main.c

最新的FreeRTOS源代码

/*
	FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.

	This file is part of the FreeRTOS.org distribution.

	FreeRTOS.org is free software; you can redistribute it and/or modify
	it under the terms of the GNU General Public License as published by
	the Free Software Foundation; either version 2 of the License, or
	(at your option) any later version.

	FreeRTOS.org is distributed in the hope that it will be useful,
	but WITHOUT ANY WARRANTY; without even the implied warranty of
	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
	GNU General Public License for more details.

	You should have received a copy of the GNU General Public License
	along with FreeRTOS.org; if not, write to the Free Software
	Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

	A special exception to the GPL can be applied should you wish to distribute
	a combined work that includes FreeRTOS.org, without being obliged to provide
	the source code for any proprietary components.  See the licensing section
	of http://www.FreeRTOS.org for full details of how and when the exception
	can be applied.

    ***************************************************************************
    ***************************************************************************
    *                                                                         *
    * SAVE TIME AND MONEY!  We can port FreeRTOS.org to your own hardware,    *
    * and even write all or part of your application on your behalf.          *
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    ***************************************************************************
    ***************************************************************************

	Please ensure to read the configuration and relevant port sections of the
	online documentation.

	http://www.FreeRTOS.org - Documentation, latest information, license and 
	contact details.

	http://www.SafeRTOS.com - A version that is certified for use in safety 
	critical systems.

	http://www.OpenRTOS.com - Commercial support, development, porting, 
	licensing and training services.
*/

/*
 * 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 LCD by the 'Check' task as described below.  The
 * fast interrupt is configured and handled in the timertest.c source file.
 *
 * "LCD" task - the LCD 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 LCD send the message on a queue to the LCD task instead of
 * accessing the LCD themselves.  The LCD task just blocks on the queue waiting
 * for messages - waking and displaying the messages as they arrive.  Messages
 * can either be a text string to display, or an instruction to update MEMS
 * input.  The MEMS input is used to display a ball that can be moved around
 * LCD by tilting the STM32 Primer.  45% is taken as the neutral position.
 *
 * "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.  Should any
 * unexpected behaviour within a demo task be discovered the 'check' task will
 * write an error to the LCD (via the LCD task).  If all the demo tasks are
 * executing with their expected behaviour then the check task writes PASS
 * along with the max jitter time to the LCD (again via the LCD task), as
 * described above.
 *
 * Tick Hook - A tick hook is provided just for demonstration purposes.  In 
 * this case it is used to periodically send an instruction to updated the
 * MEMS input to the LCD task.
 *
 */

/* CircleOS includes.  Some of the CircleOS peripheral functionality is 
utilised, although CircleOS itself is not used. */
#include "circle.h"

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

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

/* Demo app includes. */
#include "BlockQ.h"
#include "blocktim.h"
#include "GenQTest.h"
#include "partest.h"
#include "QPeek.h"

/* The bitmap used to display the FreeRTOS.org logo is stored in 16bit format
and therefore takes up a large proportion of the Flash space.  Setting this
parameter to 0 excludes the bitmap from the build, freeing up Flash space for
extra code. */
#define mainINCLUDE_BITMAP 					1

#if mainINCLUDE_BITMAP == 1
	#include "bitmap.h"
#endif

/* Task priorities. */
#define mainQUEUE_POLL_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY				( tskIDLE_PRIORITY + 3 )
#define mainBLOCK_Q_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainGEN_Q_PRIORITY					( tskIDLE_PRIORITY + 0 )
#define mainFLASH_TASK_PRIORITY				( tskIDLE_PRIORITY + 2 )

/* Splash screen related constants. */
#define mainBITMAP_Y 						( 38 )
#define mainBITMAP_X						( 18 )
#define mainURL_Y							( 8 )
#define mainURL_X							( 78 )
#define mainSPLASH_SCREEN_DELAY		( 2000 / portTICK_RATE_MS )

/* Text drawing related constants. */
#define mainLCD_CHAR_HEIGHT			( 13 )
#define mainLCD_MAX_Y				( 110 )

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

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

/* The LCD task calls some of the CircleOS functions (for MEMS and LCD access),
these can require a larger stack. */
#define configLCD_TASK_STACK_SIZE			( configMINIMAL_STACK_SIZE + 50 )

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

/* The time between cycles of the 'check' task. */
#define mainCHECK_DELAY						( ( portTickType ) 5000 / portTICK_RATE_MS )

/* The period at which the MEMS input should be updated. */
#define mainMEMS_DELAY						( ( portTickType ) 100 / portTICK_RATE_MS )

/* The rate at which the flash task toggles the LED. */
#define mainFLASH_DELAY						( ( portTickType ) 1000 / portTICK_RATE_MS )

/* The number of nano seconds between each processor clock. */
#define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )

/* The two types of message that can be sent to the LCD task. */
#define mainUPDATE_BALL_MESSAGE				( 0 )
#define mainWRITE_STRING_MESSAGE			( 1 )

/* Type of the message sent to the LCD task. */
typedef struct
{
	portBASE_TYPE xMessageType;
	signed char *pcMessage;
} xLCDMessage;

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

/*
 * Configure the clocks, GPIO and other peripherals as required by the demo.
 */
static void prvSetupHardware( void );

/*
 * The LCD 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 LCD directly.  Other tasks wanting to display a message send
 * the message to the gatekeeper.
 */
static void prvLCDTask( void *pvParameters );

/*
 * Checks the status of all the demo tasks then prints a message to the
 * display.  The message will be either PASS - and include in brackets the
 * maximum measured jitter time (as described at the to of the file), or a
 * message that describes which of the standard demo tasks an error has been
 * discovered in.
 *
 * Messages are not written directly to the terminal, but passed to prvLCDTask
 * via a queue.
 *
 * The check task also receives instructions to update the MEMS input, which
 * in turn can also lead to the LCD being updated.
 */
static void prvCheckTask( void *pvParameters );

/*
 * Configures the timers and interrupts for the fast interrupt test as
 * described at the top of this file.
 */
extern void vSetupTimerTest( void );

/*
 * A cut down version of sprintf() used to percent the HUGE GCC library
 * equivalent from being included in the binary image. 
 */
extern int sprintf(char *out, const char *format, ...);

/*
 * Simple toggle the LED periodically for timing verification.
 */
static void prvFlashTask( void *pvParameters );

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

/* The queue used to send messages to the LCD task. */
xQueueHandle xLCDQueue;

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

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

	prvSetupHardware();

	/* Create the queue used by the LCD task.  Messages for display on the LCD
	are received via this queue. */
	xLCDQueue = xQueueCreate( mainLCD_QUEUE_SIZE, sizeof( xLCDMessage ) );
	
	/* Start the standard demo tasks. */
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
    vCreateBlockTimeTasks();