path: root/FreeRTOS/Demo/CORTEX_LM3Sxxxx_IAR_Keil/main.c

/*
 * FreeRTOS Kernel V10.3.0
 * Copyright (C) 2020 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!
 */


/*
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
 * documentation provides more details of the standard demo application tasks.
 * In addition to the standard demo tasks, the following tasks and tests are
 * defined and/or created within this file:
 *
 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
 * using a free running timer to demonstrate the use of the
 * configKERNEL_INTERRUPT_PRIORITY configuration constant.  The interrupt
 * service routine measures the number of processor clocks that occur between
 * each interrupt - and in so doing measures the jitter in the interrupt timing.
 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
 * displayed on the OLED display by the 'OLED' task as described below.  The
 * fast interrupt is configured and handled in the timertest.c source file.
 *
 * "OLED" task - the OLED task is a 'gatekeeper' task.  It is the only task that
 * is permitted to access the display directly.  Other tasks wishing to write a
 * message to the OLED send the message on a queue to the OLED task instead of
 * accessing the OLED themselves.  The OLED task just blocks on the queue waiting
 * for messages - waking and displaying the messages as they arrive.
 *
 * "Check" hook -  This only executes every five seconds from the tick hook.
 * Its main function is to check that all the standard demo tasks are still
 * operational.  Should any unexpected behaviour within a demo task be discovered
 * the tick hook will write an error to the OLED (via the OLED task).  If all the
 * demo tasks are executing with their expected behaviour then the check task
 * writes PASS to the OLED (again via the OLED task), as described above.
 *
 * "uIP" task -  This is the task that handles the uIP stack.  All TCP/IP
 * processing is performed in this task.
 *
 * Use the following command to execute in QEMU from the IAR IDE:
 * qemu-system-arm -machine lm3s6965evb -s -S -kernel [pat_to]\RTOSDemo.out
 * and set IAR connect GDB server to "localhost,1234" in project debug options.
 */

/*************************************************************************
 * Please ensure to read http://www.freertos.org/portlm3sx965.html
 * which provides information on configuring and running this demo for the
 * various Luminary Micro EKs.
 *************************************************************************/

/* Set the following option to 1 to include the WEB server in the build.  By
default the WEB server is excluded to keep the compiled code size under the 32K
limit imposed by the KickStart version of the IAR compiler.  The graphics
libraries take up a lot of ROM space, hence including the graphics libraries
and the TCP/IP stack together cannot be accommodated with the 32K size limit. */
#define mainINCLUDE_WEB_SERVER		0


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

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

/* Hardware library includes. */
#include "hw_memmap.h"
#include "hw_types.h"
#include "hw_sysctl.h"
#include "hw_uart.h"
#include "sysctl.h"
#include "gpio.h"
#include "grlib.h"
#include "rit128x96x4.h"
#include "osram128x64x4.h"
#include "formike128x128x16.h"
#include "uart.h"

/* Demo app includes. */
#include "death.h"
#include "blocktim.h"
#include "flash.h"
#include "partest.h"
#include "semtest.h"
#include "PollQ.h"
#include "lcd_message.h"
#include "bitmap.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"
#include "IntQueue.h"
#include "QueueSet.h"
#include "EventGroupsDemo.h"
#include "MessageBufferDemo.h"
#include "StreamBufferDemo.h"

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

/* The time between cycles of the 'check' functionality (defined within the
tick hook. */
#define mainCHECK_DELAY						( ( TickType_t ) 5000 / portTICK_PERIOD_MS )

/* Size of the stack allocated to the uIP task. */
#define mainBASIC_WEB_STACK_SIZE            ( configMINIMAL_STACK_SIZE * 3 )

/* The OLED task uses the sprintf function so requires a little more stack too. */
#define mainOLED_TASK_STACK_SIZE			( configMINIMAL_STACK_SIZE + 50 )

/* Task priorities. */
#define mainQUEUE_POLL_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY				( tskIDLE_PRIORITY + 3 )
#define mainSEM_TEST_PRIORITY				( tskIDLE_PRIORITY + 1 )
#define mainCREATOR_TASK_PRIORITY           ( tskIDLE_PRIORITY + 3 )
#define mainGEN_QUEUE_TASK_PRIORITY			( tskIDLE_PRIORITY )

