[freertos] / Demo / MicroBlaze_Spartan-6_EthernetLite / SDKProjects / RTOSDemoSource / main-blinky.c

/*\r
    FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.\r
\r
\r
        FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:\r
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        See http://www.atollic.com\r
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    ***************************************************************************\r
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\r
    This file is part of the FreeRTOS distribution.\r
\r
    FreeRTOS is free software; you can redistribute it and/or modify it under\r
    the terms of the GNU General Public License (version 2) as published by the\r
    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
    >>>NOTE<<< The modification to the GPL is included to allow you to\r
    distribute a combined work that includes FreeRTOS without being obliged to\r
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*/\r
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/*\r
 * main-blinky.c is included when the "Blinky" build configuration is used.\r
 * main-full.c is included when the "Full" build configuration is used.\r
 *\r
 * main-blinky.c (this file) defines a very simple demo that creates two tasks,\r
 * one queue, and one timer.  It also demonstrates how MicroBlaze interrupts\r
 * can interact with FreeRTOS tasks/timers.\r
 *\r
 * This simple demo project runs on the Spartan-6 SP605 development board.\r
 *\r
 * The idle hook function:\r
 * The idle hook function demonstrates how to query the amount of FreeRTOS heap\r
 * space that is remaining (see vApplicationIdleHook() defined in this file).\r
 *\r
 * The main() Function:\r
 * main() creates one software timer, one queue, and two tasks.  It then starts\r
 * the scheduler.\r
 *\r
 * The Queue Send Task:\r
 * The queue send task is implemented by the prvQueueSendTask() function in\r
 * this file.  prvQueueSendTask() sits in a loop that causes it to repeatedly\r
 * block for 200 milliseconds, before sending the value 100 to the queue that\r
 * was created within main().  Once the value is sent, the task loops back\r
 * around to block for another 200 milliseconds.\r
 *\r
 * The Queue Receive Task:\r
 * The queue receive task is implemented by the prvQueueReceiveTask() function\r
 * in this file.  prvQueueReceiveTask() sits in a loop that causes it to\r
 * repeatedly attempt to read data from the queue that was created within\r
 * main().  When data is received, the task checks the value of the data, and\r
 * if the value equals the expected 100, toggles the green LED.  The 'block\r
 * time' parameter passed to the queue receive function specifies that the task\r
 * should be held in the Blocked state indefinitely to wait for data to be\r
 * available on the queue.  The queue receive task will only leave the Blocked\r
 * state when the queue send task writes to the queue.  As the queue send task\r
 * writes to the queue every 200 milliseconds, the queue receive task leaves\r
 * the Blocked state every 200 milliseconds, and therefore toggles the LED\r
 * every 200 milliseconds.\r
 *\r
 * The LED Software Timer and the Button Interrupt:\r
 * The user button SW1 is configured to generate an interrupt each time it is\r
 * pressed.  The interrupt service routine switches an LED on, and resets the\r
 * LED software timer.  The LED timer has a 5000 millisecond (5 second) period,\r
 * and uses a callback function that is defined to just turn the LED off again.\r
 * Therefore, pressing the user button will turn the LED on, and the LED will\r
 * remain on until a full five seconds pass without the button being pressed.\r
 */\r
\r
/* Kernel includes. */\r
#include "FreeRTOS.h"\r
#include "task.h"\r
#include "queue.h"\r
#include "timers.h"\r
\r
/* BSP includes. */\r
#include "xenv_standalone.h"\r
#include "xtmrctr.h"\r
#include "xil_exception.h"\r
#include "microblaze_exceptions_g.h"\r
\r
/* Priorities at which the tasks are created. */\r
#define mainQUEUE_RECEIVE_TASK_PRIORITY         ( tskIDLE_PRIORITY + 2 )\r
#define mainQUEUE_SEND_TASK_PRIORITY            ( tskIDLE_PRIORITY + 1 )\r
\r
/* The rate at which data is sent to the queue, specified in milliseconds, and\r
converted to ticks using the portTICK_RATE_MS constant. */\r
#define mainQUEUE_SEND_FREQUENCY_MS                     ( 200 / portTICK_RATE_MS )\r
\r
/* The number of items the queue can hold.  This is 1 as the receive task\r
will remove items as they are added, meaning the send task should always find\r
the queue empty. */\r
#define mainQUEUE_LENGTH                                        ( 1 )\r
