2 FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 ***************************************************************************
\r
9 * FreeRTOS provides completely free yet professionally developed, *
\r
10 * robust, strictly quality controlled, supported, and cross *
\r
11 * platform software that has become a de facto standard. *
\r
13 * Help yourself get started quickly and support the FreeRTOS *
\r
14 * project by purchasing a FreeRTOS tutorial book, reference *
\r
15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
\r
19 ***************************************************************************
\r
21 This file is part of the FreeRTOS distribution.
\r
23 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
24 the terms of the GNU General Public License (version 2) as published by the
\r
25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
\r
27 >>! NOTE: The modification to the GPL is included to allow you to !<<
\r
28 >>! distribute a combined work that includes FreeRTOS without being !<<
\r
29 >>! obliged to provide the source code for proprietary components !<<
\r
30 >>! outside of the FreeRTOS kernel. !<<
\r
32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
\r
35 link: http://www.freertos.org/a00114.html
\r
39 ***************************************************************************
\r
41 * Having a problem? Start by reading the FAQ "My application does *
\r
42 * not run, what could be wrong?" *
\r
44 * http://www.FreeRTOS.org/FAQHelp.html *
\r
46 ***************************************************************************
\r
48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
\r
49 license and Real Time Engineers Ltd. contact details.
\r
51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
\r
56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
57 licenses offer ticketed support, indemnification and middleware.
\r
59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
60 engineered and independently SIL3 certified version for use in safety and
\r
61 mission critical applications that require provable dependability.
\r
67 * main-blinky.c is included when the "Blinky" build configuration is used.
\r
68 * main-full.c is included when the "Full" build configuration is used.
\r
70 * main-full.c (this file) defines a comprehensive demo that creates many
\r
71 * tasks, queues, semaphores and timers. It also demonstrates how Cortex-M3
\r
72 * interrupts can interact with FreeRTOS tasks/timers.
\r
74 * This demo project runs on the SK-FM3-64PMC1 evaluation board, which is
\r
75 * populated with an MB9A300 microcontroller.
\r
77 * The main() Function:
\r
78 * main() creates three demo specific software timers, one demo specific queue,
\r
79 * and two demo specific tasks. It then creates a whole host of 'standard
\r
80 * demo' tasks/queues/semaphores, before starting the scheduler. The demo
\r
81 * specific tasks and timers are described in the comments here. The standard
\r
82 * demo tasks are described on the FreeRTOS.org web site.
\r
84 * The standard demo tasks provide no specific functionality. They are
\r
85 * included to both test the FreeRTOS port, and provide examples of how the
\r
86 * various FreeRTOS API functions can be used.
\r
88 * This demo creates 43 tasks in total. If you want a simpler demo, use the
\r
89 * Blinky build configuration.
\r
91 * The Demo Specific Queue Send Task:
\r
92 * The queue send task is implemented by the prvQueueSendTask() function in
\r
93 * this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
\r
94 * block for 200 milliseconds, before sending the value 100 to the queue that
\r
95 * was created within main(). Once the value is sent, the task loops back
\r
96 * around to block for another 200 milliseconds.
\r
98 * The Demo Specific Queue Receive Task:
\r
99 * The queue receive task is implemented by the prvQueueReceiveTask() function
\r
100 * in this file. prvQueueReceiveTask() sits in a loop that causes it to
\r
101 * repeatedly attempt to read data from the queue that was created within
\r
102 * main(). When data is received, the task checks the value of the data, and
\r
103 * if the value equals the expected 100, toggles an LED in the 7 segment display
\r
104 * (see the documentation page for this demo on the FreeRTOS.org site to see
\r
105 * which LED is used). The 'block time' parameter passed to the queue receive
\r
106 * function specifies that the task should be held in the Blocked state
\r
107 * indefinitely to wait for data to be available on the queue. The queue
\r
108 * receive task will only leave the Blocked state when the queue send task
\r
109 * writes to the queue. As the queue send task writes to the queue every 200
\r
110 * milliseconds, the queue receive task leaves the Blocked state every 200
\r
111 * milliseconds, and therefore toggles the LED every 200 milliseconds.
