2 FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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97 * main-blinky.c is included when the "Blinky" build configuration is used.
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98 * main-full.c is included when the "Full" build configuration is used.
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100 * main-full.c (this file) defines a comprehensive demo that creates many
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101 * tasks, queues, semaphores and timers. It also demonstrates how Cortex-M3
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102 * interrupts can interact with FreeRTOS tasks/timers, and implements a simple
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103 * and small interactive web server.
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105 * This project runs on the SmartFusion A2F-EVAL-KIT evaluation board, which
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106 * is populated with an A2F200M3F SmartFusion mixed signal FPGA. The A2F200M3F
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107 * incorporates a Cortex-M3 microcontroller.
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109 * The main() Function:
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110 * main() creates two demo specific software timers, one demo specific queue,
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111 * and three demo specific tasks. It then creates a whole host of 'standard
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112 * demo' tasks/queues/semaphores, before starting the scheduler. The demo
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113 * specific tasks and timers are described in the comments here. The standard
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114 * demo tasks are described on the FreeRTOS.org web site.
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116 * The standard demo tasks provide no specific functionality. They are
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117 * included to both test the FreeRTOS port, and provide examples of how the
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118 * various FreeRTOS API functions can be used.
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120 * The Demo Specific Queue Send Task:
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121 * The queue send task is implemented by the prvQueueSendTask() function in
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122 * this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
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123 * block for 200 milliseconds, before sending the value 100 to the queue that
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124 * was created within main(). Once the value is sent, the task loops back
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125 * around to block for another 200 milliseconds.
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127 * The Demo Specific Queue Receive Task:
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128 * The queue receive task is implemented by the prvQueueReceiveTask() function
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129 * in this file. prvQueueReceiveTask() sits in a loop that causes it to
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130 * repeatedly attempt to read data from the queue that was created within
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131 * main(). When data is received, the task checks the value of the data, and
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132 * if the value equals the expected 100, toggles the green LED. The 'block
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133 * time' parameter passed to the queue receive function specifies that the task
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134 * should be held in the Blocked state indefinitely to wait for data to be
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135 * available on the queue. The queue receive task will only leave the Blocked
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136 * state when the queue send task writes to the queue. As the queue send task
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137 * writes to the queue every 200 milliseconds, the queue receive task leaves
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138 * the Blocked state every 200 milliseconds, and therefore toggles the LED
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139 * every 200 milliseconds.
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141 * The Demo Specific OLED Task:
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142 * The OLED task is a very simple task that just scrolls a message across the
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143 * OLED. Ideally this would be done in a timer, but the OLED driver accesses
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144 * the I2C which is time consuming.
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146 * The Demo Specific LED Software Timer and the Button Interrupt:
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147 * The user button SW1 is configured to generate an interrupt each time it is
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148 * pressed. The interrupt service routine switches an LED on, and resets the
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149 * LED software timer. The LED timer has a 5000 millisecond (5 second) period,
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150 * and uses a callback function that is defined to just turn the LED off again.
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151 * Therefore, pressing the user button will turn the LED on, and the LED will
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152 * remain on until a full five seconds pass without the button being pressed.
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154 * The Demo Specific "Check" Callback Function:
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155 * This is called each time the 'check' timer expires. The check timer
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156 * callback function inspects all the standard demo tasks to see if they are
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157 * all executing as expected. The check timer is initially configured to
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158 * expire every three seconds, but will shorted this to every 500ms if an error
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159 * is ever discovered. The check timer callback toggles the LED defined by
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160 * the mainCHECK_LED definition each time it executes. Therefore, if LED
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161 * mainCHECK_LED is toggling every three seconds, then no error have been found.
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162 * If LED mainCHECK_LED is toggling every 500ms, then at least one errors has
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163 * been found. The task in which the error was discovered is displayed at the
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164 * bottom of the "task stats" page that is served by the embedded web server.
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166 * The Demo Specific Idle Hook Function:
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167 * The idle hook function demonstrates how to query the amount of FreeRTOS heap
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168 * space that is remaining (see vApplicationIdleHook() defined in this file).
