2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
\r
5 ***************************************************************************
\r
7 * FreeRTOS tutorial books are available in pdf and paperback. *
\r
8 * Complete, revised, and edited pdf reference manuals are also *
\r
11 * Purchasing FreeRTOS documentation will not only help you, by *
\r
12 * ensuring you get running as quickly as possible and with an *
\r
13 * in-depth knowledge of how to use FreeRTOS, it will also help *
\r
14 * the FreeRTOS project to continue with its mission of providing *
\r
15 * professional grade, cross platform, de facto standard solutions *
\r
16 * for microcontrollers - completely free of charge! *
\r
18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
\r
20 * Thank you for using FreeRTOS, and thank you for your support! *
\r
22 ***************************************************************************
\r
25 This file is part of the FreeRTOS distribution.
\r
27 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
28 the terms of the GNU General Public License (version 2) as published by the
\r
29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
\r
30 >>>NOTE<<< The modification to the GPL is included to allow you to
\r
31 distribute a combined work that includes FreeRTOS without being obliged to
\r
32 provide the source code for proprietary components outside of the FreeRTOS
\r
33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
\r
34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
\r
35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
\r
36 more details. You should have received a copy of the GNU General Public
\r
37 License and the FreeRTOS license exception along with FreeRTOS; if not it
\r
38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
\r
39 by writing to Richard Barry, contact details for whom are available on the
\r
44 ***************************************************************************
\r
46 * Having a problem? Start by reading the FAQ "My application does *
\r
47 * not run, what could be wrong? *
\r
49 * http://www.FreeRTOS.org/FAQHelp.html *
\r
51 ***************************************************************************
\r
54 http://www.FreeRTOS.org - Documentation, training, latest information,
\r
55 license and contact details.
\r
57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
58 including FreeRTOS+Trace - an indispensable productivity tool.
\r
60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
\r
61 the code with commercial support, indemnification, and middleware, under
\r
62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
\r
63 provide a safety engineered and independently SIL3 certified version under
\r
64 the SafeRTOS brand: http://www.SafeRTOS.com.
\r
68 * The documentation page for this demo available on http://www.FreeRTOS.org
\r
69 * documents the hardware configuration required to run this demo. It also
\r
70 * provides more information on the expected demo application behaviour.
\r
72 * main() creates all the demo application tasks, then starts the scheduler.
\r
73 * A lot of the created tasks are from the pool of "standard demo" tasks. The
\r
74 * web documentation provides more details of the standard demo tasks, which
\r
75 * provide no particular functionality but do provide good examples of how to
\r
76 * use the FreeRTOS API.
\r
78 * In addition to the standard demo tasks, the following tasks, interrupts and
\r
79 * tests are defined and/or created within this file:
\r
81 * "LCD" task - The LCD task is a 'gatekeeper' task. It is the only task that
\r
82 * is permitted to access the LCD and therefore ensures access to the LCD is
\r
83 * always serialised and there are no mutual exclusion issues. When a task or
\r
84 * an interrupt wants to write to the LCD, it does not access the LCD directly
\r
85 * but instead sends the message to the LCD task. The LCD task then performs
\r
86 * the actual LCD output. This mechanism also allows interrupts to, in effect,
\r
87 * write to the LCD by sending messages to the LCD task.
\r
89 * The LCD task is also a demonstration of a 'controller' task design pattern.
\r
90 * Some tasks do not actually send a string to the LCD task directly, but
\r
91 * instead send a command that is interpreted by the LCD task. In a normal
\r
92 * application these commands can be control values or set points, in this
\r
93 * simple example the commands just result in messages being displayed on the
\r
96 * "Button Poll" task - This task polls the state of the 'up' key on the
\r
97 * joystick input device. It uses the vTaskDelay() API function to control
\r
98 * the poll rate to ensure debouncing is not necessary and that the task does
\r
99 * not use all the available CPU processing time.
