2 FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd.
\r
4 ***************************************************************************
\r
8 * + New to FreeRTOS, *
\r
9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
\r
10 * + Looking for basic training, *
\r
11 * + Wanting to improve your FreeRTOS skills and productivity *
\r
13 * then take a look at the FreeRTOS books - available as PDF or paperback *
\r
15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
\r
16 * http://www.FreeRTOS.org/Documentation *
\r
18 * A pdf reference manual is also available. Both are usually delivered *
\r
19 * to your inbox within 20 minutes to two hours when purchased between 8am *
\r
20 * and 8pm GMT (although please allow up to 24 hours in case of *
\r
21 * exceptional circumstances). Thank you for your support! *
\r
23 ***************************************************************************
\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 exception to the GPL is included to allow you to distribute
\r
31 a combined work that includes FreeRTOS without being obliged to provide the
\r
32 source code for proprietary components outside of the FreeRTOS kernel.
\r
33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
\r
34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
\r
35 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 http://www.FreeRTOS.org - Documentation, latest information, license and
\r
47 http://www.SafeRTOS.com - A version that is certified for use in safety
\r
50 http://www.OpenRTOS.com - Commercial support, development, porting,
\r
51 licensing and training services.
\r
55 * The documentation page for this demo available on http://www.FreeRTOS.org
\r
56 * documents the hardware configuration required to run this demo. It also
\r
57 * provides more information on the expected demo application behaviour.
\r
59 * main() creates all the demo application tasks, then starts the scheduler.
\r
60 * A lot of the created tasks are from the pool of "standard demo" tasks. The
\r
61 * web documentation provides more details of the standard demo tasks, which
\r
62 * provide no particular functionality but do provide good examples of how to
\r
63 * use the FreeRTOS API.
\r
65 * In addition to the standard demo tasks, the following tasks, interrupts and
\r
66 * tests are defined and/or created within this file:
\r
68 * "LCD" task - The LCD task is a 'gatekeeper' task. It is the only task that
\r
69 * is permitted to access the LCD and therefore ensures access to the LCD is
\r
70 * always serialised and there are no mutual exclusion issues. When a task or
\r
71 * an interrupt wants to write to the LCD, it does not access the LCD directly
\r
72 * but instead sends the message to the LCD task. The LCD task then performs
\r
73 * the actual LCD output. This mechanism also allows interrupts to, in effect,
\r
74 * write to the LCD by sending messages to the LCD task.
\r
76 * The LCD task is also a demonstration of a 'controller' task design pattern.
\r
77 * Some tasks do not actually send a string to the LCD task directly, but
\r
78 * instead send a command that is interpreted by the LCD task. In a normal
\r
79 * application these commands can be control values or set points, in this
\r
80 * simple example the commands just result in messages being displayed on the
\r
83 * "Button Poll" task - This task polls the state of the 'up' key on the
\r
84 * joystick input device. It uses the vTaskDelay() API function to control
\r
85 * the poll rate to ensure debouncing is not necessary and that the task does
\r
86 * not use all the available CPU processing time.
\r
88 * Button Interrupt and run time stats display - The select button on the
\r
89 * joystick input device is configured to generate an external interrupt. The
\r
90 * handler for this interrupt sends a message to LCD task, which interprets the
\r
91 * message to mean, firstly write a message to the LCD, and secondly, generate
\r
92 * a table of run time statistics. The run time statistics are displayed as a
\r
93 * table that contains information on how much processing time each task has
\r
94 * been allocated since the application started to execute. This information
\r
95 * is provided both as an absolute time, and as a percentage of the total run
\r
96 * time. The information is displayed in the terminal IO window of the IAR
\r
97 * embedded workbench. The online documentation for this demo shows a screen
\r
98 * shot demonstrating where the run time stats can be viewed.
\r
100 * Idle Hook - The idle hook is a function that is called on each iteration of
\r
101 * the idle task. In this case it is used to place the processor into a low
\r
102 * power mode. Note however that this application is implemented using standard
\r
103 * components, and is therefore not optimised for low power operation. Lower
\r
104 * power consumption would be achieved by converting polling tasks into event
\r
105 * driven tasks, and slowing the tick interrupt frequency.