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170 * The Web Server Task:
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171 * The IP address used by the SmartFusion target is configured by the
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172 * definitions configIP_ADDR0 to configIP_ADDR3, which are located in the
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173 * FreeRTOSConfig.h header file. See the documentation page for this example
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174 * on the http://www.FreeRTOS.org web site for further connection information.
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177 /* Kernel includes. */
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178 #include "FreeRTOS.h"
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181 #include "timers.h"
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183 /* Microsemi drivers/libraries includes. */
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184 #include "mss_gpio.h"
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185 #include "mss_watchdog.h"
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186 #include "mss_timer.h"
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187 #include "mss_ace.h"
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190 /* Common demo includes. */
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191 #include "partest.h"
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193 #include "BlockQ.h"
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195 #include "blocktim.h"
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196 #include "semtest.h"
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197 #include "GenQTest.h"
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199 #include "recmutex.h"
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200 #include "TimerDemo.h"
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202 /* Priorities at which the tasks are created. */
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203 #define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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204 #define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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206 /* The rate at which data is sent to the queue, specified in milliseconds, and
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207 converted to ticks using the portTICK_PERIOD_MS constant. */
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208 #define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_PERIOD_MS )
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210 /* The number of items the queue can hold. This is 1 as the receive task
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211 will remove items as they are added, meaning the send task should always find
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212 the queue empty. */
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213 #define mainQUEUE_LENGTH ( 1 )
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215 /* The LED toggled by the check timer callback function. */
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216 #define mainCHECK_LED 0x07UL
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218 /* The LED turned on by the button interrupt, and turned off by the LED timer. */
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219 #define mainTIMER_CONTROLLED_LED 0x06UL
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221 /* The LED toggle by the queue receive task. */
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222 #define mainTASK_CONTROLLED_LED 0x05UL
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224 /* Constant used by the standard timer test functions. */
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225 #define mainTIMER_TEST_PERIOD ( 50 )
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227 /* Priorities used by the various different tasks. */
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228 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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229 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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230 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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231 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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232 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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233 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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234 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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235 #define mainOLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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236 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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237 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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239 /* The WEB server uses string handling functions, which in turn use a bit more
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240 stack than most of the other tasks. */
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241 #define mainuIP_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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243 /* The period at which the check timer will expire, in ms, provided no errors
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244 have been reported by any of the standard demo tasks. */
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245 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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247 /* The period at which the OLED timer will expire. Each time it expires, it's
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248 callback function updates the OLED text. */
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249 #define mainOLED_PERIOD_MS ( 75UL / portTICK_PERIOD_MS )
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251 /* The period at which the check timer will expire, in ms, if an error has been
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252 reported in one of the standard demo tasks. */
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253 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 500UL / portTICK_PERIOD_MS )
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255 /* The LED will remain on until the button has not been pushed for a full
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257 #define mainLED_TIMER_PERIOD_MS ( 5000UL / portTICK_PERIOD_MS )
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259 /* A zero block time. */
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260 #define mainDONT_BLOCK ( 0UL )
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261 /*-----------------------------------------------------------*/
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264 * Setup the NVIC, LED outputs, and button inputs.
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266 static void prvSetupHardware( void );
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269 * The tasks as described in the comments at the top of this file.
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271 static void prvQueueReceiveTask( void *pvParameters );
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272 static void prvQueueSendTask( void *pvParameters );
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275 * The LED timer callback function. This does nothing but switch the red LED
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278 static void prvLEDTimerCallback( TimerHandle_t xTimer );
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281 * The check timer callback function, as described at the top of this file.
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283 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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286 * This is not a 'standard' partest function, so the prototype is not in
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287 * partest.h, and is instead included here.
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289 void vParTestSetLEDFromISR( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue );
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292 * Contains the implementation of the WEB server.
