int main( void )
{
#ifdef DEBUG
debug();
#endif
//**********************************
// USED FOR FreeRTOS+TRACE
//**********************************
vTraceInitTraceData();
uiTraceStart();
//**********************************
/* Set up the clocks and memory interface. */
prvSetupHardware();
/* Create the 'check' task, which is also defined within this file. */
xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Start the scheduler. */
vTaskStartScheduler();
/* Will only get here if there was insufficient memory to create the idle
task. The idle task is created within vTaskStartScheduler(). */
for( ;; );
}
int main( void )
{
/* Initialise the trace recorder and create the label used to post user
events to the trace recording on each tick interrupt. */
vTraceInitTraceData();
xTickTraceUserEvent = xTraceOpenLabel( "tick" );
/* Start the trace recording - the recording is written to a file if
configASSERT() is called. */
printf( "\r\nTrace started. Hit a key to dump trace file to disk.\r\n" );
uiTraceStart();
/* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
of this file. */
#if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 )
{
main_blinky();
}
#else
{
main_full();
}
#endif
return 0;
}
int main( void )
{
/* This demo uses heap_5.c, so start by defining some heap regions. This
is only done to provide an example as this demo could easily create one
large heap region instead of multiple smaller heap regions - in which case
heap_4.c would be the more appropriate choice. No initialisation is
required when heap_4.c is used. */
prvInitialiseHeap();
/* Initialise the trace recorder and create the label used to post user
events to the trace recording on each tick interrupt. */
vTraceInitTraceData();
xTickTraceUserEvent = xTraceOpenLabel( "tick" );
/* Start the trace recording - the recording is written to a file if
configASSERT() is called. */
printf( "\r\nTrace started. Hit a key to dump trace file to disk (does not work from Eclipse console).\r\n" );
fflush( stdout );
uiTraceStart();
/* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
of this file. */
#if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 )
{
main_blinky();
}
#else
{
main_full();
}
#endif
return 0;
}
/* Main ----------------------------------------------------------------------*/
int main(void)
{
SystemInit();
prvHardwareInit();
vTraceInitTraceData();
c_common_usart_puts(USART2, "Programa iniciado!\n\r");
vTraceConsoleMessage("Starting application...");
//sprintf(str, "Line, %d \n\r", __LINE__);
//c_common_usart_puts(USART2, str);
if (! uiTraceStart() )
vTraceConsoleMessage("Could not start recorder!");
/* create tasks */
xTaskCreate(blink_led_task, (signed char *)"Blink led", configMINIMAL_STACK_SIZE, (void *)NULL, tskIDLE_PRIORITY+1, NULL);
xTaskCreate(sonar_task, (signed char *)"Sonar task", configMINIMAL_STACK_SIZE, (void *)NULL, tskIDLE_PRIORITY+1, NULL);
//xTaskCreate(echo_task, (signed char *)"Echo task", configMINIMAL_STACK_SIZE, (void *)NULL, tskIDLE_PRIORITY+1, NULL);
//xTaskCreate(blctrl_task, (signed char *)"blctrl task" , configMINIMAL_STACK_SIZE, (void *)NULL, tskIDLE_PRIORITY+1, NULL);
//xTaskCreate(uart_task , (signed char *)"UART task", configMINIMAL_STACK_SIZE, (void *)NULL, tskIDLE_PRIORITY+1, NULL);
//xTaskCreate(rc_servo_task , (signed char *)"Servo task", configMINIMAL_STACK_SIZE, (void *)NULL, tskIDLE_PRIORITY+1, NULL);
/* Start the scheduler. */
vTaskStartScheduler();
/* should never reach here! */
for(;;);
}
/*---------------------------------------------------------------------------*
* Routine: uEZPlatformStartup
*---------------------------------------------------------------------------*
* Description:
* When uEZ starts, a special Startup task is created and called.
* This task brings up the all the hardware, reports any problems,
* starts the main task, and then exits.
