2 FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS books - available as PDF or paperback *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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55 * The documentation page for this demo available on http://www.FreeRTOS.org
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56 * documents the hardware configuration required to run this demo. It also
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57 * provides more information on the expected demo application behaviour.
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59 * main() creates all the demo application tasks, then starts the scheduler.
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60 * A lot of the created tasks are from the pool of "standard demo" tasks. The
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61 * web documentation provides more details of the standard demo tasks, which
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62 * provide no particular functionality but do provide good examples of how to
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63 * use the FreeRTOS API.
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65 * In addition to the standard demo tasks, the following tasks, interrupts and
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66 * tests are defined and/or created within this file:
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68 * "LCD" task - The LCD task is a 'gatekeeper' task. It is the only task that
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69 * is permitted to access the LCD and therefore ensures access to the LCD is
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70 * always serialised and there are no mutual exclusion issues. When a task or
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71 * an interrupt wants to write to the LCD, it does not access the LCD directly
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72 * but instead sends the message to the LCD task. The LCD task then performs
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73 * the actual LCD output. This mechanism also allows interrupts to, in effect,
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74 * write to the LCD by sending messages to the LCD task.
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76 * The LCD task is also a demonstration of a 'controller' task design pattern.
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77 * Some tasks do not actually send a string to the LCD task directly, but
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78 * instead send a command that is interpreted by the LCD task. In a normal
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79 * application these commands can be control values or set points, in this
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80 * simple example the commands just result in messages being displayed on the
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83 * "Button Poll" task - This task polls the state of the 'up' key on the
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84 * joystick input device. It uses the vTaskDelay() API function to control
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85 * the poll rate to ensure debouncing is not necessary and that the task does
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86 * not use all the available CPU processing time.
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88 * Button Interrupt and run time stats display - The select button on the
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89 * joystick input device is configured to generate an external interrupt. The
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90 * handler for this interrupt sends a message to LCD task, which interprets the
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91 * message to mean, firstly write a message to the LCD, and secondly, generate
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92 * a table of run time statistics. The run time statistics are displayed as a
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93 * table that contains information on how much processing time each task has
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94 * been allocated since the application started to execute. This information
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95 * is provided both as an absolute time, and as a percentage of the total run
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96 * time. The information is displayed in the terminal IO window of the IAR
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97 * embedded workbench. The online documentation for this demo shows a screen
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98 * shot demonstrating where the run time stats can be viewed.
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100 * Idle Hook - The idle hook is a function that is called on each iteration of
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101 * the idle task. In this case it is used to place the processor into a low
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102 * power mode. Note however that this application is implemented using standard
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103 * components, and is therefore not optimised for low power operation. Lower
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104 * power consumption would be achieved by converting polling tasks into event
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105 * driven tasks, and slowing the tick interrupt frequency.
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107 * "Check" function called from the tick hook - The tick hook is called during
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108 * each tick interrupt. It is called from an interrupt context so must execute
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109 * quickly, not attempt to block, and not call any FreeRTOS API functions that
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110 * do not end in "FromISR". In this case the tick hook executes a 'check'
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111 * function. This only executes every five seconds. Its main function is to
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112 * check that all the standard demo tasks are still operational. Each time it
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113 * executes it sends a status code to the LCD task. The LCD task interprets the
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114 * code and displays an appropriate message - which will be PASS if no tasks
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115 * have reported any errors, or a message stating which task has reported an
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118 * "Reg test" tasks - These fill the registers with known values, then check
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119 * that each register still contains its expected value. Each task uses
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120 * different values. The tasks run with very low priority so get preempted
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121 * very frequently. A check variable is incremented on each iteration of the
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122 * test loop. A register containing an unexpected value is indicative of an
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123 * error in the context switching mechanism and will result in a branch to a
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124 * null loop - which in turn will prevent the check variable from incrementing
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125 * any further and allow the check task (described a above) to determine that an
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126 * error has occurred. The nature of the reg test tasks necessitates that they
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127 * are written in assembly code.
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129 * *NOTE 2* vApplicationSetupTimerInterrupt() is called by the kernel to let
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130 * the application set up a timer to generate the tick interrupt. In this
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131 * example a timer A0 is used for this purpose.
