2 FreeRTOS V7.0.0 - Copyright (C) 2011 Real Time Engineers Ltd.
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5 FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
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6 Atollic AB - Atollic provides professional embedded systems development
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7 tools for C/C++ development, code analysis and test automation.
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8 See http://www.atollic.com
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11 ***************************************************************************
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13 * FreeRTOS tutorial books are available in pdf and paperback. *
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14 * Complete, revised, and edited pdf reference manuals are also *
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17 * Purchasing FreeRTOS documentation will not only help you, by *
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18 * ensuring you get running as quickly as possible and with an *
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19 * in-depth knowledge of how to use FreeRTOS, it will also help *
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20 * the FreeRTOS project to continue with its mission of providing *
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21 * professional grade, cross platform, de facto standard solutions *
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22 * for microcontrollers - completely free of charge! *
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24 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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26 * Thank you for using FreeRTOS, and thank you for your support! *
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28 ***************************************************************************
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31 This file is part of the FreeRTOS distribution.
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33 FreeRTOS is free software; you can redistribute it and/or modify it under
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34 the terms of the GNU General Public License (version 2) as published by the
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35 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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36 >>>NOTE<<< The modification to the GPL is included to allow you to
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37 distribute a combined work that includes FreeRTOS without being obliged to
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38 provide the source code for proprietary components outside of the FreeRTOS
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39 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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40 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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41 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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42 more details. You should have received a copy of the GNU General Public
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43 License and the FreeRTOS license exception along with FreeRTOS; if not it
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44 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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45 by writing to Richard Barry, contact details for whom are available on the
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50 http://www.FreeRTOS.org - Documentation, latest information, license and
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53 http://www.SafeRTOS.com - A version that is certified for use in safety
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56 http://www.OpenRTOS.com - Commercial support, development, porting,
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57 licensing and training services.
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61 * main-blinky.c is included when the "Blinky" build configuration is used.
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62 * main-full.c is included when the "Full" build configuration is used.
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64 * main-full.c (this file) defines a comprehensive demo that creates many
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65 * tasks, queues, semaphores and timers. It also demonstrates how Cortex-M3
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66 * interrupts can interact with FreeRTOS tasks/timers, and implements a simple
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67 * and small interactive web server.
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69 * This project runs on the SmartFusion A2F-EVAL-KIT evaluation board, which
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70 * is populated with an A2F200M3F SmartFusion mixed signal FPGA. The A2F200M3F
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71 * incorporates a Cortex-M3 microcontroller.
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73 * The main() Function:
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74 * main() creates two demo specific software timers, one demo specific queue,
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75 * and three demo specific tasks. It then creates a whole host of 'standard
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76 * demo' tasks/queues/semaphores, before starting the scheduler. The demo
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77 * specific tasks and timers are described in the comments here. The standard
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78 * demo tasks are described on the FreeRTOS.org web site.
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80 * The standard demo tasks provide no specific functionality. They are
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81 * included to both test the FreeRTOS port, and provide examples of how the
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82 * various FreeRTOS API functions can be used.
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84 * The Demo Specific Queue Send Task:
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85 * The queue send task is implemented by the prvQueueSendTask() function in
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86 * this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
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87 * block for 200 milliseconds, before sending the value 100 to the queue that
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88 * was created within main(). Once the value is sent, the task loops back
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89 * around to block for another 200 milliseconds.
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91 * The Demo Specific Queue Receive Task:
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92 * The queue receive task is implemented by the prvQueueReceiveTask() function
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93 * in this file. prvQueueReceiveTask() sits in a loop that causes it to
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94 * repeatedly attempt to read data from the queue that was created within
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95 * main(). When data is received, the task checks the value of the data, and
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96 * if the value equals the expected 100, toggles the green LED. The 'block
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97 * time' parameter passed to the queue receive function specifies that the task
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98 * should be held in the Blocked state indefinitely to wait for data to be
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99 * available on the queue. The queue receive task will only leave the Blocked
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100 * state when the queue send task writes to the queue. As the queue send task
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101 * writes to the queue every 200 milliseconds, the queue receive task leaves
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102 * the Blocked state every 200 milliseconds, and therefore toggles the LED
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103 * every 200 milliseconds.
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105 * The Demo Specific OLED Task:
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106 * The OLED task is a very simple task that just scrolls a message across the
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107 * OLED. Ideally this would be done in a timer, but the OLED driver accesses
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108 * the I2C which is time consuming.