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294 extern void vuIP_Task( void *pvParameters );
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297 * A very simply task that does nothing but scroll the OLED display. Ideally
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298 * this would be done within a timer, but it accesses the I2C port which is
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301 static void prvOLEDTask( void * pvParameters);
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303 /*-----------------------------------------------------------*/
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305 /* The queue used by both application specific demo tasks defined in this file. */
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306 static QueueHandle_t xQueue = NULL;
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308 /* The LED software timer. This uses prvLEDTimerCallback() as it's callback
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310 static TimerHandle_t xLEDTimer = NULL;
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312 /* The check timer. This uses prvCheckTimerCallback() as it's callback
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314 static TimerHandle_t xCheckTimer = NULL;
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316 /* The status message that is displayed at the bottom of the "task stats" web
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317 page, which is served by the uIP task. This will report any errors picked up
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318 by the check timer callback. */
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319 static const char *pcStatusMessage = NULL;
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321 /*-----------------------------------------------------------*/
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325 /* Configure the NVIC, LED outputs and button inputs. */
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326 prvSetupHardware();
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328 /* Create the queue. */
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329 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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331 if( xQueue != NULL )
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333 /* Start the three application specific demo tasks, as described in the
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334 comments at the top of this file. */
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335 xTaskCreate( prvQueueReceiveTask, "Rx", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_RECEIVE_TASK_PRIORITY, NULL );
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336 xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
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337 xTaskCreate( prvOLEDTask, "OLED", configMINIMAL_STACK_SIZE, NULL, mainOLED_TASK_PRIORITY, NULL );
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339 /* Create the software timer that is responsible for turning off the LED
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340 if the button is not pushed within 5000ms, as described at the top of
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342 xLEDTimer = xTimerCreate( "LEDTimer", /* A text name, purely to help debugging. */
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343 ( mainLED_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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344 pdFALSE, /* This is a one shot timer, so xAutoReload is set to pdFALSE. */
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345 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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346 prvLEDTimerCallback /* The callback function that switches the LED off. */
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349 /* Create the software timer that performs the 'check' functionality,
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350 as described at the top of this file. */
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351 xCheckTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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352 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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353 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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354 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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355 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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358 /* Create a lot of 'standard demo' tasks. */
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359 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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360 vCreateBlockTimeTasks();
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361 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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362 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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363 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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364 vStartQueuePeekTasks();
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365 vStartRecursiveMutexTasks();
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366 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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368 /* Create the web server task. */
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369 xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
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371 /* The suicide tasks must be created last, as they need to know how many
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372 tasks were running prior to their creation in order to ascertain whether
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373 or not the correct/expected number of tasks are running at any given
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375 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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377 /* Start the tasks and timer running. */
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378 vTaskStartScheduler();
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381 /* If all is well, the scheduler will now be running, and the following line
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382 will never be reached. If the following line does execute, then there was
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383 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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384 to be created. See the memory management section on the FreeRTOS web site
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385 for more details. */
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388 /*-----------------------------------------------------------*/
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390 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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392 /* Check the standard demo tasks are running without error. Latch the
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393 latest reported error in the pcStatusMessage character pointer. */
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394 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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396 pcStatusMessage = "Error: GenQueue";
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399 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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401 pcStatusMessage = "Error: QueuePeek\r\n";
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404 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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406 pcStatusMessage = "Error: BlockQueue\r\n";
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409 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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411 pcStatusMessage = "Error: BlockTime\r\n";
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414 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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416 pcStatusMessage = "Error: SemTest\r\n";
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419 if( xIsCreateTaskStillRunning() != pdTRUE )
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421 pcStatusMessage = "Error: Death\r\n";
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424 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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426 pcStatusMessage = "Error: RecMutex\r\n";
