main.c

最新的FreeRTOS源代码

	vStartGenericQueueTasks( mainGEN_Q_PRIORITY );
	vStartQueuePeekTasks();
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );

	/* Start the tasks defined within this file/specific to this demo. */
    xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", mainCHECK_TASK_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );	
	xTaskCreate( prvLCDTask, ( signed portCHAR * ) "LCD", configLCD_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
	xTaskCreate( prvFlashTask, ( signed portCHAR * ) "Flash", configMINIMAL_STACK_SIZE, NULL, mainFLASH_TASK_PRIORITY, NULL );

	/* Configure the timers used by the fast interrupt timer test. */
	vSetupTimerTest();
	
	/* Start the scheduler. */
	vTaskStartScheduler();
	
	/* Will only get here if there was not enough heap space to create the
	idle task. */
	return 0;
}
/*-----------------------------------------------------------*/

void prvLCDTask( void *pvParameters )
{
xLCDMessage xMessage;
portCHAR cY = mainLCD_CHAR_HEIGHT;
const portCHAR * const pcString = "www.FreeRTOS.org";
const portCHAR * const pcBlankLine = "                  ";

	DRAW_Init();

	#if mainINCLUDE_BITMAP == 1
		DRAW_SetImage( pucImage, mainBITMAP_Y, mainBITMAP_X, bmpBITMAP_HEIGHT, bmpBITMAP_WIDTH );
	#endif

	LCD_SetScreenOrientation( V9 );
	DRAW_DisplayString( mainURL_Y, mainURL_X, pcString, strlen( pcString ) );
	vTaskDelay( mainSPLASH_SCREEN_DELAY );
	LCD_FillRect( 0, 0, CHIP_SCREEN_WIDTH, CHIP_SCREEN_HEIGHT, RGB_WHITE );

	for( ;; )
	{
		/* Wait for a message to arrive that requires displaying. */
		while( xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY ) != pdPASS );

		/* Check the message type. */
		if( xMessage.xMessageType == mainUPDATE_BALL_MESSAGE )
		{
			/* Read the MEMS and update the ball display on the LCD if required. */
			MEMS_Handler();
			POINTER_Handler();
		}
		else
		{
			/* A text string was sent.  First blank off the old text string, then
			draw the new text on the next line down. */
			DRAW_DisplayString( 0, cY, pcBlankLine, strlen( pcBlankLine ) );

			cY -= mainLCD_CHAR_HEIGHT;
			if( cY <= ( mainLCD_CHAR_HEIGHT - 1 ) )
			{			
				/* Wrap the line onto which we are going to write the text. */
				cY = mainLCD_MAX_Y;
			}
			
			/* Display the message. */
			DRAW_DisplayString( 0, cY, xMessage.pcMessage, strlen( xMessage.pcMessage ) );
		}
	}
}
/*-----------------------------------------------------------*/

static void prvCheckTask( void *pvParameters )
{
portTickType xLastExecutionTime;
xLCDMessage xMessage;
static signed portCHAR cPassMessage[ mainMAX_MSG_LEN ];
extern unsigned portSHORT usMaxJitter;

	/* Initialise the xLastExecutionTime variable on task entry. */
	xLastExecutionTime = xTaskGetTickCount();

	/* Setup the message we are going to send to the LCD task. */
	xMessage.xMessageType = mainWRITE_STRING_MESSAGE;
	xMessage.pcMessage = cPassMessage;
	
    for( ;; )
	{
		/* Perform this check every mainCHECK_DELAY milliseconds. */
		vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );

