GCC demo for the LM3S811 eval board from Luminary Micro.

git-svn-id: https://freertos.svn.sourceforge.net/svnroot/freertos/trunk@63 1d2547de-c912-0410-9cb9-b8ca96c0e9e2

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+/*

+	FreeRTOS.org V4.1.3 - Copyright (C) 2003-2006 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.

+

+	***************************************************************************

+	See http://www.FreeRTOS.org for documentation, latest information, license

+	and contact details.  Please ensure to read the configuration and relevant

+	port sections of the online documentation.

+	***************************************************************************

+*/

+

+

+/*

+ * This project contains an application demonstrating the use of the

+ * FreeRTOS.org mini real time scheduler on the Luminary Micro LM3S811 Eval

+ * board.  See http://www.FreeRTOS.org for more information.

+ *

+ * main() simply sets up the hardware, creates all the demo application tasks,

+ * then starts the scheduler.  http://www.freertos.org/a00102.html provides

+ * more information on the standard demo tasks.

+ *

+ * In addition to a subset of the standard demo application tasks, main.c also

+ * defines the following tasks:

+ *

+ * + A 'Print' task.  The print task is the only task permitted to access the

+ * LCD - thus ensuring mutual exclusion and consistent access to the resource.

+ * Other tasks do not access the LCD directly, but instead send the text they

+ * wish to display to the print task.  The print task spends most of its time

+ * blocked - only waking when a message is queued for display.

+ *

+ * + A 'Button handler' task.  The eval board contains a user push button that

+ * is configured to generate interrupts.  The interrupt handler uses a

+ * semaphore to wake the button handler task - demonstrating how the priority

+ * mechanism can be used to defer interrupt processing to the task level.  The

+ * button handler task sends a message both to the LCD (via the print task) and

+ * the UART where it can be viewed using a dumb terminal (via the UART to USB

+ * converter on the eval board).  NOTES:  The dumb terminal must be closed in

+ * order to reflash the microcontroller.  A very basic interrupt driven UART

+ * driver is used that does not use the FIFO.  19200 baud is used.

+ *

+ * + A 'check' task.  The check task only executes every five seconds but has a

+ * high priority so is guaranteed to get processor time.  Its function is to

+ * check that all the other tasks are still operational and that no errors have

+ * been detected at any time.  If no errors have every been detected 'PASS' is

+ * written to the display (via the print task) - if an error has ever been

+ * detected the message is changed to 'FAIL'.  The position of the message is

+ * changed for each write.

+ */

+

+

+

+/* Environment includes. */

+#include "DriverLib.h"

+

+/* Scheduler includes. */

+#include "FreeRTOS.h"

+#include "task.h"

+#include "queue.h"

+#include "semphr.h"

+

+/* Demo app includes. */

+#include "integer.h"

+#include "PollQ.h"

+#include "semtest.h"

+#include "BlockQ.h"

+

+/* Delay between cycles of the 'check' task. */

+#define mainCHECK_DELAY						( ( portTickType ) 5000 / portTICK_RATE_MS )

+

+/* UART configuration - note this does not use the FIFO so is not very

+efficient. */

+#define mainBAUD_RATE				( 19200 )

+#define mainFIFO_SET				( 0x10 )

+

+/* Demo task priorities. */

+#define mainQUEUE_POLL_PRIORITY		( tskIDLE_PRIORITY + 2 )

+#define mainCHECK_TASK_PRIORITY		( tskIDLE_PRIORITY + 3 )

+#define mainSEM_TEST_PRIORITY		( tskIDLE_PRIORITY + 1 )

+#define mainBLOCK_Q_PRIORITY		( tskIDLE_PRIORITY + 2 )

+

+/* Demo board specifics. */

+#define mainPUSH_BUTTON             GPIO_PIN_4

+

+/* Misc. */

+#define mainQUEUE_SIZE				( 3 )

+#define mainDEBOUNCE_DELAY			( ( portTickType ) 150 / portTICK_RATE_MS )

+#define mainNO_DELAY				( ( portTickType ) 0 )

+/*

+ * Configure the processor and peripherals for this demo.

+ */

+static void prvSetupHardware( void );

+

+/*

+ * The 'check' task, as described at the top of this file.

+ */

+static void vCheckTask( void *pvParameters );

+

+/*

+ * The task that is woken by the ISR that processes GPIO interrupts originating

+ * from the push button.

