2 FreeRTOS V7.0.1 - 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, a simple web server, and
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67 * run time statistics gathering functionality. ***IF YOU ARE LOOKING FOR A
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68 * SIMPLER STARTING POINT THEN USE THE "BLINKY" BUILD CONFIGURATION FIRST.***
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70 * If the Ethernet functionality is excluded, then this demo will run 'stand
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71 * alone' (without the rest of the tower system) on the TWR-K60N512 tower
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72 * module. If the Ethernet functionality is included, then the full Freescale
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73 * K60 tower kit, including both the TWR-K60N512 and TWR-SER modules, is
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74 * required (as the Ethernet connector is on the TWR-SER). The TWR-K60N512 is
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75 * populated with a K60N512 Cortex-M4 microcontroller.
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77 * The main() Function:
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78 * main() creates four demo specific software timers, and one demo specific
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79 * task (the web server task). It also creates a whole host of 'standard
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80 * demo' tasks/queues/semaphores/timers, before starting the scheduler. The
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81 * demo specific tasks and timers are described in the comments here. The
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82 * standard demo tasks are described on the FreeRTOS.org web site.
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84 * The standard demo tasks provide no specific functionality. They are
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85 * included to both test the FreeRTOS port, and provide examples of how the
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86 * various FreeRTOS API functions can be used.
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88 * This demo creates 37 persistent tasks, then dynamically creates and destroys
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89 * another two tasks as the demo executes.
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92 * The Demo Specific "LED" Timers and Callback Function:
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93 * Two very simple LED timers are created. All they do is toggle and LED timer
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94 * callback function is executed. The two timers share a callback function, so
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95 * the callback function parameter is used to determine which timer actually
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96 * expired, and therefore, which LED to toggle. Both timers use a different
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97 * frequency, one toggles the blue LED and the other the green LED.
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99 * The LED/Button Software Timer and the Button Interrupt:
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100 * The user button SW2 is configured to generate an interrupt each time it is
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101 * pressed. The interrupt service routine switches the orange/yellow LED on,
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102 * and resets the LED software timer. The LED timer has a 5000 millisecond (5
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103 * second) period, and uses a callback function that is defined to just turn the
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104 * LED off again. Therefore, pressing the user button will turn the LED on, and
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105 * the LED will remain on until a full five seconds pass without the button
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108 * The Demo Specific "Check" Timer and Callback Function:
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109 * The check timer period is initially set to three seconds. The check timer
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110 * callback function checks that all the standard demo tasks are not only still
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111 * executing, but are executing without reporting any errors. If the check
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112 * timer discovers that a task has either stalled, or reported an error, then it
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113 * changes its own period from the initial three seconds, to just 200ms. The
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114 * check timer callback function also toggles the orange/red LED each time it is
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115 * called. This provides a visual indication of the system status: If the LED
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116 * toggles every three seconds, then no issues have been discovered. If the LED
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117 * toggles every 200ms, then an issue has been discovered with at least one
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118 * task. The last reported issue is latched into the pcStatusMessage variable,
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119 * and displayed at the bottom of the "task stats" web page served by the
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120 * embedded web server task.
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122 * The web server task:
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123 * The web server task implements a simple embedded web server that includes
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124 * CGI scripting. Pages are provided that allow task statistics, network
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125 * statistics and run time statistics to be viewed. In addition, an IO page is
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126 * served that allows the orange/yellow LED to be turned on and off. Finally,
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127 * a page is included that serves a large jpg file. See the documentation page
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128 * for this demo on the http://www.FreeRTOS.org web site for web server
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129 * configuration and usage instructions.
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131 * The Demo Specific Idle Hook Function:
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132 * The idle hook function demonstrates how to query the amount of FreeRTOS heap
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133 * space that is remaining (see vApplicationIdleHook() defined in this file).
