Make Controller Kit - Firmware API: main.c Source File

00001 /*
00002   FreeRTOS V3.2.4 - copyright (C) 2003-2005 Richard Barry.
00003 
00004   This file is part of the FreeRTOS distribution.
00005 
00006   FreeRTOS is free software; you can redistribute it and/or modify
00007   it under the terms of the GNU General Public License as published by
00008   the Free Software Foundation; either version 2 of the License, or
00009   (at your option) any later version.
00010 
00011   FreeRTOS is distributed in the hope that it will be useful,
00012   but WITHOUT ANY WARRANTY; without even the implied warranty of
00013   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014   GNU General Public License for more details.
00015 
00016   You should have received a copy of the GNU General Public License
00017   along with FreeRTOS; if not, write to the Free Software
00018   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019 
00020   A special exception to the GPL can be applied should you wish to distribute
00021   a combined work that includes FreeRTOS, without being obliged to provide
00022   the source code for any proprietary components.  See the licensing section
00023   of http://www.FreeRTOS.org for full details of how and when the exception
00024   can be applied.
00025 
00026   ***************************************************************************
00027   See http://www.FreeRTOS.org for documentation, latest information, license
00028   and contact details.  Please ensure to read the configuration and relevant
00029   port sections of the online documentation.
00030   ***************************************************************************
00031 */
00032 
00033 /* 
00034   NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
00035   The processor MUST be in supervisor mode when vTaskStartScheduler is 
00036   called.  The demo applications included in the FreeRTOS.org download switch
00037   to supervisor mode prior to main being called.  If you are not using one of
00038   these demo application projects then ensure Supervisor mode is used.
00039 */
00040 
00041 
00042 /*
00043  * Creates all the application tasks, then starts the scheduler.
00044  * Main.c includes an idle hook function that simply periodically sends data
00045  * to the USB task for transmission.
00046  */
00047 
00048 /*
00049   Changes from V3.2.2
00050 
00051   + Modified the stack sizes used by some tasks to permit use of the 
00052     command line GCC tools.
00053 */
00054 
00055 /* Library includes. */
00056 #include <string.h>
00057 #include <stdio.h>
00058 
00059 /* Scheduler includes. */
00060 #include "FreeRTOS.h"
00061 #include "task.h"
00062 #include "portable.h"
00063 
00064 /* MAKE CODE */
00065 #include "config.h"
00066 
00067 /* Hardware specific headers. */
00068 #include "AT91SAM7X256.h"
00069 
00070 
00071 // NORMAL PROGRAMMING RESUMES
00072 
00073 /*-----------------------------------------------------------*/
00074 
00075 /*
00076  * Configure the processor for use with the Atmel demo board.  This is very
00077  * minimal as most of the setup is performed in the startup code.
00078  */
00079 static void prvSetupHardware( void );
00080 
00081 /*
00082  * The idle hook.
00083  */
00084 void vApplicationIdleHook( void );
00085 /*-----------------------------------------------------------*/
00086 
00087 /*
00088  * Setup hardware then start all the demo application tasks.
00089  */
00090 void MakeStarterTask( void* parameters );
00091 
00092 void MakeStarterTask( void* parameters )
00093 {
00094  (void)parameters;
00095   Run( );
00096   TaskDelete( NULL );
00097 }
00098 
00099 int main( void )
00100 {
00101   /* Setup the ports. */
00102   prvSetupHardware();
00103 
00104   /* Create the make task. */
00105   TaskCreate( MakeStarterTask, "Make", 1200, NULL, 4 );
00106 
00107   /*NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
00108   The processor MUST be in supervisor mode when vTaskStartScheduler is 
00109   called.  The demo applications included in the FreeRTOS.org download switch
00110   to supervisor mode prior to main being called.  If you are not using one of
00111   these demo application projects then ensure Supervisor mode is used here. */
00112   vTaskStartScheduler();
00113 
00114   /* Should never get here! */
00115   return 0;
00116 }
00117 /*-----------------------------------------------------------*/
00118 
00119 
00120 static void prvSetupHardware( void )
00121 {
00122   /* When using the JTAG debugger the hardware is not always initialised to
00123   the correct default state.  This line just ensures that this does not
00124   cause all interrupts to be masked at the start. */