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135 /* Standard includes. */
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138 /* FreeRTOS includes. */
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139 #include "FreeRTOS.h"
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143 /* Hardware includes. */
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144 #include "msp430.h"
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145 #include "hal_MSP-EXP430F5438.h"
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147 /* Standard demo includes. */
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148 #include "ParTest.h"
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149 #include "dynamic.h"
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150 #include "comtest2.h"
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151 #include "GenQTest.h"
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153 /* Codes sent within messages to the LCD task so the LCD task can interpret
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154 exactly what the message it just received was. These are sent in the
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155 cMessageID member of the message structure (defined below). */
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156 #define mainMESSAGE_BUTTON_UP ( 1 )
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157 #define mainMESSAGE_BUTTON_SEL ( 2 )
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158 #define mainMESSAGE_STATUS ( 3 )
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160 /* When the cMessageID member of the message sent to the LCD task is
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161 mainMESSAGE_STATUS then these definitions are sent in the ulMessageValue member
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162 of the same message and indicate what the status actually is. */
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163 #define mainERROR_DYNAMIC_TASKS ( pdPASS + 1 )
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164 #define mainERROR_COM_TEST ( pdPASS + 2 )
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165 #define mainERROR_GEN_QUEUE_TEST ( pdPASS + 3 )
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166 #define mainERROR_REG_TEST ( pdPASS + 4 )
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168 /* The length of the queue (the number of items the queue can hold) that is used
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169 to send messages from tasks and interrupts the the LCD task. */
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170 #define mainQUEUE_LENGTH ( 5 )
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172 /* Priorities used by the test and demo tasks. */
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173 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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174 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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175 #define mainGENERIC_QUEUE_TEST_PRIORITY ( tskIDLE_PRIORITY )
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177 /* The LED used by the comtest tasks. See the comtest.c file for more
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179 #define mainCOM_TEST_LED ( 1 )
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181 /* The baud rate used by the comtest tasks described at the top of this file. */
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182 #define mainCOM_TEST_BAUD_RATE ( 38400 )
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184 /* The maximum number of lines of text that can be displayed on the LCD. */
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185 #define mainMAX_LCD_LINES ( 8 )
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186 /*-----------------------------------------------------------*/
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189 * The reg test tasks as described at the top of this file.
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191 extern void vRegTest1Task( void *pvParameters );
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192 extern void vRegTest2Task( void *pvParameters );
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195 * Configures clocks, LCD, port pints, etc. necessary to execute this demo.
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197 static void prvSetupHardware( void );
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200 * Definition of the LCD/controller task described in the comments at the top
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203 static void prvLCDTask( void *pvParameters );
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206 * Definition of the button poll task described in the comments at the top of
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209 static void prvButtonPollTask( void *pvParameters );
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212 * Converts a status message value into an appropriate string for display on
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213 * the LCD. The string is written to pcBuffer.
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215 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue );
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217 /*-----------------------------------------------------------*/
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219 /* Variables that are incremented on each iteration of the reg test tasks -
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220 provided the tasks have not reported any errors. The check task inspects these
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221 variables to ensure they are still incrementing as expected. If a variable
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222 stops incrementing then it is likely that its associate task has stalled. */
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223 volatile unsigned short usRegTest1Counter = 0, usRegTest2Counter = 0;
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225 /* The handle of the queue used to send messages from tasks and interrupts to
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227 static xQueueHandle xLCDQueue = NULL;
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229 /* The definition of each message sent from tasks and interrupts to the LCD
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233 char cMessageID; /* << States what the message is. */
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234 unsigned long ulMessageValue; /* << States the message value (can be an integer, string pointer, etc. depending on the value of cMessageID). */
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237 /*-----------------------------------------------------------*/
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239 /* The linker script tests the FreeRTOS ports use of 20bit addresses by
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240 locating all code in high memory. The following pragma ensures that main
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241 remains in low memory. The ISR_CODE segment is used for convenience as ISR
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242 functions are always placed in low memory. */
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243 #pragma location="ISR_CODE"
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246 /* Configure the peripherals used by this demo application. This includes
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247 configuring the joystick input select button to generate interrupts. */
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248 prvSetupHardware();
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250 /* Create the queue used by tasks and interrupts to send strings to the LCD
