void SSSCreateTasks(void)
{
INT8U error_code;
error_code = OSTaskCreateExt(LED7SegLightshowTask,
NULL,
(void *)&LED7SegLightshowTaskStk[TASK_STACKSIZE-1],
LED_7SEG_LIGHTSHOW_TASK_PRIORITY,
LED_7SEG_LIGHTSHOW_TASK_PRIORITY,
LED7SegLightshowTaskStk,
TASK_STACKSIZE,
NULL,
0);
alt_uCOSIIErrorHandler(error_code, 0);
error_code = OSTaskCreateExt(LEDManagementTask,
NULL,
(void *)&LEDManagementTaskStk[TASK_STACKSIZE-1],
LED_MANAGEMENT_TASK_PRIORITY,
LED_MANAGEMENT_TASK_PRIORITY,
LEDManagementTaskStk,
TASK_STACKSIZE,
NULL,
0);
alt_uCOSIIErrorHandler(error_code, 0);
}
static void WSCreateTasks()
{
INT8U error_code = OS_NO_ERR;
/* Start LED Task. */
error_code = OSTaskCreateExt(LED_task,
NULL,
(void *)&LEDTaskStk[TASK_STACKSIZE-1],
LED_PRIO,
LED_PRIO,
LEDTaskStk,
TASK_STACKSIZE,
NULL,
0);
alt_uCOSIIErrorHandler(error_code, 0);
/* Start SSD Task. */
#ifdef SEG7_NAME
error_code = OSTaskCreateExt(SSD_task,
NULL,
(void *)&SSDTaskStk[TASK_STACKSIZE-1],
SSD_PRIO,
SSD_PRIO,
SSDTaskStk,
TASK_STACKSIZE,
NULL,
0);
alt_uCOSIIErrorHandler(error_code, 0);
#endif
/* Start Board Control Task. */
error_code = OSTaskCreateExt(board_control_task,
NULL,
(void *)&BCTaskStk[TASK_STACKSIZE-1],
BOARD_PRIO,
BOARD_PRIO,
BCTaskStk,
TASK_STACKSIZE,
NULL,
0);
alt_uCOSIIErrorHandler(error_code, 0);
/* Suspend both the LED and SSD tasks on start. */
OSTaskSuspend(LED_PRIO);
OSTaskSuspend(SSD_PRIO);
/* The web server task is started by the Interniche stack, as the "main" network servicing task. */
}
int main (int argc, char* argv[], char* envp[])
{
INT8U error_code;
/* Clear the RTOS timer */
OSTimeSet(0);
/* SSSInitialTask will initialize the NicheStack
* TCP/IP Stack and then initialize the rest of the Nios II Simple Socket Server example
* RTOS structures and tasks.
*/
error_code = OSTaskCreateExt(SSSInitialTask,
NULL,
(void *)&SSSInitialTaskStk[TASK_STACKSIZE],
SSS_INITIAL_TASK_PRIORITY,
SSS_INITIAL_TASK_PRIORITY,
SSSInitialTaskStk,
TASK_STACKSIZE,
NULL,
0);
alt_uCOSIIErrorHandler(error_code, 0);
/*
* As with all MicroC/OS-II designs, once the initial thread(s) and
* associated RTOS resources are declared, we start the RTOS. That's it!
*/
OSStart();
while(1); /* Correct Program Flow never gets here. */
return -1;
}
int main (int argc, char* argv[], char* envp[])
{
INT8U error_code;
int rc;
/* Clear the RTOS timer */
OSTimeSet(0);
/* Flash LEDs and reset ethernet PHY - $M$*/
#ifdef LED_PIO_BASE
IOWR_ALTERA_AVALON_PIO_DATA(LED_PIO_BASE, 0xaa);
printf("LEDs set to 0xAA\n");
#endif
rc = usleep(1000000); // Delay 1 sec
#ifdef NENET_REG_RESET_BASE
/* Reset the Ethernet PHY */
printf("Reseting Ethernet PHY...");
IOWR_ALTERA_AVALON_PIO_DATA(NENET_REG_RESET_BASE, 0x1); // Be sure it's hi first
rc = usleep(250000); // Delay .25 sec
IOWR_ALTERA_AVALON_PIO_DATA(NENET_REG_RESET_BASE, 0x0); // Go low for reset
rc = usleep(250000); // Delay .25 sec
IOWR_ALTERA_AVALON_PIO_DATA(NENET_REG_RESET_BASE, 0x1); // Back to hi - inactive
printf(" Done\n");
rc = usleep(250000); // Delay .25 sec
#endif
#ifdef LED_PIO_BASE
IOWR_ALTERA_AVALON_PIO_DATA(LED_PIO_BASE, 0xaa);
printf("LEDs set to 0x55\n");
#endif
/* SSSInitialTask will initialize the NicheStack
* TCP/IP Stack and then initialize the rest of the Simple Socket Server example
* RTOS structures and tasks.
