2 FreeRTOS V8.0.0:rc1 - 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 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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67 * main-blinky.c is included when the "Blinky" build configuration is used.
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68 * main-full.c is included when the "Full" build configuration is used.
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70 * main-full.c (this file) defines a comprehensive demo that creates many
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71 * tasks, queues, semaphores and timers. It also demonstrates how Cortex-M3
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72 * interrupts can interact with FreeRTOS tasks/timers, a simple web server, and
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73 * run time statistics gathering functionality. ***IF YOU ARE LOOKING FOR A
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74 * SIMPLER STARTING POINT THEN USE THE "BLINKY" BUILD CONFIGURATION FIRST.***
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76 * If the Ethernet functionality is excluded, then this demo will run 'stand
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77 * alone' (without the rest of the tower system) on the TWR-K60N512 tower
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78 * module. If the Ethernet functionality is included, then the full Freescale
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79 * K60 tower kit, including both the TWR-K60N512 and TWR-SER modules, is
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80 * required (as the Ethernet connector is on the TWR-SER). The TWR-K60N512 is
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81 * populated with a K60N512 Cortex-M4 microcontroller.
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83 * The main() Function:
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84 * main() creates four demo specific software timers, and one demo specific
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85 * task (the web server task). It also creates a whole host of 'standard
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86 * demo' tasks/queues/semaphores/timers, before starting the scheduler. The
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87 * demo specific tasks and timers are described in the comments here. The
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88 * standard demo tasks are described on the FreeRTOS.org web site.
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90 * The standard demo tasks provide no specific functionality. They are
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91 * included to both test the FreeRTOS port, and provide examples of how the
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92 * various FreeRTOS API functions can be used.
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94 * This demo creates 37 persistent tasks, then dynamically creates and destroys
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95 * another two tasks as the demo executes.
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98 * The Demo Specific "LED" Timers and Callback Function:
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99 * Two very simple LED timers are created. All they do is toggle an LED each
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100 * when the timer callback function is executed. The two timers share a
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101 * callback function, so the callback function parameter is used to determine
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102 * which timer actually expired, and therefore, which LED to toggle. Both
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103 * timers use a different frequency, one toggles the blue LED and the other the
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106 * The LED/Button Software Timer and the Button Interrupt:
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107 * The user button SW2 is configured to generate an interrupt each time it is
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108 * pressed. The interrupt service routine switches the orange/yellow LED on,
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109 * and resets the LED software timer. The LED timer has a 5000 millisecond (5
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110 * second) period, and uses a callback function that is defined to just turn the
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111 * LED off again. Therefore, pressing the user button will turn the LED on, and
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112 * the LED will remain on until a full five seconds pass without the button
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115 * The Demo Specific "Check" Timer and Callback Function:
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116 * The check timer period is initially set to three seconds. The check timer
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117 * callback function checks that all the standard demo tasks are not only still
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118 * executing, but are executing without reporting any errors. If the check
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119 * timer discovers that a task has either stalled, or reported an error, then it
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120 * changes its own period from the initial three seconds, to just 200ms. The
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121 * check timer callback function also toggles the orange/red LED each time it is
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122 * called. This provides a visual indication of the system status: If the LED
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123 * toggles every three seconds, then no issues have been discovered. If the LED
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124 * toggles every 200ms, then an issue has been discovered with at least one
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125 * task. The last reported issue is latched into the pcStatusMessage variable,
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126 * and displayed at the bottom of the "task stats" web page served by the
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127 * embedded web server task.
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129 * The web server task:
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130 * The web server task implements a simple embedded web server that includes
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131 * CGI scripting. Pages are provided that allow task statistics, network
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132 * statistics and run time statistics to be viewed. In addition, an IO page is
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133 * served that allows the orange/yellow LED to be turned on and off. Finally,
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134 * a page is included that serves a large jpg file. See the documentation page
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135 * for this demo on the http://www.FreeRTOS.org web site for web server
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136 * configuration and usage instructions.
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138 * The Demo Specific Idle Hook Function:
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139 * The idle hook function demonstrates how to query the amount of FreeRTOS heap
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140 * space that is remaining (see vApplicationIdleHook() defined in this file).