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252 xLCDQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( xQueueMessage ) );
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254 /* If the queue could not be created then don't create any tasks that might
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255 attempt to use the queue. */
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256 if( xLCDQueue != NULL )
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258 /* Add the created queue to the queue registry so it can be viewed in
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259 the IAR FreeRTOS state viewer plug-in. */
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260 vQueueAddToRegistry( xLCDQueue, "LCDQueue" );
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262 /* Create the standard demo tasks. */
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263 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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264 vStartDynamicPriorityTasks();
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265 vStartGenericQueueTasks( mainGENERIC_QUEUE_TEST_PRIORITY );
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267 /* Create the LCD, button poll and register test tasks, as described at
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268 the top of this file. */
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269 xTaskCreate( prvLCDTask, ( signed char * ) "LCD", configMINIMAL_STACK_SIZE * 2, NULL, mainLCD_TASK_PRIORITY, NULL );
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270 xTaskCreate( prvButtonPollTask, ( signed char * ) "BPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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271 xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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272 xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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274 /* Start the scheduler. */
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275 vTaskStartScheduler();
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278 /* If all is well then this line will never be reached. If it is reached
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279 then it is likely that there was insufficient (FreeRTOS) heap memory space
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280 to create the idle task. This may have been trapped by the malloc() failed
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281 hook function, if one is configured. */
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284 /*-----------------------------------------------------------*/
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286 static void prvLCDTask( void *pvParameters )
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288 xQueueMessage xReceivedMessage;
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290 /* Buffer into which strings are formatted and placed ready for display on the
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291 LCD. Note this is a static variable to prevent it being allocated on the task
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292 stack, which is too small to hold such a variable. The stack size is configured
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293 when the task is created. */
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294 static char cBuffer[ 512 ];
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295 unsigned char ucLine = 1;
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298 /* This function is the only function that uses printf(). If printf() is
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299 used from any other function then some sort of mutual exclusion on stdout
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302 This is also the only function that is permitted to access the LCD.
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304 First print out the number of bytes that remain in the FreeRTOS heap. This
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305 can be viewed in the terminal IO window within the IAR Embedded Workbench. */
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306 printf( "%d bytes of heap space remain unallocated\n", ( int ) xPortGetFreeHeapSize() );
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310 /* Wait for a message to be received. Using portMAX_DELAY as the block
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311 time will result in an indefinite wait provided INCLUDE_vTaskSuspend is
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312 set to 1 in FreeRTOSConfig.h, therefore there is no need to check the
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313 function return value and the function will only return when a value
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314 has been received. */
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315 xQueueReceive( xLCDQueue, &xReceivedMessage, portMAX_DELAY );
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317 /* Clear the LCD if no room remains for any more text output. */
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318 if( ucLine > mainMAX_LCD_LINES )
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320 halLcdClearScreen();
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324 /* What is this message? What does it contain? */
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325 switch( xReceivedMessage.cMessageID )
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327 case mainMESSAGE_BUTTON_UP : /* The button poll task has just
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328 informed this task that the up
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329 button on the joystick input has
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330 been pressed or released. */
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331 sprintf( cBuffer, "Button up = %d", ( int ) xReceivedMessage.ulMessageValue );
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334 case mainMESSAGE_BUTTON_SEL : /* The select button interrupt
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335 just informed this task that the
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336 select button was pressed.
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337 Generate a table of task run time
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338 statistics and output this to
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339 the terminal IO window in the IAR
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340 embedded workbench. */
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341 printf( "\nTask\t Abs Time\t %%Time\n*****************************************" );
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343 vTaskGetRunTimeStats( ( signed char * ) cBuffer );
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347 /* Also print out a message to
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348 the LCD - in this case the
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349 pointer to the string to print
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350 is sent directly in the
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351 ulMessageValue member of the
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352 message. This just demonstrates
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353 a different communication
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355 sprintf( cBuffer, "%s", ( char * ) xReceivedMessage.ulMessageValue );
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358 case mainMESSAGE_STATUS : /* The tick interrupt hook
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359 function has just informed this
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360 task of the system status.
