2 FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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5 FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
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6 Atollic AB - Atollic provides professional embedded systems development
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7 tools for C/C++ development, code analysis and test automation.
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8 See http://www.atollic.com
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11 ***************************************************************************
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13 * FreeRTOS tutorial books are available in pdf and paperback. *
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14 * Complete, revised, and edited pdf reference manuals are also *
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17 * Purchasing FreeRTOS documentation will not only help you, by *
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18 * ensuring you get running as quickly as possible and with an *
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19 * in-depth knowledge of how to use FreeRTOS, it will also help *
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20 * the FreeRTOS project to continue with its mission of providing *
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21 * professional grade, cross platform, de facto standard solutions *
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22 * for microcontrollers - completely free of charge! *
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24 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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26 * Thank you for using FreeRTOS, and thank you for your support! *
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28 ***************************************************************************
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31 This file is part of the FreeRTOS distribution.
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33 FreeRTOS is free software; you can redistribute it and/or modify it under
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34 the terms of the GNU General Public License (version 2) as published by the
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35 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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36 >>>NOTE<<< The modification to the GPL is included to allow you to
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37 distribute a combined work that includes FreeRTOS without being obliged to
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38 provide the source code for proprietary components outside of the FreeRTOS
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39 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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40 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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41 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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42 more details. You should have received a copy of the GNU General Public
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43 License and the FreeRTOS license exception along with FreeRTOS; if not it
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44 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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45 by writing to Richard Barry, contact details for whom are available on the
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50 http://www.FreeRTOS.org - Documentation, latest information, license and
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53 http://www.SafeRTOS.com - A version that is certified for use in safety
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56 http://www.OpenRTOS.com - Commercial support, development, porting,
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57 licensing and training services.
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61 * main-blinky.c is included when the "Blinky" build configuration is used.
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62 * main-full.c is included when the "Full" build configuration is used.
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64 * main-blinky.c (this file) defines a very simple demo that creates two tasks,
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65 * one queue, and one timer. It also demonstrates how MicroBlaze interrupts
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66 * can interact with FreeRTOS tasks/timers.
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68 * This simple demo project runs on the Spartan-6 SP605 development board.
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70 * The idle hook function:
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71 * The idle hook function demonstrates how to query the amount of FreeRTOS heap
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72 * space that is remaining (see vApplicationIdleHook() defined in this file).
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74 * The main() Function:
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75 * main() creates one software timer, one queue, and two tasks. It then starts
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78 * The Queue Send Task:
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79 * The queue send task is implemented by the prvQueueSendTask() function in
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80 * this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
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81 * block for 200 milliseconds, before sending the value 100 to the queue that
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82 * was created within main(). Once the value is sent, the task loops back
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83 * around to block for another 200 milliseconds.
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85 * The Queue Receive Task:
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86 * The queue receive task is implemented by the prvQueueReceiveTask() function
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87 * in this file. prvQueueReceiveTask() sits in a loop that causes it to
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88 * repeatedly attempt to read data from the queue that was created within
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89 * main(). When data is received, the task checks the value of the data, and
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90 * if the value equals the expected 100, toggles the green LED. The 'block
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91 * time' parameter passed to the queue receive function specifies that the task
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92 * should be held in the Blocked state indefinitely to wait for data to be
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93 * available on the queue. The queue receive task will only leave the Blocked
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94 * state when the queue send task writes to the queue. As the queue send task
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95 * writes to the queue every 200 milliseconds, the queue receive task leaves
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96 * the Blocked state every 200 milliseconds, and therefore toggles the LED
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97 * every 200 milliseconds.
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99 * The LED Software Timer and the Button Interrupt:
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100 * The user button SW1 is configured to generate an interrupt each time it is
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101 * pressed. The interrupt service routine switches an LED on, and resets the
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102 * LED software timer. The LED timer has a 5000 millisecond (5 second) period,
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103 * and uses a callback function that is defined to just turn the LED off again.
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104 * Therefore, pressing the user button will turn the LED on, and the LED will
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105 * remain on until a full five seconds pass without the button being pressed.
