bool scheduler_init_all(bool register_internal_tlm)
{
bool failure = false;
/* If not tasks ... */
if (0 == gTaskList || 0 == gTaskList->size()) {
puts("ERROR: NO tasks added by scheduler_add_task()");
failure = true;
return failure;
}
/* Initialize all tasks */
puts("* Initializing tasks ...");
for (uint32_t i=0; i < gTaskList->size(); i++)
{
scheduler_task *task = gTaskList->at(i);
if (!task->init()) {
print_strings(task->getTaskName(), " --> FAILED init()");
failure = true;
}
}
/* Register telemetry for all tasks */
#if ENABLE_TELEMETRY
puts("* Registering tasks' telemetry ...");
for (uint32_t i=0; i < gTaskList->size(); i++)
{
scheduler_task *task = gTaskList->at(i);
if (!task->regTlm()) {
failure = true;
}
/* Register statistical variables of this task */
if (register_internal_tlm) {
tlm_component *comp = tlm_component_add(task->mName);
if (!tlm_variable_register(comp, "cpu_percent", &(task->mCpuPercent),
sizeof(task->mCpuPercent), 1, tlm_uint)) {
failure = true;
}
if (!tlm_variable_register(comp, "free_stack", &(task->mFreeStack),
sizeof(task->mFreeStack), 1, tlm_uint)) {
failure = true;
}
if (!tlm_variable_register(comp, "run_count", &(task->mRunCount),
sizeof(task->mRunCount), 1, tlm_uint)) {
failure = true;
}
}
if (failure) {
print_strings(task->mName, " --> FAILED telemetry registration");
}
}
puts("* Restoring disk telemetry");
// Restore telemetry registered by "disk" component
FILE *fd = fopen(DISK_TLM_NAME, "r");
if (fd) {
tlm_stream_decode_file(fd);
fclose(fd);
}
#endif
puts("* Creating tasks ...");
mRunTask = xSemaphoreCreateCounting(gTaskList->size(), 0);
if (NULL == mRunTask) {
failure = true;
}
for (uint32_t i=0; i < gTaskList->size(); i++)
{
scheduler_task *task = gTaskList->at(i);
if (!xTaskCreate(scheduler_c_task_private,
(signed char*)task->mName, /* Name */
STACK_BYTES(task->mStackSize), /* Stack */
task, /* Task param */
task->mPriority, /* Task priority */
&(task->mHandle))) /* Task Handle */
{
print_strings(task->mName, " --> FAILED xTaskCreate()");
failure = true;
}
}
/* Find the task with highest stack, and this task will then be used
* to call taskEntry() for everyone once FreeRTOS starts.
* We have one task do taskEntry() for all because otherwise tasks will perform
* taskEntry() independent of each other, and one task might complete it and
* start running without other tasks completing their taskEntry().
*/
uint32_t highestStack = 0;
for (uint32_t i=0; i < gTaskList->size(); i++)
{
scheduler_task *task = gTaskList->at(i);
if (task->mStackSize > highestStack) {
highestStack = task->mStackSize;
mTaskEntryTaskHandle = task->mHandle;
}
}
return failure;
}
/**
* Initializes the High Level System such as IO Pins and Drivers
*/
void high_level_init(void)
{
// Initialize all board pins (early) that are connected internally.
board_io_pins_initialize();
#if ENABLE_TELEMETRY
/* Add default telemetry components */
tlm_component_add("disk");
tlm_component_add("debug");
#endif
/**
* Set-up Timer0 so that delay_ms(us) functions will work.
* This function is used by FreeRTOS run time statistics.
* If FreeRTOS is used, timer will be set-up anyway.
* If FreeRTOS is not used, call it here such that delay_ms(us) functions will work.