*---------------------------------------------------------------------------*/
TUInt32 uEZPlatformStartup(T_uezTask aMyTask, void *aParameters)
{
#if FREERTOS_PLUS_TRACE //LPC1788 only as of uEZ v2.04
TUInt32 traceAddressInMemory = 0;
#endif
UEZPlatform_Standard_Require();
#if (SIMPLEUI_DOUBLE_SIZED_ICONS)
SUIInitialize(ETrue, EFalse, EFalse);
#else
SUIInitialize(EFalse, EFalse, EFalse);
#endif
// USB Flash drive needed?
UEZPlatform_USBHost_PortA_Require();
UEZPlatform_USBFlash_Drive_Require(0);
// USB Device needed?
UEZPlatform_USBDevice_Require();
// SDCard needed?
UEZPlatform_SDCard_Drive_Require(1);
// Network needed?
#if UEZ_ENABLE_WIRED_NETWORK
UEZPlatform_WiredNetwork0_Require();
#endif
#if UEZ_ENABLE_WIRELESS_NETWORK
#if UEZ_WIRELESS_PROGRAM_MODE
UEZPlatform_WiFiProgramMode();
#endif
UEZPlatform_WirelessNetwork0_Require();
#endif
#if ENABLE_UEZ_BUTTON
UEZPlatform_Keypad_Require();
#endif
#if FREERTOS_PLUS_TRACE //LPC1788 only as of uEZ v2.04
uiTraceStart();
vTraceStartStatusMonitor();
traceAddressInMemory = (TUInt32)vTraceGetTraceBuffer();
printf("%x", traceAddressInMemory);
#endif
// Create a main task (not running yet)
UEZTaskCreate((T_uezTaskFunction)MainTask, "Main", MAIN_TASK_STACK_SIZE, 0,
UEZ_PRIORITY_NORMAL, &G_mainTask);
// Done with this task, fall out
return 0;
}
static portBASE_TYPE prvStartStopTraceCommand( char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString )
{
const char *pcParameter;
portBASE_TYPE lParameterStringLength;
/* Remove compile time warnings about unused parameters, and check the
write buffer is not NULL. NOTE - for simplicity, this example assumes the
write buffer length is adequate, so does not check for buffer overflows. */
( void ) pcCommandString;
( void ) xWriteBufferLen;
configASSERT( pcWriteBuffer );
/* Obtain the parameter string. */
pcParameter = FreeRTOS_CLIGetParameter
(
pcCommandString, /* The command string itself. */
1, /* Return the first parameter. */
&lParameterStringLength /* Store the parameter string length. */
);
/* Sanity check something was returned. */
configASSERT( pcParameter );
/* There are only two valid parameter values. */
if( strncmp( pcParameter, "start", strlen( "start" ) ) == 0 )
{
/* Start or restart the trace. */
vTraceStop();
vTraceClear();
uiTraceStart();
sprintf( pcWriteBuffer, "Trace recording (re)started.\r\n" );
}
else if( strncmp( pcParameter, "stop", strlen( "stop" ) ) == 0 )
{
/* End the trace, if one is running. */
vTraceStop();
sprintf( pcWriteBuffer, "Stopping trace recording and dumping log to disk.\r\n" );
prvSaveTraceFile();
}
else
{
sprintf( pcWriteBuffer, "Valid parameters are 'start' and 'stop'.\r\n" );
}
/* There is no more data to return after this single string, so return
pdFALSE. */
return pdFALSE;
}
int main(void)
{
vTraceInitTraceData ();
if (!uiTraceStart())
vTraceConsoleMessage("Could not start recorder!");
/* Create IPC variables */
pbq = xQueueCreate(10, sizeof(int));
if (pbq == 0) {
while(1); /* fatal error */
}
/* Create tasks */
xTaskCreate(
ToggleLED_Timer, /* Function pointer */
"Task1", /* Task name - for debugging only*/
configMINIMAL_STACK_SIZE, /* Stack depth in words */
(void*) NULL, /* Pointer to tasks arguments (parameter) */
tskIDLE_PRIORITY + 2UL, /* Task priority*/
NULL /* Task handle */
);
xTaskCreate(
DetectButtonPress,
"Task2",
configMINIMAL_STACK_SIZE,
(void*) NULL,
tskIDLE_PRIORITY + 2UL,
NULL);
xTaskCreate(
ToggleLED_IPC,
"Task3",
configMINIMAL_STACK_SIZE,
(void*) NULL,
tskIDLE_PRIORITY + 2UL,
NULL);
/* Start the RTOS Scheduler */
vTaskStartScheduler();
/* HALT */
while(1);
}
int main (void)
{
/* Initialize the SAM system */
sysclk_init();
/* Initialize mcu's peripheral.*/
board_init();
/* Ensure all priority bits are assigned as preemption priority bits. */
NVIC_SetPriorityGrouping( 0 );
/* Create freeRTOS START task.*/
xTaskCreate(task_start, (signed char *)"START", TASK_START_STACKSIZE, NULL,
TASK_START_PRIORITY, NULL);
/* Start the FreeRTOS + Trace record..*/
uiTraceStart();
/* Start the scheduler. */
vTaskStartScheduler();
// Insert application code here, after the board has been initialized.