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110 * The Demo Specific LED Software Timer and the Button Interrupt:
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111 * The user button SW1 is configured to generate an interrupt each time it is
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112 * pressed. The interrupt service routine switches an LED on, and resets the
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113 * LED software timer. The LED timer has a 5000 millisecond (5 second) period,
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114 * and uses a callback function that is defined to just turn the LED off again.
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115 * Therefore, pressing the user button will turn the LED on, and the LED will
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116 * remain on until a full five seconds pass without the button being pressed.
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118 * The Demo Specific "Check" Callback Function:
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119 * This is called each time the 'check' timer expires. The check timer
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120 * callback function inspects all the standard demo tasks to see if they are
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121 * all executing as expected. The check timer is initially configured to
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122 * expire every three seconds, but will shorted this to every 500ms if an error
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123 * is ever discovered. The check timer callback toggles the LED defined by
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124 * the mainCHECK_LED definition each time it executes. Therefore, if LED
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125 * mainCHECK_LED is toggling every three seconds, then no error have been found.
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126 * If LED mainCHECK_LED is toggling every 500ms, then at least one errors has
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127 * been found. The task in which the error was discovered is displayed at the
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128 * bottom of the "task stats" page that is served by the embedded web server.
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130 * The Demo Specific Idle Hook Function:
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131 * The idle hook function demonstrates how to query the amount of FreeRTOS heap
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132 * space that is remaining (see vApplicationIdleHook() defined in this file).
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134 * The Web Server Task:
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135 * The IP address used by the SmartFusion target is configured by the
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136 * definitions configIP_ADDR0 to configIP_ADDR3, which are located in the
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137 * FreeRTOSConfig.h header file. See the documentation page for this example
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138 * on the http://www.FreeRTOS.org web site for further connection information.
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141 /* Kernel includes. */
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142 #include "FreeRTOS.h"
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145 #include "timers.h"
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147 /* Microsemi drivers/libraries includes. */
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148 #include "mss_gpio.h"
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149 #include "mss_watchdog.h"
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150 #include "mss_timer.h"
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151 #include "mss_ace.h"
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154 /* Common demo includes. */
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155 #include "partest.h"
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157 #include "BlockQ.h"
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159 #include "blocktim.h"
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160 #include "semtest.h"
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161 #include "GenQTest.h"
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163 #include "recmutex.h"
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164 #include "TimerDemo.h"
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166 /* Priorities at which the tasks are created. */
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167 #define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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168 #define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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170 /* The rate at which data is sent to the queue, specified in milliseconds, and
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171 converted to ticks using the portTICK_RATE_MS constant. */
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172 #define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_RATE_MS )
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174 /* The number of items the queue can hold. This is 1 as the receive task
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175 will remove items as they are added, meaning the send task should always find
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176 the queue empty. */
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177 #define mainQUEUE_LENGTH ( 1 )
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179 /* The LED toggled by the check timer callback function. */
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180 #define mainCHECK_LED 0x07UL
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182 /* The LED turned on by the button interrupt, and turned off by the LED timer. */
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183 #define mainTIMER_CONTROLLED_LED 0x06UL
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185 /* The LED toggle by the queue receive task. */
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186 #define mainTASK_CONTROLLED_LED 0x05UL
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188 /* Constant used by the standard timer test functions. */
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189 #define mainTIMER_TEST_PERIOD ( 50 )
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191 /* Priorities used by the various different tasks. */
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192 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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193 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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194 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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195 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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196 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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197 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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198 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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199 #define mainOLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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200 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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201 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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203 /* The WEB server uses string handling functions, which in turn use a bit more
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204 stack than most of the other tasks. */
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205 #define mainuIP_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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207 /* The period at which the check timer will expire, in ms, provided no errors
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208 have been reported by any of the standard demo tasks. */
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209 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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211 /* The period at which the OLED timer will expire. Each time it expires, it's
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212 callback function updates the OLED text. */
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213 #define mainOLED_PERIOD_MS ( 75UL / portTICK_RATE_MS )
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215 /* The period at which the check timer will expire, in ms, if an error has been
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216 reported in one of the standard demo tasks. */
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217 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 500UL / portTICK_RATE_MS )
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219 /* The LED will remain on until the button has not been pushed for a full
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221 #define mainLED_TIMER_PERIOD_MS ( 5000UL / portTICK_RATE_MS )
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223 /* A zero block time. */
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224 #define mainDONT_BLOCK ( 0UL )
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225 /*-----------------------------------------------------------*/
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228 * Setup the NVIC, LED outputs, and button inputs.
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230 static void prvSetupHardware( void );
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233 * The tasks as described in the comments at the top of this file.