*/
error_code = OSTaskCreateExt(SSSInitialTask,
NULL,
(void *)&SSSInitialTaskStk[TASK_STACKSIZE],
SSS_INITIAL_TASK_PRIORITY,
SSS_INITIAL_TASK_PRIORITY,
SSSInitialTaskStk,
TASK_STACKSIZE,
NULL,
0);
alt_uCOSIIErrorHandler(error_code, 0);
/*
* As with all MicroC/OS-II designs, once the initial thread(s) and
* associated RTOS resources are declared, we start the RTOS. That's it!
*/
OSStart();
while(1); /* Correct Program Flow never gets here. */
return -1;
}
/*
* Create our MicroC/OS-II resources. All of the resources beginning with
* "SSS" are declared in this file, and created in this function.
*/
void SSSCreateOSDataStructs(void)
{
INT8U error_code;
/*
* Create the resource for our MicroC/OS-II Queue for sending commands
* received on the TCP/IP socket from the SSSSimpleSocketServerTask()
* to the LEDManagementTask().
*/
SSSLEDCommandQ = OSQCreate(&SSSLEDCommandQTbl[0], SSS_LED_COMMAND_Q_SIZE);
if (!SSSLEDCommandQ)
{
alt_uCOSIIErrorHandler(EXPANDED_DIAGNOSIS_CODE,
"Failed to create SSSLEDCommandQ.\n");
}
/* Create our MicroC/OS-II LED Lightshow Semaphore. The semaphore is checked
* by the SSSLEDLightshowTask each time it updates 7 segment LED displays,
* U8 and U9. The LEDTask grabs the semaphore away from the lightshow task to
* toggle the lightshow off, and gives up the semaphore to turn the lightshow
* back on. The LEDTask does this in response to the CMD_LEDS_LIGHTSHOW
* command sent from the SSSSimpleSocketServerTask when the user sends the
* toggle lightshow command over the TCPIP socket.
*/
SSSLEDLightshowSem = OSSemCreate(1);
if (!SSSLEDLightshowSem)
{
alt_uCOSIIErrorHandler(EXPANDED_DIAGNOSIS_CODE,
"Failed to create SSSLEDLightshowSem.\n");
}
/*
* Create our MicroC/OS-II LED Event Flag. Each flag corresponds to one of
* the LEDs on the Nios Development board, D0 - D7.
*/
SSSLEDEventFlag = OSFlagCreate(0, &error_code);
if (!SSSLEDEventFlag)
{
alt_uCOSIIErrorHandler(error_code, 0);
}
}
/* SSSInitialTask will initialize the NicheStack
* TCP/IP Stack and then initialize the rest of the Simple Socket Server example
* RTOS structures and tasks.
*/
void SSSInitialTask(void *task_data)
{
INT8U error_code;
/*
* Initialize Altera NicheStack TCP/IP Stack - Nios II Edition specific code.
* NicheStack is initialized from a task, so that RTOS will have started, and
* I/O drivers are available. Two tasks are created:
* "Inet main" task with priority 2
* "clock tick" task with priority 3
*/
alt_iniche_init();
netmain();
/* Wait for the network stack to be ready before proceeding.
* iniche_net_ready indicates that TCP/IP stack is ready, and IP address is obtained.