+ */

+static void vButtonHandlerTask( void *pvParameters );

+

+/*

+ * The task that controls access to the LCD.

+ */

+static void vPrintTask( void *pvParameter );

+

+/* String that is transmitted on the UART. */

+static portCHAR *cMessage = "Task woken by button interrupt! --- ";

+static volatile portCHAR *pcNextChar;

+

+/* The semaphore used to wake the button handler task from within the GPIO

+interrupt handler. */

+xSemaphoreHandle xButtonSemaphore;

+

+/* The queue used to send strings to the print task for display on the LCD. */

+xQueueHandle xPrintQueue;

+

+/*-----------------------------------------------------------*/

+

+int main( void )

+{

+	/* Configure the clocks, UART and GPIO. */

+	prvSetupHardware();

+

+	/* Create the semaphore used to wake the button handler task from the GPIO

+	ISR. */

+	vSemaphoreCreateBinary( xButtonSemaphore );

+	xSemaphoreTake( xButtonSemaphore, 0 );

+

+	/* Create the queue used to pass message to vPrintTask. */

+	xPrintQueue = xQueueCreate( mainQUEUE_SIZE, sizeof( portCHAR * ) );

+

+	/* Start the standard demo tasks. */

+	vStartIntegerMathTasks( tskIDLE_PRIORITY );

+	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );

+	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );

+	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

+

+	/* Start the tasks defined within the file. */

+	xTaskCreate( vCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

+	xTaskCreate( vButtonHandlerTask, "Status", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY + 1, NULL );

+	xTaskCreate( vPrintTask, "Print", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );

+

+	/* Start the scheduler. */

+	vTaskStartScheduler();

+

+	/* Will only get here if there was insufficient heap to start the

+	scheduler. */

+

+	return 0;

+}

+/*-----------------------------------------------------------*/

+

+static void vCheckTask( void *pvParameters )

+{

+portBASE_TYPE xErrorOccurred = pdFALSE;

+portTickType xLastExecutionTime;

+const portCHAR *pcPassMessage = "PASS";

+const portCHAR *pcFailMessage = "FAIL";

+

+	/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()

+	works correctly. */

+	xLastExecutionTime = xTaskGetTickCount();

+

+	for( ;; )

+	{

+		/* Perform this check every mainCHECK_DELAY milliseconds. */

+		vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );

+

+		/* Has an error been found in any task? */

+

+		if( xAreIntegerMathsTaskStillRunning() != pdTRUE )

+		{

+			xErrorOccurred = pdTRUE;

+		}

+	

+		if( xArePollingQueuesStillRunning() != pdTRUE )

+		{

+			xErrorOccurred = pdTRUE;

+		}

+	

+		if( xAreSemaphoreTasksStillRunning() != pdTRUE )

+		{

+			xErrorOccurred = pdTRUE;

+		}

+

+		if( xAreBlockingQueuesStillRunning() != pdTRUE )

+		{

+			xErrorOccurred = pdTRUE;

+		}

+

+		/* Send either a pass or fail message.  If an error is found it is

+		never cleared again.  We do not write directly to the LCD, but instead

+		queue a message for display by the print task. */

+		if( xErrorOccurred == pdTRUE )

+		{

+			xQueueSend( xPrintQueue, &pcFailMessage, portMAX_DELAY );

+		}

+		else

+		{

+			xQueueSend( xPrintQueue, &pcPassMessage, portMAX_DELAY );

+		}

+	}

+}

+/*-----------------------------------------------------------*/

+

+static void prvSetupHardware( void )

+{

+	/* Setup the PLL. */

+	SysCtlClockSet( SYSCTL_SYSDIV_10 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_6MHZ );

+

+	/* Setup the push button. */

+	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);

+    GPIODirModeSet(GPIO_PORTC_BASE, mainPUSH_BUTTON, GPIO_DIR_MODE_IN);

+	GPIOIntTypeSet( GPIO_PORTC_BASE, mainPUSH_BUTTON,GPIO_FALLING_EDGE );

+	GPIOPinIntEnable( GPIO_PORTC_BASE, mainPUSH_BUTTON );

+	IntEnable( INT_GPIOC );

+

+

+

+	/* Enable the UART.  */

+	SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);

+	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);