\r
101 * Button Interrupt and run time stats display - The select button on the
\r
102 * joystick input device is configured to generate an external interrupt. The
\r
103 * handler for this interrupt sends a message to LCD task, which interprets the
\r
104 * message to mean, firstly write a message to the LCD, and secondly, generate
\r
105 * a table of run time statistics. The run time statistics are displayed as a
\r
106 * table that contains information on how much processing time each task has
\r
107 * been allocated since the application started to execute. This information
\r
108 * is provided both as an absolute time, and as a percentage of the total run
\r
109 * time. The information is displayed in the terminal IO window of the IAR
\r
110 * embedded workbench. The online documentation for this demo shows a screen
\r
111 * shot demonstrating where the run time stats can be viewed.
\r
113 * Idle Hook - The idle hook is a function that is called on each iteration of
\r
114 * the idle task. In this case it is used to place the processor into a low
\r
115 * power mode. Note however that this application is implemented using standard
\r
116 * components, and is therefore not optimised for low power operation. Lower
\r
117 * power consumption would be achieved by converting polling tasks into event
\r
118 * driven tasks, and slowing the tick interrupt frequency.
\r
120 * "Check" function called from the tick hook - The tick hook is called during
\r
121 * each tick interrupt. It is called from an interrupt context so must execute
\r
122 * quickly, not attempt to block, and not call any FreeRTOS API functions that
\r
123 * do not end in "FromISR". In this case the tick hook executes a 'check'
\r
124 * function. This only executes every five seconds. Its main function is to
\r
125 * check that all the standard demo tasks are still operational. Each time it
\r
126 * executes it sends a status code to the LCD task. The LCD task interprets the
\r
127 * code and displays an appropriate message - which will be PASS if no tasks
\r
128 * have reported any errors, or a message stating which task has reported an
\r
132 /* Standard includes. */
\r
135 /* Kernel includes. */
\r
136 #include "FreeRTOS.h"
\r
140 /* Demo application includes. */
\r
141 #include "partest.h"
\r
143 #include "dynamic.h"
\r
144 #include "comtest2.h"
\r
145 #include "GenQTest.h"
\r
147 /* Eval board includes. */
\r
148 #include "stm32_eval.h"
\r
149 #include "stm32l152_eval_lcd.h"
\r
151 /* The priorities assigned to the tasks. */
\r
152 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
153 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
154 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
155 #define mainGENERIC_QUEUE_TEST_PRIORITY ( tskIDLE_PRIORITY )
\r
157 /* The length of the queue (the number of items the queue can hold) that is used
\r
158 to send messages from tasks and interrupts the the LCD task. */
\r
159 #define mainQUEUE_LENGTH ( 5 )
\r
161 /* Codes sent within messages to the LCD task so the LCD task can interpret
\r
162 exactly what the message it just received was. These are sent in the
\r
163 cMessageID member of the message structure (defined below). */
\r
164 #define mainMESSAGE_BUTTON_UP ( 1 )
\r
165 #define mainMESSAGE_BUTTON_SEL ( 2 )
\r
166 #define mainMESSAGE_STATUS ( 3 )
\r
168 /* When the cMessageID member of the message sent to the LCD task is
\r
169 mainMESSAGE_STATUS then these definitions are sent in the lMessageValue member
\r
170 of the same message and indicate what the status actually is. */
\r
171 #define mainERROR_DYNAMIC_TASKS ( pdPASS + 1 )
\r
172 #define mainERROR_COM_TEST ( pdPASS + 2 )
\r
173 #define mainERROR_GEN_QUEUE_TEST ( pdPASS + 3 )
\r
175 /* Baud rate used by the comtest tasks. */
\r
176 #define mainCOM_TEST_BAUD_RATE ( 115200 )
\r
178 /* The LED used by the comtest tasks. See the comtest.c file for more
\r
180 #define mainCOM_TEST_LED ( 3 )
\r
182 /* The LCD task uses printf() so requires more stack than most of the other
\r
184 #define mainLCD_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )
\r
186 /*-----------------------------------------------------------*/
\r
189 * System configuration is performed prior to main() being called, this function
\r
190 * configures the peripherals used by the demo application.
\r
192 static void prvSetupHardware( void );
\r
195 * Definition of the LCD/controller task described in the comments at the top
\r
198 static void prvLCDTask( void *pvParameters );
\r
201 * Definition of the button poll task described in the comments at the top of
\r
204 static void prvButtonPollTask( void *pvParameters );
\r
207 * Converts a status message value into an appropriate string for display on
\r
208 * the LCD. The string is written to pcBuffer.