\r
/* The LED toggle by the queue receive task. */\r
#define mainTASK_CONTROLLED_LED                         0x01UL\r
\r
/* The LED turned on by the button interrupt, and turned off by the LED timer. */\r
#define mainTIMER_CONTROLLED_LED                        0x02UL\r
\r
/*-----------------------------------------------------------*/\r
\r
/*\r
 * Setup the NVIC, LED outputs, and button inputs.\r
 */\r
static void prvSetupHardware( void );\r
\r
/*\r
 * The tasks as described in the comments at the top of this file.\r
 */\r
static void prvQueueReceiveTask( void *pvParameters );\r
static void prvQueueSendTask( void *pvParameters );\r
\r
/*\r
 * The LED timer callback function.  This does nothing but switch off the\r
 * LED defined by the mainTIMER_CONTROLLED_LED constant.\r
 */\r
static void vLEDTimerCallback( xTimerHandle xTimer );\r
\r
/*-----------------------------------------------------------*/\r
\r
/* The queue used by both tasks. */\r
static xQueueHandle xQueue = NULL;\r
\r
/* The LED software timer.  This uses vLEDTimerCallback() as its callback\r
function. */\r
static xTimerHandle xLEDTimer = NULL;\r
\r
/* Maintains the current LED output state. */\r
static volatile unsigned long ulGPIOState = 0UL;\r
\r
/*-----------------------------------------------------------*/\r
\r
static XTmrCtr xTimer0Instance;\r
\r
/*-----------------------------------------------------------*/\r
#define JUST_TESTING\r
#ifdef JUST_TESTING\r
volatile unsigned long ul1 = 0, ul2 = 0;\r
\r
void vTemp1( void *pvParameters )\r
{\r
        for( ;; )\r
        {\r
                ul1++;\r
                //taskYIELD();\r
        }\r
}\r
\r
void vTemp2( void *pvParameters )\r
{\r
        for( ;; )\r
        {\r
                ul2++;\r
                //taskYIELD();\r
        }\r
}\r
\r
void main( void )\r
{\r
        prvSetupHardware();\r
\r
        xTaskCreate( vTemp1, ( signed char * ) "Test1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL );\r
        xTaskCreate( vTemp2, ( signed char * ) "Test2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL );\r
\r
        vTaskStartScheduler();\r
        for( ;; );\r
}\r
\r
\r
#else /* JUST_TESTING */\r
\r
int main(void)\r
{\r
        /* Configure the interrupt controller, LED outputs and button inputs. */\r
        prvSetupHardware();\r
\r
        /* Create the queue. */\r
        xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );\r
\r
        if( xQueue != NULL )\r
        {\r
                /* Start the two tasks as described in the comments at the top of this\r
                file. */\r
                xTaskCreate( prvQueueReceiveTask, ( signed char * ) "Rx", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_RECEIVE_TASK_PRIORITY, NULL );\r
                xTaskCreate( prvQueueSendTask, ( signed char * ) "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );\r
\r
                /* Create the software timer that is responsible for turning off the LED\r
                if the button is not pushed within 5000ms, as described at the top of\r
                this file. */\r
                xLEDTimer = xTimerCreate(       ( const signed char * ) "LEDTimer", /* A text name, purely to help debugging. */\r
                                                                        ( 5000 / portTICK_RATE_MS ),            /* The timer period, in this case 5000ms (5s). */\r
                                                                        pdFALSE,                                                        /* This is a one shot timer, so xAutoReload is set to pdFALSE. */\r
                                                                        ( void * ) 0,                                           /* The ID is not used, so can be set to anything. */\r
                                                                        vLEDTimerCallback                                       /* The callback function that switches the LED off. */\r
                                                                );\r
\r
                /* Start the tasks and timer running. */\r
                vTaskStartScheduler();\r
        }\r
\r
        /* If all is well, the scheduler will now be running, and the following line\r
        will never be reached.  If the following line does execute, then there was\r
        insufficient FreeRTOS heap memory available for the idle and/or timer tasks\r
        to be created.  See the memory management section on the FreeRTOS web site\r
        for more details. */\r
        for( ;; );\r
}\r
/*-----------------------------------------------------------*/\r
#endif /* JUST_TESTING */\r
static void vLEDTimerCallback( xTimerHandle xTimer )\r