\r
113 * The Demo Specific LED Software Timer and the Button Interrupt:
\r
114 * The user button SW2 is configured to generate an interrupt each time it is
\r
115 * pressed. The interrupt service routine switches an LED on, and resets the
\r
116 * LED software timer. The LED timer has a 5000 millisecond (5 second) period,
\r
117 * and uses a callback function that is defined to just turn the LED off again.
\r
118 * Therefore, pressing the user button will turn the LED on, and the LED will
\r
119 * remain on until a full five seconds pass without the button being pressed.
\r
120 * See the documentation page for this demo on the FreeRTOS.org web site to see
\r
121 * which LED is used.
\r
123 * The Demo Specific "Check" Callback Function:
\r
124 * This is called each time the 'check' timer expires. The check timer
\r
125 * callback function inspects all the standard demo tasks to see if they are
\r
126 * all executing as expected. The check timer is initially configured to
\r
127 * expire every three seconds, but will shorted this to every 500ms if an error
\r
128 * is ever discovered. The check timer callback toggles the LED defined by
\r
129 * the mainCHECK_LED definition each time it executes. Therefore, if LED
\r
130 * mainCHECK_LED is toggling every three seconds, then no error have been found.
\r
131 * If LED mainCHECK_LED is toggling every 500ms, then at least one errors has
\r
132 * been found. The variable pcStatusMessage is set to a string that indicates
\r
133 * which task reported an error. See the documentation page for this demo on
\r
134 * the FreeRTOS.org web site to see which LED in the 7 segment display is used.
\r
136 * The Demo Specific "Digit Counter" Callback Function:
\r
137 * This is called each time the 'digit counter' timer expires. It causes the
\r
138 * digits 0 to 9 to be displayed in turn as the first character of the two
\r
139 * character display. The LEDs in the other digit of the two character
\r
140 * display are used as general purpose LEDs, as described in this comment block.
\r
142 * The Demo Specific Idle Hook Function:
\r
143 * The idle hook function demonstrates how to query the amount of FreeRTOS heap
\r
144 * space that is remaining (see vApplicationIdleHook() defined in this file).
\r
146 * The Demo Specific Tick Hook Function:
\r
147 * The tick hook function is used to test the interrupt safe software timer
\r
151 /* Kernel includes. */
\r
152 #include "FreeRTOS.h"
\r
155 #include "timers.h"
\r
157 /* Fujitsu drivers/libraries. */
\r
160 /* Common demo includes. */
\r
161 #include "partest.h"
\r
163 #include "BlockQ.h"
\r
165 #include "blocktim.h"
\r
166 #include "semtest.h"
\r
167 #include "GenQTest.h"
\r
169 #include "recmutex.h"
\r
170 #include "TimerDemo.h"
\r
171 #include "comtest2.h"
\r
173 #include "countsem.h"
\r
174 #include "dynamic.h"
\r
176 /* The rate at which data is sent to the queue, specified in milliseconds, and
\r
177 converted to ticks using the portTICK_PERIOD_MS constant. */
\r
178 #define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_PERIOD_MS )
\r
180 /* The number of items the queue can hold. This is 1 as the receive task
\r
181 will remove items as they are added, meaning the send task should always find
\r
182 the queue empty. */
\r
183 #define mainQUEUE_LENGTH ( 1 )
\r
185 /* The LED toggled by the check timer callback function. This is an LED in the
\r
186 second digit of the two digit 7 segment display. See the documentation page
\r
187 for this demo on the FreeRTOS.org web site to see which LED this relates to. */
\r
188 #define mainCHECK_LED ( 1UL << 3UL )
\r
190 /* The LED toggle by the queue receive task. This is an LED in the second digit
\r
191 of the two digit 7 segment display. See the documentation page for this demo on
\r
192 the FreeRTOS.org web site to see which LED this relates to. */
\r
193 #define mainTASK_CONTROLLED_LED 0x07UL
\r
195 /* The LED turned on by the button interrupt, and turned off by the LED timer.