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429 if( xAreTimerDemoTasksStillRunning( ( mainCHECK_TIMER_PERIOD_MS ) ) != pdTRUE )
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431 pcStatusMessage = "Error: TimerDemo";
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434 /* Toggle the check LED to give an indication of the system status. If
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435 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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436 everything is ok. A faster toggle indicates an error. */
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437 vParTestToggleLED( mainCHECK_LED );
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439 /* Have any errors been latch in pcStatusMessage? If so, shorten the
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440 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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441 This will result in an increase in the rate at which mainCHECK_LED
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443 if( pcStatusMessage != NULL )
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445 /* This call to xTimerChangePeriod() uses a zero block time. Functions
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446 called from inside of a timer callback function must *never* attempt
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448 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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451 /*-----------------------------------------------------------*/
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453 static void prvLEDTimerCallback( TimerHandle_t xTimer )
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455 /* The timer has expired - so no button pushes have occurred in the last
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456 five seconds - turn the LED off. */
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457 vParTestSetLED( mainTIMER_CONTROLLED_LED, pdFALSE );
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459 /*-----------------------------------------------------------*/
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461 /* The ISR executed when the user button is pushed. */
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462 void GPIO8_IRQHandler( void )
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464 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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466 /* The button was pushed, so ensure the LED is on before resetting the
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467 LED timer. The LED timer will turn the LED off if the button is not
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468 pushed within 5000ms. */
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469 vParTestSetLEDFromISR( mainTIMER_CONTROLLED_LED, pdTRUE );
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471 /* This interrupt safe FreeRTOS function can be called from this interrupt
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472 because the interrupt priority is below the
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473 configMAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */
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474 xTimerResetFromISR( xLEDTimer, &xHigherPriorityTaskWoken );
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476 /* Clear the interrupt before leaving. */
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477 MSS_GPIO_clear_irq( MSS_GPIO_8 );
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479 /* If calling xTimerResetFromISR() caused a task (in this case the timer
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480 service/daemon task) to unblock, and the unblocked task has a priority
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481 higher than or equal to the task that was interrupted, then
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482 xHigherPriorityTaskWoken will now be set to pdTRUE, and calling
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483 portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
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484 portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
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486 /*-----------------------------------------------------------*/
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488 static void prvQueueSendTask( void *pvParameters )
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490 TickType_t xNextWakeTime;
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491 const unsigned long ulValueToSend = 100UL;
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493 /* The timer command queue will have been filled when the timer test tasks
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494 were created in main() (this is part of the test they perform). Therefore,
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495 while the check timer can be created in main(), it cannot be started from
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496 main(). Once the scheduler has started, the timer service task will drain
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497 the command queue, and now the check timer can be started successfully. */
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498 xTimerStart( xCheckTimer, portMAX_DELAY );
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500 /* Initialise xNextWakeTime - this only needs to be done once. */
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501 xNextWakeTime = xTaskGetTickCount();
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505 /* Place this task in the blocked state until it is time to run again.
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506 The block time is specified in ticks, the constant used converts ticks
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507 to ms. While in the Blocked state this task will not consume any CPU
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509 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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511 /* Send to the queue - causing the queue receive task to unblock and
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512 toggle an LED. 0 is used as the block time so the sending operation
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513 will not block - it shouldn't need to block as the queue should always
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514 be empty at this point in the code. */
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515 xQueueSend( xQueue, &ulValueToSend, mainDONT_BLOCK );
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518 /*-----------------------------------------------------------*/
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520 static void prvQueueReceiveTask( void *pvParameters )
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522 unsigned long ulReceivedValue;
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526 /* Wait until something arrives in the queue - this task will block
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527 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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528 FreeRTOSConfig.h. */
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529 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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531 /* To get here something must have been received from the queue, but
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532 is it the expected value? If it is, toggle the LED. */
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533 if( ulReceivedValue == 100UL )
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535 vParTestToggleLED( mainTASK_CONTROLLED_LED );
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539 /*-----------------------------------------------------------*/
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541 static void prvOLEDTask( void * pvParameters)
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543 static struct oled_data xOLEDData;
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544 static unsigned char ucOffset1 = 0, ucOffset2 = 5;
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545 static TickType_t xLastScrollTime = 0UL;
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547 /* Initialise the display. */
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550 /* Initialise the parts of the oled_data structure that do not change. */
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551 xOLEDData.line1 = FIRST_LINE;