\r
107 * "Check" function called from the tick hook - The tick hook is called during
\r
108 * each tick interrupt. It is called from an interrupt context so must execute
\r
109 * quickly, not attempt to block, and not call any FreeRTOS API functions that
\r
110 * do not end in "FromISR". In this case the tick hook executes a 'check'
\r
111 * function. This only executes every five seconds. Its main function is to
\r
112 * check that all the standard demo tasks are still operational. Each time it
\r
113 * executes it sends a status code to the LCD task. The LCD task interprets the
\r
114 * code and displays an appropriate message - which will be PASS if no tasks
\r
115 * have reported any errors, or a message stating which task has reported an
\r
118 * "Reg test" tasks - These fill the registers with known values, then check
\r
119 * that each register still contains its expected value. Each task uses
\r
120 * different values. The tasks run with very low priority so get preempted
\r
121 * very frequently. A check variable is incremented on each iteration of the
\r
122 * test loop. A register containing an unexpected value is indicative of an
\r
123 * error in the context switching mechanism and will result in a branch to a
\r
124 * null loop - which in turn will prevent the check variable from incrementing
\r
125 * any further and allow the check task (described a above) to determine that an
\r
126 * error has occurred. The nature of the reg test tasks necessitates that they
\r
127 * are written in assembly code.
\r
129 * *NOTE 1* vApplicationSetupTimerInterrupt() is called by the kernel to let
\r
130 * the application set up a timer to generate the tick interrupt. In this
\r
131 * example a timer A0 is used for this purpose.
\r
135 /* Standard includes. */
\r
138 /* FreeRTOS includes. */
\r
139 #include "FreeRTOS.h"
\r
143 /* Hardware includes. */
\r
144 #include "msp430.h"
\r
145 #include "hal_MSP-EXP430F5438.h"
\r
147 /* Standard demo includes. */
\r
148 #include "ParTest.h"
\r
149 #include "dynamic.h"
\r
150 #include "comtest2.h"
\r
151 #include "GenQTest.h"
\r
153 /* Codes sent within messages to the LCD task so the LCD task can interpret
\r
154 exactly what the message it just received was. These are sent in the
\r
155 cMessageID member of the message structure (defined below). */
\r
156 #define mainMESSAGE_BUTTON_UP ( 1 )
\r
157 #define mainMESSAGE_BUTTON_SEL ( 2 )
\r
158 #define mainMESSAGE_STATUS ( 3 )
\r
160 /* When the cMessageID member of the message sent to the LCD task is
\r
161 mainMESSAGE_STATUS then these definitions are sent in the ulMessageValue member
\r
162 of the same message and indicate what the status actually is. */
\r
163 #define mainERROR_DYNAMIC_TASKS ( pdPASS + 1 )
\r
164 #define mainERROR_COM_TEST ( pdPASS + 2 )
\r
165 #define mainERROR_GEN_QUEUE_TEST ( pdPASS + 3 )
\r
166 #define mainERROR_REG_TEST ( pdPASS + 4 )
\r
168 /* The length of the queue (the number of items the queue can hold) that is used
\r
169 to send messages from tasks and interrupts the the LCD task. */
\r
170 #define mainQUEUE_LENGTH ( 5 )
\r
172 /* Priorities used by the test and demo tasks. */
\r
173 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
174 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
175 #define mainGENERIC_QUEUE_TEST_PRIORITY ( tskIDLE_PRIORITY )
\r
177 /* The LED used by the comtest tasks. See the comtest.c file for more
\r
179 #define mainCOM_TEST_LED ( 1 )
\r
181 /* The baud rate used by the comtest tasks described at the top of this file. */
\r
182 #define mainCOM_TEST_BAUD_RATE ( 38400 )
\r
184 /* The maximum number of lines of text that can be displayed on the LCD. */
\r
185 #define mainMAX_LCD_LINES ( 8 )
\r
187 /* Just used to ensure parameters are passed into tasks correctly. */
\r
188 #define mainTASK_PARAMETER_CHECK_VALUE ( ( void * ) 0xDEAD )
\r
189 /*-----------------------------------------------------------*/
\r
192 * The reg test tasks as described at the top of this file.