		/* Has an error been found in any task?   If so then point the text
		we are going to send to the LCD task to an error message instead of
		the PASS message. */
		if( xAreGenericQueueTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN GEN Q";
		}
        if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN BLOCK Q";
		}
		else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN BLOCK TIME";
		}
        else if( xArePollingQueuesStillRunning() != pdTRUE )
        {
            xMessage.pcMessage = "ERROR IN POLL Q";
        }
		else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN PEEK Q";
		}
		else
		{
			/* No errors were found in any task, so send a pass message
			with the max measured jitter time also included (as per the
			fast interrupt test described at the top of this file and on
			the online documentation page for this demo application). */
			sprintf( ( portCHAR * ) cPassMessage, "PASS [%uns]", ( ( unsigned portLONG ) usMaxJitter ) * mainNS_PER_CLOCK );
		}

		/* Send the message to the LCD gatekeeper for display. */
		xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
	}
}
/*-----------------------------------------------------------*/

void vApplicationTickHook( void )
{
static unsigned portLONG ulCallCount;
static const xLCDMessage xMemsMessage = { mainUPDATE_BALL_MESSAGE, NULL };
static portBASE_TYPE xHigherPriorityTaskWoken;

	/* Periodically send a message to the LCD task telling it to update
	the MEMS input, and then if necessary the LCD. */
	ulCallCount++;
	if( ulCallCount >= mainMEMS_DELAY )
	{
		ulCallCount = 0;
		xHigherPriorityTaskWoken = pdFALSE;
		xQueueSendFromISR( xLCDQueue, &xMemsMessage, &xHigherPriorityTaskWoken );
	}
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
	/* Start with the clocks in their expected state. */
	RCC_DeInit();

	/* Enable HSE (high speed external clock). */
	RCC_HSEConfig( RCC_HSE_ON );

	/* Wait till HSE is ready. */
	while( RCC_GetFlagStatus( RCC_FLAG_HSERDY ) == RESET )
	{
	}

	/* 2 wait states required on the flash. */
	*( ( unsigned portLONG * ) 0x40022000 ) = 0x02;

	/* HCLK = SYSCLK */
	RCC_HCLKConfig( RCC_SYSCLK_Div1 );

	/* PCLK2 = HCLK */
	RCC_PCLK2Config( RCC_HCLK_Div1 );

	/* PCLK1 = HCLK/2 */
	RCC_PCLK1Config( RCC_HCLK_Div2 );

	/* PLLCLK = 12MHz * 6 = 72 MHz. */
	RCC_PLLConfig( RCC_PLLSource_HSE_Div1, RCC_PLLMul_6 );

	/* Enable PLL. */
	RCC_PLLCmd( ENABLE );

	/* Wait till PLL is ready. */
	while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
	{
	}

	/* Select PLL as system clock source. */
	RCC_SYSCLKConfig( RCC_SYSCLKSource_PLLCLK );

	/* Wait till PLL is used as system clock source. */
	while( RCC_GetSYSCLKSource() != 0x08 )
	{
	}

	/* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
	RCC_APB2PeriphClockCmd(	RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
							| RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );

	/* SPI2 Periph clock enable */
	RCC_APB1PeriphClockCmd( RCC_APB1Periph_SPI2, ENABLE );


	/* Set the Vector Table base address at 0x08000000 */
	NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );

	NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
	
	/* Configure HCLK clock as SysTick clock source. */
	SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
	
	/* Misc initialisation, including some of the CircleOS features.  Note
	that CircleOS itself is not used. */
	vParTestInitialise();
	MEMS_Init();
	POINTER_Init();
	POINTER_SetMode( POINTER_RESTORE_LESS );
}
/*-----------------------------------------------------------*/

static void prvFlashTask( void *pvParameters )
{
portTickType xLastExecutionTime;

	/* Initialise the xLastExecutionTime variable on task entry. */
	xLastExecutionTime = xTaskGetTickCount();

    for( ;; )
	{
		/* Simple toggle the LED periodically.  This just provides some timing
		verification. */
		vTaskDelayUntil( &xLastExecutionTime, mainFLASH_DELAY );
		vParTestToggleLED( 0 );
	}
}
/*-----------------------------------------------------------*/

void starting_delay( unsigned long ul )
{
	vTaskDelay( ( portTickType ) ul );
}