*/
while (!iniche_net_ready)
TK_SLEEP(1);
/* Now that the stack is running, perform the application initialization steps */
/* Application Specific Task Launching Code Block Begin */
printf("\nSimple Socket Server starting up\n");
/* Create the main simple socket server task. */
TK_NEWTASK(&ssstask);
/*create os data structures */
SSSCreateOSDataStructs();
/* create the other tasks */
SSSCreateTasks();
/* Application Specific Task Launching Code Block End */
/*This task is deleted because there is no need for it to run again */
error_code = OSTaskDel(OS_PRIO_SELF);
alt_uCOSIIErrorHandler(error_code, 0);
while (1); /* Correct Program Flow should never get here */
}
void WSInitialTask(void* pdata)
{
INT8U error_code = OS_NO_ERR;
/*
* Initialize Altera NicheStack TCP/IP Stack - Nios II Edition specific code.
* NicheStack is initialized from a task, so that RTOS will have started, and
* I/O drivers are available. Two tasks are created:
* "Inet main" task with priority 2
* "clock tick" task with priority 3
*/
alt_iniche_init();
/* Start the Iniche-specific network tasks and initialize the network
* devices.
*/
netmain();
/* Wait for the network stack to be ready before proceeding. */
while (!iniche_net_ready)
TK_SLEEP(1);
/* Create the main network task. In this case, a web server. */
TK_NEWTASK(&wstask);
/* Application specific code starts here... */
/*Create Tasks*/
WSCreateTasks();
printf("\nWeb Server starting up\n");
/* Application specific code ends here. */
/* Display the IP Address on the LCD Display. */
#ifdef LCD_NAME
lcd_ip_addr();
#endif
/*This task deletes itself, since there's no reason to keep it around, once
*it's complete.
*/
error_code = OSTaskDel(OS_PRIO_SELF);
alt_uCOSIIErrorHandler(error_code, 0);
while(1); /*Correct Program Flow should not reach here.*/
}
int main (int argc, char* argv[], char* envp[])
{
/* Initialize the current flash block, for flash programming. */
current_flash_block = -1;
INT8U error_code;
/* Clear the RTOS timer */
OSTimeSet(0);
/* WSInitialTask will initialize the NicheStack TCP/IP Stack and then
* initialize the rest of the web server's tasks.
*/
error_code = OSTaskCreateExt(WSInitialTask,
NULL,
(void *)&WSInitialTaskStk[TASK_STACKSIZE-1],
WS_INITIAL_TASK_PRIO,
WS_INITIAL_TASK_PRIO,
WSInitialTaskStk,
TASK_STACKSIZE,
NULL,
0);
alt_uCOSIIErrorHandler(error_code, 0);
/*
* As with all MicroC/OS-II designs, once the initial thread(s) and
* associated RTOS resources are declared, we start the RTOS. That's it!
*/
OSStart();
while(1); /* Correct Program Flow never gets here. */
return -1;
}
/* SSSInitialTask will initialize the NicheStack
* TCP/IP Stack and then initialize the rest of the Nios II Simple Socket Server example
* RTOS structures and tasks.
*/
void SSSInitialTask(void *task_data)
{
INT8U error_code;
system_dhcp_hostname = "NEEK_1";
wait_on_phy();
/*
* Register new DHCP "IP attained" callback function.
* If DHCP is acquired, ws_ipset will be called instead of dhc_main_ipset().
*/
#ifdef DHCP_CLIENT
dhc_set_callback( 0, ws_ipset );
#endif
/*
* Initialize Altera NicheStack TCP/IP Stack - Nios II Edition specific code.
* NicheStack is initialized from a task, so that RTOS will have started, and
* I/O drivers are available. Two tasks are created:
* "Inet main" task with priority 2
* "clock tick" task with priority 3
*/
alt_iniche_init();
/* Start the Iniche-specific network tasks and initialize the network
* devices.
*/
netmain();
/* Wait for the network stack to be ready before proceeding. */
while (!iniche_net_ready)
{
TK_SLEEP(1);
/*
* Allow other tasks to run, while waiting for network.
*/
OSTimeDlyHMSM(0, 0, 3, 0);
}
/*
* Nichestack is ready.