\r
210 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue );
\r
212 /*-----------------------------------------------------------*/
\r
214 /* The time base for the run time stats is generated by the 16 bit timer 6.
\r
215 Each time the timer overflows ulTIM6_OverflowCount is incremented. Therefore,
\r
216 when converting the total run time to a 32 bit number, the most significant two
\r
217 bytes are given by ulTIM6_OverflowCount and the least significant two bytes are
\r
218 given by the current TIM6 counter value. Care must be taken with data
\r
219 consistency when combining the two in case a timer overflow occurs as the
\r
220 value is being read. */
\r
221 unsigned long ulTIM6_OverflowCount = 0UL;
\r
223 /* The handle of the queue used to send messages from tasks and interrupts to
\r
225 static xQueueHandle xLCDQueue = NULL;
\r
227 /* The definition of each message sent from tasks and interrupts to the LCD
\r
231 char cMessageID; /* << States what the message is. */
\r
232 long lMessageValue; /* << States the message value (can be an integer, string pointer, etc. depending on the value of cMessageID). */
\r
235 /*-----------------------------------------------------------*/
\r
239 /* Configure the peripherals used by this demo application. This includes
\r
240 configuring the joystick input select button to generate interrupts. */
\r
241 prvSetupHardware();
\r
243 /* Create the queue used by tasks and interrupts to send strings to the LCD
\r
245 xLCDQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( xQueueMessage ) );
\r
247 /* If the queue could not be created then don't create any tasks that might
\r
248 attempt to use the queue. */
\r
249 if( xLCDQueue != NULL )
\r
251 /* Add the created queue to the queue registry so it can be viewed in
\r
252 the IAR FreeRTOS state viewer plug-in. */
\r
253 vQueueAddToRegistry( xLCDQueue, "LCDQueue" );
\r
255 /* Create the LCD and button poll tasks, as described at the top of this
\r
257 xTaskCreate( prvLCDTask, ( signed char * ) "LCD", mainLCD_TASK_STACK_SIZE, NULL, mainLCD_TASK_PRIORITY, NULL );
\r
258 xTaskCreate( prvButtonPollTask, ( signed char * ) "ButPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
\r
260 /* Create a subset of the standard demo tasks. */
\r
261 vStartDynamicPriorityTasks();
\r
262 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
\r
263 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
\r
264 vStartGenericQueueTasks( mainGENERIC_QUEUE_TEST_PRIORITY );
\r
266 /* Start the scheduler. */
\r
267 vTaskStartScheduler();
\r
270 /* If all is well then this line will never be reached. If it is reached
\r
271 then it is likely that there was insufficient (FreeRTOS) heap memory space
\r
272 to create the idle task. This may have been trapped by the malloc() failed
\r
273 hook function, if one is configured. */
\r
276 /*-----------------------------------------------------------*/
\r
278 static void prvLCDTask( void *pvParameters )
\r
280 xQueueMessage xReceivedMessage;
\r
281 long lLine = Line1;
\r
282 const long lFontHeight = (((sFONT *)LCD_GetFont())->Height);
\r
284 /* Buffer into which strings are formatted and placed ready for display on the
\r
285 LCD. Note this is a static variable to prevent it being allocated on the task
\r
286 stack, which is too small to hold such a variable. The stack size is configured
\r
287 when the task is created. */
\r
288 static char cBuffer[ 512 ];