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108 /* Kernel includes. */
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109 #include "FreeRTOS.h"
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112 #include "timers.h"
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114 /* BSP includes. */
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115 #include "xenv_standalone.h"
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116 #include "xtmrctr.h"
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117 #include "xil_exception.h"
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118 #include "microblaze_exceptions_g.h"
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121 /* Priorities at which the tasks are created. */
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122 #define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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123 #define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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125 /* The rate at which data is sent to the queue, specified in milliseconds, and
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126 converted to ticks using the portTICK_RATE_MS constant. */
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127 #define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_RATE_MS )
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129 /* The number of items the queue can hold. This is 1 as the receive task
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130 will remove items as they are added, meaning the send task should always find
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131 the queue empty. */
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132 #define mainQUEUE_LENGTH ( 1 )
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134 /* The LED toggle by the queue receive task. */
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135 #define mainTASK_CONTROLLED_LED 0x01UL
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137 /* The LED turned on by the button interrupt, and turned off by the LED timer. */
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138 #define mainTIMER_CONTROLLED_LED 0x02UL
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140 /*-----------------------------------------------------------*/
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143 * Setup the NVIC, LED outputs, and button inputs.
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145 static void prvSetupHardware( void );
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148 * The tasks as described in the comments at the top of this file.
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150 static void prvQueueReceiveTask( void *pvParameters );
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151 static void prvQueueSendTask( void *pvParameters );
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154 * The LED timer callback function. This does nothing but switch off the
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155 * LED defined by the mainTIMER_CONTROLLED_LED constant.
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157 static void vLEDTimerCallback( xTimerHandle xTimer );
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159 /*-----------------------------------------------------------*/
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161 /* The queue used by both tasks. */
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162 static xQueueHandle xQueue = NULL;
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164 /* The LED software timer. This uses vLEDTimerCallback() as its callback
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166 static xTimerHandle xLEDTimer = NULL;
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168 /* Maintains the current LED output state. */
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169 static volatile unsigned char ucGPIOState = 0U;
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171 /*-----------------------------------------------------------*/
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173 static XTmrCtr xTimer0Instance;
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174 static XGpio xOutputGPIOInstance;
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175 static const unsigned portBASE_TYPE uxGPIOOutputChannel = 1UL;
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177 /*-----------------------------------------------------------*/
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178 #define NOT_JUST_TESTING
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179 #ifdef JUST_TESTING
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180 volatile unsigned long ul1 = 0, ul2 = 0;
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182 void vTemp1( void *pvParameters )
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191 void vTemp2( void *pvParameters )
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202 prvSetupHardware();
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204 XGpio_DiscreteWrite( &xOutputGPIOInstance, uxGPIOOutputChannel, 1 << 0 );
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205 XGpio_DiscreteWrite( &xOutputGPIOInstance, uxGPIOOutputChannel, 1 << 1 );
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206 XGpio_DiscreteWrite( &xOutputGPIOInstance, uxGPIOOutputChannel, 1 << 2 );
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207 XGpio_DiscreteWrite( &xOutputGPIOInstance, uxGPIOOutputChannel, 1 << 3 );
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210 xTaskCreate( vTemp1, ( signed char * ) "Test1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL );
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211 xTaskCreate( vTemp2, ( signed char * ) "Test2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL );
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213 vTaskStartScheduler();
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218 #else /* JUST_TESTING */
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222 /* Configure the interrupt controller, LED outputs and button inputs. */
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223 prvSetupHardware();
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225 /* Create the queue. */
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226 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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228 if( xQueue != NULL )
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230 /* Start the two tasks as described in the comments at the top of this
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232 xTaskCreate( prvQueueReceiveTask, ( signed char * ) "Rx", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_RECEIVE_TASK_PRIORITY, NULL );
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233 xTaskCreate( prvQueueSendTask, ( signed char * ) "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
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235 /* Create the software timer that is responsible for turning off the LED
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236 if the button is not pushed within 5000ms, as described at the top of
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238 xLEDTimer = xTimerCreate( ( const signed char * ) "LEDTimer", /* A text name, purely to help debugging. */
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239 ( 5000 / portTICK_RATE_MS ), /* The timer period, in this case 5000ms (5s). */
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240 pdFALSE, /* This is a one shot timer, so xAutoReload is set to pdFALSE. */
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241 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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242 vLEDTimerCallback /* The callback function that switches the LED off. */
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245 /* Start the tasks and timer running. */
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246 vTaskStartScheduler();
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249 /* If all is well, the scheduler will now be running, and the following line