*/
/* Application Specific Task Launching Code Block Begin */
printf("\nNios II Simple Socket Server starting up.\n");
/* Create the phy monitoring task. */
TK_NEWTASK(&sssphytask);
/* Create the main Nios II Simple socket server task. */
//TK_NEWTASK(&ssstask);
TK_NEWTASK(&ssspenetask);
/*create os data structures */
SSSCreateOSDataStructs();
/* create the other tasks */
SSSCreateTasks();
/* Application Specific Task Launching Code Block End */
/*This task is deleted because there is no need for it to run again */
error_code = OSTaskDel(OS_PRIO_SELF);
alt_uCOSIIErrorHandler(error_code, 0);
while (1); /* Correct Program Flow should never get here */
}
void alt_uCOSIIErrorHandler(INT8U error_code, void *expanded_diagnosis_ptr)
{
FAULT_LEVEL fault_level;
if(error_code == OS_NO_ERR)
{
return;
}
fault_level = SYSTEM;
OSSchedLock(); /* Disable Task Switching but still service other IRQs */
switch (error_code)
{
case OS_PRIO_EXIST:
fprintf(stderr, "Attempted to assign task priority aready in use.\n");
break;
case OS_PRIO_INVALID:
fprintf(stderr, "Specified task priority higher than allowed max.\n");
fprintf(stderr, "Task can't be assigned a priority higher than %d\n",
OS_LOWEST_PRIO);
break;
case OS_NO_MORE_TCB:
fprintf(stderr, "Task Control Blocks have been exhausted\n");
fprintf(stderr, "Current max number of tasks is %d\n",OS_MAX_TASKS);
break;
case OS_MBOX_FULL:
fault_level = NONE;
fprintf(stderr, "Attempted Post to Mailbox already holding message\n");
break;
case OS_ERR_EVENT_TYPE:
fault_level = TASK;
fprintf(stderr,
"Attempted to access a resource with no match for the required data type.\n");
break;
case OS_ERR_PEVENT_NULL:
fprintf(stderr, "Attempting to access a resource pointing to NULL\n");
break;
case OS_ERR_POST_NULL_PTR:
fault_level = TASK;
fprintf(stderr, "Attempted to Post a NULL to a resource. \n");
break;
case OS_TIMEOUT:
fault_level = NONE;
fprintf(stderr, "Resource not received in specified time\n");
break;
case OS_ERR_PEND_ISR:
fprintf(stderr, "Attempting to pend for a resource in an ISR\n");
break;
case OS_TASK_DEL_IDLE:
fprintf(stderr, "Attempted to delete the IDLE task\n");
break;
case OS_TASK_DEL_ERR:
fault_level = NONE;
fprintf(stderr, "Attempted to delete a task that does not exist\n");
break;
case OS_TASK_DEL_ISR:
fprintf(stderr, "Attempted to delete a task from an ISR\n");
break;
case OS_Q_FULL:
fault_level = NONE;
fprintf(stderr, "Attempted to post to a full message queue\n");
break;
case OS_ERR_NOT_MUTEX_OWNER:
fault_level = TASK;
fprintf(stderr, "Attempted to post a mutex not owned by the task\n");
break;
case EXPANDED_DIAGNOSIS_CODE:
fault_level = SYSTEM;
printf(
"\n[MicroC/OS-II]: See STDERR for expanded diagnosis translation.");
fprintf(stderr, "\n[MicroC/OS-II]: Expanded Diagnosis: %s.",
(char *)expanded_diagnosis_ptr);
break;
default:
printf("\n[MicroC/OS-II]: (Not a MicroC/OS-II error) See STDERR.\n");
fprintf(stderr, "\n[MicroC/OS-II]:");
fprintf(stderr, "\nError_code %d.\n", error_code);
perror("\n[MicroC/OS-II]: (Not a MicroC/OS-II error), ERRNO: ");
break;
}
/* Process the error based on the fault level,
* reenable scheduler if appropriate. */
switch (fault_level) {
case TASK:
/* Error can be isolated by killing the task */
printf("\n[MicroC/OS-II]: See STDERR (FAULT_LEVEL is TASK).");
fprintf(stderr, "\n[MicroC/OS-II]: FAULT_LEVEL is TASK");