/* The maximum number of message that can be waiting for display at any one
time. */
#define mainOLED_QUEUE_SIZE					( 3 )

/* Dimensions the buffer into which the jitter time is written. */
#define mainMAX_MSG_LEN						25

/* The period of the system clock in nano seconds.  This is used to calculate
the jitter time in nano seconds. */
#define mainNS_PER_CLOCK					( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )

/* Constants used when writing strings to the display. */
#define mainCHARACTER_HEIGHT				( 9 )
#define mainMAX_ROWS_128					( mainCHARACTER_HEIGHT * 14 )
#define mainMAX_ROWS_96						( mainCHARACTER_HEIGHT * 10 )
#define mainMAX_ROWS_64						( mainCHARACTER_HEIGHT * 7 )
#define mainFULL_SCALE						( 15 )
#define ulSSI_FREQUENCY						( 3500000UL )

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

/*
 * The task that handles the uIP stack.  All TCP/IP processing is performed in
 * this task.
 */
extern void vuIP_Task( void *pvParameters );

/*
 * The display is written two by more than one task so is controlled by a
 * 'gatekeeper' task.  This is the only task that is actually permitted to
 * access the display directly.  Other tasks wanting to display a message send
 * the message to the gatekeeper.
 */
static void vOLEDTask( void *pvParameters );

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

/*
 * Configures the high frequency timers - those used to measure the timing
 * jitter while the real time kernel is executing.
 */
extern void vSetupHighFrequencyTimer( void );

/*
 * Hook functions that can get called by the kernel.
 */
void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *pcTaskName );
void vApplicationTickHook( void );

static void prvPrintString( const char * pcString );

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

/* The queue used to send messages to the OLED task. */
QueueHandle_t xOLEDQueue;

/* The welcome text. */
const char * const pcWelcomeMessage = "   www.FreeRTOS.org";

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


/*************************************************************************
 * Please ensure to read http://www.freertos.org/portlm3sx965.html
 * which provides information on configuring and running this demo for the
 * various Luminary Micro EKs.
 *************************************************************************/
int main( void )
{
	prvSetupHardware();

	/* Create the queue used by the OLED task.  Messages for display on the OLED
	are received via this queue. */
	xOLEDQueue = xQueueCreate( mainOLED_QUEUE_SIZE, sizeof( xOLEDMessage ) );

	/* Start the standard demo tasks. */
	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
	vStartInterruptQueueTasks();
	vStartRecursiveMutexTasks();
	vCreateBlockTimeTasks();
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartQueuePeekTasks();
	vStartQueueSetTasks();
	vStartEventGroupTasks();
	vStartMessageBufferTasks( configMINIMAL_STACK_SIZE );
	vStartStreamBufferTasks();

	/* Exclude some tasks if using the kickstart version to ensure we stay within
	the 32K code size limit. */
	#if mainINCLUDE_WEB_SERVER != 0
	{
		/* Create the uIP task if running on a processor that includes a MAC and
		PHY. */
		if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) )
		{
			xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
		}
	}
	#endif

	/* Start the tasks defined within this file/specific to this demo. */
	xTaskCreate( vOLEDTask, "OLED", mainOLED_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );

	/* The suicide tasks must be created last as they need to know how many
	tasks were running prior to their creation in order to ascertain whether
	or not the correct/expected number of tasks are running at any given time. */
	vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );

	/* Uncomment the following line to configure the high frequency interrupt
	used to measure the interrupt jitter time.
	vSetupHighFrequencyTimer(); */

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

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

void prvSetupHardware( void )
{
    /* If running on Rev A2 silicon, turn the LDO voltage up to 2.75V.  This is
    a workaround to allow the PLL to operate reliably. */
    if( DEVICE_IS_REVA2 )
    {
        SysCtlLDOSet( SYSCTL_LDO_2_75V );
    }

	/* Set the clocking to run from the PLL at 50 MHz */
	SysCtlClockSet( SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ );