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235 static void prvQueueReceiveTask( void *pvParameters );
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236 static void prvQueueSendTask( void *pvParameters );
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239 * The LED timer callback function. This does nothing but switch the red LED
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242 static void prvLEDTimerCallback( xTimerHandle xTimer );
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245 * The check timer callback function, as described at the top of this file.
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247 static void prvCheckTimerCallback( xTimerHandle xTimer );
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250 * This is not a 'standard' partest function, so the prototype is not in
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251 * partest.h, and is instead included here.
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253 void vParTestSetLEDFromISR( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue );
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256 * Contains the implementation of the WEB server.
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258 extern void vuIP_Task( void *pvParameters );
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261 * A very simply task that does nothing but scroll the OLED display. Ideally
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262 * this would be done within a timer, but it accesses the I2C port which is
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265 static void prvOLEDTask( void * pvParameters);
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267 /*-----------------------------------------------------------*/
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269 /* The queue used by both application specific demo tasks defined in this file. */
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270 static xQueueHandle xQueue = NULL;
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272 /* The LED software timer. This uses prvLEDTimerCallback() as it's callback
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274 static xTimerHandle xLEDTimer = NULL;
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276 /* The check timer. This uses prvCheckTimerCallback() as it's callback
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278 static xTimerHandle xCheckTimer = NULL;
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280 /* The status message that is displayed at the bottom of the "task stats" web
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281 page, which is served by the uIP task. This will report any errors picked up
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282 by the check timer callback. */
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283 static const char *pcStatusMessage = NULL;
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285 /*-----------------------------------------------------------*/
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289 /* Configure the NVIC, LED outputs and button inputs. */
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290 prvSetupHardware();
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292 /* Create the queue. */
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293 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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295 if( xQueue != NULL )
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297 /* Start the three application specific demo tasks, as described in the
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298 comments at the top of this file. */
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299 xTaskCreate( prvQueueReceiveTask, ( signed char * ) "Rx", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_RECEIVE_TASK_PRIORITY, NULL );
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300 xTaskCreate( prvQueueSendTask, ( signed char * ) "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
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301 xTaskCreate( prvOLEDTask, ( signed char * ) "OLED", configMINIMAL_STACK_SIZE, NULL, mainOLED_TASK_PRIORITY, NULL );
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303 /* Create the software timer that is responsible for turning off the LED
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304 if the button is not pushed within 5000ms, as described at the top of
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306 xLEDTimer = xTimerCreate( ( const signed char * ) "LEDTimer", /* A text name, purely to help debugging. */
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307 ( mainLED_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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308 pdFALSE, /* This is a one shot timer, so xAutoReload is set to pdFALSE. */
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309 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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310 prvLEDTimerCallback /* The callback function that switches the LED off. */
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313 /* Create the software timer that performs the 'check' functionality,
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314 as described at the top of this file. */
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315 xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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316 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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317 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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318 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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319 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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322 /* Create a lot of 'standard demo' tasks. */
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323 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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324 vCreateBlockTimeTasks();
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325 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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326 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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327 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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328 vStartQueuePeekTasks();
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329 vStartRecursiveMutexTasks();
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330 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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332 /* Create the web server task. */
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333 xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
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335 /* The suicide tasks must be created last, as they need to know how many
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336 tasks were running prior to their creation in order to ascertain whether
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337 or not the correct/expected number of tasks are running at any given
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339 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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341 /* Start the tasks and timer running. */
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342 vTaskStartScheduler();
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345 /* If all is well, the scheduler will now be running, and the following line
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346 will never be reached. If the following line does execute, then there was
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347 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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348 to be created. See the memory management section on the FreeRTOS web site
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349 for more details. */
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352 /*-----------------------------------------------------------*/
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354 static void prvCheckTimerCallback( xTimerHandle xTimer )
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356 /* Check the standard demo tasks are running without error. Latch the
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357 latest reported error in the pcStatusMessage character pointer. */
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358 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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360 pcStatusMessage = "Error: GenQueue";
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363 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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365 pcStatusMessage = "Error: QueuePeek\r\n";