00125   AT91C_BASE_AIC->AIC_EOICR = 0;
00126   
00127   /* Most setup is performed by the low level init function called from the
00128   startup asm file.*/
00129 
00130   // ENABLE HARDWARE RESET
00131   while((AT91C_BASE_RSTC->RSTC_RSR & (AT91C_RSTC_SRCMP | AT91C_RSTC_NRSTL)) != (AT91C_RSTC_NRSTL));
00132   AT91C_BASE_RSTC->RSTC_RMR = (0xa5 << 24)
00133     | AT91C_RSTC_URSTEN
00134     | ((12 - 1) << 8) // 125ms == (1 << 12) / 32768
00135   ;
00136 
00137   // EEPROM DISABLE
00138   #if ( CONTROLLER_VERSION == 90 )
00139     AT91C_BASE_PIOB->PIO_PER = 1 << 17; // Set PB17 - the EEPROM ~enable - in PIO mode
00140     AT91C_BASE_PIOB->PIO_OER = 1 << 17; // Configure in Output
00141     AT91C_BASE_PIOB->PIO_SODR = 1 << 17; // Set Output
00142   #elif ( CONTROLLER_VERSION == 95 || CONTROLLER_VERSION == 100 || CONTROLLER_VERSION == 200 )
00143     AT91C_BASE_PIOA->PIO_PER = 1 << 9; // Set PA9 - the EEPROM ~enable - in PIO mode
00144     AT91C_BASE_PIOA->PIO_OER = 1 << 9; // Configure in Output
00145     AT91C_BASE_PIOA->PIO_SODR = 1 << 9; // Set Output
00146   #endif
00147 
00148   // CAN DISABLE
00149   #if ( CONTROLLER_VERSION == 90 )
00150     AT91C_BASE_PIOB->PIO_PER = 1 << 16; // Set PB16 - the CAN ~enable - in PIO mode
00151     AT91C_BASE_PIOB->PIO_OER = 1 << 16; // Configure in Output
00152     AT91C_BASE_PIOB->PIO_SODR = 1 << 16; // Set Output
00153   #elif ( CONTROLLER_VERSION == 95  || CONTROLLER_VERSION == 100 || CONTROLLER_VERSION == 200 )
00154     AT91C_BASE_PIOA->PIO_PER = 1 << 7; // Set PA7 - the CAN ~enable - in PIO mode
00155     AT91C_BASE_PIOA->PIO_OER = 1 << 7; // Configure in Output
00156     AT91C_BASE_PIOA->PIO_SODR = 1 << 7; // Set Output
00157   #endif
00158 
00159   /* Enable the peripheral clock. */
00160   AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOA;
00161   AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOB;
00162   
00163   // Enable the EMAC
00164   AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_EMAC;
00165 
00166   #if ( APPBOARD_VERSION == 100 )
00167     // Kill the outputs
00168     // Outputs 0 - 7 are PA24, PA5, PA6, PA2, PB25, PA25, PA26, PB23
00169     int outputAMask = ( 1 << 24 ) | ( 1 << 5 ) | ( 1 << 6 ) | ( 1 << 2  ) | ( 1 << 25  ) | ( 1 << 26 );
00170     int outputBMask = ( 1 << 25 ) | ( 1 << 23 );
00171     // Set in peripheral mode
00172     AT91C_BASE_PIOA->PIO_PER = outputAMask; 
00173     AT91C_BASE_PIOB->PIO_PER = outputBMask; 
00174     // Set to Outputs
00175     AT91C_BASE_PIOA->PIO_OER = outputAMask;
00176     AT91C_BASE_PIOB->PIO_OER = outputBMask;
00177     // Turn Off
00178     AT91C_BASE_PIOA->PIO_CODR = outputAMask;
00179     AT91C_BASE_PIOB->PIO_CODR = outputBMask;
00180   #endif
00181     
00182   /* Turn the USB line into an input, kill the pull up */
00183   #if ( CONTROLLER_VERSION == 90 )
00184     AT91C_BASE_PIOB->PIO_PER = AT91C_PIO_PB10;  
00185     AT91C_BASE_PIOB->PIO_ODR = AT91C_PIO_PB10;
00186     AT91C_BASE_PIOB->PIO_PPUDR = AT91C_PIO_PB10;
00187   #elif ( CONTROLLER_VERSION == 95 || CONTROLLER_VERSION == 100 )
00188     AT91C_BASE_PIOA->PIO_PER = AT91C_PIO_PA10;  
00189     AT91C_BASE_PIOA->PIO_ODR = AT91C_PIO_PA10;
00190     AT91C_BASE_PIOA->PIO_PPUDR = AT91C_PIO_PA10;
00191   #elif ( CONTROLLER_VERSION == 200 )
00192     AT91C_BASE_PIOA->PIO_PER = AT91C_PIO_PA29;  
00193     AT91C_BASE_PIOA->PIO_ODR = AT91C_PIO_PA29;
00194     AT91C_BASE_PIOA->PIO_PPUDR = AT91C_PIO_PA29;
00195   #endif
00196 
00197   /* Setup the PIO for the USB pull up resistor. */
00198   /* Start low: no USB */
00199   #if ( CONTROLLER_VERSION == 90 )
00200     AT91C_BASE_PIOB->PIO_PER = AT91C_PIO_PB11;
00201     AT91C_BASE_PIOB->PIO_OER = AT91C_PIO_PB11;
00202     AT91C_BASE_PIOB->PIO_SODR = AT91C_PIO_PB11;
00203   #elif ( CONTROLLER_VERSION == 95 || CONTROLLER_VERSION == 100 )
00204     AT91C_BASE_PIOA->PIO_PER = AT91C_PIO_PA11;
00205     AT91C_BASE_PIOA->PIO_OER = AT91C_PIO_PA11;
00206     AT91C_BASE_PIOA->PIO_CODR = AT91C_PIO_PA11; // had this round the wrong way...
00207   #elif ( CONTROLLER_VERSION == 200 )
00208     AT91C_BASE_PIOA->PIO_PER = AT91C_PIO_PA30;
00209     AT91C_BASE_PIOA->PIO_OER = AT91C_PIO_PA30;
00210     AT91C_BASE_PIOA->PIO_CODR = AT91C_PIO_PA30;
00211   #endif
00212 }
00213 /*-----------------------------------------------------------*/
00214 
00215 /*-----------------------------------------------------------*/
00216 
00217 int toggle;
00218 void vApplicationIdleHook( void )
00219 {
00220   // prevent the function from being optimized away?
00221   toggle = !toggle;
00222 }
00223 
00224 /*----------------------------------------------------------------------*/
00225 
00226