	/* 	Enable Port F for Ethernet LEDs
		LED0        Bit 3   Output
		LED1        Bit 2   Output */
	SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOF );
	GPIODirModeSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3), GPIO_DIR_MODE_HW );
	GPIOPadConfigSet( GPIO_PORTF_BASE, (GPIO_PIN_2 | GPIO_PIN_3 ), GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD );

	vParTestInitialise();

	/* Initialise the UART - QEMU usage does not seem to require this
	initialisation. */
	SysCtlPeripheralEnable( SYSCTL_PERIPH_UART0 );
	UARTEnable( UART0_BASE );
}
/*-----------------------------------------------------------*/

void vApplicationTickHook( void )
{
static xOLEDMessage xMessage = { "PASS" };
static unsigned long ulTicksSinceLastDisplay = 0;
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

	/* Called from every tick interrupt.  Have enough ticks passed to make it
	time to perform our health status check again? */
	ulTicksSinceLastDisplay++;
	if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
	{
		ulTicksSinceLastDisplay = 0;

		/* Has an error been found in any task? */
		if( xAreStreamBufferTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN STRM";
		}
		else if( xAreMessageBufferTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN MSG";
		}
		if( xAreGenericQueueTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN GEN Q";
		}
	    else if( xIsCreateTaskStillRunning() != pdTRUE )
	    {
	        xMessage.pcMessage = "ERROR IN CREATE";
	    }
		else if( xAreIntQueueTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN INT QUEUE";
		}
		else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN BLOCK TIME";
		}
		else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN SEMAPHORE";
		}
		else if( xArePollingQueuesStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN POLL Q";
		}
		else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN PEEK Q";
		}
		else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN REC MUTEX";
		}
		else if( xAreQueueSetTasksStillRunning() != pdPASS )
		{
			xMessage.pcMessage = "ERROR IN Q SET";
		}
		else if( xAreEventGroupTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN EVNT GRP";
		}

		/* Send the message to the OLED gatekeeper for display. */
		xHigherPriorityTaskWoken = pdFALSE;
		xQueueSendFromISR( xOLEDQueue, &xMessage, &xHigherPriorityTaskWoken );
	}

	/* Write to a queue that is in use as part of the queue set demo to
	demonstrate using queue sets from an ISR. */
	vQueueSetAccessQueueSetFromISR();

	/* Call the event group ISR tests. */
	vPeriodicEventGroupsProcessing();
}
/*-----------------------------------------------------------*/

static void prvPrintString( const char * pcString )
{
	while( *pcString != 0x00 )
	{
		UARTCharPut( UART0_BASE, *pcString );
		pcString++;
	}
}
/*-----------------------------------------------------------*/

void vOLEDTask( void *pvParameters )
{
xOLEDMessage xMessage;
unsigned long ulY, ulMaxY;
static char cMessage[ mainMAX_MSG_LEN ];
extern volatile unsigned long ulMaxJitter;
const unsigned char *pucImage;

/* Functions to access the OLED.  The one used depends on the dev kit
being used. */
void ( *vOLEDInit )( unsigned long ) = NULL;
void ( *vOLEDStringDraw )( const char *, unsigned long, unsigned long, unsigned char ) = NULL;
void ( *vOLEDImageDraw )( const unsigned char *, unsigned long, unsigned long, unsigned long, unsigned long ) = NULL;
void ( *vOLEDClear )( void ) = NULL;

	/* Map the OLED access functions to the driver functions that are appropriate
	for the evaluation kit being used. */
	switch( HWREG( SYSCTL_DID1 ) & SYSCTL_DID1_PRTNO_MASK )
	{
		case SYSCTL_DID1_PRTNO_6965	:
		case SYSCTL_DID1_PRTNO_2965	:	vOLEDInit = OSRAM128x64x4Init;
										vOLEDStringDraw = OSRAM128x64x4StringDraw;
										vOLEDImageDraw = OSRAM128x64x4ImageDraw;
										vOLEDClear = OSRAM128x64x4Clear;
										ulMaxY = mainMAX_ROWS_64;
										pucImage = pucBasicBitmap;
										break;

		case SYSCTL_DID1_PRTNO_1968	:
		case SYSCTL_DID1_PRTNO_8962 :	vOLEDInit = RIT128x96x4Init;
										vOLEDStringDraw = RIT128x96x4StringDraw;
										vOLEDImageDraw = RIT128x96x4ImageDraw;
										vOLEDClear = RIT128x96x4Clear;
										ulMaxY = mainMAX_ROWS_96;
										pucImage = pucBasicBitmap;
										break;

		default						:	vOLEDInit = vFormike128x128x16Init;
										vOLEDStringDraw = vFormike128x128x16StringDraw;
										vOLEDImageDraw = vFormike128x128x16ImageDraw;
										vOLEDClear = vFormike128x128x16Clear;
										ulMaxY = mainMAX_ROWS_128;
										pucImage = pucGrLibBitmap;
										break;