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368 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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370 pcStatusMessage = "Error: BlockQueue\r\n";
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373 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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375 pcStatusMessage = "Error: BlockTime\r\n";
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378 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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380 pcStatusMessage = "Error: SemTest\r\n";
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383 if( xIsCreateTaskStillRunning() != pdTRUE )
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385 pcStatusMessage = "Error: Death\r\n";
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388 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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390 pcStatusMessage = "Error: RecMutex\r\n";
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393 if( xAreTimerDemoTasksStillRunning( ( mainCHECK_TIMER_PERIOD_MS ) ) != pdTRUE )
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395 pcStatusMessage = "Error: TimerDemo";
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398 /* Toggle the check LED to give an indication of the system status. If
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399 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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400 everything is ok. A faster toggle indicates an error. */
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401 vParTestToggleLED( mainCHECK_LED );
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403 /* Have any errors been latch in pcStatusMessage? If so, shorten the
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404 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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405 This will result in an increase in the rate at which mainCHECK_LED
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407 if( pcStatusMessage != NULL )
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409 /* This call to xTimerChangePeriod() uses a zero block time. Functions
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410 called from inside of a timer callback function must *never* attempt
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412 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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415 /*-----------------------------------------------------------*/
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417 static void prvLEDTimerCallback( xTimerHandle xTimer )
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419 /* The timer has expired - so no button pushes have occurred in the last
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420 five seconds - turn the LED off. */
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421 vParTestSetLED( mainTIMER_CONTROLLED_LED, pdFALSE );
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423 /*-----------------------------------------------------------*/
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425 /* The ISR executed when the user button is pushed. */
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426 void GPIO8_IRQHandler( void )
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428 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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430 /* The button was pushed, so ensure the LED is on before resetting the
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431 LED timer. The LED timer will turn the LED off if the button is not
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432 pushed within 5000ms. */
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433 vParTestSetLEDFromISR( mainTIMER_CONTROLLED_LED, pdTRUE );
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435 /* This interrupt safe FreeRTOS function can be called from this interrupt
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436 because the interrupt priority is below the
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437 configMAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */
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438 xTimerResetFromISR( xLEDTimer, &xHigherPriorityTaskWoken );
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440 /* Clear the interrupt before leaving. */
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441 MSS_GPIO_clear_irq( MSS_GPIO_8 );
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443 /* If calling xTimerResetFromISR() caused a task (in this case the timer
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444 service/daemon task) to unblock, and the unblocked task has a priority
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445 higher than or equal to the task that was interrupted, then
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446 xHigherPriorityTaskWoken will now be set to pdTRUE, and calling
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447 portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
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448 portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
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450 /*-----------------------------------------------------------*/
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452 static void prvQueueSendTask( void *pvParameters )
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454 portTickType xNextWakeTime;
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455 const unsigned long ulValueToSend = 100UL;
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457 /* The timer command queue will have been filled when the timer test tasks
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458 were created in main() (this is part of the test they perform). Therefore,
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459 while the check timer can be created in main(), it cannot be started from
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460 main(). Once the scheduler has started, the timer service task will drain
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461 the command queue, and now the check timer can be started successfully. */
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462 xTimerStart( xCheckTimer, portMAX_DELAY );
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464 /* Initialise xNextWakeTime - this only needs to be done once. */
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465 xNextWakeTime = xTaskGetTickCount();
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469 /* Place this task in the blocked state until it is time to run again.
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470 The block time is specified in ticks, the constant used converts ticks
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471 to ms. While in the Blocked state this task will not consume any CPU
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473 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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475 /* Send to the queue - causing the queue receive task to unblock and
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476 toggle an LED. 0 is used as the block time so the sending operation
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477 will not block - it shouldn't need to block as the queue should always
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478 be empty at this point in the code. */
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479 xQueueSend( xQueue, &ulValueToSend, mainDONT_BLOCK );
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482 /*-----------------------------------------------------------*/
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484 static void prvQueueReceiveTask( void *pvParameters )
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486 unsigned long ulReceivedValue;
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490 /* Wait until something arrives in the queue - this task will block
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491 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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492 FreeRTOSConfig.h. */
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493 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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495 /* To get here something must have been received from the queue, but
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496 is it the expected value? If it is, toggle the LED. */
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497 if( ulReceivedValue == 100UL )
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499 vParTestToggleLED( mainTASK_CONTROLLED_LED );
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503 /*-----------------------------------------------------------*/
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505 static void prvOLEDTask( void * pvParameters)
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507 static struct oled_data xOLEDData;
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508 static unsigned char ucOffset1 = 0, ucOffset2 = 5;