*/
vConfigureTimerForRunTimeStats();
/**
* Intentional delay here because this gives the user some time to
* close COM Port at Hyperload and Open it at Hercules
*/
delay_ms(STARTUP_DELAY_MS);
hl_print_line();
/* Print boot info */
#if USE_REDUCED_PRINTF
const unsigned int cpuClock = sys_get_cpu_clock();
const unsigned int sig = cpuClock / (1000 * 1000);
const unsigned int fraction = (cpuClock - (sig*1000*1000)) / 1000;
printf("System Boot @ %u.%u Mhz\n", sig, fraction);
#else
printf("System Boot @ %.3f Mhz\n", sys_get_cpu_clock() / (1000 * 1000.0f));
#endif
if(boot_watchdog_recover == sys_get_boot_type()) {
char taskName[sizeof(FAULT_LAST_RUNNING_TASK_NAME) * 2] = { 0 };
memcpy(&taskName[0], (void*) &(FAULT_LAST_RUNNING_TASK_NAME), sizeof(FAULT_LAST_RUNNING_TASK_NAME));
hl_print_line();
printf("System rebooted after crash. Relevant info:\n"
"PC: 0x%08X. LR: 0x%08X. PSR: 0x%08X\n"
"Possible last running OS Task: '%s'\n",
(unsigned int)FAULT_PC, (unsigned int)FAULT_LR, (unsigned int)FAULT_PSR,
taskName);
hl_print_line();
}
/**
* Initialize the Peripherals used in the system
* I2C2 : Used by LED Display, Acceleration Sensor, Temperature Sensor
* ADC0 : Used by Light Sensor
* SPI0 : Used by Nordic
* SPI1 : Used by SD Card & External SPI Flash Memory
*/
adc0_init();
ssp1_init();
ssp0_init(SPI0_CLOCK_SPEED_MHZ);
if (!I2C2::getInstance().init(I2C2_CLOCK_SPEED_KHZ)) {
puts("ERROR: Possible short on SDA or SCL wire (I2C2)!");
}
/* Initialize nordic wireless mesh network before setting up sys_setup_rit()
* callback since it may access NULL function pointers.
*/
if (!wireless_init()) {
puts("ERROR: Failed to initialize wireless");
}
/* Set-up our RIT callback to perform some background book-keeping
* If FreeRTOS is running, this service is disabled and FreeRTOS
* tick hook will call hl_periodic_service()
* @warning RIT interrupt should be setup before SD card is mounted
* since it relies on our timer.
*/
sys_rit_setup(hl_periodic_service, g_time_per_rit_isr_ms);
/**
* If Flash is not mounted, it is probably a new board and the flash is not
* formatted so format it, alert the user, and try to re-mount it
*/
if(!hl_mount_storage(Storage::getFlashDrive(), " Flash "))
{
printf("FLASH not formatted, formatting now ... ");
printf("%s\n", FR_OK == Storage::getFlashDrive().format() ? "Done" : "Error");
hl_mount_storage(Storage::getFlashDrive(), " Flash ");
}
hl_mount_storage(Storage::getSDDrive(), "SD Card");
/* After SD card is initted, set desired speed for spi1 */
ssp1_set_max_clock(SPI1_CLOCK_SPEED_MHZ);
hl_print_line();
#if LOG_BOOT_INFO_TO_FILE
log_boot_info(__DATE__);
#endif
/* Initialize all sensors of this board. */
if(!hl_init_board_io()) {
hl_print_line();
LD.setLeftDigit('-');
LD.setRightDigit('-');
LE.setAll(0xFF);
}
else {
LD.setNumber(TS.getFarenheit());
}
/* After Flash memory is mounted, try to set node address from a file */
hl_wireless_set_addr_from_file();
srand(LS.getRawValue() + time(NULL));
// Display CPU speed in Mhz on LED display
// LD.setNumber(sys_get_cpu_clock()/(1000*1000));
/* Print memory information before we call main() */
do {
char buff[512] = { 0 };
sys_get_mem_info_str(buff);
printf("%s", buff);
hl_print_line();
} while(0);
hl_handle_board_id();
hl_show_prog_info();
hl_print_line();
puts("Calling your main()");
hl_print_line();
}
/**
* Initializes the High Level System such as IO Pins and Drivers
*/
void high_level_init(void)
{
// Initialize all board pins (early) that are connected internally.
board_io_pins_initialize();
/**
* Initialize the Peripherals used in the system.