	}

	ulY = ulMaxY;

	/* Initialise the OLED and display a startup message. */
	vOLEDInit( ulSSI_FREQUENCY );
	vOLEDStringDraw( "POWERED BY FreeRTOS", 0, 0, mainFULL_SCALE );
	vOLEDImageDraw( pucImage, 0, mainCHARACTER_HEIGHT + 1, bmpBITMAP_WIDTH, bmpBITMAP_HEIGHT );

	for( ;; )
	{
		/* Wait for a message to arrive that requires displaying. */
		xQueueReceive( xOLEDQueue, &xMessage, portMAX_DELAY );

		/* Write the message on the next available row. */
		ulY += mainCHARACTER_HEIGHT;
		if( ulY >= ulMaxY )
		{
			ulY = mainCHARACTER_HEIGHT;
			vOLEDClear();
			vOLEDStringDraw( pcWelcomeMessage, 0, 0, mainFULL_SCALE );
		}

		/* Display the message along with the maximum jitter time from the
		high priority time test. */
		sprintf( cMessage, "%s [%uns]", xMessage.pcMessage, ulMaxJitter * mainNS_PER_CLOCK );
		vOLEDStringDraw( cMessage, 0, ulY, mainFULL_SCALE );
		prvPrintString( cMessage );
	}
}
/*-----------------------------------------------------------*/

volatile signed char *pcOverflowedTask = NULL;
void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *pcTaskName )
{
	( void ) pxTask;
	pcOverflowedTask = pcTaskName;

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

void vAssertCalled( const char *pcFile, unsigned long ulLine )
{
volatile unsigned long ulSetTo1InDebuggerToExit = 0;

	taskENTER_CRITICAL();
	{
		while( ulSetTo1InDebuggerToExit == 0 )
		{
			/* Nothing to do here.  Set the loop variable to a non zero value in
			the debugger to step out of this function to the point that caused
			the assertion. */
			( void ) pcFile;
			( void ) ulLine;
		}
	}
	taskEXIT_CRITICAL();
}

/* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
used by the Idle task. */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
{
/* If the buffers to be provided to the Idle task are declared inside this
function then they must be declared static - otherwise they will be allocated on
the stack and so not exists after this function exits. */
static StaticTask_t xIdleTaskTCB;
static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];

	/* Pass out a pointer to the StaticTask_t structure in which the Idle task's
	state will be stored. */
	*ppxIdleTaskTCBBuffer = &xIdleTaskTCB;

	/* Pass out the array that will be used as the Idle task's stack. */
	*ppxIdleTaskStackBuffer = uxIdleTaskStack;

	/* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
	Note that, as the array is necessarily of type StackType_t,
	configMINIMAL_STACK_SIZE is specified in words, not bytes. */
	*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
}
/*-----------------------------------------------------------*/

/* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
application must provide an implementation of vApplicationGetTimerTaskMemory()
to provide the memory that is used by the Timer service task. */
void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize )
{
/* If the buffers to be provided to the Timer task are declared inside this
function then they must be declared static - otherwise they will be allocated on
the stack and so not exists after this function exits. */
static StaticTask_t xTimerTaskTCB;
static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];

	/* Pass out a pointer to the StaticTask_t structure in which the Timer
	task's state will be stored. */
	*ppxTimerTaskTCBBuffer = &xTimerTaskTCB;

	/* Pass out the array that will be used as the Timer task's stack. */
	*ppxTimerTaskStackBuffer = uxTimerTaskStack;

	/* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
	Note that, as the array is necessarily of type StackType_t,
	configMINIMAL_STACK_SIZE is specified in words, not bytes. */
	*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
}