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142 * The Demo Specific Tick Hook Function:
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143 * The tick hook function is used to test the interrupt safe software timer
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148 /* Kernel includes. */
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149 #include "FreeRTOS.h"
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152 #include "timers.h"
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154 /* Freescale includes. */
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155 #include "common.h"
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157 /* Common demo includes. */
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158 #include "partest.h"
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160 #include "BlockQ.h"
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162 #include "blocktim.h"
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163 #include "semtest.h"
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164 #include "GenQTest.h"
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166 #include "recmutex.h"
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167 #include "TimerDemo.h"
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169 #include "countsem.h"
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170 #include "dynamic.h"
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172 /* The LED toggled by the check timer callback function. */
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173 #define mainCHECK_LED 3UL
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175 /* The LED turned on by the button interrupt, and turned off by the LED timer. */
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176 #define mainTIMER_CONTROLLED_LED 2UL
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178 /* The LEDs toggled by the two simple flash LED timers. */
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179 #define mainLED0 0UL
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180 #define mainLED1 1UL
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182 /* Constant used by the standard timer test functions. */
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183 #define mainTIMER_TEST_PERIOD ( 50 )
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185 /* Priorities used by the various different standard demo tasks. */
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186 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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187 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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188 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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189 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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190 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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191 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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193 /* The WEB server uses string handling functions, which in turn use a bit more
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194 stack than most of the other tasks. */
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195 #define mainuIP_STACK_SIZE ( configMINIMAL_STACK_SIZE * 3 )
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197 /* The period at which the check timer will expire, in ms, provided no errors
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198 have been reported by any of the standard demo tasks. ms are converted to the
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199 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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200 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
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202 /* The period at which the check timer will expire, in ms, if an error has been
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203 reported in one of the standard demo tasks. ms are converted to the equivalent
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204 in ticks using the portTICK_PERIOD_MS constant. */
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205 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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207 /* The LED that is turned on by pressing SW2 remains on until the button has not
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208 been pushed for a full 5000ms. */
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209 #define mainBUTTON_LED_TIMER_PERIOD_MS ( 5000UL / portTICK_PERIOD_MS )
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211 /* The period at which the two simple LED flash timers will execute their
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212 callback functions. */
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213 #define mainLED1_TIMER_PERIOD_MS ( 200UL / portTICK_PERIOD_MS )
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214 #define mainLED2_TIMER_PERIOD_MS ( 600UL / portTICK_PERIOD_MS )
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216 /* A block time of zero simply means "don't block". */
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217 #define mainDONT_BLOCK ( 0UL )
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219 /* The vector used by the GPIO port E. Button SW2 is configured to generate
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220 an interrupt on this port. */
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221 #define mainGPIO_E_VECTOR ( 91 )
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223 /*-----------------------------------------------------------*/
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226 * Setup the NVIC, LED outputs, and button inputs.
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228 static void prvSetupHardware( void );
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231 * Creates the timers that are specific to this demo - namely, the check timer
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232 * the button LED timer, and the two simple LED flash timers.
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234 static void prvCreateDemoSpecificTimers( void );
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237 * The LED/button timer callback function. This does nothing but switch an LED
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240 static void prvButtonLEDTimerCallback( TimerHandle_t xTimer );
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243 * The callback function used by both simple LED flash timers. Both timers use
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244 * the same callback, so the function parameter is used to determine which LED
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245 * should be flashed (effectively to determine which timer has expired).
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247 static void prvLEDTimerCallback( TimerHandle_t xTimer );
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250 * The check timer callback function, as described at the top of this file.
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252 static void prvCheckTimerCallback( TimerHandle_t xTimer );
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255 * Contains the implementation of the web server.
