2 FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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71 * main-blinky.c is included when the "Blinky" build configuration is used.
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72 * main-full.c is included when the "Full" build configuration is used.
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74 * main-blinky.c (this file) defines a very simple demo that creates two tasks,
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75 * one queue, and one timer. It also demonstrates how Cortex-M3 interrupts can
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76 * interact with FreeRTOS tasks/timers.
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78 * This simple demo project runs on the SmartFusion A2F-EVAL-KIT evaluation
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79 * board, which is populated with an A2F200M3F SmartFusion mixed signal FPGA.
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80 * The A2F200M3F incorporates a Cortex-M3 microcontroller.
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82 * The idle hook function:
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83 * The idle hook function demonstrates how to query the amount of FreeRTOS heap
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84 * space that is remaining (see vApplicationIdleHook() defined in this file).
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86 * The main() Function:
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87 * main() creates one software timer, one queue, and two tasks. It then starts
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90 * The Queue Send Task:
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91 * The queue send task is implemented by the prvQueueSendTask() function in
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92 * this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
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93 * block for 200 milliseconds, before sending the value 100 to the queue that
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94 * was created within main(). Once the value is sent, the task loops back
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95 * around to block for another 200 milliseconds.
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97 * The Queue Receive Task:
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98 * The queue receive task is implemented by the prvQueueReceiveTask() function
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99 * in this file. prvQueueReceiveTask() sits in a loop that causes it to
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100 * repeatedly attempt to read data from the queue that was created within
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101 * main(). When data is received, the task checks the value of the data, and
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102 * if the value equals the expected 100, toggles the green LED. The 'block
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103 * time' parameter passed to the queue receive function specifies that the task
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104 * should be held in the Blocked state indefinitely to wait for data to be
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105 * available on the queue. The queue receive task will only leave the Blocked
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106 * state when the queue send task writes to the queue. As the queue send task
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107 * writes to the queue every 200 milliseconds, the queue receive task leaves
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108 * the Blocked state every 200 milliseconds, and therefore toggles the LED
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109 * every 200 milliseconds.
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111 * The LED Software Timer and the Button Interrupt:
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112 * The user button SW1 is configured to generate an interrupt each time it is
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113 * pressed. The interrupt service routine switches an LED on, and resets the
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114 * LED software timer. The LED timer has a 5000 millisecond (5 second) period,
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115 * and uses a callback function that is defined to just turn the LED off again.
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116 * Therefore, pressing the user button will turn the LED on, and the LED will
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117 * remain on until a full five seconds pass without the button being pressed.
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120 /* Kernel includes. */
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121 #include "FreeRTOS.h"
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124 #include "timers.h"
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126 /* Microsemi drivers/libraries. */
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127 #include "mss_gpio.h"
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128 #include "mss_watchdog.h"
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131 /* Priorities at which the tasks are created. */
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132 #define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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133 #define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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135 /* The rate at which data is sent to the queue, specified in milliseconds, and
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136 converted to ticks using the portTICK_PERIOD_MS constant. */
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137 #define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_PERIOD_MS )
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139 /* The number of items the queue can hold. This is 1 as the receive task
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140 will remove items as they are added, meaning the send task should always find
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141 the queue empty. */
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142 #define mainQUEUE_LENGTH ( 1 )
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144 /* The LED toggle by the queue receive task. */
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145 #define mainTASK_CONTROLLED_LED 0x01UL
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147 /* The LED turned on by the button interrupt, and turned off by the LED timer. */
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148 #define mainTIMER_CONTROLLED_LED 0x02UL
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150 /*-----------------------------------------------------------*/
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153 * Setup the NVIC, LED outputs, and button inputs.
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155 static void prvSetupHardware( void );
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158 * The tasks as described in the comments at the top of this file.
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160 static void prvQueueReceiveTask( void *pvParameters );
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161 static void prvQueueSendTask( void *pvParameters );
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164 * The LED timer callback function. This does nothing but switch off the
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165 * LED defined by the mainTIMER_CONTROLLED_LED constant.