\r
196 This is an LED in the second digit of the two digit 7 segment display. See the
\r
197 documentation page for this demo on the FreeRTOS.org web site to see which LED
\r
198 this relates to. */
\r
199 #define mainTIMER_CONTROLLED_LED 0x05UL
\r
201 /* The LED used by the comtest tasks. See the comtest.c file for more
\r
202 information. The LEDs used by the comtest task are in the second digit of the
\r
203 two digit 7 segment display. See the documentation page for this demo on the
\r
204 FreeRTOS.org web site to see which LEDs this relates to. */
\r
205 #define mainCOM_TEST_LED 0x03UL
\r
207 /* Constant used by the standard timer test functions. */
\r
208 #define mainTIMER_TEST_PERIOD ( 50 )
\r
210 /* Priorities used by the various different standard demo tasks. */
\r
211 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
\r
212 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
213 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
214 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
215 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
216 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
217 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
218 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
\r
219 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
221 /* Priorities defined in this main-full.c file. */
\r
222 #define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
223 #define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
225 /* The period at which the check timer will expire, in ms, provided no errors
\r
226 have been reported by any of the standard demo tasks. ms are converted to the
\r
227 equivalent in ticks using the portTICK_PERIOD_MS constant. */
\r
228 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_PERIOD_MS )
\r
230 /* The period at which the check timer will expire, in ms, if an error has been
\r
231 reported in one of the standard demo tasks. ms are converted to the equivalent
\r
232 in ticks using the portTICK_PERIOD_MS constant. */
\r
233 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 500UL / portTICK_PERIOD_MS )
\r
235 /* The period at which the digit counter timer will expire, in ms, and converted
\r
236 to ticks using the portTICK_PERIOD_MS constant. */
\r
237 #define mainDIGIT_COUNTER_TIMER_PERIOD_MS ( 250UL / portTICK_PERIOD_MS )
\r
239 /* The LED will remain on until the button has not been pushed for a full
\r
241 #define mainLED_TIMER_PERIOD_MS ( 5000UL / portTICK_PERIOD_MS )
\r
243 /* A zero block time. */
\r
244 #define mainDONT_BLOCK ( 0UL )
\r
246 /* Baud rate used by the comtest tasks. */
\r
247 #define mainCOM_TEST_BAUD_RATE ( 115200UL )
\r
249 /*-----------------------------------------------------------*/
\r
252 * Setup the NVIC, LED outputs, and button inputs.
\r
254 static void prvSetupHardware( void );
\r
257 * The application specific (not common demo) tasks as described in the comments
\r
258 * at the top of this file.
\r
260 static void prvQueueReceiveTask( void *pvParameters );
\r
261 static void prvQueueSendTask( void *pvParameters );
\r
264 * The LED timer callback function. This does nothing but switch an LED off.
\r
266 static void prvLEDTimerCallback( TimerHandle_t xTimer );
\r
269 * The check timer callback function, as described at the top of this file.
\r
271 static void prvCheckTimerCallback( TimerHandle_t xTimer );
\r
274 * The digit counter callback function, as described at the top of this file.
\r
276 static void prvDigitCounterTimerCallback( TimerHandle_t xTimer );
\r
279 * This is not a 'standard' partest function, so the prototype is not in
\r
280 * partest.h, and is instead included here.
\r
282 void vParTestSetLEDFromISR( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue );
\r
284 /*-----------------------------------------------------------*/
\r
286 /* The queue used by both application specific demo tasks defined in this file. */
\r
287 static QueueHandle_t xQueue = NULL;
\r
289 /* The LED software timer. This uses prvLEDTimerCallback() as it's callback
\r
291 static TimerHandle_t xLEDTimer = NULL;
\r
293 /* The digit counter software timer. This displays a counting digit on one half
\r
294 of the seven segment displays. */
\r
295 static TimerHandle_t xDigitCounterTimer = NULL;
\r
297 /* The check timer. This uses prvCheckTimerCallback() as its callback
\r
299 static TimerHandle_t xCheckTimer = NULL;
\r
301 /* If an error is detected in a standard demo task, then pcStatusMessage will
\r
302 be set to point to a string that identifies the offending task. This is just
\r
303 to make debugging easier. */
\r
304 static const char *pcStatusMessage = NULL;
\r
306 /*-----------------------------------------------------------*/