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257 extern void vuIP_Task( void *pvParameters );
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259 /*-----------------------------------------------------------*/
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261 /* The LED/Button software timer. This uses prvButtonLEDTimerCallback() as it's
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262 callback function. */
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263 static TimerHandle_t xLEDButtonTimer = NULL;
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265 /* The check timer. This uses prvCheckTimerCallback() as its callback
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267 static TimerHandle_t xCheckTimer = NULL;
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269 /* LED timers - these simply flash LEDs, each using a different frequency. Both
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270 use the same prvLEDTimerCallback() callback function. */
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271 static TimerHandle_t xLED1Timer = NULL, xLED2Timer = NULL;
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273 /* If an error is detected in a standard demo task, then pcStatusMessage will
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274 be set to point to a string that identifies the offending task. This is just
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275 to make debugging easier. */
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276 static const char *pcStatusMessage = NULL;
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278 /* Used in the run time stats calculations. */
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279 static unsigned long ulClocksPer10thOfAMilliSecond = 0UL;
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281 /*-----------------------------------------------------------*/
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285 /* Configure the NVIC, LED outputs and button inputs. */
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286 prvSetupHardware();
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288 /* Create the timers that are specific to this demo - other timers are
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289 created as part of the standard demo within vStartTimerDemoTask. */
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290 prvCreateDemoSpecificTimers();
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292 /* Create a lot of 'standard demo' tasks. Nearly 40 tasks are created in
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293 this demo. For a much simpler demo, select the 'blinky' build
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295 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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296 vCreateBlockTimeTasks();
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297 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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298 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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299 vStartQueuePeekTasks();
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300 vStartRecursiveMutexTasks();
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301 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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302 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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303 vStartCountingSemaphoreTasks();
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304 vStartDynamicPriorityTasks();
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306 /* The web server task. */
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307 xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
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309 /* The suicide tasks must be created last, as they need to know how many
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310 tasks were running prior to their creation in order to ascertain whether
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311 or not the correct/expected number of tasks are running at any given
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313 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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315 /* Start the tasks and timers running. */
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316 vTaskStartScheduler();
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318 /* If all is well, the scheduler will now be running, and the following line
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319 will never be reached. If the following line does execute, then there was
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320 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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321 to be created. See the memory management section on the FreeRTOS web site
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322 for more details. */
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325 /*-----------------------------------------------------------*/
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327 static void prvCheckTimerCallback( TimerHandle_t xTimer )
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329 static long lChangedTimerPeriodAlready = pdFALSE;
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331 /* Check the standard demo tasks are running without error. Latch the
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332 latest reported error in the pcStatusMessage character pointer. The latched
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333 string can be viewed using the embedded web server - it is displayed at
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334 the bottom of the served "task stats" page. */
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335 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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337 pcStatusMessage = "Error: GenQueue";
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340 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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342 pcStatusMessage = "Error: QueuePeek\n";
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345 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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347 pcStatusMessage = "Error: BlockQueue\n";
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350 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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352 pcStatusMessage = "Error: BlockTime\n";
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355 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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357 pcStatusMessage = "Error: SemTest\n";
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360 if( xIsCreateTaskStillRunning() != pdTRUE )
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362 pcStatusMessage = "Error: Death\n";
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365 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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367 pcStatusMessage = "Error: RecMutex\n";
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370 if( xAreTimerDemoTasksStillRunning( ( mainCHECK_TIMER_PERIOD_MS ) ) != pdTRUE )
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372 pcStatusMessage = "Error: TimerDemo\n";
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375 if( xArePollingQueuesStillRunning() != pdTRUE )
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377 pcStatusMessage = "Error: PollQueue\n";
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380 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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382 pcStatusMessage = "Error: CountSem\n";
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385 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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387 pcStatusMessage = "Error: DynamicPriority\n";
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390 /* Toggle the check LED to give an indication of the system status. If
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391 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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392 everything is ok. A faster toggle indicates an error. */
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393 vParTestToggleLED( mainCHECK_LED );
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395 /* Have any errors been latch in pcStatusMessage? If so, shorten the
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396 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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397 This will result in an increase in the rate at which mainCHECK_LED
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399 if( pcStatusMessage != NULL )
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401 if( lChangedTimerPeriodAlready == pdFALSE )
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403 lChangedTimerPeriodAlready = pdTRUE;
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405 /* This call to xTimerChangePeriod() uses a zero block time.