\r
194 extern void vRegTest1Task( void *pvParameters );
\r
195 extern void vRegTest2Task( void *pvParameters );
\r
198 * Configures clocks, LCD, port pints, etc. necessary to execute this demo.
\r
200 static void prvSetupHardware( void );
\r
203 * Definition of the LCD/controller task described in the comments at the top
\r
206 static void prvLCDTask( void *pvParameters );
\r
209 * Definition of the button poll task described in the comments at the top of
\r
212 static void prvButtonPollTask( void *pvParameters );
\r
215 * Converts a status message value into an appropriate string for display on
\r
216 * the LCD. The string is written to pcBuffer.
\r
218 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue );
\r
220 /*-----------------------------------------------------------*/
\r
222 /* Variables that are incremented on each iteration of the reg test tasks -
\r
223 provided the tasks have not reported any errors. The check task inspects these
\r
224 variables to ensure they are still incrementing as expected. If a variable
\r
225 stops incrementing then it is likely that its associate task has stalled. */
\r
226 volatile unsigned short usRegTest1Counter = 0, usRegTest2Counter = 0;
\r
228 /* The handle of the queue used to send messages from tasks and interrupts to
\r
230 static xQueueHandle xLCDQueue = NULL;
\r
232 /* The definition of each message sent from tasks and interrupts to the LCD
\r
236 char cMessageID; /* << States what the message is. */
\r
237 unsigned long ulMessageValue; /* << States the message value (can be an integer, string pointer, etc. depending on the value of cMessageID). */
\r
240 /*-----------------------------------------------------------*/
\r
242 /* The linker script tests the FreeRTOS ports use of 20bit addresses by
\r
243 locating all code in high memory. The following pragma ensures that main
\r
244 remains in low memory. The ISR_CODE segment is used for convenience as ISR
\r
245 functions are always placed in low memory. */
\r
246 #pragma location="ISR_CODE"
\r
249 /* Configure the peripherals used by this demo application. This includes
\r
250 configuring the joystick input select button to generate interrupts. */
\r
251 prvSetupHardware();
\r
253 /* Create the queue used by tasks and interrupts to send strings to the LCD
\r
255 xLCDQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( xQueueMessage ) );
\r
257 /* If the queue could not be created then don't create any tasks that might
\r
258 attempt to use the queue. */
\r
259 if( xLCDQueue != NULL )
\r
261 /* Add the created queue to the queue registry so it can be viewed in
\r
262 the IAR FreeRTOS state viewer plug-in. */
\r
263 vQueueAddToRegistry( xLCDQueue, "LCDQueue" );
\r
265 /* Create the standard demo tasks. */
\r
266 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
\r
267 vStartDynamicPriorityTasks();
\r
268 vStartGenericQueueTasks( mainGENERIC_QUEUE_TEST_PRIORITY );
\r
270 /* Create the LCD, button poll and register test tasks, as described at
\r
271 the top of this file. */
\r
272 xTaskCreate( prvLCDTask, ( signed char * ) "LCD", configMINIMAL_STACK_SIZE * 2, mainTASK_PARAMETER_CHECK_VALUE, mainLCD_TASK_PRIORITY, NULL );
\r
273 xTaskCreate( prvButtonPollTask, ( signed char * ) "BPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
\r
274 xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
\r
275 xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
\r
277 /* Start the scheduler. */
\r
278 vTaskStartScheduler();
\r
281 /* If all is well then this line will never be reached. If it is reached
\r
282 then it is likely that there was insufficient (FreeRTOS) heap memory space
\r
283 to create the idle task. This may have been trapped by the malloc() failed
\r
284 hook function, if one is configured. */
\r
287 /*-----------------------------------------------------------*/
\r
289 static void prvLCDTask( void *pvParameters )
\r
291 xQueueMessage xReceivedMessage;
\r
293 /* Buffer into which strings are formatted and placed ready for display on the
\r
294 LCD. Note this is a static variable to prevent it being allocated on the task
\r
295 stack, which is too small to hold such a variable. The stack size is configured
\r
296 when the task is created. */
\r
297 static char cBuffer[ 512 ];
\r
298 unsigned char ucLine = 1;