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250 will never be reached. If the following line does execute, then there was
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251 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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252 to be created. See the memory management section on the FreeRTOS web site
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253 for more details. */
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256 /*-----------------------------------------------------------*/
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257 #endif /* JUST_TESTING */
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258 static void vLEDTimerCallback( xTimerHandle xTimer )
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260 /* The timer has expired - so no button pushes have occurred in the last
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261 five seconds - turn the LED off. NOTE - accessing the LED port should use
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262 a critical section because it is accessed from multiple tasks, and the
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263 button interrupt - in this trivial case, for simplicity, the critical
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264 section is omitted. */
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265 ucGPIOState |= mainTIMER_CONTROLLED_LED;
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266 XGpio_DiscreteWrite( &xOutputGPIOInstance, uxGPIOOutputChannel, ucGPIOState );
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268 /*-----------------------------------------------------------*/
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270 /* The ISR executed when the user button is pushed. */
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271 void GPIO8_IRQHandler( void )
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273 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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275 /* The button was pushed, so ensure the LED is on before resetting the
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276 LED timer. The LED timer will turn the LED off if the button is not
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277 pushed within 5000ms. */
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278 ucGPIOState &= ~mainTIMER_CONTROLLED_LED;
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279 XGpio_DiscreteWrite( &xOutputGPIOInstance, uxGPIOOutputChannel, ucGPIOState );
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281 /* This interrupt safe FreeRTOS function can be called from this interrupt
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282 because the interrupt priority is below the
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283 configMAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */
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284 xTimerResetFromISR( xLEDTimer, &xHigherPriorityTaskWoken );
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286 /* Clear the interrupt before leaving. */
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287 //_RB_ MSS_GPIO_clear_irq( MSS_GPIO_8 );
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289 /* If calling xTimerResetFromISR() caused a task (in this case the timer
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290 service/daemon task) to unblock, and the unblocked task has a priority
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291 higher than or equal to the task that was interrupted, then
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292 xHigherPriorityTaskWoken will now be set to pdTRUE, and calling
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293 portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
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294 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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296 /*-----------------------------------------------------------*/
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298 static void prvQueueSendTask( void *pvParameters )
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300 portTickType xNextWakeTime;
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301 const unsigned long ulValueToSend = 100UL;
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303 /* Initialise xNextWakeTime - this only needs to be done once. */
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304 xNextWakeTime = xTaskGetTickCount();
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308 /* Place this task in the blocked state until it is time to run again.
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309 The block time is specified in ticks, the constant used converts ticks
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310 to ms. While in the Blocked state this task will not consume any CPU
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312 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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314 /* Send to the queue - causing the queue receive task to unblock and
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315 toggle an LED. 0 is used as the block time so the sending operation
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316 will not block - it shouldn't need to block as the queue should always
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317 be empty at this point in the code. */
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318 xQueueSend( xQueue, &ulValueToSend, 0 );
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321 /*-----------------------------------------------------------*/
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323 static void prvQueueReceiveTask( void *pvParameters )
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325 unsigned long ulReceivedValue;
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329 /* Wait until something arrives in the queue - this task will block
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330 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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331 FreeRTOSConfig.h. */
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332 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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334 /* To get here something must have been received from the queue, but
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335 is it the expected value? If it is, toggle the green LED. */
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336 if( ulReceivedValue == 100UL )
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338 /* NOTE - accessing the LED port should use a critical section
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339 because it is accessed from multiple tasks, and the button interrupt
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340 - in this trivial case, for simplicity, the critical section is
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342 if( ( ucGPIOState & mainTASK_CONTROLLED_LED ) != 0 )
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344 ucGPIOState &= ~mainTASK_CONTROLLED_LED;
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348 ucGPIOState |= mainTASK_CONTROLLED_LED;
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351 XGpio_DiscreteWrite( &xOutputGPIOInstance, uxGPIOOutputChannel, ucGPIOState );
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355 /*-----------------------------------------------------------*/
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357 static void prvSetupHardware( void )
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359 portBASE_TYPE xStatus;
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360 const unsigned char ucSetToOutput = 0U;
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362 /* Initialize the GPIO. */
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363 xStatus = XGpio_Initialize( &xOutputGPIOInstance, XPAR_LEDS_4BITS_DEVICE_ID );
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364 if( xStatus == XST_SUCCESS )
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366 /* All LEDs on this channel are going to be outputs. */