return 0;
}
void SYS_Initialize ( void* data )
{
/* Core Processor Initialization */
SYS_CLK_Initialize( NULL );
sysObj.sysDevcon = SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*)&sysDevconInit);
SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
SYS_DEVCON_JTAGDisable();
SYS_PORTS_Initialize();
/* Initialize Drivers */
// DRV_SPI0_Initialize();
// DRV_SPI1_Initialize();
//DRV_I2C1_Initialize();
SYS_INT_VectorPrioritySet(INT_VECTOR_T2, INT_PRIORITY_LEVEL1);
SYS_INT_VectorSubprioritySet(INT_VECTOR_T2, INT_SUBPRIORITY_LEVEL0);
/*Initialize CAN0 */
DRV_CAN0_Initialize();
//For Debugging
// SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_OUTPUT, PORT_CHANNEL_G, PORTS_BIT_POS_8);
// SYS_PORTS_PinClear(PORTS_ID_0, PORT_CHANNEL_G, PORTS_BIT_POS_8);
// SYS_PORTS_PinDirectionSelect(PORTS_ID_0, SYS_PORTS_DIRECTION_OUTPUT, PORT_CHANNEL_E, PORTS_BIT_POS_8);
// SYS_PORTS_PinClear(PORTS_ID_0, PORT_CHANNEL_E, PORTS_BIT_POS_8);
/* Indicate initializing */
led_on(LED_RED);
/* Initialize PMP0 */
DRV_PMP0_Initialize();
DRV_PMP0_ModeConfig();
/* Initialize System Services */
SYS_INT_Initialize();
/* Initialize Middleware */
/* Set priority of USB interrupt source */
SYS_INT_VectorPrioritySet(INT_VECTOR_USB1, INT_PRIORITY_LEVEL4);
/* Wait FPGA_DONE*/
// while(!FpgaDone);
/* Set Sub-priority of USB interrupt source */
SYS_INT_VectorSubprioritySet(INT_VECTOR_USB1, INT_SUBPRIORITY_LEVEL0);
/* Initialize the USB device layer */
sysObj.usbDevObject0 = USB_DEVICE_Initialize (USB_DEVICE_INDEX_0 , ( SYS_MODULE_INIT* ) & usbDevInitData);
/* Enable Global Interrupts */
SYS_INT_Enable();
#ifdef DEBUG_PERCEPIO
/* Initialize Percepio */
vTraceInitTraceData();
if(uiTraceStart() != 1) {
while(true);
}
#endif
/* Initialize the Application */
APP_Initialize();
APP1_Initialize();
APP2_Initialize();
Xcp_Initialize();
}
void RTOSTRC_Init(void) {
vTraceInitTraceData();
if (uiTraceStart()==0) {
for(;;); /* error */
}
}
/*---------------------------------------------------------------------------*
* Routine: uEZPlatformStartup
*---------------------------------------------------------------------------*
* Description:
* When uEZ starts, a special Startup task is created and called.
* This task brings up the all the hardware, reports any problems,
* starts the main task, and then exits.
