main.c

FreeRTOS is a portable, open source, mini Real Time Kernel - a free to download and royalty free RTO

{
	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 ) );

	/* Create the uIP task if running on a processor that includes a MAC and
	PHY. */
	if( SysCtlPeripheralPresent( SYSCTL_PERIPH_ETH ) )
	{
		xTaskCreate( vuIP_Task, ( signed portCHAR * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );
	}

	/* Start the standard demo tasks. */
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
    vCreateBlockTimeTasks();
    vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
    vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
    vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
    vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
    vStartQueuePeekTasks();
    vStartRecursiveMutexTasks();
    vStartInterruptQueueTasks();

	/* Start the tasks defined within this file/specific to this demo. */
	xTaskCreate( vOLEDTask, ( signed portCHAR * ) "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 );

	/* 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( ;; );
	return 0;
}
/*-----------------------------------------------------------*/

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

void vApplicationTickHook( void )
{
static xOLEDMessage xMessage = { "PASS" };
static unsigned portLONG 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( xAreGenericQueueTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN GEN Q";
		}
		else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN PEEK Q";
		}
		else if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN BLOCK Q";
		}
		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( xIsCreateTaskStillRunning() != pdTRUE )
	    {
	        xMessage.pcMessage = "ERROR IN CREATE";
	    }
	    else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
	    {
	        xMessage.pcMessage = "ERROR IN MATH";
	    }
	    else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
	    {
	    	xMessage.pcMessage = "ERROR IN REC MUTEX";
	    }
		else if( ulIdleError != pdFALSE )
		{
			xMessage.pcMessage = "ERROR IN HOOK";
		}
		else if( xAreIntQueueTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN INT QUEUE";
		}
		

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

void vOLEDTask( void *pvParameters )
{
xOLEDMessage xMessage;
unsigned portLONG ulY, ulMaxY;
static portCHAR cMessage[ mainMAX_MSG_LEN ];
extern volatile unsigned portLONG ulMaxJitter;
unsigned portBASE_TYPE uxUnusedStackOnEntry, uxUnusedStackNow;
const unsigned portCHAR *pucImage;

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

	/* Just for demo purposes. */
	uxUnusedStackOnEntry = uxTaskGetStackHighWaterMark( 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 );
	}
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
{
	for( ;; );
}