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367 XGpio_SetDataDirection( &xOutputGPIOInstance, uxGPIOOutputChannel, ucSetToOutput );
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369 /* Start with all LEDs off. */
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371 XGpio_DiscreteWrite( &xOutputGPIOInstance, uxGPIOOutputChannel, ucGPIOState );
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374 configASSERT( ( xStatus == XST_SUCCESS ) );
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376 #ifdef MICROBLAZE_EXCEPTIONS_ENABLED
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377 microblaze_enable_exceptions();
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380 /*-----------------------------------------------------------*/
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382 void vApplicationMallocFailedHook( void )
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384 /* Called if a call to pvPortMalloc() fails because there is insufficient
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385 free memory available in the FreeRTOS heap. pvPortMalloc() is called
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386 internally by FreeRTOS API functions that create tasks, queues, software
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387 timers, and semaphores. The size of the FreeRTOS heap is set by the
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388 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
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391 /*-----------------------------------------------------------*/
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393 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
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395 ( void ) pcTaskName;
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398 /* Run time stack overflow checking is performed if
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399 configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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400 function is called if a stack overflow is detected. */
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403 /*-----------------------------------------------------------*/
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405 void vApplicationIdleHook( void )
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407 volatile size_t xFreeHeapSpace;
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409 /* This function is called on each cycle of the idle task. In this case it
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410 does nothing useful, other than report the amout of FreeRTOS heap that
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411 remains unallocated. */
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412 xFreeHeapSpace = xPortGetFreeHeapSize();
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414 if( xFreeHeapSpace > 100 )
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416 /* By now, the kernel has allocated everything it is going to, so
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417 if there is a lot of heap remaining unallocated then
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418 the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be
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419 reduced accordingly. */
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422 /*-----------------------------------------------------------*/
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424 void vMainConfigureTimerForRunTimeStats( void )
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426 /* This function is not used by the Blinky build configuration, but needs
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427 to be defined as the Blinky and Full build configurations share a
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428 FreeRTOSConfig.h header file. */
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430 /*-----------------------------------------------------------*/
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432 unsigned long ulGetRunTimeCounterValue( void )
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434 /* This function is not used by the Blinky build configuration, but needs
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435 to be defined as the Blinky and Full build configurations share a
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436 FreeRTOSConfig.h header file. */
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439 /*-----------------------------------------------------------*/
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441 void vApplicationSetupTimerInterrupt( void )
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443 portBASE_TYPE xStatus;
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444 const unsigned char ucTimerCounterNumber = ( unsigned char ) 0U;
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445 const unsigned long ulCounterValue = ( ( XPAR_AXI_TIMER_0_CLOCK_FREQ_HZ / configTICK_RATE_HZ ) - 1UL );
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446 extern void vTickISR( void *pvUnused );
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448 /* Initialise the timer/counter. */
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449 xStatus = XTmrCtr_Initialize( &xTimer0Instance, XPAR_AXI_TIMER_0_DEVICE_ID );
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451 if( xStatus == XST_SUCCESS )
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453 /* Install the tick interrupt handler as the timer ISR. */
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454 xStatus = xPortInstallInterruptHandler( XPAR_MICROBLAZE_0_INTC_AXI_TIMER_0_INTERRUPT_INTR, vTickISR, NULL );
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457 if( xStatus == pdPASS )
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459 vPortEnableInterrupt( XPAR_MICROBLAZE_0_INTC_AXI_TIMER_0_INTERRUPT_INTR );
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461 /* Configure the timer interrupt handler. */
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462 XTmrCtr_SetHandler( &xTimer0Instance, ( void * ) vTickISR, NULL );
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464 /* Set the correct period for the timer. */
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465 XTmrCtr_SetResetValue( &xTimer0Instance, ucTimerCounterNumber, ulCounterValue );
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467 /* Enable the interrupts. Auto-reload mode is used to generate a
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468 periodic tick. Note that interrupts are disabled when this function is
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469 called, so interrupts will not start to be processed until the first
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470 task has started to run. */
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471 XTmrCtr_SetOptions( &xTimer0Instance, ucTimerCounterNumber, ( XTC_INT_MODE_OPTION | XTC_AUTO_RELOAD_OPTION | XTC_DOWN_COUNT_OPTION ) );
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473 /* Start the timer. */
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474 XTmrCtr_Start( &xTimer0Instance, ucTimerCounterNumber );
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477 configASSERT( ( xStatus == pdPASS ) );
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479 /*-----------------------------------------------------------*/
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481 void vApplicationClearTimerInterrupt( void )
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483 unsigned long ulCSR;
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485 /* Increment the RTOS tick - this might cause a task to unblock. */
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486 vTaskIncrementTick();
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488 /* Clear the timer interrupt */
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489 ulCSR = XTmrCtr_GetControlStatusReg( XPAR_AXI_TIMER_0_BASEADDR, 0 );
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490 XTmrCtr_SetControlStatusReg( XPAR_AXI_TIMER_0_BASEADDR, 0, ulCSR );
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