{\r
        /* The timer has expired - so no button pushes have occurred in the last\r
        five seconds - turn the LED off.  NOTE - accessing the LED port should use\r
        a critical section because it is accessed from multiple tasks, and the\r
        button interrupt - in this trivial case, for simplicity, the critical\r
        section is omitted. */\r
        ulGPIOState |= mainTIMER_CONTROLLED_LED;\r
//_RB_  MSS_GPIO_set_outputs( ulGPIOState );\r
}\r
/*-----------------------------------------------------------*/\r
\r
/* The ISR executed when the user button is pushed. */\r
void GPIO8_IRQHandler( void )\r
{\r
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;\r
\r
        /* The button was pushed, so ensure the LED is on before resetting the\r
        LED timer.  The LED timer will turn the LED off if the button is not\r
        pushed within 5000ms. */\r
        ulGPIOState &= ~mainTIMER_CONTROLLED_LED;\r
//_RB_  MSS_GPIO_set_outputs( ulGPIOState );\r
\r
        /* This interrupt safe FreeRTOS function can be called from this interrupt\r
        because the interrupt priority is below the\r
        configMAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */\r
        xTimerResetFromISR( xLEDTimer, &xHigherPriorityTaskWoken );\r
\r
        /* Clear the interrupt before leaving. */\r
//_RB_    MSS_GPIO_clear_irq( MSS_GPIO_8 );\r
\r
        /* If calling xTimerResetFromISR() caused a task (in this case the timer\r
        service/daemon task) to unblock, and the unblocked task has a priority\r
        higher than or equal to the task that was interrupted, then\r
        xHigherPriorityTaskWoken will now be set to pdTRUE, and calling\r
        portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */\r
        portYIELD_FROM_ISR( xHigherPriorityTaskWoken );\r
}\r
/*-----------------------------------------------------------*/\r
\r
static void prvQueueSendTask( void *pvParameters )\r
{\r
portTickType xNextWakeTime;\r
const unsigned long ulValueToSend = 100UL;\r
\r
        /* Initialise xNextWakeTime - this only needs to be done once. */\r
        xNextWakeTime = xTaskGetTickCount();\r
\r
        for( ;; )\r
        {\r
                /* Place this task in the blocked state until it is time to run again.\r
                The block time is specified in ticks, the constant used converts ticks\r
                to ms.  While in the Blocked state this task will not consume any CPU\r
                time. */\r
                vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );\r
\r
                /* Send to the queue - causing the queue receive task to unblock and\r
                toggle an LED.  0 is used as the block time so the sending operation\r
                will not block - it shouldn't need to block as the queue should always\r
                be empty at this point in the code. */\r
                xQueueSend( xQueue, &ulValueToSend, 0 );\r
        }\r
}\r
/*-----------------------------------------------------------*/\r
\r
static void prvQueueReceiveTask( void *pvParameters )\r
{\r
unsigned long ulReceivedValue;\r
\r
        for( ;; )\r
        {\r
                /* Wait until something arrives in the queue - this task will block\r
                indefinitely provided INCLUDE_vTaskSuspend is set to 1 in\r
                FreeRTOSConfig.h. */\r
                xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );\r
\r
                /*  To get here something must have been received from the queue, but\r
                is it the expected value?  If it is, toggle the green LED. */\r
                if( ulReceivedValue == 100UL )\r
                {\r
                        /* NOTE - accessing the LED port should use a critical section\r
                        because it is accessed from multiple tasks, and the button interrupt\r
                        - in this trivial case, for simplicity, the critical section is\r
                        omitted. */\r
                        if( ( ulGPIOState & mainTASK_CONTROLLED_LED ) != 0 )\r
                        {\r
                                ulGPIOState &= ~mainTASK_CONTROLLED_LED;\r
                        }\r
                        else\r
                        {\r
                                ulGPIOState |= mainTASK_CONTROLLED_LED;\r
                        }\r
//_RB_                  MSS_GPIO_set_outputs( ulGPIOState );\r
                }\r
        }\r
}\r
/*-----------------------------------------------------------*/\r
\r
static void prvSetupHardware( void )\r
{\r
        #ifdef MICROBLAZE_EXCEPTIONS_ENABLED\r
                microblaze_enable_exceptions();\r
        #endif\r