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135 * The Demo Specific Tick Hook Function:
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136 * The tick hook function is used to test the interrupt safe software timer
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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 /* Freescale includes. */
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148 #include "common.h"
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150 /* Common demo includes. */
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151 #include "partest.h"
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153 #include "BlockQ.h"
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155 #include "blocktim.h"
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156 #include "semtest.h"
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157 #include "GenQTest.h"
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159 #include "recmutex.h"
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160 #include "TimerDemo.h"
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162 #include "countsem.h"
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163 #include "dynamic.h"
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165 /* The LED toggled by the check timer callback function. */
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166 #define mainCHECK_LED 3UL
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168 /* The LED turned on by the button interrupt, and turned off by the LED timer. */
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169 #define mainTIMER_CONTROLLED_LED 2UL
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171 /* The LEDs toggled by the two simple flash LED timers. */
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172 #define mainLED0 0UL
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173 #define mainLED1 1UL
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175 /* Constant used by the standard timer test functions. */
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176 #define mainTIMER_TEST_PERIOD ( 50 )
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178 /* Priorities used by the various different standard demo tasks. */
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179 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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180 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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181 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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182 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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183 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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184 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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186 /* The WEB server uses string handling functions, which in turn use a bit more
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187 stack than most of the other tasks. */
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188 #define mainuIP_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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190 /* The period at which the check timer will expire, in ms, provided no errors
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191 have been reported by any of the standard demo tasks. ms are converted to the
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192 equivalent in ticks using the portTICK_RATE_MS constant. */
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193 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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195 /* The period at which the check timer will expire, in ms, if an error has been
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196 reported in one of the standard demo tasks. ms are converted to the equivalent
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197 in ticks using the portTICK_RATE_MS constant. */
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198 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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200 /* The LED that is turned on by pressing SW2 remains on until the button has not
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201 been pushed for a full 5000ms. */
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202 #define mainBUTTON_LED_TIMER_PERIOD_MS ( 5000UL / portTICK_RATE_MS )
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204 /* The period at which the two simple LED flash timers will execute their
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205 callback functions. */
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206 #define mainLED1_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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207 #define mainLED2_TIMER_PERIOD_MS ( 600UL / portTICK_RATE_MS )
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209 /* A block time of zero simply means "don't block". */
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210 #define mainDONT_BLOCK ( 0UL )
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212 /* The vector used by the GPIO port E. Button SW2 is configured to generate
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213 an interrupt on this port. */
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214 #define mainGPIO_E_VECTOR ( 91 )
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216 /*-----------------------------------------------------------*/
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219 * Setup the NVIC, LED outputs, and button inputs.
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221 static void prvSetupHardware( void );
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224 * Creates the timers that are specific to this demo - namely, the check timer
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225 * the button LED timer, and the two simple LED flash timers.
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227 static void prvCreateDemoSpecificTimers( void );
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230 * The LED/button timer callback function. This does nothing but switch an LED
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233 static void prvButtonLEDTimerCallback( xTimerHandle xTimer );
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236 * The callback function used by both simple LED flash timers. Both timers use
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237 * the same callback, so the function parameter is used to determine which LED
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238 * should be flashed (effectively to determine which timer has expired).
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240 static void prvLEDTimerCallback( xTimerHandle xTimer );
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243 * The check timer callback function, as described at the top of this file.
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245 static void prvCheckTimerCallback( xTimerHandle xTimer );
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248 * Contains the implementation of the web server.
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250 extern void vuIP_Task( void *pvParameters );
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252 /*-----------------------------------------------------------*/
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254 /* The LED/Button software timer. This uses prvButtonLEDTimerCallback() as it's
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255 callback function. */
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256 static xTimerHandle xLEDButtonTimer = NULL;
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258 /* The check timer. This uses prvCheckTimerCallback() as its callback
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260 static xTimerHandle xCheckTimer = NULL;
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262 /* LED timers - these simply flash LEDs, each using a different frequency. Both
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263 use the same prvLEDTimerCallback() callback function. */
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264 static xTimerHandle xLED1Timer = NULL, xLED2Timer = NULL;