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361 Generate a string in accordance
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362 with the status value. */
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363 prvGenerateStatusMessage( cBuffer, xReceivedMessage.ulMessageValue );
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366 default : sprintf( cBuffer, "Unknown message" );
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370 /* Output the message that was placed into the cBuffer array within the
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371 switch statement above, then move onto the next line ready for the next
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372 message to arrive on the queue. */
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373 halLcdPrintLine( cBuffer, ucLine, OVERWRITE_TEXT );
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377 /*-----------------------------------------------------------*/
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379 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue )
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381 /* Just a utility function to convert a status value into a meaningful
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382 string for output onto the LCD. */
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383 switch( lStatusValue )
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385 case pdPASS : sprintf( pcBuffer, "Status = PASS" );
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387 case mainERROR_DYNAMIC_TASKS : sprintf( pcBuffer, "Err: Dynamic tsks" );
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389 case mainERROR_COM_TEST : sprintf( pcBuffer, "Err: COM test" );
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391 case mainERROR_GEN_QUEUE_TEST : sprintf( pcBuffer, "Error: Gen Q test" );
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393 case mainERROR_REG_TEST : sprintf( pcBuffer, "Error: Reg test" );
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395 default : sprintf( pcBuffer, "Unknown status" );
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399 /*-----------------------------------------------------------*/
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401 static void prvButtonPollTask( void *pvParameters )
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403 unsigned char ucLastState = pdFALSE, ucState;
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404 xQueueMessage xMessage;
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406 /* This tasks performs the button polling functionality as described at the
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407 top of this file. */
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410 /* Check the button state. */
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411 ucState = ( halButtonsPressed() & BUTTON_UP );
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415 /* The button was pressed. */
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419 if( ucState != ucLastState )
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421 /* The state has changed, send a message to the LCD task. */
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422 xMessage.cMessageID = mainMESSAGE_BUTTON_UP;
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423 xMessage.ulMessageValue = ( unsigned long ) ucState;
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424 ucLastState = ucState;
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425 xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
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428 /* Block for 10 milliseconds so this task does not utilise all the CPU
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429 time and debouncing of the button is not necessary. */
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430 vTaskDelay( 10 / portTICK_RATE_MS );
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433 /*-----------------------------------------------------------*/
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435 static void prvSetupHardware( void )
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437 /* Convert a Hz value to a KHz value, as required by the Init_FLL_Settle()
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439 unsigned long ulCPU_Clock_KHz = ( configCPU_CLOCK_HZ / 1000UL );
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443 LFXT_Start( XT1DRIVE_0 );
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444 Init_FLL_Settle( ( unsigned short ) ulCPU_Clock_KHz, 488 );
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446 halButtonsInit( BUTTON_ALL );
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447 halButtonsInterruptEnable( BUTTON_SELECT );
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449 /* Initialise the LCD, but note that the backlight is not used as the
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450 library function uses timer A0 to modulate the backlight, and this file
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451 defines vApplicationSetupTimerInterrupt() to also use timer A0 to generate
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452 the tick interrupt. If the backlight is required, then change either the
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453 halLCD library or vApplicationSetupTimerInterrupt() to use a different
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454 timer. Timer A1 is used for the run time stats time base6. */
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456 halLcdSetContrast( 100 );
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457 halLcdClearScreen();
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459 halLcdPrintLine( " www.FreeRTOS.org", 0, OVERWRITE_TEXT );
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461 /*-----------------------------------------------------------*/
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463 void vApplicationTickHook( void )
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465 static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
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466 static unsigned long ulCounter = 0;
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467 static const unsigned long ulCheckFrequency = 5000UL / portTICK_RATE_MS;
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468 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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470 /* Define the status message that is sent to the LCD task. By default the
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472 static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };
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474 /* This is called from within the tick interrupt and performs the 'check'
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475 functionality as described in the comments at the top of this file.