*---------------------------------------------------------------------------*/
TUInt32 uEZPlatformStartup(T_uezTask aMyTask, void *aParameters)
{
#if FREERTOS_PLUS_TRACE //LPC1788 only as of uEZ v2.04
TUInt32 traceAddressInMemory = 0;
#endif
UEZPlatform_Standard_Require();
UEZPlatform_Timer2_Require();
UEZPlatform_DAC0_Require();
SUIInitialize(SIMPLEUI_DOUBLE_SIZED_ICONS, EFalse, EFalse); // SWIM not flipped
G_expdkDetected = UEZGUI_EXP_DK_Detect();
if (G_expdkDetected) { // Add EXP_DK Features we want
#if UEZGUI_EXP_DK_FCT_TEST
// no command console so functional test can run
// Setup standard UART without console
UEZGUI_EXP_DK_RS232_Require(UEZ_CONSOLE_WRITE_BUFFER_SIZE,
UEZ_CONSOLE_READ_BUFFER_SIZE);
#else
UEZGUI_EXP_DK_I2S_Require();
#endif
#if UEZ_ENABLE_WIRED_NETWORK
UEZGUI_EXP_DK_EMAC_Require();
#endif
UEZGUI_EXP_DK_I2CMux_Require();
UEZGUI_EXP_DK_Button_Require();
UEZGUI_EXP_DK_LED_Require();
UEZGUI_EXP_DK_LightSensor_Require();
UEZGUI_EXP_DK_ProximitySensor_Require();
#if (UEZ_PROCESSOR==NXP_LPC1788)
UEZGUI_EXP_DK_SDCard_MCI_Require(1); //currently only supported on LPC1788
#endif
UEZGUI_EXP_DK_FullDuplex_RS485_Require(UEZ_CONSOLE_WRITE_BUFFER_SIZE,
UEZ_CONSOLE_READ_BUFFER_SIZE);
UEZGUI_EXP_DK_CAN_Require();
UEZPlatform_DAC0_Require();
UEZPlatform_Timer2_Require(); // Needed by Video player
UEZDACWAVConfig("Timer2");
UEZGUI_EXP_DK_AudioMixer_Require();
} else {
UEZPlatform_SDCard_Drive_Require(1);
}
#if UEZ_ENABLE_USB_HOST_STACK
#if USB_PORT_B_HOST_DETECT_ENABLED
if (G_expdkDetected) {
G_usbIsDevice = UEZGUI_EXP_DK_USB_Host_Port_B_Detect();
} else {
G_usbIsDevice = UEZPlatform_Host_Port_B_Detect();
}
if (G_usbIsDevice) { // High for a device
#if UEZ_ENABLE_USB_DEVICE_STACK
UEZPlatform_USBDevice_Require();
#endif
UEZPlatform_USBHost_PortA_Require();
UEZPlatform_USBFlash_Drive_Require(0);
} else { // Low for a host
UEZPlatform_USBHost_PortB_Require();
UEZPlatform_USBFlash_Drive_Require(0);
}
#else
#if UEZ_ENABLE_USB_DEVICE_STACK
UEZPlatform_USBDevice_Require();
#endif
UEZPlatform_USBHost_PortA_Require();
UEZPlatform_USBFlash_Drive_Require(0);
#endif
#else
#if UEZ_ENABLE_USB_DEVICE_STACK
UEZPlatform_USBDevice_Require();
#endif
UEZTaskDelay(500);//ensure the host task has itiilaized before continuing.
#endif
// Network needed?
#if UEZ_ENABLE_WIRED_NETWORK
UEZPlatform_WiredNetwork0_Require();
#endif
#if UEZ_ENABLE_WIRELESS_NETWORK
#if UEZ_WIRELESS_PROGRAM_MODE
UEZPlatform_WiFiProgramMode();
#endif
UEZPlatform_WirelessNetwork0_Require();
#endif
#if FREERTOS_PLUS_TRACE //LPC1788 only as of uEZ v2.04
uiTraceStart();
vTraceStartStatusMonitor();
traceAddressInMemory = (TUInt32)vTraceGetTraceBuffer();
printf("%x", traceAddressInMemory);
#endif
#if ENABLE_UEZ_BUTTON
UEZPlatform_ButtonBoard_Require();
#endif
// Create a main task (not running yet)
UEZTaskCreate((T_uezTaskFunction)MainTask, "Main", MAIN_TASK_STACK_SIZE, 0,
UEZ_PRIORITY_NORMAL, &G_mainTask);
// Done with this task, fall out
return 0;
}