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266 /* If an error is detected in a standard demo task, then pcStatusMessage will
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267 be set to point to a string that identifies the offending task. This is just
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268 to make debugging easier. */
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269 static const char *pcStatusMessage = NULL;
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271 /* Used in the run time stats calculations. */
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272 static unsigned long ulClocksPer10thOfAMilliSecond = 0UL;
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274 /*-----------------------------------------------------------*/
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278 /* Configure the NVIC, LED outputs and button inputs. */
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279 prvSetupHardware();
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281 /* Create the timers that are specific to this demo - other timers are
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282 created as part of the standard demo within vStartTimerDemoTask. */
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283 prvCreateDemoSpecificTimers();
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285 /* Create a lot of 'standard demo' tasks. Nearly 40 tasks are created in
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286 this demo. For a much simpler demo, select the 'blinky' build
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288 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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289 vCreateBlockTimeTasks();
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290 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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291 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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292 vStartQueuePeekTasks();
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293 vStartRecursiveMutexTasks();
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294 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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295 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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296 vStartCountingSemaphoreTasks();
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297 vStartDynamicPriorityTasks();
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299 /* The web server task. */
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300 xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
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302 /* The suicide tasks must be created last, as they need to know how many
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303 tasks were running prior to their creation in order to ascertain whether
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304 or not the correct/expected number of tasks are running at any given
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306 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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308 /* Start the tasks and timers running. */
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309 vTaskStartScheduler();
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311 /* If all is well, the scheduler will now be running, and the following line
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312 will never be reached. If the following line does execute, then there was
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313 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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314 to be created. See the memory management section on the FreeRTOS web site
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315 for more details. */
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318 /*-----------------------------------------------------------*/
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320 static void prvCheckTimerCallback( xTimerHandle xTimer )
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322 static long lChangedTimerPeriodAlready = pdFALSE;
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324 /* Check the standard demo tasks are running without error. Latch the
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325 latest reported error in the pcStatusMessage character pointer. The latched
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326 string can be viewed using the embedded web server - it is displayed at
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327 the bottom of the served "task stats" page. */
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328 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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330 pcStatusMessage = "Error: GenQueue";
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333 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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335 pcStatusMessage = "Error: QueuePeek\n";
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338 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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340 pcStatusMessage = "Error: BlockQueue\n";
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343 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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345 pcStatusMessage = "Error: BlockTime\n";
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348 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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350 pcStatusMessage = "Error: SemTest\n";
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353 if( xIsCreateTaskStillRunning() != pdTRUE )
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355 pcStatusMessage = "Error: Death\n";
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358 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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360 pcStatusMessage = "Error: RecMutex\n";
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363 if( xAreTimerDemoTasksStillRunning( ( mainCHECK_TIMER_PERIOD_MS ) ) != pdTRUE )
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365 pcStatusMessage = "Error: TimerDemo\n";
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368 if( xArePollingQueuesStillRunning() != pdTRUE )
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370 pcStatusMessage = "Error: PollQueue\n";
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373 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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375 pcStatusMessage = "Error: CountSem\n";
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378 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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380 pcStatusMessage = "Error: DynamicPriority\n";
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383 /* Toggle the check LED to give an indication of the system status. If
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384 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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385 everything is ok. A faster toggle indicates an error. */
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386 vParTestToggleLED( mainCHECK_LED );
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388 /* Have any errors been latch in pcStatusMessage? If so, shorten the
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389 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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390 This will result in an increase in the rate at which mainCHECK_LED
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392 if( pcStatusMessage != NULL )
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394 if( lChangedTimerPeriodAlready == pdFALSE )
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396 lChangedTimerPeriodAlready = pdTRUE;
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397 printf( "%s", pcStatusMessage );
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399 /* This call to xTimerChangePeriod() uses a zero block time.