+

+	/* Set GPIO A0 and A1 as peripheral function.  They are used to output the

+	UART signals. */

+	GPIODirModeSet( GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1, GPIO_DIR_MODE_HW );

+

+	/* Configure the UART for 8-N-1 operation. */

+	UARTConfigSet( UART0_BASE, mainBAUD_RATE, UART_CONFIG_WLEN_8 | UART_CONFIG_PAR_NONE | UART_CONFIG_STOP_ONE );

+

+	/* We don't want to use the fifo.  This is for test purposes to generate

+	as many interrupts as possible. */

+	HWREG( UART0_BASE + UART_O_LCR_H ) &= ~mainFIFO_SET;

+

+	/* Enable Tx interrupts. */

+	HWREG( UART0_BASE + UART_O_IM ) |= UART_INT_TX;

+	IntEnable( INT_UART0 );

+

+

+	/* Initialise the LCD> */

+    OSRAMInit( false );

+    OSRAMStringDraw("www.FreeRTOS.org", 0, 0);

+	OSRAMStringDraw("LM3S811 demo", 16, 1);

+}

+/*-----------------------------------------------------------*/

+

+static void vButtonHandlerTask( void *pvParameters )

+{

+const portCHAR *pcInterruptMessage = "Int";

+

+	for( ;; )

+	{

+		/* Wait for a GPIO interrupt to wake this task. */

+		while( xSemaphoreTake( xButtonSemaphore, portMAX_DELAY ) != pdPASS );

+

+		/* Start the Tx of the message on the UART. */

+		UARTIntDisable( UART0_BASE, UART_INT_TX );

+		{

+			pcNextChar = cMessage;

+

+			/* Send the first character. */

+			if( !( HWREG( UART0_BASE + UART_O_FR ) & UART_FR_TXFF ) )

+			{

+				HWREG( UART0_BASE + UART_O_DR ) = *pcNextChar;

+			}

+

+			pcNextChar++;

+		}

+		UARTIntEnable(UART0_BASE, UART_INT_TX);

+

+		/* Queue a message for the print task to display on the LCD. */

+		xQueueSend( xPrintQueue, &pcInterruptMessage, portMAX_DELAY );

+

+		/* Make sure we don't process bounces. */

+		vTaskDelay( mainDEBOUNCE_DELAY );

+		xSemaphoreTake( xButtonSemaphore, mainNO_DELAY );

+	}

+}

+

+/*-----------------------------------------------------------*/

+

+void vUART_ISR(void)

+{

+unsigned portLONG ulStatus;

+

+	/* What caused the interrupt. */

+	ulStatus = UARTIntStatus( UART0_BASE, pdTRUE );

+

+	/* Clear the interrupt. */

+	UARTIntClear( UART0_BASE, ulStatus );

+

+	/* Was a Tx interrupt pending? */

+	if( ulStatus & UART_INT_TX )

+	{

+		/* Send the next character in the string.  We are not using the FIFO. */

+		if( *pcNextChar != 0 )

+		{

+			if( !( HWREG( UART0_BASE + UART_O_FR ) & UART_FR_TXFF ) )

+			{

+				HWREG( UART0_BASE + UART_O_DR ) = *pcNextChar;

+			}

+			pcNextChar++;

+		}

+	}

+}

+/*-----------------------------------------------------------*/

+

+void vGPIO_ISR( void )

+{

+	/* Clear the interrupt. */

+	GPIOPinIntClear(GPIO_PORTC_BASE, mainPUSH_BUTTON);

+

+	/* Wake the button handler task. */

+	if( xSemaphoreGiveFromISR( xButtonSemaphore, pdFALSE ) )

+	{

+		portEND_SWITCHING_ISR( pdTRUE );

+	}

+}

+/*-----------------------------------------------------------*/

+

+static void vPrintTask( void *pvParameters )

+{

+portCHAR *pcMessage;

+unsigned portBASE_TYPE uxLine = 0, uxRow = 0;

+

+	for( ;; )

+	{

+		/* Wait for a message to arrive. */

+		xQueueReceive( xPrintQueue, &pcMessage, portMAX_DELAY );

+

+		/* Write the message to the LCD. */

+		uxRow++;

+		uxLine++;

+		OSRAMClear();

+		OSRAMStringDraw( pcMessage, uxLine & 0x3f, uxRow & 0x01);

+	}

+}

+