\r
301 /* This function is the only function that uses printf(). If printf() is
\r
302 used from any other function then some sort of mutual exclusion on stdout
\r
305 This is also the only function that is permitted to access the LCD.
\r
307 First print out the number of bytes that remain in the FreeRTOS heap. This
\r
308 can be viewed in the terminal IO window within the IAR Embedded Workbench. */
\r
309 printf( "%d bytes of heap space remain unallocated\n", ( int ) xPortGetFreeHeapSize() );
\r
312 /* Just as a test of the port, and for no functional reason, check the task
\r
313 parameter contains its expected value. */
\r
314 if( pvParameters != mainTASK_PARAMETER_CHECK_VALUE )
\r
316 halLcdPrintLine( "Invalid parameter", ucLine, OVERWRITE_TEXT );
\r
322 /* Wait for a message to be received. Using portMAX_DELAY as the block
\r
323 time will result in an indefinite wait provided INCLUDE_vTaskSuspend is
\r
324 set to 1 in FreeRTOSConfig.h, therefore there is no need to check the
\r
325 function return value and the function will only return when a value
\r
326 has been received. */
\r
327 xQueueReceive( xLCDQueue, &xReceivedMessage, portMAX_DELAY );
\r
329 /* Clear the LCD if no room remains for any more text output. */
\r
330 if( ucLine > mainMAX_LCD_LINES )
\r
332 halLcdClearScreen();
\r
336 /* What is this message? What does it contain? */
\r
337 switch( xReceivedMessage.cMessageID )
\r
339 case mainMESSAGE_BUTTON_UP : /* The button poll task has just
\r
340 informed this task that the up
\r
341 button on the joystick input has
\r
342 been pressed or released. */
\r
343 sprintf( cBuffer, "Button up = %d", ( int ) xReceivedMessage.ulMessageValue );
\r
346 case mainMESSAGE_BUTTON_SEL : /* The select button interrupt
\r
347 just informed this task that the
\r
348 select button was pressed.
\r
349 Generate a table of task run time
\r
350 statistics and output this to
\r
351 the terminal IO window in the IAR
\r
352 embedded workbench. */
\r
353 printf( "\nTask\t Abs Time\t %%Time\n*****************************************" );
\r
355 vTaskGetRunTimeStats( ( signed char * ) cBuffer );
\r
359 /* Also print out a message to
\r
360 the LCD - in this case the
\r
361 pointer to the string to print
\r
362 is sent directly in the
\r
363 ulMessageValue member of the
\r
364 message. This just demonstrates
\r
365 a different communication
\r
367 sprintf( cBuffer, "%s", ( char * ) xReceivedMessage.ulMessageValue );
\r
370 case mainMESSAGE_STATUS : /* The tick interrupt hook
\r
371 function has just informed this
\r
372 task of the system status.
\r
373 Generate a string in accordance
\r
374 with the status value. */
\r
375 prvGenerateStatusMessage( cBuffer, xReceivedMessage.ulMessageValue );
\r
378 default : sprintf( cBuffer, "Unknown message" );
\r
382 /* Output the message that was placed into the cBuffer array within the
\r
383 switch statement above, then move onto the next line ready for the next
\r
384 message to arrive on the queue. */
\r
385 halLcdPrintLine( cBuffer, ucLine, OVERWRITE_TEXT );
\r
389 /*-----------------------------------------------------------*/
\r
391 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue )
\r
393 /* Just a utility function to convert a status value into a meaningful
\r
394 string for output onto the LCD. */
\r
395 switch( lStatusValue )
\r
397 case pdPASS : sprintf( pcBuffer, "Status = PASS" );
\r
399 case mainERROR_DYNAMIC_TASKS : sprintf( pcBuffer, "Err: Dynamic tsks" );
\r
401 case mainERROR_COM_TEST : sprintf( pcBuffer, "Err: COM test" );
\r
403 case mainERROR_GEN_QUEUE_TEST : sprintf( pcBuffer, "Error: Gen Q test" );
\r
405 case mainERROR_REG_TEST : sprintf( pcBuffer, "Error: Reg test" );
\r
407 default : sprintf( pcBuffer, "Unknown status" );
\r
411 /*-----------------------------------------------------------*/
