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

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.

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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

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

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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 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.

72 The processor MUST be in supervisor mode when vTaskStartScheduler is

73 called. The demo applications included in the FreeRTOS.org download switch

74 to supervisor mode prior to main being called. If you are not using one of

75 these demo application projects then ensure Supervisor mode is used.

76 */

77

78

79 /*

80 * Creates all the application tasks, then starts the scheduler.

81 *

82 * A task defined by the function vBasicWEBServer is created. This executes

83 * the lwIP stack and basic WEB server sample. A task defined by the function

84 * vUSBCDCTask. This executes the USB to serial CDC example. All the other

85 * tasks are from the set of standard demo tasks. The WEB documentation

86 * provides more details of the standard demo application tasks.

87 *

88 * Main.c also creates a task called "Check". This only executes every three

89 * seconds but has the highest priority so is guaranteed to get processor time.

90 * Its main function is to check the status of all the other demo application

91 * tasks. LED mainCHECK_LED is toggled every three seconds by the check task

92 * should no error conditions be detected in any of the standard demo tasks.

93 * The toggle rate increasing to 500ms indicates that at least one error has

94 * been detected.

95 *

96 * Main.c includes an idle hook function that simply periodically sends data

97 * to the USB task for transmission.

98 */

99

100 /*

101 Changes from V3.2.2

102

103 + Modified the stack sizes used by some tasks to permit use of the

104 command line GCC tools.

105 */

106

107 /* Library includes. */

108 #include <string.h>

109 #include <stdio.h>

110

111 /* Scheduler includes. */

112 #include "FreeRTOS.h"

113 #include "task.h"

114

115 /* Demo application includes. */

116 #include "partest.h"

117 #include "PollQ.h"

118 #include "semtest.h"

119 #include "flash.h"

120 #include "integer.h"

121 #include "BlockQ.h"

122 #include "BasicWEB.h"

123 #include "USB-CDC.h"

124

125 /* lwIP includes. */

126 #include "lwip/api.h"

127

128 /* Hardware specific headers. */

129 #include "Board.h"

130 #include "AT91SAM7X256.h"

131

132 /* Priorities/stacks for the various tasks within the demo application. */

133 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )

134 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )

135 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )

136 #define mainFLASH_PRIORITY ( tskIDLE_PRIORITY + 2 )

137 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 1 )

138 #define mainWEBSERVER_PRIORITY ( tskIDLE_PRIORITY + 2 )

139 #define mainUSB_PRIORITY ( tskIDLE_PRIORITY + 1 )

140 #define mainUSB_TASK_STACK ( 200 )

141

142 /* The rate at which the on board LED will toggle when there is/is not an

143 error. */

144 #define mainNO_ERROR_FLASH_PERIOD ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )

145 #define mainERROR_FLASH_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_MS )

146

147 /* The rate at which the idle hook sends data to the USB port. */

148 #define mainUSB_TX_FREQUENCY ( 100 / portTICK_PERIOD_MS )

149

150 /* The string that is transmitted down the USB port. */

151 #define mainFIRST_TX_CHAR 'a'

152 #define mainLAST_TX_CHAR 'z'

153

154 /* The LED used by the check task to indicate the system status. */

155 #define mainCHECK_LED ( 3 )

156 /*-----------------------------------------------------------*/

157

158 /*

159 * Checks that all the demo application tasks are still executing without error

160 * - as described at the top of the file.

161 */

162 static long prvCheckOtherTasksAreStillRunning( void );

163

164 /*

165 * The task that executes at the highest priority and calls

166 * prvCheckOtherTasksAreStillRunning(). See the description at the top

167 * of the file.

168 */

169 static void vErrorChecks( void *pvParameters );

170

171 /*

172 * Configure the processor for use with the Atmel demo board. This is very

173 * minimal as most of the setup is performed in the startup code.

174 */

175 static void prvSetupHardware( void );

176

177 /*

178 * The idle hook is just used to stream data to the USB port.

179 */

180 void vApplicationIdleHook( void );

181 /*-----------------------------------------------------------*/

182

183 /*

184 * Setup hardware then start all the demo application tasks.