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406 Functions called from inside of a timer callback function must
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407 *never* attempt to block. */
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408 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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412 /*-----------------------------------------------------------*/
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414 static void prvButtonLEDTimerCallback( TimerHandle_t xTimer )
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416 /* The timer has expired - so no button pushes have occurred in the last
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417 five seconds - turn the LED off. */
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418 vParTestSetLED( mainTIMER_CONTROLLED_LED, pdFALSE );
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420 /*-----------------------------------------------------------*/
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422 static void prvLEDTimerCallback( TimerHandle_t xTimer )
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424 unsigned long ulLED;
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426 /* This callback is shared by two timers, so the parameter is used to
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427 determine which LED to toggle. The LED number is stored in the ID of the
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429 ulLED = ( unsigned long ) pvTimerGetTimerID( xTimer );
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430 vParTestToggleLED( ulLED );
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432 /*-----------------------------------------------------------*/
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434 /* The ISR executed when the user button is pushed. */
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435 void vPort_E_ISRHandler( void )
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437 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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439 /* The button was pushed, so ensure the LED is on before resetting the
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440 LED timer. The LED timer will turn the LED off if the button is not
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441 pushed within 5000ms. */
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442 vParTestSetLED( mainTIMER_CONTROLLED_LED, pdTRUE );
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444 /* This interrupt safe FreeRTOS function can be called from this interrupt
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445 because the interrupt priority is equal to or below the
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446 configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */
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447 xTimerResetFromISR( xLEDButtonTimer, &xHigherPriorityTaskWoken );
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449 /* Clear the interrupt before leaving. */
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450 PORTE_ISFR = 0xFFFFFFFFUL;
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452 /* If calling xTimerResetFromISR() caused a task (in this case the timer
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453 service/daemon task) to unblock, and the unblocked task has a priority
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454 higher than or equal to the task that was interrupted, then
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455 xHigherPriorityTaskWoken will now be set to pdTRUE, and calling
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456 portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
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457 portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
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459 /*-----------------------------------------------------------*/
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461 static void prvSetupHardware( void )
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463 /* Enable the interrupt on SW1. */
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464 taskDISABLE_INTERRUPTS();
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465 PORTE_PCR26 = PORT_PCR_MUX( 1 ) | PORT_PCR_IRQC( 0xA ) | PORT_PCR_PE_MASK | PORT_PCR_PS_MASK;
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466 enable_irq( mainGPIO_E_VECTOR );
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468 /* The interrupt calls an interrupt safe API function - so its priority must
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469 be equal to or lower than configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY. */
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470 set_irq_priority( mainGPIO_E_VECTOR, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
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472 /* Configure the LED outputs. */
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473 vParTestInitialise();
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475 /*-----------------------------------------------------------*/
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477 static void prvCreateDemoSpecificTimers( void )
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479 /* This function creates the timers, but does not start them. This is
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480 because the standard demo timer test is started from main(), after this
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481 function is called. The standard demo timer test will deliberately fill the
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482 timer command queue - and will fail the test if the command queue already
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483 holds start commands for the timers created here. Instead, the timers
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484 created in this function are started from the idle task, at which time, the
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485 timer service/daemon task will be running, and will have drained the timer
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488 /* Create the software timer that is responsible for turning off the LED
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489 if the button is not pushed within 5000ms, as described at the top of
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491 xLEDButtonTimer = xTimerCreate( "ButtonLEDTimer", /* A text name, purely to help debugging. */
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492 ( mainBUTTON_LED_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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493 pdFALSE, /* This is a one shot timer, so xAutoReload is set to pdFALSE. */
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494 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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495 prvButtonLEDTimerCallback /* The callback function that switches the LED off. */
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498 /* Create the software timer that performs the 'check' functionality,
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499 as described at the top of this file. */
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500 xCheckTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
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501 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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502 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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503 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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504 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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507 /* Create the software timers used to simply flash LEDs. These two timers
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508 share a callback function, so the callback parameter is used to pass in the
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509 LED that should be toggled. */
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510 xLED1Timer = xTimerCreate( "LED1Timer", /* A text name, purely to help debugging. */
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511 ( mainLED1_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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512 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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513 ( void * ) mainLED0, /* The ID is used to pass in the number of the LED to be toggled. */
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514 prvLEDTimerCallback /* The callback function simply toggles the LED specified by its parameter. */
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517 xLED2Timer = xTimerCreate( "LED2Timer", /* A text name, purely to help debugging. */
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518 ( mainLED2_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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519 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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520 ( void * ) mainLED1, /* The ID is used to pass in the number of the LED to be toggled. */
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521 prvLEDTimerCallback /* The callback function simply toggles the LED specified by its parameter. */
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524 /*-----------------------------------------------------------*/
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526 void vApplicationMallocFailedHook( void )
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528 /* Called if a call to pvPortMalloc() fails because there is insufficient
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529 free memory available in the FreeRTOS heap. pvPortMalloc() is called
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530 internally by FreeRTOS API functions that create tasks, queues, software
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531 timers, and semaphores. The size of the FreeRTOS heap is set by the
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532 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
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533 taskDISABLE_INTERRUPTS();
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536 /*-----------------------------------------------------------*/
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538 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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540 ( void ) pcTaskName;
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543 /* Run time stack overflow checking is performed if
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544 configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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545 function is called if a stack overflow is detected. */
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546 taskDISABLE_INTERRUPTS();
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549 /*-----------------------------------------------------------*/
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551 void vApplicationIdleHook( void )
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553 static long lPrintedOut = pdFALSE;
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554 volatile size_t xFreeHeapSpace;
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556 if( lPrintedOut == pdFALSE )
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558 lPrintedOut = pdTRUE;
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560 /* The timer command queue will have been filled when the timer test
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561 tasks were created in main() (this is part of the test they perform).