\r
290 /* This function is the only function that uses printf(). If printf() is
\r
291 used from any other function then some sort of mutual exclusion on stdout
\r
294 This is also the only function that is permitted to access the LCD.
\r
296 First print out the number of bytes that remain in the FreeRTOS heap. This
\r
297 can be viewed in the terminal IO window within the IAR Embedded Workbench. */
\r
298 printf( "%d bytes of heap space remain unallocated\n", xPortGetFreeHeapSize() );
\r
302 /* Wait for a message to be received. Using portMAX_DELAY as the block
\r
303 time will result in an indefinite wait provided INCLUDE_vTaskSuspend is
\r
304 set to 1 in FreeRTOSConfig.h, therefore there is no need to check the
\r
305 function return value and the function will only return when a value
\r
306 has been received. */
\r
307 xQueueReceive( xLCDQueue, &xReceivedMessage, portMAX_DELAY );
\r
309 /* Clear the LCD if no room remains for any more text output. */
\r
310 if( lLine > Line9 )
\r
316 /* What is this message? What does it contain? */
\r
317 switch( xReceivedMessage.cMessageID )
\r
319 case mainMESSAGE_BUTTON_UP : /* The button poll task has just
\r
320 informed this task that the up
\r
321 button on the joystick input has
\r
322 been pressed or released. */
\r
323 sprintf( cBuffer, "Button up = %d", xReceivedMessage.lMessageValue );
\r
326 case mainMESSAGE_BUTTON_SEL : /* The select button interrupt
\r
327 just informed this task that the
\r
328 select button was pressed.
\r
329 Generate a table of task run time
\r
330 statistics and output this to
\r
331 the terminal IO window in the IAR
\r
332 embedded workbench. */
\r
333 printf( "\nTask\t Abs Time\t %%Time\n*****************************************" );
\r
334 vTaskGetRunTimeStats( ( signed char * ) cBuffer );
\r
337 /* Also print out a message to
\r
338 the LCD - in this case the
\r
339 pointer to the string to print
\r
340 is sent directly in the
\r
341 lMessageValue member of the
\r
342 message. This just demonstrates
\r
343 a different communication
\r
345 sprintf( cBuffer, "%s", ( char * ) xReceivedMessage.lMessageValue );
\r
348 case mainMESSAGE_STATUS : /* The tick interrupt hook
\r
349 function has just informed this
\r
350 task of the system status.
\r
351 Generate a string in accordance
\r
352 with the status value. */
\r
353 prvGenerateStatusMessage( cBuffer, xReceivedMessage.lMessageValue );
\r
356 default : sprintf( cBuffer, "Unknown message" );
\r
360 /* Output the message that was placed into the cBuffer array within the
\r
361 switch statement above. */
\r
362 LCD_DisplayStringLine( lLine, ( uint8_t * ) cBuffer );
\r
364 /* Move onto the next LCD line, ready for the next iteration of this
\r
366 lLine += lFontHeight;
\r
369 /*-----------------------------------------------------------*/
\r
371 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue )
\r
373 /* Just a utility function to convert a status value into a meaningful
\r
374 string for output onto the LCD. */
\r
375 switch( lStatusValue )
\r
377 case pdPASS : sprintf( pcBuffer, "Task status = PASS" );
\r
379 case mainERROR_DYNAMIC_TASKS : sprintf( pcBuffer, "Error: Dynamic tasks" );
\r
381 case mainERROR_COM_TEST : sprintf( pcBuffer, "Err: loop connected?" ); /* Error in COM test - is the Loopback connector connected? */
\r
383 case mainERROR_GEN_QUEUE_TEST : sprintf( pcBuffer, "Error: Gen Q test" );
\r
385 default : sprintf( pcBuffer, "Unknown status" );
\r
389 /*-----------------------------------------------------------*/
\r
391 void EXTI9_5_IRQHandler( void )
\r
393 /* Define the message sent to the LCD task from this interrupt. */
\r
394 const xQueueMessage xMessage = { mainMESSAGE_BUTTON_SEL, ( unsigned long ) "Select Interrupt!" };
\r
395 long lHigherPriorityTaskWoken = pdFALSE;
\r
397 /* This is the interrupt handler for the joystick select button input.
