2 FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
\r
4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
\r
5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 ***************************************************************************
\r
9 * FreeRTOS tutorial books are available in pdf and paperback. *
\r
10 * Complete, revised, and edited pdf reference manuals are also *
\r
13 * Purchasing FreeRTOS documentation will not only help you, by *
\r
14 * ensuring you get running as quickly as possible and with an *
\r
15 * in-depth knowledge of how to use FreeRTOS, it will also help *
\r
16 * the FreeRTOS project to continue with its mission of providing *
\r
17 * professional grade, cross platform, de facto standard solutions *
\r
18 * for microcontrollers - completely free of charge! *
\r
20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
\r
22 * Thank you for using FreeRTOS, and thank you for your support! *
\r
24 ***************************************************************************
\r
27 This file is part of the FreeRTOS distribution.
\r
29 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
30 the terms of the GNU General Public License (version 2) as published by the
\r
31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
\r
33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
\r
34 distribute a combined work that includes FreeRTOS without being obliged to
\r
35 provide the source code for proprietary components outside of the FreeRTOS
\r
38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
\r
41 details. You should have received a copy of the GNU General Public License
\r
42 and the FreeRTOS license exception along with FreeRTOS; if not itcan be
\r
43 viewed here: http://www.freertos.org/a00114.html and also obtained by
\r
44 writing to Real Time Engineers Ltd., contact details for whom are available
\r
45 on the FreeRTOS WEB site.
\r
49 ***************************************************************************
\r
51 * Having a problem? Start by reading the FAQ "My application does *
\r
52 * not run, what could be wrong?" *
\r
54 * http://www.FreeRTOS.org/FAQHelp.html *
\r
56 ***************************************************************************
\r
59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
\r
60 license and Real Time Engineers Ltd. contact details.
\r
62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
\r
64 fully thread aware and reentrant UDP/IP stack.
\r
66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
\r
67 Integrity Systems, who sell the code with commercial support,
\r
68 indemnification and middleware, under the OpenRTOS brand.
\r
70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
71 engineered and independently SIL3 certified version for use in safety and
\r
72 mission critical applications that require provable dependability.
\r
76 * main-blinky.c is included when the "Blinky" build configuration is used.
\r
77 * main-full.c is included when the "Full" build configuration is used.
\r
79 * main-blinky.c (this file) defines a very simple demo that creates two tasks,
\r
80 * one queue, and one timer. It also demonstrates how Cortex-M3 interrupts can
\r
81 * interact with FreeRTOS tasks/timers.
\r
83 * This simple demo project runs on the SmartFusion A2F-EVAL-KIT evaluation
\r
84 * board, which is populated with an A2F200M3F SmartFusion mixed signal FPGA.
\r
85 * The A2F200M3F incorporates a Cortex-M3 microcontroller.
\r
87 * The idle hook function:
\r
88 * The idle hook function demonstrates how to query the amount of FreeRTOS heap
\r
89 * space that is remaining (see vApplicationIdleHook() defined in this file).
\r
91 * The main() Function:
\r
92 * main() creates one software timer, one queue, and two tasks. It then starts
\r
95 * The Queue Send Task:
\r
96 * The queue send task is implemented by the prvQueueSendTask() function in
\r
97 * this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
\r
98 * block for 200 milliseconds, before sending the value 100 to the queue that
\r
99 * was created within main(). Once the value is sent, the task loops back
\r
100 * around to block for another 200 milliseconds.
\r
102 * The Queue Receive Task:
\r
103 * The queue receive task is implemented by the prvQueueReceiveTask() function
\r
104 * in this file. prvQueueReceiveTask() sits in a loop that causes it to
\r
105 * repeatedly attempt to read data from the queue that was created within
\r
106 * main(). When data is received, the task checks the value of the data, and
\r
107 * if the value equals the expected 100, toggles the green LED. The 'block
\r
108 * time' parameter passed to the queue receive function specifies that the task
\r
109 * should be held in the Blocked state indefinitely to wait for data to be
\r
110 * available on the queue. The queue receive task will only leave the Blocked
\r
111 * state when the queue send task writes to the queue. As the queue send task
\r
112 * writes to the queue every 200 milliseconds, the queue receive task leaves
\r
113 * the Blocked state every 200 milliseconds, and therefore toggles the LED
\r
114 * every 200 milliseconds.