}\r
/*-----------------------------------------------------------*/\r
\r
void vApplicationMallocFailedHook( void )\r
{\r
        /* Called if a call to pvPortMalloc() fails because there is insufficient\r
        free memory available in the FreeRTOS heap.  pvPortMalloc() is called\r
        internally by FreeRTOS API functions that create tasks, queues, software\r
        timers, and semaphores.  The size of the FreeRTOS heap is set by the\r
        configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */\r
        for( ;; );\r
}\r
/*-----------------------------------------------------------*/\r
\r
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )\r
{\r
        ( void ) pcTaskName;\r
        ( void ) pxTask;\r
\r
        /* Run time stack overflow checking is performed if\r
        configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2.  This hook\r
        function is called if a stack overflow is detected. */\r
        for( ;; );\r
}\r
/*-----------------------------------------------------------*/\r
\r
void vApplicationIdleHook( void )\r
{\r
volatile size_t xFreeHeapSpace;\r
\r
        /* This function is called on each cycle of the idle task.  In this case it\r
        does nothing useful, other than report the amout of FreeRTOS heap that\r
        remains unallocated. */\r
        xFreeHeapSpace = xPortGetFreeHeapSize();\r
\r
        if( xFreeHeapSpace > 100 )\r
        {\r
                /* By now, the kernel has allocated everything it is going to, so\r
                if there is a lot of heap remaining unallocated then\r
                the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be\r
                reduced accordingly. */\r
        }\r
}\r
/*-----------------------------------------------------------*/\r
\r
void vMainConfigureTimerForRunTimeStats( void )\r
{\r
        /* This function is not used by the Blinky build configuration, but needs\r
        to be defined as the Blinky and Full build configurations share a\r
        FreeRTOSConfig.h header file. */\r
}\r
/*-----------------------------------------------------------*/\r
\r
unsigned long ulGetRunTimeCounterValue( void )\r
{\r
        /* This function is not used by the Blinky build configuration, but needs\r
        to be defined as the Blinky and Full build configurations share a\r
        FreeRTOSConfig.h header file. */\r
        return 0UL;\r
}\r
/*-----------------------------------------------------------*/\r
\r
void vApplicationSetupTimerInterrupt( void )\r
{\r
portBASE_TYPE xStatus;\r
const unsigned char ucTimerCounterNumber = ( unsigned char ) 0U;\r
const unsigned long ulCounterValue = ( ( XPAR_AXI_TIMER_0_CLOCK_FREQ_HZ / configTICK_RATE_HZ ) - 1UL );\r
extern void vTickISR( void *pvUnused );\r
\r
        /* Initialise the timer/counter. */\r
        xStatus = XTmrCtr_Initialize( &xTimer0Instance, XPAR_AXI_TIMER_0_DEVICE_ID );\r
\r
        if( xStatus == XST_SUCCESS )\r
        {\r
                /* Install the tick interrupt handler as the timer ISR. */\r
                xStatus = xPortInstallInterruptHandler( XPAR_MICROBLAZE_0_INTC_AXI_TIMER_0_INTERRUPT_INTR, vTickISR, NULL );\r
        }\r
\r
        if( xStatus == pdPASS )\r
        {\r
                vPortEnableInterrupt( XPAR_MICROBLAZE_0_INTC_AXI_TIMER_0_INTERRUPT_INTR );\r
\r
                /* Configure the timer interrupt handler. */\r
                XTmrCtr_SetHandler( &xTimer0Instance, ( void * ) vTickISR, NULL );\r
\r
                /* Set the correct period for the timer. */\r
                XTmrCtr_SetResetValue( &xTimer0Instance, ucTimerCounterNumber, ulCounterValue );\r
\r
                /* Enable the interrupts.  Auto-reload mode is used to generate a\r
                periodic tick.  Note that interrupts are disabled when this function is\r
                called, so interrupts will not start to be processed until the first\r
                task has started to run. */\r
                XTmrCtr_SetOptions( &xTimer0Instance, ucTimerCounterNumber, ( XTC_INT_MODE_OPTION | XTC_AUTO_RELOAD_OPTION | XTC_DOWN_COUNT_OPTION ) );\r
\r
                /* Start the timer. */\r
                XTmrCtr_Start( &xTimer0Instance, ucTimerCounterNumber );\r
        }\r
\r
        configASSERT( ( xStatus == pdPASS ) );\r
}\r
\r
\r
void vApplicationClearTimerInterrupt( void )\r
{\r
unsigned long ulCSR;\r
\r
        /* Increment the RTOS tick - this might cause a task to unblock. */\r
        vTaskIncrementTick();\r
\r
        /* Clear the timer interrupt */\r
        ulCSR = XTmrCtr_GetControlStatusReg( XPAR_AXI_TIMER_0_BASEADDR, 0 );\r
        XTmrCtr_SetControlStatusReg( XPAR_AXI_TIMER_0_BASEADDR, 0, ulCSR );\r
}\r
\r