowCount++;

580 TIM_ClearITPendingBit( TIM6, TIM_IT_Update );

581 }

582 }

583 /*-----------------------------------------------------------*/

584

585 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )

586 {

587 ( void ) pcTaskName;

588 ( void ) pxTask;

589

590 /* Run time stack overflow checking is performed if

591 configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook

592 function is called if a stack overflow is detected. */

593 for( ;; );

594 }

595 /*-----------------------------------------------------------*/

596

597 void vApplicationMallocFailedHook( void )

598 {

599 /* Called if a call to pvPortMalloc() fails because there is insufficient

600 free memory available in the FreeRTOS heap. pvPortMalloc() is called

601 internally by FreeRTOS API functions that create tasks, queues or

602 semaphores. */

603 for( ;; );

604 }

605 /*-----------------------------------------------------------*/

606

607 void vApplicationIdleHook( void )

608 {

609 /* Called on each iteration of the idle task. In this case the idle task

610 just enters a low(ish) power mode. */

611 PWR_EnterSleepMode( PWR_Regulator_ON, PWR_SLEEPEntry_WFI );

612 }

613

614

615