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477 Is it time to perform the 'check' functionality again? */
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479 if( ulCounter >= ulCheckFrequency )
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481 /* See if the standard demo tasks are executing as expected, changing
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482 the message that is sent to the LCD task from PASS to an error code if
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483 any tasks set reports an error. */
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484 if( xAreComTestTasksStillRunning() != pdPASS )
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486 xStatusMessage.ulMessageValue = mainERROR_COM_TEST;
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489 if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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491 xStatusMessage.ulMessageValue = mainERROR_DYNAMIC_TASKS;
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494 if( xAreGenericQueueTasksStillRunning() != pdPASS )
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496 xStatusMessage.ulMessageValue = mainERROR_GEN_QUEUE_TEST;
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499 /* Check the reg test tasks are still cycling. They will stop
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500 incrementing their loop counters if they encounter an error. */
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501 if( usRegTest1Counter == usLastRegTest1Counter )
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503 xStatusMessage.ulMessageValue = mainERROR_REG_TEST;
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506 if( usRegTest2Counter == usLastRegTest2Counter )
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508 xStatusMessage.ulMessageValue = mainERROR_REG_TEST;
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511 usLastRegTest1Counter = usRegTest1Counter;
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512 usLastRegTest2Counter = usRegTest2Counter;
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514 /* As this is the tick hook the lHigherPriorityTaskWoken parameter is not
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515 needed (a context switch is going to be performed anyway), but it must
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516 still be provided. */
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517 xQueueSendFromISR( xLCDQueue, &xStatusMessage, &xHigherPriorityTaskWoken );
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521 /* Just periodically toggle an LED to show that the tick interrupt is
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522 running. Note that this access LED_PORT_OUT in a non-atomic way, so tasks
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523 that access the same port must do so from a critical section. */
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524 if( ( ulCounter & 0xff ) == 0 )
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526 if( ( LED_PORT_OUT & LED_1 ) == 0 )
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528 LED_PORT_OUT |= LED_1;
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532 LED_PORT_OUT &= ~LED_1;
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536 /*-----------------------------------------------------------*/
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538 #pragma vector=PORT2_VECTOR
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539 __interrupt static void prvSelectButtonInterrupt(void)
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541 /* Define the message sent to the LCD task from this interrupt. */
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542 static const xQueueMessage xMessage = { mainMESSAGE_BUTTON_SEL, ( unsigned long ) "Select Interrupt" };
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543 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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545 /* This is the interrupt handler for the joystick select button input.
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546 The button has been pushed, write a message to the LCD via the LCD task. */
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547 xQueueSendFromISR( xLCDQueue, &xMessage, &xHigherPriorityTaskWoken );
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551 /* If writing to xLCDQueue caused a task to unblock, and the unblocked task
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552 has a priority equal to or above the task that this interrupt interrupted,
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553 then lHigherPriorityTaskWoken will have been set to pdTRUE internally within
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554 xQueuesendFromISR(), and portEND_SWITCHING_ISR() will ensure that this
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555 interrupt returns directly to the higher priority unblocked task. */
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556 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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558 /*-----------------------------------------------------------*/
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560 /* The MSP430X port uses this callback function to configure its tick interrupt.
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561 This allows the application to choose the tick interrupt source.
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562 configTICK_VECTOR must also be set in FreeRTOSConfig.h to the correct
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563 interrupt vector for the chosen tick interrupt source. This implementation of
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564 vApplicationSetupTimerInterrupt() generates the tick from timer A0, so in this
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565 case configTICK_VECTOR is set to TIMER0_A0_VECTOR. */
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566 void vApplicationSetupTimerInterrupt( void )
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568 const unsigned short usACLK_Frequency_Hz = 32768;
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570 /* Ensure the timer is stopped. */
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573 /* Run the timer from the ACLK. */
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576 /* Clear everything to start with. */
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579 /* Set the compare match value according to the tick rate we want. */
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580 TA0CCR0 = usACLK_Frequency_Hz / configTICK_RATE_HZ;
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582 /* Enable the interrupts. */
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585 /* Start up clean. */
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591 /*-----------------------------------------------------------*/
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593 void vApplicationIdleHook( void )
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595 /* Called on each iteration of the idle task. In this case the idle task
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596 just enters a low(ish) power mode. */
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597 __bis_SR_register( LPM1_bits + GIE );
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599 /*-----------------------------------------------------------*/
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601 void vApplicationMallocFailedHook( void )
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603 /* Called if a call to pvPortMalloc() fails because there is insufficient
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604 free memory available in the FreeRTOS heap. pvPortMalloc() is called
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605 internally by FreeRTOS API functions that create tasks, queues or
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607 taskDISABLE_INTERRUPTS();
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610 /*-----------------------------------------------------------*/
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612 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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615 ( void ) pcTaskName;
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617 /* Run time stack overflow checking is performed if
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618 configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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619 function is called if a stack overflow is detected. */
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620 taskDISABLE_INTERRUPTS();
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623 /*-----------------------------------------------------------*/
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projects / freertos / blob