185 */

186 int main( void )

187 {

188 /* Setup the ports. */

189 prvSetupHardware();

190

191 /* Setup the IO required for the LED's. */

192 vParTestInitialise();

193

194 /* Setup lwIP. */

195 vlwIPInit();

196

197 /* Create the lwIP task. This uses the lwIP RTOS abstraction layer.*/

198 sys_thread_new( vBasicWEBServer, ( void * ) NULL, mainWEBSERVER_PRIORITY );

199

200 /* Create the demo USB CDC task. */

201 xTaskCreate( vUSBCDCTask, "USB", mainUSB_TASK_STACK, NULL, mainUSB_PRIORITY, NULL );

202

203 /* Create the standard demo application tasks. */

204 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );

205 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );

206 vStartLEDFlashTasks( mainFLASH_PRIORITY );

207 vStartIntegerMathTasks( tskIDLE_PRIORITY );

208 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

209

210 /* Start the check task - which is defined in this file. */

211 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

212

213 /* Finally, start the scheduler.

214

215 NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.

216 The processor MUST be in supervisor mode when vTaskStartScheduler is

217 called. The demo applications included in the FreeRTOS.org download switch

218 to supervisor mode prior to main being called. If you are not using one of

219 these demo application projects then ensure Supervisor mode is used here. */

220 vTaskStartScheduler();

221

222 /* Should never get here! */

223 return 0;

224 }

225 /*-----------------------------------------------------------*/

226

227

228 static void prvSetupHardware( void )

229 {

230 /* When using the JTAG debugger the hardware is not always initialised to

231 the correct default state. This line just ensures that this does not

232 cause all interrupts to be masked at the start. */

233 AT91C_BASE_AIC->AIC_EOICR = 0;

234

235 /* Most setup is performed by the low level init function called from the

236 startup asm file.

237

238 Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as

239 well as the UART Tx line. */

240 AT91C_BASE_PIOB->PIO_PER = LED_MASK; // Set in PIO mode

241 AT91C_BASE_PIOB->PIO_OER = LED_MASK; // Configure in Output

242

243

244 /* Enable the peripheral clock. */

245 AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOA;

246 AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOB;

247 AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_EMAC;

248 }

249 /*-----------------------------------------------------------*/

250

251 static void vErrorChecks( void *pvParameters )

252 {

253 TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;

254 TickType_t xLastWakeTime;

255

256 /* The parameters are not used. */

257 ( void ) pvParameters;

258

259 /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()

260 functions correctly. */

261 xLastWakeTime = xTaskGetTickCount();

262

263 /* Cycle for ever, delaying then checking all the other tasks are still

264 operating without error. If an error is detected then the delay period

265 is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so

266 the Check LED flash rate will increase. */

267 for( ;; )

268 {

269 /* Delay until it is time to execute again. The delay period is

270 shorter following an error. */

271 vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );

272

273 /* Check all the standard demo application tasks are executing without

274 error. */

275 if( prvCheckOtherTasksAreStillRunning() != pdPASS )

276 {

277 /* An error has been detected in one of the tasks - flash faster. */

278 xDelayPeriod = mainERROR_FLASH_PERIOD;

279 }

280

281 vParTestToggleLED( mainCHECK_LED );

282 }

283 }

284 /*-----------------------------------------------------------*/

285

286 static long prvCheckOtherTasksAreStillRunning( void )

287 {

288 long lReturn = ( long ) pdPASS;

289

290 /* Check all the demo tasks (other than the flash tasks) to ensure

291 that they are all still running, and that none of them have detected

292 an error. */

293

294 if( xArePollingQueuesStillRunning() != pdTRUE )

295 {

296 lReturn = ( long ) pdFAIL;

297 }

298

299 if( xAreSemaphoreTasksStillRunning() != pdTRUE )

300 {

301 lReturn = ( long ) pdFAIL;

302 }

303

304 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )

305 {

306 lReturn = ( long ) pdFAIL;

307 }

308

309 if( xAreBlockingQueuesStillRunning() != pdTRUE )

310 {

311 lReturn = ( long ) pdFAIL;

312 }

313

314 return lReturn;

315 }

316 /*-----------------------------------------------------------*/

317

318 void vApplicationIdleHook( void )

319 {

320 static TickType_t xLastTx = 0;

321 char cTxByte;

322

323 /* The idle hook simply sends a string of characters to the USB port.

324 The characters will be buffered and sent once the port is connected. */

325 if( ( xTaskGetTickCount() - xLastTx ) > mainUSB_TX_FREQUENCY )

326 {

327 xLastTx = xTaskGetTickCount();

328 for( cTxByte = mainFIRST_TX_CHAR; cTxByte <= mainLAST_TX_CHAR; cTxByte++ )

329 {

330 vUSBSendByte( cTxByte );

331 }

332 }

333 }

334

335