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400 Functions called from inside of a timer callback function must
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401 *never* attempt to block. */
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402 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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406 /*-----------------------------------------------------------*/
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408 static void prvButtonLEDTimerCallback( xTimerHandle xTimer )
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410 /* The timer has expired - so no button pushes have occurred in the last
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411 five seconds - turn the LED off. */
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412 vParTestSetLED( mainTIMER_CONTROLLED_LED, pdFALSE );
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414 /*-----------------------------------------------------------*/
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416 static void prvLEDTimerCallback( xTimerHandle xTimer )
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418 unsigned long ulLED;
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420 /* This callback is shared by two timers, so the parameter is used to
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421 determine which LED to toggle. The LED number is stored in the ID of the
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423 ulLED = ( unsigned long ) pvTimerGetTimerID( xTimer );
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424 vParTestToggleLED( ulLED );
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426 /*-----------------------------------------------------------*/
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428 /* The ISR executed when the user button is pushed. */
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429 void vPort_E_ISRHandler( void )
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431 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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433 /* The button was pushed, so ensure the LED is on before resetting the
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434 LED timer. The LED timer will turn the LED off if the button is not
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435 pushed within 5000ms. */
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436 vParTestSetLED( mainTIMER_CONTROLLED_LED, pdTRUE );
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438 /* This interrupt safe FreeRTOS function can be called from this interrupt
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439 because the interrupt priority is equal to or below the
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440 configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */
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441 xTimerResetFromISR( xLEDButtonTimer, &xHigherPriorityTaskWoken );
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443 /* Clear the interrupt before leaving. */
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444 PORTE_ISFR = 0xFFFFFFFFUL;
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446 /* If calling xTimerResetFromISR() caused a task (in this case the timer
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447 service/daemon task) to unblock, and the unblocked task has a priority
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448 higher than or equal to the task that was interrupted, then
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449 xHigherPriorityTaskWoken will now be set to pdTRUE, and calling
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450 portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
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451 portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
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453 /*-----------------------------------------------------------*/
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455 static void prvSetupHardware( void )
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457 /* Enable the interrupt on SW1. */
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458 taskDISABLE_INTERRUPTS();
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459 PORTE_PCR26 = PORT_PCR_MUX( 1 ) | PORT_PCR_IRQC( 0xA ) | PORT_PCR_PE_MASK | PORT_PCR_PS_MASK;
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460 enable_irq( mainGPIO_E_VECTOR );
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462 /* The interrupt calls an interrupt safe API function - so its priority must
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463 be equal to or lower than configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY. */
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464 set_irq_priority( mainGPIO_E_VECTOR, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
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466 /* Configure the LED outputs. */
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467 vParTestInitialise();
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469 /*-----------------------------------------------------------*/
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471 static void prvCreateDemoSpecificTimers( void )
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473 /* This function creates the timers, but does not start them. This is
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474 because the standard demo timer test is started from main(), after this
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475 function is called. The standard demo timer test will deliberately fill the
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476 timer command queue - and will fail the test if the command queue already
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477 holds start commands for the timers created here. Instead, the timers
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478 created in this function are started from the idle task, at which time, the
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479 timer service/daemon task will be running, and will have drained the timer
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482 /* Create the software timer that is responsible for turning off the LED
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483 if the button is not pushed within 5000ms, as described at the top of
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485 xLEDButtonTimer = xTimerCreate( ( const signed char * ) "ButtonLEDTimer", /* A text name, purely to help debugging. */
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486 ( mainBUTTON_LED_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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487 pdFALSE, /* This is a one shot timer, so xAutoReload is set to pdFALSE. */
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488 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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489 prvButtonLEDTimerCallback /* The callback function that switches the LED off. */
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492 /* Create the software timer that performs the 'check' functionality,
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493 as described at the top of this file. */
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494 xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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495 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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496 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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497 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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498 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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501 /* Create the software timers used to simply flash LEDs. These two timers
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502 share a callback function, so the callback parameter is used to pass in the
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503 LED that should be toggled. */
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504 xLED1Timer = xTimerCreate( ( const signed char * ) "LED1Timer",/* A text name, purely to help debugging. */
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505 ( mainLED1_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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506 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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507 ( void * ) mainLED0, /* The ID is used to pass in the number of the LED to be toggled. */
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508 prvLEDTimerCallback /* The callback function simply toggles the LED specified by its parameter. */
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511 xLED2Timer = xTimerCreate( ( const signed char * ) "LED2Timer",/* A text name, purely to help debugging. */
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512 ( mainLED2_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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513 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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514 ( void * ) mainLED1, /* The ID is used to pass in the number of the LED to be toggled. */
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515 prvLEDTimerCallback /* The callback function simply toggles the LED specified by its parameter. */
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518 /*-----------------------------------------------------------*/
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520 void vApplicationMallocFailedHook( void )
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522 /* Called if a call to pvPortMalloc() fails because there is insufficient
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523 free memory available in the FreeRTOS heap. pvPortMalloc() is called
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524 internally by FreeRTOS API functions that create tasks, queues, software
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525 timers, and semaphores. The size of the FreeRTOS heap is set by the
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526 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
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527 taskDISABLE_INTERRUPTS();
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530 /*-----------------------------------------------------------*/
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532 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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534 ( void ) pcTaskName;
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537 /* Run time stack overflow checking is performed if
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538 configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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539 function is called if a stack overflow is detected. */
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540 taskDISABLE_INTERRUPTS();
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543 /*-----------------------------------------------------------*/
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545 void vApplicationIdleHook( void )
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547 static long lPrintedOut = pdFALSE;
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548 volatile size_t xFreeHeapSpace;
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550 if( lPrintedOut == pdFALSE )
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552 lPrintedOut = pdTRUE;
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554 /* The timer command queue will have been filled when the timer test
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555 tasks were created in main() (this is part of the test they perform).