\r
310 /* Configure the NVIC, LED outputs and button inputs. */
\r
311 prvSetupHardware();
\r
313 /* Create the queue. */
\r
314 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
\r
316 if( xQueue != NULL )
\r
318 /* Start the two application specific demo tasks, as described in the
\r
319 comments at the top of this file. */
\r
320 xTaskCreate( prvQueueReceiveTask, "Rx", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_RECEIVE_TASK_PRIORITY, NULL );
\r
321 xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
\r
323 /* Create the software timer that is responsible for turning off the LED
\r
324 if the button is not pushed within 5000ms, as described at the top of
\r
326 xLEDTimer = xTimerCreate( "LEDTimer", /* A text name, purely to help debugging. */
\r
327 ( mainLED_TIMER_PERIOD_MS ),/* The timer period, in this case 5000ms (5s). */
\r
328 pdFALSE, /* This is a one shot timer, so xAutoReload is set to pdFALSE. */
\r
329 ( void * ) 0, /* The ID is not used, so can be set to anything. */
\r
330 prvLEDTimerCallback /* The callback function that switches the LED off. */
\r
333 /* Create the software timer that performs the 'check' functionality,
\r
334 as described at the top of this file. */
\r
335 xCheckTimer = xTimerCreate( "CheckTimer", /* A text name, purely to help debugging. */
\r
336 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
\r
337 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
\r
338 ( void * ) 0, /* The ID is not used, so can be set to anything. */
\r
339 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
\r
342 /* Create the software timer that performs the 'digit counting'
\r
343 functionality, as described at the top of this file. */
\r
344 xDigitCounterTimer = xTimerCreate( "DigitCounter", /* A text name, purely to help debugging. */
\r
345 ( mainDIGIT_COUNTER_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
\r
346 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
\r
347 ( void * ) 0, /* The ID is not used, so can be set to anything. */
\r
348 prvDigitCounterTimerCallback /* The callback function that inspects the status of all the other tasks. */
\r
351 /* Create a lot of 'standard demo' tasks. Over 40 tasks are created in
\r
352 this demo. For a much simpler demo, select the 'blinky' build
\r
354 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
\r
355 vCreateBlockTimeTasks();
\r
356 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
\r
357 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
\r
358 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
\r
359 vStartQueuePeekTasks();
\r
360 vStartRecursiveMutexTasks();
\r
361 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
\r
362 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
\r
363 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
\r
364 vStartCountingSemaphoreTasks();
\r
365 vStartDynamicPriorityTasks();
\r
367 /* The suicide tasks must be created last, as they need to know how many
\r
368 tasks were running prior to their creation in order to ascertain whether
\r
369 or not the correct/expected number of tasks are running at any given
\r
371 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
\r
373 /* Start the tasks and timer running. */
\r
374 vTaskStartScheduler();
\r
377 /* If all is well, the scheduler will now be running, and the following line
\r
378 will never be reached. If the following line does execute, then there was
\r
379 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
\r
380 to be created. See the memory management section on the FreeRTOS web site
\r
381 for more details. */
\r
384 /*-----------------------------------------------------------*/
\r
386 static void prvCheckTimerCallback( TimerHandle_t xTimer )
\r
388 /* Check the standard demo tasks are running without error. Latch the
\r
389 latest reported error in the pcStatusMessage character pointer. */
\r
390 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
\r
392 pcStatusMessage = "Error: GenQueue";
\r
395 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
\r
397 pcStatusMessage = "Error: QueuePeek\r\n";
\r
400 if( xAreBlockingQueuesStillRunning() != pdTRUE )
\r
402 pcStatusMessage = "Error: BlockQueue\r\n";
\r
405 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
\r
407 pcStatusMessage = "Error: BlockTime\r\n";
\r
410 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
\r
412 pcStatusMessage = "Error: SemTest\r\n";
\r
415 if( xIsCreateTaskStillRunning() != pdTRUE )
\r
417 pcStatusMessage = "Error: Death\r\n";
\r
420 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
\r
422 pcStatusMessage = "Error: RecMutex\r\n";
\r
425 if( xAreComTestTasksStillRunning() != pdPASS )
\r
427 pcStatusMessage = "Error: ComTest\r\n";