* I2C2 : Used by LED Display, Acceleration Sensor, Temperature Sensor
* ADC0 : Used by Light Sensor
* SPI0 : Used by Nordic
* SPI1 : Used by SD Card & External SPI Flash Memory
*/
adc0_init();
ssp1_init();
ssp0_init(SYS_CFG_SPI0_CLK_MHZ);
if (!I2C2::getInstance().init(SYS_CFG_I2C2_CLK_KHZ)) {
puts("ERROR: Possible short on SDA or SCL wire (I2C2)!");
}
/**
* This timer does several things:
* - Makes delay_ms() and delay_us() methods functional.
* - Provides run-time counter for FreeRTOS task statistics (cpu usage)
* - Provides timer needed by SD card init() and mesh network: nordic driver uses delay_us()
*
* The slightly tricky part is that the mesh networking task will start to be serviced every
* one millisecond, so initialize this and immediately initialize the wireless (mesh/nordic)
* so by the time 1ms elapses, the pointers are initalized (and not NULL).
*/
lpc_sys_setup_system_timer();
/* After the Nordic SPI is initialized, initialize the wireless system asap otherwise
* the background task may access NULL pointers of the mesh networking task.
*
* @warning Need SSP0 init before initializing nordic wireless.
* @warning Nordic uses timer delay, so we need the timer setup.
*/
if (!wireless_init()) {
puts("ERROR: Failed to initialize wireless");
}
/* Add default telemetry components if telemetry is enabled */
#if SYS_CFG_ENABLE_TLM
tlm_component_add(SYS_CFG_DISK_TLM_NAME);
tlm_component_add(SYS_CFG_DEBUG_DLM_NAME);
#endif
/**
* User configured startup delay to close Hyperload COM port and re-open it at Hercules serial window.
* Since the timer is setup that is now resetting the watchdog, we can delay without a problem.
*/
delay_ms(SYS_CFG_STARTUP_DELAY_MS);
hl_print_line();
/* Print out CPU speed and what caused the system boot */
hl_print_boot_info();
/**
* If Flash is not mounted, it is probably a new board and the flash is not
* formatted so format it, so alert the user, and try to re-mount it.
*/
if (!hl_mount_storage(Storage::getFlashDrive(), " Flash "))
{
printf("Erasing and formatting SPI flash, this can take a while ... ");
flash_chip_erase();
printf("%s\n", FR_OK == Storage::getFlashDrive().format() ? "Done" : "Error");
if (!hl_mount_storage(Storage::getFlashDrive(), " Flash "))
{
printf("SPI FLASH is possibly damaged!\n");
printf("Page size: %u\n", (unsigned) flash_get_page_size());
printf("Mem size: %u (raw bytes)\n", (unsigned) (flash_get_page_count() * flash_get_page_size()));
}
}
hl_mount_storage(Storage::getSDDrive(), "SD Card");
/* SD card initialization modifies the SPI speed, so after it has been initialized, reset desired speed for spi1 */
ssp1_set_max_clock(SYS_CFG_SPI1_CLK_MHZ);
hl_print_line();
/* File I/O is up, so log the boot message if chosen by the user */
#ifdef SYS_CFG_LOG_BOOT_INFO_FILENAME
log_boot_info(__DATE__);
#endif
/* File I/O is up, so initialize the logger if user chose the option */
#if SYS_CFG_INITIALIZE_LOGGER
logger_init(SYS_CFG_LOGGER_TASK_PRIORITY);
#endif
/* Initialize all sensors of this board and display "--" on the LED display if an error has occurred. */
if(!hl_init_board_io()) {
hl_print_line();
LD.setLeftDigit('-');
LD.setRightDigit('-');
LE.setAll(0xFF);
}
else {
LD.setNumber(TS.getFarenheit());
}
/* After Flash memory is mounted, try to set node address from a file */
hl_wireless_set_addr_from_file();
/* Feed the random seed to get random numbers from the rand() function */
srand(LS.getRawValue() + time(NULL));
/* Print memory information before we call main() */
do {
char buff[512] = { 0 };
sys_get_mem_info_str(buff);
printf("%s", buff);
hl_print_line();
} while(0);
/* Print miscellaneous info */
hl_handle_board_id();
hl_show_prog_info();
hl_print_line();
/* and finally ... call the user's main() method */
puts("Calling your main()");
hl_print_line();
}