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552 xOLEDData.string1 = " www.FreeRTOS.org";
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553 xOLEDData.line2 = SECOND_LINE;
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554 xOLEDData.string2 = " www.FreeRTOS.org";
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555 xOLEDData.contrast_val = OLED_CONTRAST_VAL;
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556 xOLEDData.on_off = OLED_HORIZ_SCROLL_OFF;
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557 xOLEDData.column_scrool_per_step = OLED_HORIZ_SCROLL_STEP;
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558 xOLEDData.start_page = OLED_START_PAGE;
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559 xOLEDData.time_intrval_btw_scroll_step = OLED_HORIZ_SCROLL_TINVL;
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560 xOLEDData.end_page = OLED_END_PAGE;
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563 /* Initialise the last scroll time. This only needs to be done once,
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564 because from this point on it will get automatically updated in the
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565 xTaskDelayUntil() API function. */
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566 xLastScrollTime = xTaskGetTickCount();
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570 /* Wait until it is time to update the OLED again. */
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571 vTaskDelayUntil( &xLastScrollTime, mainOLED_PERIOD_MS );
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573 xOLEDData.char_offset1 = ucOffset1++;
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574 xOLEDData.char_offset2 = ucOffset2++;
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576 OLED_write_data( &xOLEDData, BOTH_LINES );
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579 /*-----------------------------------------------------------*/
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581 static void prvSetupHardware( void )
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583 SystemCoreClockUpdate();
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585 /* Disable the Watch Dog Timer */
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588 /* Configure the GPIO for the LEDs. */
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589 vParTestInitialise();
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591 /* ACE Initialization */
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594 /* Setup the GPIO and the NVIC for the switch used in this simple demo. */
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595 NVIC_SetPriority( GPIO8_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
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596 NVIC_EnableIRQ( GPIO8_IRQn );
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597 MSS_GPIO_config( MSS_GPIO_8, MSS_GPIO_INPUT_MODE | MSS_GPIO_IRQ_EDGE_NEGATIVE );
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598 MSS_GPIO_enable_irq( MSS_GPIO_8 );
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600 /*-----------------------------------------------------------*/
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602 void vApplicationMallocFailedHook( void )
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604 /* Called if a call to pvPortMalloc() fails because there is insufficient
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605 free memory available in the FreeRTOS heap. pvPortMalloc() is called
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606 internally by FreeRTOS API functions that create tasks, queues, software
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607 timers, and semaphores. The size of the FreeRTOS heap is set by the
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608 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
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611 /*-----------------------------------------------------------*/
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613 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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615 ( void ) pcTaskName;
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618 /* Run time stack overflow checking is performed if
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619 configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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620 function is called if a stack overflow is detected. */
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621 taskDISABLE_INTERRUPTS();
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624 /*-----------------------------------------------------------*/
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626 void vApplicationIdleHook( void )
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628 volatile size_t xFreeStackSpace;
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630 /* This function is called on each cycle of the idle task. In this case it
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631 does nothing useful, other than report the amount of FreeRTOS heap that
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632 remains unallocated. */
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633 xFreeStackSpace = xPortGetFreeHeapSize();
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635 if( xFreeStackSpace > 100 )
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637 /* By now, the kernel has allocated everything it is going to, so
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638 if there is a lot of heap remaining unallocated then
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639 the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be
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640 reduced accordingly. */
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643 /*-----------------------------------------------------------*/
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645 char *pcGetTaskStatusMessage( void )
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647 /* Not bothered about a critical section here although technically because
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648 of the task priorities the pointer could change it will be atomic if not
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649 near atomic and its not critical. */
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650 if( pcStatusMessage == NULL )
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652 return "All tasks running without error";
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656 return ( char * ) pcStatusMessage;
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659 /*-----------------------------------------------------------*/
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661 void vMainConfigureTimerForRunTimeStats( void )
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663 const unsigned long ulMax32BitValue = 0xffffffffUL;
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665 MSS_TIM64_init( MSS_TIMER_PERIODIC_MODE );
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666 MSS_TIM64_load_immediate( ulMax32BitValue, ulMax32BitValue );
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669 /*-----------------------------------------------------------*/
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671 unsigned long ulGetRunTimeCounterValue( void )
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673 unsigned long long ullCurrentValue;
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674 const unsigned long long ulMax64BitValue = 0xffffffffffffffffULL;
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675 unsigned long *pulHighWord, *pulLowWord;
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677 pulHighWord = ( unsigned long * ) &ullCurrentValue;
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678 pulLowWord = pulHighWord++;
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680 MSS_TIM64_get_current_value( ( uint32_t * ) pulHighWord, ( uint32_t * ) pulLowWord );
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682 /* Convert the down count into an upcount. */
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683 ullCurrentValue = ulMax64BitValue - ullCurrentValue;
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685 /* Scale to a 32bit number of suitable frequency. */
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686 ullCurrentValue >>= 13;
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688 /* Just return 32 bits. */
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689 return ( unsigned long ) ullCurrentValue;
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projects / freertos / blob