\r
398 The button has been pushed, write a message to the LCD via the LCD task. */
\r
399 xQueueSendFromISR( xLCDQueue, &xMessage, &lHigherPriorityTaskWoken );
\r
401 EXTI_ClearITPendingBit( SEL_BUTTON_EXTI_LINE );
\r
403 /* If writing to xLCDQueue caused a task to unblock, and the unblocked task
\r
404 has a priority equal to or above the task that this interrupt interrupted,
\r
405 then lHigherPriorityTaskWoken will have been set to pdTRUE internally within
\r
406 xQueuesendFromISR(), and portEND_SWITCHING_ISR() will ensure that this
\r
407 interrupt returns directly to the higher priority unblocked task. */
\r
408 portEND_SWITCHING_ISR( lHigherPriorityTaskWoken );
\r
410 /*-----------------------------------------------------------*/
\r
412 void vApplicationTickHook( void )
\r
414 static unsigned long ulCounter = 0;
\r
415 static const unsigned long ulCheckFrequency = 5000UL / portTICK_RATE_MS;
\r
416 long lHigherPriorityTaskWoken = pdFALSE;
\r
418 /* Define the status message that is sent to the LCD task. By default the
\r
420 static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };
\r
422 /* This is called from within the tick interrupt and performs the 'check'
\r
423 functionality as described in the comments at the top of this file.
\r
425 Is it time to perform the 'check' functionality again? */
\r
427 if( ulCounter >= ulCheckFrequency )
\r
429 /* See if the standard demo tasks are executing as expected, changing
\r
430 the message that is sent to the LCD task from PASS to an error code if
\r
431 any tasks set reports an error. */
\r
432 if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
\r
434 xStatusMessage.lMessageValue = mainERROR_DYNAMIC_TASKS;
\r
437 if( xAreComTestTasksStillRunning() != pdPASS )
\r
439 xStatusMessage.lMessageValue = mainERROR_COM_TEST;
\r
442 if( xAreGenericQueueTasksStillRunning() != pdPASS )
\r
444 xStatusMessage.lMessageValue = mainERROR_GEN_QUEUE_TEST;
\r
447 /* As this is the tick hook the lHigherPriorityTaskWoken parameter is not
\r
448 needed (a context switch is going to be performed anyway), but it must
\r
449 still be provided. */
\r
450 xQueueSendFromISR( xLCDQueue, &xStatusMessage, &lHigherPriorityTaskWoken );
\r
454 /*-----------------------------------------------------------*/
\r
456 static void prvButtonPollTask( void *pvParameters )
\r
458 long lLastState = pdTRUE;
\r
460 xQueueMessage xMessage;
\r
462 /* This tasks performs the button polling functionality as described at the
\r
463 top of this file. */
\r
466 /* Check the button state. */
\r
467 lState = STM_EVAL_PBGetState( BUTTON_UP );
\r
468 if( lState != lLastState )
\r
470 /* The state has changed, send a message to the LCD task. */
\r
471 xMessage.cMessageID = mainMESSAGE_BUTTON_UP;
\r
472 xMessage.lMessageValue = lState;
\r
473 lLastState = lState;
\r
474 xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
\r
477 /* Block for 10 milliseconds so this task does not utilise all the CPU
\r
478 time and debouncing of the button is not necessary. */
\r
479 vTaskDelay( 10 / portTICK_RATE_MS );
\r
482 /*-----------------------------------------------------------*/
\r
484 static void prvSetupHardware( void )
\r
486 /* Ensure that all 4 interrupt priority bits are used as the pre-emption
\r
488 NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
\r
490 /* Initialise the LEDs. */
\r
491 vParTestInitialise();
\r
493 /* Initialise the joystick inputs. */
\r
494 STM_EVAL_PBInit( BUTTON_UP, BUTTON_MODE_GPIO );
\r
495 STM_EVAL_PBInit( BUTTON_DOWN, BUTTON_MODE_GPIO );
\r
496 STM_EVAL_PBInit( BUTTON_LEFT, BUTTON_MODE_GPIO );
\r
497 STM_EVAL_PBInit( BUTTON_RIGHT, BUTTON_MODE_GPIO );
\r
499 /* The select button in the middle of the joystick is configured to generate
\r
500 an interrupt. The Eval board library will configure the interrupt
\r
501 priority to be the lowest priority available so the priority need not be
\r
502 set here explicitly. It is important that the priority is equal to or
\r
503 below that set by the configMAX_SYSCALL_INTERRUPT_PRIORITY value set in
\r
504 FreeRTOSConfig.h. */
\r
505 STM_EVAL_PBInit( BUTTON_SEL, BUTTON_MODE_EXTI );
\r
507 /* Initialize the LCD */
\r
508 STM32L152_LCD_Init();
\r
510 LCD_SetBackColor( Blue );
\r
511 LCD_SetTextColor( White );
\r
512 LCD_DisplayStringLine( Line0, " www.FreeRTOS.org" );
\r
514 /*-----------------------------------------------------------*/
\r
516 void vConfigureTimerForRunTimeStats( void )
\r
518 TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
\r
519 NVIC_InitTypeDef NVIC_InitStructure;
\r
521 /* The time base for the run time stats is generated by the 16 bit timer 6.