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562 Therefore, while the check and LED timers can be created in main(), they
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563 cannot be started from main(). Once the scheduler has started, the timer
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564 service task will drain the command queue, and now the check and LED
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565 timers can be started successfully. Normally the idle task must not
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566 call a function that could cause it to block in case there are no tasks
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567 that are able to run. In this case, however, it is ok as posting to the
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568 timer command queue guarantees that at least the timer service/daemon
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569 task will be able to execute. */
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570 xTimerStart( xCheckTimer, portMAX_DELAY );
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571 xTimerStart( xLED1Timer, portMAX_DELAY );
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572 xTimerStart( xLED2Timer, portMAX_DELAY );
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574 xFreeHeapSpace = xPortGetFreeHeapSize();
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576 if( xFreeHeapSpace > 100 )
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578 /* By now, the kernel has allocated everything it is going to, so
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579 if there is a lot of heap remaining unallocated then
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580 the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be
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581 reduced accordingly. */
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585 /*-----------------------------------------------------------*/
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587 void vApplicationTickHook( void )
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589 /* Call the periodic timer test, which tests the timer API functions that
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590 can be called from an ISR. */
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591 vTimerPeriodicISRTests();
\r
593 /*-----------------------------------------------------------*/
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595 char *pcGetTaskStatusMessage( void )
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597 /* A simple GET function used by a CGI script so it can display the
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598 execution status at the bottom of the task stats web page served by the
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599 embedded web server. */
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600 if( pcStatusMessage == NULL )
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602 return "All tasks running without error";
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606 return ( char * ) pcStatusMessage;
\r
609 /*-----------------------------------------------------------*/
\r
611 void vMainConfigureTimerForRunTimeStats( void )
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613 /* How many clocks are there per tenth of a millisecond? */
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614 ulClocksPer10thOfAMilliSecond = configCPU_CLOCK_HZ / 10000UL;
\r
616 /*-----------------------------------------------------------*/
\r
618 unsigned long ulMainGetRunTimeCounterValue( void )
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620 unsigned long ulSysTickCounts, ulTickCount, ulReturn;
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621 const unsigned long ulSysTickReloadValue = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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622 volatile unsigned long * const pulCurrentSysTickCount = ( ( volatile unsigned long *) 0xe000e018 );
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623 volatile unsigned long * const pulInterruptCTRLState = ( ( volatile unsigned long *) 0xe000ed04 );
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624 const unsigned long ulSysTickPendingBit = 0x04000000UL;
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626 /* NOTE: There are potentially race conditions here. However, it is used
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627 anyway to keep the examples simple, and to avoid reliance on a separate
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628 timer peripheral. */
\r
631 /* The SysTick is a down counter. How many clocks have passed since it was
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633 ulSysTickCounts = ulSysTickReloadValue - *pulCurrentSysTickCount;
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635 /* How many times has it overflowed? */
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636 ulTickCount = xTaskGetTickCountFromISR();
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638 /* This is called from the context switch, so will be called from a
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639 critical section. xTaskGetTickCountFromISR() contains its own critical
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640 section, and the ISR safe critical sections are not designed to nest,
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641 so reset the critical section. */
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642 portSET_INTERRUPT_MASK_FROM_ISR();
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644 /* Is there a SysTick interrupt pending? */
\r
645 if( ( *pulInterruptCTRLState & ulSysTickPendingBit ) != 0UL )
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647 /* There is a SysTick interrupt pending, so the SysTick has overflowed
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648 but the tick count not yet incremented. */
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651 /* Read the SysTick again, as the overflow might have occurred since
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652 it was read last. */
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653 ulSysTickCounts = ulSysTickReloadValue - *pulCurrentSysTickCount;
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656 /* Convert the tick count into tenths of a millisecond. THIS ASSUMES
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657 configTICK_RATE_HZ is 1000! */
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658 ulReturn = ( ulTickCount * 10UL ) ;
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660 /* Add on the number of tenths of a millisecond that have passed since the
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661 tick count last got updated. */
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662 ulReturn += ( ulSysTickCounts / ulClocksPer10thOfAMilliSecond );
\r
666 /*-----------------------------------------------------------*/
\r