\r
116 * The LED Software Timer and the Button Interrupt:
\r
117 * The user button SW1 is configured to generate an interrupt each time it is
\r
118 * pressed. The interrupt service routine switches an LED on, and resets the
\r
119 * LED software timer. The LED timer has a 5000 millisecond (5 second) period,
\r
120 * and uses a callback function that is defined to just turn the LED off again.
\r
121 * Therefore, pressing the user button will turn the LED on, and the LED will
\r
122 * remain on until a full five seconds pass without the button being pressed.
\r
125 /* Kernel includes. */
\r
126 #include "FreeRTOS.h"
\r
129 #include "timers.h"
\r
131 /* Microsemi drivers/libraries. */
\r
132 #include "mss_gpio.h"
\r
133 #include "mss_watchdog.h"
\r
136 /* Priorities at which the tasks are created. */
\r
137 #define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
138 #define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
140 /* The rate at which data is sent to the queue, specified in milliseconds, and
\r
141 converted to ticks using the portTICK_RATE_MS constant. */
\r
142 #define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_RATE_MS )
\r
144 /* The number of items the queue can hold. This is 1 as the receive task
\r
145 will remove items as they are added, meaning the send task should always find
\r
146 the queue empty. */
\r
147 #define mainQUEUE_LENGTH ( 1 )
\r
149 /* The LED toggle by the queue receive task. */
\r
150 #define mainTASK_CONTROLLED_LED 0x01UL
\r
152 /* The LED turned on by the button interrupt, and turned off by the LED timer. */
\r
153 #define mainTIMER_CONTROLLED_LED 0x02UL
\r
155 /*-----------------------------------------------------------*/
\r
158 * Setup the NVIC, LED outputs, and button inputs.
\r
160 static void prvSetupHardware( void );
\r
163 * The tasks as described in the comments at the top of this file.
\r
165 static void prvQueueReceiveTask( void *pvParameters );
\r
166 static void prvQueueSendTask( void *pvParameters );
\r
169 * The LED timer callback function. This does nothing but switch off the
\r
170 * LED defined by the mainTIMER_CONTROLLED_LED constant.
\r
172 static void vLEDTimerCallback( xTimerHandle xTimer );
\r
174 /*-----------------------------------------------------------*/
\r
176 /* The queue used by both tasks. */
\r
177 static xQueueHandle xQueue = NULL;
\r
179 /* The LED software timer. This uses vLEDTimerCallback() as its callback
\r
181 static xTimerHandle xLEDTimer = NULL;
\r
183 /* Maintains the current LED output state. */
\r
184 static volatile unsigned long ulGPIOState = 0UL;
\r
186 /*-----------------------------------------------------------*/
\r
190 /* Configure the NVIC, LED outputs and button inputs. */
\r
191 prvSetupHardware();
\r
193 /* Create the queue. */
\r
194 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
\r
196 if( xQueue != NULL )
\r
198 /* Start the two tasks as described in the comments at the top of this
\r
200 xTaskCreate( prvQueueReceiveTask, ( signed char * ) "Rx", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_RECEIVE_TASK_PRIORITY, NULL );
\r
201 xTaskCreate( prvQueueSendTask, ( signed char * ) "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
\r
203 /* Create the software timer that is responsible for turning off the LED
\r
204 if the button is not pushed within 5000ms, as described at the top of
\r
206 xLEDTimer = xTimerCreate( ( const signed char * ) "LEDTimer", /* A text name, purely to help debugging. */
\r
207 ( 5000 / portTICK_RATE_MS ), /* The timer period, in this case 5000ms (5s). */
\r
208 pdFALSE, /* This is a one shot timer, so xAutoReload is set to pdFALSE. */
\r
209 ( void * ) 0, /* The ID is not used, so can be set to anything. */
\r
210 vLEDTimerCallback /* The callback function that switches the LED off. */