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556 Therefore, while the check and LED timers can be created in main(), they
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557 cannot be started from main(). Once the scheduler has started, the timer
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558 service task will drain the command queue, and now the check and LED
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559 timers can be started successfully. Normally the idle task must not
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560 call a function that could cause it to block in case there are no tasks
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561 that are able to run. In this case, however, it is ok as posting to the
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562 timer command queue guarantees that at least the timer service/daemon
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563 task will be able to execute. */
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564 xTimerStart( xCheckTimer, portMAX_DELAY );
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565 xTimerStart( xLED1Timer, portMAX_DELAY );
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566 xTimerStart( xLED2Timer, portMAX_DELAY );
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568 xFreeHeapSpace = xPortGetFreeHeapSize();
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569 printf( "%d bytes of FreeRTOS heap remain unused\nconfigTOTAL_HEAP_SIZE can be reduced\n", xFreeHeapSpace );
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571 if( xFreeHeapSpace > 100 )
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573 /* By now, the kernel has allocated everything it is going to, so
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574 if there is a lot of heap remaining unallocated then
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575 the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be
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576 reduced accordingly. */
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580 /*-----------------------------------------------------------*/
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582 void vApplicationTickHook( void )
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584 /* Call the periodic timer test, which tests the timer API functions that
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585 can be called from an ISR. */
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586 vTimerPeriodicISRTests();
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588 /*-----------------------------------------------------------*/
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590 char *pcGetTaskStatusMessage( void )
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592 /* A simple GET function used by a CGI script so it can display the
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593 execution status at the bottom of the task stats web page served by the
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594 embedded web server. */
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595 if( pcStatusMessage == NULL )
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597 return "All tasks running without error";
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601 return ( char * ) pcStatusMessage;
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604 /*-----------------------------------------------------------*/
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606 void vMainConfigureTimerForRunTimeStats( void )
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608 /* How many clocks are there per tenth of a millisecond? */
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609 ulClocksPer10thOfAMilliSecond = configCPU_CLOCK_HZ / 10000UL;
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611 /*-----------------------------------------------------------*/
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613 unsigned long ulMainGetRunTimeCounterValue( void )
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615 unsigned long ulSysTickCounts, ulTickCount, ulReturn;
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616 const unsigned long ulSysTickReloadValue = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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617 volatile unsigned long * const pulCurrentSysTickCount = ( ( volatile unsigned long *) 0xe000e018 );
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618 volatile unsigned long * const pulInterruptCTRLState = ( ( volatile unsigned long *) 0xe000ed04 );
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619 const unsigned long ulSysTickPendingBit = 0x04000000UL;
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621 /* NOTE: There are potentially race conditions here. However, it is used
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622 anyway to keep the examples simple, and to avoid reliance on a separate
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623 timer peripheral. */
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626 /* The SysTick is a down counter. How many clocks have passed since it was
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628 ulSysTickCounts = ulSysTickReloadValue - *pulCurrentSysTickCount;
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630 /* How many times has it overflowed? */
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631 ulTickCount = xTaskGetTickCountFromISR();
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633 /* Is there a SysTick interrupt pending? */
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634 if( ( *pulInterruptCTRLState & ulSysTickPendingBit ) != 0UL )
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636 /* There is a SysTick interrupt pending, so the SysTick has overflowed
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637 but the tick count not yet incremented. */
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640 /* Read the SysTick again, as the overflow might have occurred since
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641 it was read last. */
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642 ulSysTickCounts = ulSysTickReloadValue - *pulCurrentSysTickCount;
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645 /* Convert the tick count into tenths of a millisecond. THIS ASSUMES
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646 configTICK_RATE_HZ is 1000! */
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647 ulReturn = ( ulTickCount * 10UL ) ;
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649 /* Add on the number of tenths of a millisecond that have passed since the
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650 tick count last got updated. */
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651 ulReturn += ( ulSysTickCounts / ulClocksPer10thOfAMilliSecond );
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655 /*-----------------------------------------------------------*/
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