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509 static portTickType xLastScrollTime = 0UL;
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511 /* Initialise the display. */
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514 /* Initialise the parts of the oled_data structure that do not change. */
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515 xOLEDData.line1 = FIRST_LINE;
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516 xOLEDData.string1 = " www.FreeRTOS.org";
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517 xOLEDData.line2 = SECOND_LINE;
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518 xOLEDData.string2 = " www.FreeRTOS.org";
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519 xOLEDData.contrast_val = OLED_CONTRAST_VAL;
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520 xOLEDData.on_off = OLED_HORIZ_SCROLL_OFF;
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521 xOLEDData.column_scrool_per_step = OLED_HORIZ_SCROLL_STEP;
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522 xOLEDData.start_page = OLED_START_PAGE;
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523 xOLEDData.time_intrval_btw_scroll_step = OLED_HORIZ_SCROLL_TINVL;
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524 xOLEDData.end_page = OLED_END_PAGE;
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527 /* Initialise the last scroll time. This only needs to be done once,
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528 because from this point on it will get automatically updated in the
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529 xTaskDelayUntil() API function. */
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530 xLastScrollTime = xTaskGetTickCount();
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534 /* Wait until it is time to update the OLED again. */
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535 vTaskDelayUntil( &xLastScrollTime, mainOLED_PERIOD_MS );
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537 xOLEDData.char_offset1 = ucOffset1++;
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538 xOLEDData.char_offset2 = ucOffset2++;
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540 OLED_write_data( &xOLEDData, BOTH_LINES );
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543 /*-----------------------------------------------------------*/
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545 static void prvSetupHardware( void )
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547 SystemCoreClockUpdate();
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549 /* Disable the Watch Dog Timer */
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552 /* Configure the GPIO for the LEDs. */
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553 vParTestInitialise();
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555 /* ACE Initialization */
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558 /* Setup the GPIO and the NVIC for the switch used in this simple demo. */
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559 NVIC_SetPriority( GPIO8_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
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560 NVIC_EnableIRQ( GPIO8_IRQn );
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561 MSS_GPIO_config( MSS_GPIO_8, MSS_GPIO_INPUT_MODE | MSS_GPIO_IRQ_EDGE_NEGATIVE );
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562 MSS_GPIO_enable_irq( MSS_GPIO_8 );
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564 /*-----------------------------------------------------------*/
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566 void vApplicationMallocFailedHook( void )
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568 /* Called if a call to pvPortMalloc() fails because there is insufficient
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569 free memory available in the FreeRTOS heap. pvPortMalloc() is called
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570 internally by FreeRTOS API functions that create tasks, queues, software
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571 timers, and semaphores. The size of the FreeRTOS heap is set by the
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572 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
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575 /*-----------------------------------------------------------*/
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577 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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579 ( void ) pcTaskName;
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582 /* Run time stack overflow checking is performed if
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583 configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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584 function is called if a stack overflow is detected. */
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585 taskDISABLE_INTERRUPTS();
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588 /*-----------------------------------------------------------*/
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590 void vApplicationIdleHook( void )
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592 volatile size_t xFreeStackSpace;
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594 /* This function is called on each cycle of the idle task. In this case it
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595 does nothing useful, other than report the amount of FreeRTOS heap that
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596 remains unallocated. */
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597 xFreeStackSpace = xPortGetFreeHeapSize();
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599 if( xFreeStackSpace > 100 )
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601 /* By now, the kernel has allocated everything it is going to, so
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602 if there is a lot of heap remaining unallocated then
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603 the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be
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604 reduced accordingly. */
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607 /*-----------------------------------------------------------*/
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609 char *pcGetTaskStatusMessage( void )
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611 /* Not bothered about a critical section here although technically because
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612 of the task priorities the pointer could change it will be atomic if not
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613 near atomic and its not critical. */
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614 if( pcStatusMessage == NULL )
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616 return "All tasks running without error";
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620 return ( char * ) pcStatusMessage;
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623 /*-----------------------------------------------------------*/
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625 void vMainConfigureTimerForRunTimeStats( void )
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627 const unsigned long ulMax32BitValue = 0xffffffffUL;
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629 MSS_TIM64_init( MSS_TIMER_PERIODIC_MODE );
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630 MSS_TIM64_load_immediate( ulMax32BitValue, ulMax32BitValue );
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633 /*-----------------------------------------------------------*/
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635 unsigned long ulGetRunTimeCounterValue( void )
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637 unsigned long long ullCurrentValue;
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638 const unsigned long long ulMax64BitValue = 0xffffffffffffffffULL;
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639 unsigned long *pulHighWord, *pulLowWord;
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641 pulHighWord = ( unsigned long * ) &ullCurrentValue;
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642 pulLowWord = pulHighWord++;
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644 MSS_TIM64_get_current_value( ( uint32_t * ) pulHighWord, ( uint32_t * ) pulLowWord );
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646 /* Convert the down count into an upcount. */
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647 ullCurrentValue = ulMax64BitValue - ullCurrentValue;
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649 /* Scale to a 32bit number of suitable frequency. */
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650 ullCurrentValue >>= 13;
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652 /* Just return 32 bits. */
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653 return ( unsigned long ) ullCurrentValue;
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projects / freertos / blob