\r
213 /* Start the tasks and timer running. */
\r
214 vTaskStartScheduler();
\r
217 /* If all is well, the scheduler will now be running, and the following line
\r
218 will never be reached. If the following line does execute, then there was
\r
219 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
\r
220 to be created. See the memory management section on the FreeRTOS web site
\r
221 for more details. */
\r
224 /*-----------------------------------------------------------*/
\r
226 static void vLEDTimerCallback( xTimerHandle xTimer )
\r
228 /* The timer has expired - so no button pushes have occurred in the last
\r
229 five seconds - turn the LED off. NOTE - accessing the LED port should use
\r
230 a critical section because it is accessed from multiple tasks, and the
\r
231 button interrupt - in this trivial case, for simplicity, the critical
\r
232 section is omitted. */
\r
233 ulGPIOState |= mainTIMER_CONTROLLED_LED;
\r
234 MSS_GPIO_set_outputs( ulGPIOState );
\r
236 /*-----------------------------------------------------------*/
\r
238 /* The ISR executed when the user button is pushed. */
\r
239 void GPIO8_IRQHandler( void )
\r
241 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
\r
243 /* The button was pushed, so ensure the LED is on before resetting the
\r
244 LED timer. The LED timer will turn the LED off if the button is not
\r
245 pushed within 5000ms. */
\r
246 ulGPIOState &= ~mainTIMER_CONTROLLED_LED;
\r
247 MSS_GPIO_set_outputs( ulGPIOState );
\r
249 /* This interrupt safe FreeRTOS function can be called from this interrupt
\r
250 because the interrupt priority is below the
\r
251 configMAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */
\r
252 xTimerResetFromISR( xLEDTimer, &xHigherPriorityTaskWoken );
\r
254 /* Clear the interrupt before leaving. */
\r
255 MSS_GPIO_clear_irq( MSS_GPIO_8 );
\r
257 /* If calling xTimerResetFromISR() caused a task (in this case the timer
\r
258 service/daemon task) to unblock, and the unblocked task has a priority
\r
259 higher than or equal to the task that was interrupted, then
\r
260 xHigherPriorityTaskWoken will now be set to pdTRUE, and calling
\r
261 portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
\r
262 portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
\r
264 /*-----------------------------------------------------------*/
\r
266 static void prvQueueSendTask( void *pvParameters )
\r
268 portTickType xNextWakeTime;
\r
269 const unsigned long ulValueToSend = 100UL;
\r
271 /* Initialise xNextWakeTime - this only needs to be done once. */
\r
272 xNextWakeTime = xTaskGetTickCount();
\r
276 /* Place this task in the blocked state until it is time to run again.
\r
277 The block time is specified in ticks, the constant used converts ticks
\r
278 to ms. While in the Blocked state this task will not consume any CPU
\r
280 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
\r
282 /* Send to the queue - causing the queue receive task to unblock and
\r
283 toggle an LED. 0 is used as the block time so the sending operation
\r
284 will not block - it shouldn't need to block as the queue should always
\r
285 be empty at this point in the code. */
\r
286 xQueueSend( xQueue, &ulValueToSend, 0 );
\r
289 /*-----------------------------------------------------------*/
\r
291 static void prvQueueReceiveTask( void *pvParameters )
\r
293 unsigned long ulReceivedValue;
\r
297 /* Wait until something arrives in the queue - this task will block
\r
298 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
\r
299 FreeRTOSConfig.h. */
\r
300 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
\r
302 /* To get here something must have been received from the queue, but
\r
303 is it the expected value? If it is, toggle the green LED. */