fprintf(stderr, "\n[MicroC/OS-II]: Task is being deleted.\n");
OSSchedUnlock(); /* Reenable Task Switching */
OSTaskDel(OS_PRIO_SELF);
/* Reinvoke uCOSII error handler in case task deletion fails, in
* which case fault_level for this secondary error will be SYSTEM. */
alt_uCOSIIErrorHandler(error_code, 0);
break;
case SYSTEM:
/* Total System Failure, Restart Required */
printf("\n[MicroC/OS-II]: See STDERR (FAULT_LEVEL is SYSTEM).");
fprintf(stderr, "\n[MicroC/OS-II]: FAULT_LEVEL is SYSTEM");
fprintf(stderr, "\n[MicroC/OS-II]: FATAL Error, Restart required.");
fprintf(stderr, "\n[MicroC/OS-II]: Locking scheduler - endless loop.\n");
while(1); /* Since scheduler is locked,loop halts all task activity.*/
break;
case NONE:
fprintf(stderr, "\n[MicroC/OS-II]: FAULT_LEVEL is NONE");
fprintf(stderr, "\n[MicroC/OS-II]: Informational error only, control");
fprintf(stderr,
"returned to task to complete processing at application level.\n");
OSSchedUnlock(); /* Reenable Task Switching */
return;
break;
default:
printf("\n[MicroC/OS-II]: See STDERR (FAULT_LEVEL is Unknown).\n");
fprintf(stderr, "\n[MicroC/OS-II]: FAULT_LEVEL is unknown!?!\n");
}
while(1); /* Correct Program Flow never gets here. */
}
void alt_SSSErrorHandler(INT8U error_code,
void *expanded_diagnosis_ptr)
{
FAULT_LEVEL fault_level;
if (error_code == OS_NO_ERR)
{
return;
}
fault_level = (error_code == OS_NO_ERR) ? NONE : SYSTEM;
OSSchedLock(); /* Disable Task Switching but still service other IRQs */
switch (error_code)
{
case EXPANDED_DIAGNOSIS_CODE:
fault_level = SYSTEM;
printf("\n[SSS]: See STDERR for expanded diagnosis translation.");
fprintf(stderr, "\n[SSS]: %s", (char *)expanded_diagnosis_ptr);
break;
case OS_Q_FULL:
fault_level = NONE;
fprintf(stderr,"\n[SSS]: Attempted to post to a full message queue.");
break;
default:
fault_level = SYSTEM;
printf("\n[SSS]: See STDERR.\n");
fprintf(stderr, "\n[SSS]: Error_code %d!", error_code);
perror("\n[SSS]: ERRNO: ");
}
/* Process the error based on the fault level,
* reenable scheduler if appropriate. */
switch (fault_level)
{
case TASK:
/* Error can be isolated by killing the task */
printf("\n[SSS]: See STDERR (FAULT_LEVEL is TASK).");
fprintf(stderr, "\n[SSS]: FAULT_LEVEL is TASK");
fprintf(stderr, "\n[SSS]: Task is being deleted.\n");
OSSchedUnlock(); /* Reenable Task Switching */
OSTaskDel(OS_PRIO_SELF);
/* Invoke uCOSII error handler in case task deletion fails, in
* which case fault_level for this secondary error will be SYSTEM. */
alt_uCOSIIErrorHandler(error_code, 0);
break;
case SYSTEM:
/* Total System Failure, Restart Required */
printf("\n[SSS]: See STDERR (FAULT_LEVEL is SYSTEM).");
fprintf(stderr, "\n[SSS]: FAULT_LEVEL is SYSTEM.");
fprintf(stderr, "\n[SSS]: FATAL Error, Restart required.");
fprintf(stderr, "\n[SSS]: Locking scheduler - endless loop.\n");
while(1); /* Since scheduler is locked, loop halts all task activity.*/
break;
case NONE:
fprintf(stderr, "\n[SSS] FAULT_LEVEL is NONE.");
fprintf(stderr,
"\n[SSS] Informational error only, control returned to task to ");
fprintf(stderr,
"complete processing at the application level.\n");
OSSchedUnlock(); /* Reenable Task Switching */
return;
break;
default:
printf("\n[SSS]: See STDERR (FAULT_LEVEL is Unknown).\n");
fprintf(stderr, "\n[SSS] FAULT_LEVEL is unknown!?!\n");
}
while(1); /* Correct Program Flow never gets here. */
}