\r
413 static void prvButtonPollTask( void *pvParameters )
\r
415 unsigned char ucLastState = pdFALSE, ucState;
\r
416 xQueueMessage xMessage;
\r
418 /* This tasks performs the button polling functionality as described at the
\r
419 top of this file. */
\r
422 /* Check the button state. */
\r
423 ucState = ( halButtonsPressed() & BUTTON_UP );
\r
427 /* The button was pressed. */
\r
431 if( ucState != ucLastState )
\r
433 /* The state has changed, send a message to the LCD task. */
\r
434 xMessage.cMessageID = mainMESSAGE_BUTTON_UP;
\r
435 xMessage.ulMessageValue = ( unsigned long ) ucState;
\r
436 ucLastState = ucState;
\r
437 xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
\r
440 /* Block for 10 milliseconds so this task does not utilise all the CPU
\r
441 time and debouncing of the button is not necessary. */
\r
442 vTaskDelay( 10 / portTICK_RATE_MS );
\r
445 /*-----------------------------------------------------------*/
\r
447 static void prvSetupHardware( void )
\r
449 /* Convert a Hz value to a KHz value, as required by the Init_FLL_Settle()
\r
451 unsigned long ulCPU_Clock_KHz = ( configCPU_CLOCK_HZ / 1000UL );
\r
455 LFXT_Start( XT1DRIVE_0 );
\r
456 Init_FLL_Settle( ( unsigned short ) ulCPU_Clock_KHz, 488 );
\r
458 halButtonsInit( BUTTON_ALL );
\r
459 halButtonsInterruptEnable( BUTTON_SELECT );
\r
461 /* Initialise the LCD, but note that the backlight is not used as the
\r
462 library function uses timer A0 to modulate the backlight, and this file
\r
463 defines vApplicationSetupTimerInterrupt() to also use timer A0 to generate
\r
464 the tick interrupt. If the backlight is required, then change either the
\r
465 halLCD library or vApplicationSetupTimerInterrupt() to use a different
\r
466 timer. Timer A1 is used for the run time stats time base6. */
\r
468 halLcdSetContrast( 100 );
\r
469 halLcdClearScreen();
\r
471 halLcdPrintLine( " www.FreeRTOS.org", 0, OVERWRITE_TEXT );
\r
473 /*-----------------------------------------------------------*/
\r
475 void vApplicationTickHook( void )
\r
477 static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
\r
478 static unsigned long ulCounter = 0;
\r
479 static const unsigned long ulCheckFrequency = 5000UL / portTICK_RATE_MS;
\r
480 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
\r
482 /* Define the status message that is sent to the LCD task. By default the
\r
484 static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };
\r
486 /* This is called from within the tick interrupt and performs the 'check'
\r
487 functionality as described in the comments at the top of this file.
\r
489 Is it time to perform the 'check' functionality again? */
\r
491 if( ulCounter >= ulCheckFrequency )
\r
493 /* See if the standard demo tasks are executing as expected, changing
\r
494 the message that is sent to the LCD task from PASS to an error code if
\r
495 any tasks set reports an error. */
\r
496 if( xAreComTestTasksStillRunning() != pdPASS )
\r
498 xStatusMessage.ulMessageValue = mainERROR_COM_TEST;
\r
501 if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
\r
503 xStatusMessage.ulMessageValue = mainERROR_DYNAMIC_TASKS;
\r
506 if( xAreGenericQueueTasksStillRunning() != pdPASS )
\r
508 xStatusMessage.ulMessageValue = mainERROR_GEN_QUEUE_TEST;
\r
511 /* Check the reg test tasks are still cycling. They will stop
\r
512 incrementing their loop counters if they encounter an error. */
\r
513 if( usRegTest1Counter == usLastRegTest1Counter )
\r
515 xStatusMessage.ulMessageValue = mainERROR_REG_TEST;
\r
518 if( usRegTest2Counter == usLastRegTest2Counter )
\r
520 xStatusMessage.ulMessageValue = mainERROR_REG_TEST;
\r
523 usLastRegTest1Counter = usRegTest1Counter;
\r
524 usLastRegTest2Counter = usRegTest2Counter;
\r
526 /* As this is the tick hook the lHigherPriorityTaskWoken parameter is not
