2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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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 modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or 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 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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68 /* BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER.
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70 NOTE: This driver is primarily to test the scheduler functionality. It does
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71 not effectively use the buffers or DMA and is therefore not intended to be
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72 an example of an efficient driver. */
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74 /* Standard include file. */
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77 /* Scheduler include files. */
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78 #include "FreeRTOS.h"
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82 /* Demo app include files. */
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85 /* Hardware setup. */
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88 #define serLOW_SPEED 0
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89 #define serONE_STOP_BIT 0
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90 #define serEIGHT_DATA_BITS_NO_PARITY 0
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91 #define serNORMAL_IDLE_STATE 0
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92 #define serAUTO_BAUD_OFF 0
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93 #define serLOOPBACK_OFF 0
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94 #define serWAKE_UP_DISABLE 0
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95 #define serNO_HARDWARE_FLOW_CONTROL 0
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96 #define serSTANDARD_IO 0
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97 #define serNO_IRDA 0
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98 #define serCONTINUE_IN_IDLE_MODE 0
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99 #define serUART_ENABLED 1
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100 #define serINTERRUPT_ON_SINGLE_CHAR 0
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101 #define serTX_ENABLE 1
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102 #define serINTERRUPT_ENABLE 1
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103 #define serINTERRUPT_DISABLE 0
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104 #define serCLEAR_FLAG 0
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105 #define serSET_FLAG 1
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108 /* The queues used to communicate between tasks and ISR's. */
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109 static xQueueHandle xRxedChars;
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110 static xQueueHandle xCharsForTx;
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112 static portBASE_TYPE xTxHasEnded;
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113 /*-----------------------------------------------------------*/
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115 xComPortHandle xSerialPortInitMinimal( unsigned long ulWantedBaud, unsigned portBASE_TYPE uxQueueLength )
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119 /* Create the queues used by the com test task. */
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120 xRxedChars = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
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121 xCharsForTx = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
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123 /* Setup the UART. */
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124 U2MODEbits.BRGH = serLOW_SPEED;
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125 U2MODEbits.STSEL = serONE_STOP_BIT;
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126 U2MODEbits.PDSEL = serEIGHT_DATA_BITS_NO_PARITY;
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127 U2MODEbits.ABAUD = serAUTO_BAUD_OFF;
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128 U2MODEbits.LPBACK = serLOOPBACK_OFF;
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129 U2MODEbits.WAKE = serWAKE_UP_DISABLE;
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130 U2MODEbits.UEN = serNO_HARDWARE_FLOW_CONTROL;
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131 U2MODEbits.IREN = serNO_IRDA;
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132 U2MODEbits.USIDL = serCONTINUE_IN_IDLE_MODE;
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133 U2MODEbits.UARTEN = serUART_ENABLED;
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135 U2BRG = (unsigned short)(( (float)configCPU_CLOCK_HZ / ( (float)16 * (float)ulWantedBaud ) ) - (float)0.5);
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137 U2STAbits.URXISEL = serINTERRUPT_ON_SINGLE_CHAR;
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138 U2STAbits.UTXEN = serTX_ENABLE;
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139 U2STAbits.UTXINV = serNORMAL_IDLE_STATE;
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140 U2STAbits.UTXISEL0 = serINTERRUPT_ON_SINGLE_CHAR;
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141 U2STAbits.UTXISEL1 = serINTERRUPT_ON_SINGLE_CHAR;
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143 /* It is assumed that this function is called prior to the scheduler being
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144 started. Therefore interrupts must not be allowed to occur yet as they
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145 may attempt to perform a context switch. */
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146 portDISABLE_INTERRUPTS();
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148 IFS1bits.U2RXIF = serCLEAR_FLAG;
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149 IFS1bits.U2TXIF = serCLEAR_FLAG;
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150 IPC7bits.U2RXIP = configKERNEL_INTERRUPT_PRIORITY;
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151 IPC7bits.U2TXIP = configKERNEL_INTERRUPT_PRIORITY;
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152 IEC1bits.U2TXIE = serINTERRUPT_ENABLE;
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153 IEC1bits.U2RXIE = serINTERRUPT_ENABLE;
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155 /* Clear the Rx buffer. */
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156 while( U2STAbits.URXDA == serSET_FLAG )
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161 xTxHasEnded = pdTRUE;
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165 /*-----------------------------------------------------------*/
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167 signed portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, signed char *pcRxedChar, portTickType xBlockTime )
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169 /* Only one port is supported. */
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172 /* Get the next character from the buffer. Return false if no characters
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173 are available or arrive before xBlockTime expires. */
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174 if( xQueueReceive( xRxedChars, pcRxedChar, xBlockTime ) )
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183 /*-----------------------------------------------------------*/
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185 signed portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, signed char cOutChar, portTickType xBlockTime )
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187 /* Only one port is supported. */
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190 /* Return false if after the block time there is no room on the Tx queue. */
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191 if( xQueueSend( xCharsForTx, &cOutChar, xBlockTime ) != pdPASS )
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196 /* A critical section should not be required as xTxHasEnded will not be
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197 written to by the ISR if it is already 0 (is this correct?). */
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200 xTxHasEnded = pdFALSE;
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201 IFS1bits.U2TXIF = serSET_FLAG;
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206 /*-----------------------------------------------------------*/
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208 void vSerialClose( xComPortHandle xPort )
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211 /*-----------------------------------------------------------*/
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213 void __attribute__((__interrupt__, auto_psv)) _U2RXInterrupt( void )
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216 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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218 /* Get the character and post it on the queue of Rxed characters.
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219 If the post causes a task to wake force a context switch as the woken task
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220 may have a higher priority than the task we have interrupted. */
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221 IFS1bits.U2RXIF = serCLEAR_FLAG;
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222 while( U2STAbits.URXDA )
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225 xQueueSendFromISR( xRxedChars, &cChar, &xHigherPriorityTaskWoken );
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228 if( xHigherPriorityTaskWoken != pdFALSE )
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233 /*-----------------------------------------------------------*/
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235 void __attribute__((__interrupt__, auto_psv)) _U2TXInterrupt( void )
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238 portBASE_TYPE xTaskWoken = pdFALSE;
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240 /* If the transmit buffer is full we cannot get the next character.
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241 Another interrupt will occur the next time there is space so this does
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243 IFS1bits.U2TXIF = serCLEAR_FLAG;
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244 while( !( U2STAbits.UTXBF ) )
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246 if( xQueueReceiveFromISR( xCharsForTx, &cChar, &xTaskWoken ) == pdTRUE )
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248 /* Send the next character queued for Tx. */
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253 /* Queue empty, nothing to send. */
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254 xTxHasEnded = pdTRUE;
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259 if( xTaskWoken != pdFALSE )
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