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167 static void vLEDTimerCallback( TimerHandle_t xTimer );
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169 /*-----------------------------------------------------------*/
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171 /* The queue used by both tasks. */
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172 static QueueHandle_t xQueue = NULL;
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174 /* The LED software timer. This uses vLEDTimerCallback() as its callback
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176 static TimerHandle_t xLEDTimer = NULL;
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178 /* Maintains the current LED output state. */
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179 static volatile unsigned long ulGPIOState = 0UL;
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181 /*-----------------------------------------------------------*/
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185 /* Configure the NVIC, LED outputs and button inputs. */
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186 prvSetupHardware();
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188 /* Create the queue. */
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189 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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191 if( xQueue != NULL )
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193 /* Start the two tasks as described in the comments at the top of this
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195 xTaskCreate( prvQueueReceiveTask, "Rx", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_RECEIVE_TASK_PRIORITY, NULL );
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196 xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
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198 /* Create the software timer that is responsible for turning off the LED
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199 if the button is not pushed within 5000ms, as described at the top of
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201 xLEDTimer = xTimerCreate( "LEDTimer", /* A text name, purely to help debugging. */
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202 ( 5000 / portTICK_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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203 pdFALSE, /* This is a one shot timer, so xAutoReload is set to pdFALSE. */
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204 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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205 vLEDTimerCallback /* The callback function that switches the LED off. */
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208 /* Start the tasks and timer running. */
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209 vTaskStartScheduler();
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212 /* If all is well, the scheduler will now be running, and the following line
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213 will never be reached. If the following line does execute, then there was
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214 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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215 to be created. See the memory management section on the FreeRTOS web site
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216 for more details. */
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219 /*-----------------------------------------------------------*/
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221 static void vLEDTimerCallback( TimerHandle_t xTimer )
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223 /* The timer has expired - so no button pushes have occurred in the last
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224 five seconds - turn the LED off. NOTE - accessing the LED port should use
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225 a critical section because it is accessed from multiple tasks, and the
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226 button interrupt - in this trivial case, for simplicity, the critical
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227 section is omitted. */
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228 ulGPIOState |= mainTIMER_CONTROLLED_LED;
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229 MSS_GPIO_set_outputs( ulGPIOState );
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231 /*-----------------------------------------------------------*/
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233 /* The ISR executed when the user button is pushed. */
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234 void GPIO8_IRQHandler( void )
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236 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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238 /* The button was pushed, so ensure the LED is on before resetting the
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239 LED timer. The LED timer will turn the LED off if the button is not
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240 pushed within 5000ms. */
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241 ulGPIOState &= ~mainTIMER_CONTROLLED_LED;
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242 MSS_GPIO_set_outputs( ulGPIOState );
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244 /* This interrupt safe FreeRTOS function can be called from this interrupt
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245 because the interrupt priority is below the
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246 configMAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */
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247 xTimerResetFromISR( xLEDTimer, &xHigherPriorityTaskWoken );
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249 /* Clear the interrupt before leaving. */
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250 MSS_GPIO_clear_irq( MSS_GPIO_8 );
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252 /* If calling xTimerResetFromISR() caused a task (in this case the timer
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253 service/daemon task) to unblock, and the unblocked task has a priority
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254 higher than or equal to the task that was interrupted, then
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255 xHigherPriorityTaskWoken will now be set to pdTRUE, and calling
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256 portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
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257 portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
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259 /*-----------------------------------------------------------*/
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261 static void prvQueueSendTask( void *pvParameters )
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263 TickType_t xNextWakeTime;
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264 const unsigned long ulValueToSend = 100UL;
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266 /* Initialise xNextWakeTime - this only needs to be done once. */
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267 xNextWakeTime = xTaskGetTickCount();
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271 /* Place this task in the blocked state until it is time to run again.