\r
527 needed (a context switch is going to be performed anyway), but it must
\r
528 still be provided. */
\r
529 xQueueSendFromISR( xLCDQueue, &xStatusMessage, &xHigherPriorityTaskWoken );
\r
533 /* Just periodically toggle an LED to show that the tick interrupt is
\r
534 running. Note that this access LED_PORT_OUT in a non-atomic way, so tasks
\r
535 that access the same port must do so from a critical section. */
\r
536 if( ( ulCounter & 0xff ) == 0 )
\r
538 if( ( LED_PORT_OUT & LED_1 ) == 0 )
\r
540 LED_PORT_OUT |= LED_1;
\r
544 LED_PORT_OUT &= ~LED_1;
\r
548 /*-----------------------------------------------------------*/
\r
550 #pragma vector=PORT2_VECTOR
\r
551 __interrupt static void prvSelectButtonInterrupt(void)
\r
553 /* Define the message sent to the LCD task from this interrupt. */
\r
554 static const xQueueMessage xMessage = { mainMESSAGE_BUTTON_SEL, ( unsigned long ) "Select Interrupt" };
\r
555 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
\r
557 /* This is the interrupt handler for the joystick select button input.
\r
558 The button has been pushed, write a message to the LCD via the LCD task. */
\r
559 xQueueSendFromISR( xLCDQueue, &xMessage, &xHigherPriorityTaskWoken );
\r
563 /* If writing to xLCDQueue caused a task to unblock, and the unblocked task
\r
564 has a priority equal to or above the task that this interrupt interrupted,
\r
565 then lHigherPriorityTaskWoken will have been set to pdTRUE internally within
\r
566 xQueuesendFromISR(), and portEND_SWITCHING_ISR() will ensure that this
\r
567 interrupt returns directly to the higher priority unblocked task. */
\r
568 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
\r
570 /*-----------------------------------------------------------*/
\r
572 /* The MSP430X port uses this callback function to configure its tick interrupt.
\r
573 This allows the application to choose the tick interrupt source.
\r
574 configTICK_VECTOR must also be set in FreeRTOSConfig.h to the correct
\r
575 interrupt vector for the chosen tick interrupt source. This implementation of
\r
576 vApplicationSetupTimerInterrupt() generates the tick from timer A0, so in this
\r
577 case configTICK_VECTOR is set to TIMER0_A0_VECTOR. */
\r
578 void vApplicationSetupTimerInterrupt( void )
\r
580 const unsigned short usACLK_Frequency_Hz = 32768;
\r
582 /* Ensure the timer is stopped. */
\r
585 /* Run the timer from the ACLK. */
\r
588 /* Clear everything to start with. */
\r
591 /* Set the compare match value according to the tick rate we want. */
\r
592 TA0CCR0 = usACLK_Frequency_Hz / configTICK_RATE_HZ;
\r
594 /* Enable the interrupts. */
\r
597 /* Start up clean. */
\r
603 /*-----------------------------------------------------------*/
\r
605 void vApplicationIdleHook( void )
\r
607 /* Called on each iteration of the idle task. In this case the idle task
\r
608 just enters a low(ish) power mode. */
\r
609 __bis_SR_register( LPM1_bits + GIE );
\r
611 /*-----------------------------------------------------------*/
\r
613 void vApplicationMallocFailedHook( void )
\r
615 /* Called if a call to pvPortMalloc() fails because there is insufficient
\r
616 free memory available in the FreeRTOS heap. pvPortMalloc() is called
\r
617 internally by FreeRTOS API functions that create tasks, queues or
\r
619 taskDISABLE_INTERRUPTS();
\r
622 /*-----------------------------------------------------------*/
\r
624 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
\r
627 ( void ) pcTaskName;
\r
629 /* Run time stack overflow checking is performed if
\r
630 configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
\r
631 function is called if a stack overflow is detected. */
\r
632 taskDISABLE_INTERRUPTS();
\r
635 /*-----------------------------------------------------------*/
\r
projects / freertos / blob