\r
522 Each time the timer overflows ulTIM6_OverflowCount is incremented.
\r
523 Therefore, when converting the total run time to a 32 bit number, the most
\r
524 significant two bytes are given by ulTIM6_OverflowCount and the least
\r
525 significant two bytes are given by the current TIM6 counter value. Care
\r
526 must be taken with data consistency when combining the two in case a timer
\r
527 overflow occurs as the value is being read.
\r
529 The portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro (in FreeRTOSConfig.h) is
\r
530 defined to call this function, so the kernel will call this function
\r
531 automatically at the appropriate time. */
\r
533 /* TIM6 clock enable */
\r
534 RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM6, ENABLE );
\r
536 /* The 32MHz clock divided by 5000 should tick (very) approximately every
\r
537 150uS and overflow a 16bit timer (very) approximately every 10 seconds. */
\r
538 TIM_TimeBaseStructure.TIM_Period = 65535;
\r
539 TIM_TimeBaseStructure.TIM_Prescaler = 5000;
\r
540 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
\r
541 TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
\r
543 TIM_TimeBaseInit( TIM6, &TIM_TimeBaseStructure );
\r
545 /* Only interrupt on overflow events. */
\r
546 TIM6->CR1 |= TIM_CR1_URS;
\r
548 /* Enable the interrupt. */
\r
549 TIM_ITConfig( TIM6, TIM_IT_Update, ENABLE );
\r
551 /* Enable the TIM6 global Interrupt */
\r
552 NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
\r
553 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = configLIBRARY_LOWEST_INTERRUPT_PRIORITY;
\r
554 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x00; /* Not used as 4 bits are used for the pre-emption priority. */
\r
555 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
\r
556 NVIC_Init(&NVIC_InitStructure);
\r
558 TIM_ClearITPendingBit( TIM6, TIM_IT_Update );
\r
559 TIM_Cmd( TIM6, ENABLE );
\r
561 /*-----------------------------------------------------------*/
\r
563 void TIM6_IRQHandler( void )
\r
565 /* Interrupt handler for TIM 6
\r
567 The time base for the run time stats is generated by the 16 bit timer 6.
\r
568 Each time the timer overflows ulTIM6_OverflowCount is incremented.
\r
569 Therefore, when converting the total run time to a 32 bit number, the most
\r
570 significant two bytes are given by ulTIM6_OverflowCount and the least
\r
571 significant two bytes are given by the current TIM6 counter value. Care
\r
572 must be taken with data consistency when combining the two in case a timer
\r
573 overflow occurs as the value is being read. */
\r
574 if( TIM_GetITStatus( TIM6, TIM_IT_Update) != RESET)
\r
576 ulTIM6_OverflowCount++;
\r
577 TIM_ClearITPendingBit( TIM6, TIM_IT_Update );
\r
580 /*-----------------------------------------------------------*/
\r
582 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
\r
584 ( void ) pcTaskName;
\r
587 /* Run time stack overflow checking is performed if
\r
588 configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
\r
589 function is called if a stack overflow is detected. */
\r
592 /*-----------------------------------------------------------*/
\r
594 void vApplicationMallocFailedHook( void )
\r
596 /* Called if a call to pvPortMalloc() fails because there is insufficient
\r
597 free memory available in the FreeRTOS heap. pvPortMalloc() is called
\r
598 internally by FreeRTOS API functions that create tasks, queues or
\r
602 /*-----------------------------------------------------------*/
\r
604 void vApplicationIdleHook( void )
\r
606 /* Called on each iteration of the idle task. In this case the idle task
\r
607 just enters a low(ish) power mode. */
\r
608 PWR_EnterSleepMode( PWR_Regulator_ON, PWR_SLEEPEntry_WFI );
\r