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272 The block time is specified in ticks, the constant used converts ticks
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273 to ms. While in the Blocked state this task will not consume any CPU
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275 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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277 /* Send to the queue - causing the queue receive task to unblock and
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278 toggle an LED. 0 is used as the block time so the sending operation
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279 will not block - it shouldn't need to block as the queue should always
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280 be empty at this point in the code. */
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281 xQueueSend( xQueue, &ulValueToSend, 0 );
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284 /*-----------------------------------------------------------*/
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286 static void prvQueueReceiveTask( void *pvParameters )
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288 unsigned long ulReceivedValue;
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292 /* Wait until something arrives in the queue - this task will block
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293 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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294 FreeRTOSConfig.h. */
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295 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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297 /* To get here something must have been received from the queue, but
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298 is it the expected value? If it is, toggle the green LED. */
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299 if( ulReceivedValue == 100UL )
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301 /* NOTE - accessing the LED port should use a critical section
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302 because it is accessed from multiple tasks, and the button interrupt
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303 - in this trivial case, for simplicity, the critical section is
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305 if( ( ulGPIOState & mainTASK_CONTROLLED_LED ) != 0 )
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307 ulGPIOState &= ~mainTASK_CONTROLLED_LED;
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311 ulGPIOState |= mainTASK_CONTROLLED_LED;
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313 MSS_GPIO_set_outputs( ulGPIOState );
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317 /*-----------------------------------------------------------*/
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319 static void prvSetupHardware( void )
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321 SystemCoreClockUpdate();
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323 /* Disable the Watch Dog Timer */
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326 /* Initialise the GPIO */
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329 /* Set up GPIO for the LEDs. */
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330 MSS_GPIO_config( MSS_GPIO_0 , MSS_GPIO_OUTPUT_MODE );
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331 MSS_GPIO_config( MSS_GPIO_1 , MSS_GPIO_OUTPUT_MODE );
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332 MSS_GPIO_config( MSS_GPIO_2 , MSS_GPIO_OUTPUT_MODE );
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333 MSS_GPIO_config( MSS_GPIO_3 , MSS_GPIO_OUTPUT_MODE );
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334 MSS_GPIO_config( MSS_GPIO_4 , MSS_GPIO_OUTPUT_MODE );
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335 MSS_GPIO_config( MSS_GPIO_5 , MSS_GPIO_OUTPUT_MODE );
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336 MSS_GPIO_config( MSS_GPIO_6 , MSS_GPIO_OUTPUT_MODE );
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337 MSS_GPIO_config( MSS_GPIO_7 , MSS_GPIO_OUTPUT_MODE );
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339 /* All LEDs start off. */
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340 ulGPIOState = 0xffffffffUL;
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341 MSS_GPIO_set_outputs( ulGPIOState );
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343 /* Setup the GPIO and the NVIC for the switch used in this simple demo. */
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344 NVIC_SetPriority( GPIO8_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
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345 NVIC_EnableIRQ( GPIO8_IRQn );
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346 MSS_GPIO_config( MSS_GPIO_8, MSS_GPIO_INPUT_MODE | MSS_GPIO_IRQ_EDGE_NEGATIVE );
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347 MSS_GPIO_enable_irq( MSS_GPIO_8 );
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349 /*-----------------------------------------------------------*/
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351 void vApplicationMallocFailedHook( void )
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353 /* Called if a call to pvPortMalloc() fails because there is insufficient
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354 free memory available in the FreeRTOS heap. pvPortMalloc() is called
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355 internally by FreeRTOS API functions that create tasks, queues, software
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356 timers, and semaphores. The size of the FreeRTOS heap is set by the
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357 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
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360 /*-----------------------------------------------------------*/
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362 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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364 ( void ) pcTaskName;
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367 /* Run time stack overflow checking is performed if
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368 configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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369 function is called if a stack overflow is detected. */
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372 /*-----------------------------------------------------------*/
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374 void vApplicationIdleHook( void )
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376 volatile size_t xFreeHeapSpace;
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378 /* This function is called on each cycle of the idle task. In this case it
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379 does nothing useful, other than report the amout of FreeRTOS heap that
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380 remains unallocated. */
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381 xFreeHeapSpace = xPortGetFreeHeapSize();
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383 if( xFreeHeapSpace > 100 )
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385 /* By now, the kernel has allocated everything it is going to, so
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386 if there is a lot of heap remaining unallocated then
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387 the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be
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388 reduced accordingly. */
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391 /*-----------------------------------------------------------*/
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393 void vMainConfigureTimerForRunTimeStats( void )
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395 /* This function is not used by the Blinky build configuration, but needs
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396 to be defined as the Blinky and Full build configurations share a
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397 FreeRTOSConfig.h header file. */
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399 /*-----------------------------------------------------------*/
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401 unsigned long ulGetRunTimeCounterValue( void )
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403 /* This function is not used by the Blinky build configuration, but needs
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404 to be defined as the Blinky and Full build configurations share a
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405 FreeRTOSConfig.h header file. */
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