\r
304 if( ulReceivedValue == 100UL )
\r
306 /* NOTE - accessing the LED port should use a critical section
\r
307 because it is accessed from multiple tasks, and the button interrupt
\r
308 - in this trivial case, for simplicity, the critical section is
\r
310 if( ( ulGPIOState & mainTASK_CONTROLLED_LED ) != 0 )
\r
312 ulGPIOState &= ~mainTASK_CONTROLLED_LED;
\r
316 ulGPIOState |= mainTASK_CONTROLLED_LED;
\r
318 MSS_GPIO_set_outputs( ulGPIOState );
\r
322 /*-----------------------------------------------------------*/
\r
324 static void prvSetupHardware( void )
\r
326 SystemCoreClockUpdate();
\r
328 /* Disable the Watch Dog Timer */
\r
331 /* Initialise the GPIO */
\r
334 /* Set up GPIO for the LEDs. */
\r
335 MSS_GPIO_config( MSS_GPIO_0 , MSS_GPIO_OUTPUT_MODE );
\r
336 MSS_GPIO_config( MSS_GPIO_1 , MSS_GPIO_OUTPUT_MODE );
\r
337 MSS_GPIO_config( MSS_GPIO_2 , MSS_GPIO_OUTPUT_MODE );
\r
338 MSS_GPIO_config( MSS_GPIO_3 , MSS_GPIO_OUTPUT_MODE );
\r
339 MSS_GPIO_config( MSS_GPIO_4 , MSS_GPIO_OUTPUT_MODE );
\r
340 MSS_GPIO_config( MSS_GPIO_5 , MSS_GPIO_OUTPUT_MODE );
\r
341 MSS_GPIO_config( MSS_GPIO_6 , MSS_GPIO_OUTPUT_MODE );
\r
342 MSS_GPIO_config( MSS_GPIO_7 , MSS_GPIO_OUTPUT_MODE );
\r
344 /* All LEDs start off. */
\r
345 ulGPIOState = 0xffffffffUL;
\r
346 MSS_GPIO_set_outputs( ulGPIOState );
\r
348 /* Setup the GPIO and the NVIC for the switch used in this simple demo. */
\r
349 NVIC_SetPriority( GPIO8_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
\r
350 NVIC_EnableIRQ( GPIO8_IRQn );
\r
351 MSS_GPIO_config( MSS_GPIO_8, MSS_GPIO_INPUT_MODE | MSS_GPIO_IRQ_EDGE_NEGATIVE );
\r
352 MSS_GPIO_enable_irq( MSS_GPIO_8 );
\r
354 /*-----------------------------------------------------------*/
\r
356 void vApplicationMallocFailedHook( void )
\r
358 /* Called if a call to pvPortMalloc() fails because there is insufficient
\r
359 free memory available in the FreeRTOS heap. pvPortMalloc() is called
\r
360 internally by FreeRTOS API functions that create tasks, queues, software
\r
361 timers, and semaphores. The size of the FreeRTOS heap is set by the
\r
362 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
\r
365 /*-----------------------------------------------------------*/
\r
367 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
\r
369 ( void ) pcTaskName;
\r
372 /* Run time stack overflow checking is performed if
\r
373 configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
\r
374 function is called if a stack overflow is detected. */
\r
377 /*-----------------------------------------------------------*/
\r
379 void vApplicationIdleHook( void )
\r
381 volatile size_t xFreeHeapSpace;
\r
383 /* This function is called on each cycle of the idle task. In this case it
\r
384 does nothing useful, other than report the amout of FreeRTOS heap that
\r
385 remains unallocated. */
\r
386 xFreeHeapSpace = xPortGetFreeHeapSize();
\r
388 if( xFreeHeapSpace > 100 )
\r
390 /* By now, the kernel has allocated everything it is going to, so
\r
391 if there is a lot of heap remaining unallocated then
\r
392 the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be
\r
393 reduced accordingly. */
\r
396 /*-----------------------------------------------------------*/
\r
398 void vMainConfigureTimerForRunTimeStats( void )
\r
400 /* This function is not used by the Blinky build configuration, but needs
\r
401 to be defined as the Blinky and Full build configurations share a
\r
402 FreeRTOSConfig.h header file. */
\r
404 /*-----------------------------------------------------------*/
\r
406 unsigned long ulGetRunTimeCounterValue( void )
\r
408 /* This function is not used by the Blinky build configuration, but needs
\r
409 to be defined as the Blinky and Full build configurations share a
\r
410 FreeRTOSConfig.h header file. */
\r