\r
430 if( xAreTimerDemoTasksStillRunning( ( mainCHECK_TIMER_PERIOD_MS ) ) != pdTRUE )
\r
432 pcStatusMessage = "Error: TimerDemo";
\r
435 if( xArePollingQueuesStillRunning() != pdTRUE )
\r
437 pcStatusMessage = "Error: PollQueue";
\r
440 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
\r
442 pcStatusMessage = "Error: CountSem";
\r
445 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
\r
447 pcStatusMessage = "Error: DynamicPriority";
\r
450 /* Toggle the check LED to give an indication of the system status. If
\r
451 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
\r
452 everything is ok. A faster toggle indicates an error. vParTestToggleLED()
\r
453 is not used to toggle this particular LED as it is on a different IP port
\r
454 to to the LEDs controlled by ParTest.c. A critical section is not required
\r
455 as the only other place this port is accessed is from another timer - and
\r
456 only one timer can be running at any one time. */
\r
457 if( ( FM3_GPIO->PDOR3 & mainCHECK_LED ) != 0 )
\r
459 FM3_GPIO->PDOR3 &= ~mainCHECK_LED;
\r
463 FM3_GPIO->PDOR3 |= mainCHECK_LED;
\r
466 /* Have any errors been latch in pcStatusMessage? If so, shorten the
\r
467 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
\r
468 This will result in an increase in the rate at which mainCHECK_LED
\r
470 if( pcStatusMessage != NULL )
\r
472 /* This call to xTimerChangePeriod() uses a zero block time. Functions
\r
473 called from inside of a timer callback function must *never* attempt
\r
475 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
\r
478 /*-----------------------------------------------------------*/
\r
480 static void prvLEDTimerCallback( TimerHandle_t xTimer )
\r
482 /* The timer has expired - so no button pushes have occurred in the last
\r
483 five seconds - turn the LED off. */
\r
484 vParTestSetLED( mainTIMER_CONTROLLED_LED, pdFALSE );
\r
486 /*-----------------------------------------------------------*/
\r
488 static void prvDigitCounterTimerCallback( TimerHandle_t xTimer )
\r
490 /* Define the bit patterns that display numbers on the seven segment display. */
\r
491 static const unsigned short usNumbersPatterns[] = { 0x8004, 0xF204, 0x4804, 0x6004, 0x3204, 0x2404, 0x0404, 0xF104, 0x0004, 0x2004 };
\r
492 static long lCounter = 0L;
\r
493 const long lNumberOfDigits = 10L;
\r
494 unsigned short usCheckLEDState;
\r
496 /* Unfortunately the LED uses the same port as the digit counter, so remember
\r
497 the state of the check LED. A critical section is not required to access
\r
498 the port as only one timer can be executing at any one time. */
\r
499 usCheckLEDState = ( FM3_GPIO->PDOR3 & mainCHECK_LED );
\r
501 /* Display the next number, counting up. */
\r
502 FM3_GPIO->PDOR3 = usNumbersPatterns[ lCounter ] | usCheckLEDState;
\r
504 /* Move onto the next digit. */
\r
507 /* Ensure the counter does not go off the end of the array. */
\r
508 if( lCounter >= lNumberOfDigits )
\r
513 /*-----------------------------------------------------------*/
\r
515 /* The ISR executed when the user button is pushed. */
\r
516 void INT0_7_Handler( void )
\r
518 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
\r
520 /* The button was pushed, so ensure the LED is on before resetting the
\r
521 LED timer. The LED timer will turn the LED off if the button is not
\r
522 pushed within 5000ms. */
\r
523 vParTestSetLEDFromISR( mainTIMER_CONTROLLED_LED, pdTRUE );
\r
525 /* This interrupt safe FreeRTOS function can be called from this interrupt
\r
526 because the interrupt priority is below the
\r
527 configMAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */
\r
528 xTimerResetFromISR( xLEDTimer, &xHigherPriorityTaskWoken );
\r
530 /* Clear the interrupt before leaving. This just clears all the interrupts
\r
531 for simplicity, as only one is actually used in this simple demo anyway. */
\r
532 FM3_EXTI->EICL = 0x0000;
\r
534 /* If calling xTimerResetFromISR() caused a task (in this case the timer
\r
535 service/daemon task) to unblock, and the unblocked task has a priority
\r
536 higher than or equal to the task that was interrupted, then
\r
537 xHigherPriorityTaskWoken will now be set to pdTRUE, and calling
\r
538 portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
\r
539 portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
\r
541 /*-----------------------------------------------------------*/
\r
543 static void prvQueueSendTask( void *pvParameters )
\r
545 TickType_t xNextWakeTime;
\r
546 const unsigned long ulValueToSend = 100UL;
\r
548 /* The timer command queue will have been filled when the timer test tasks
\r
549 were created in main() (this is part of the test they perform). Therefore,
\r
550 while the check and digit counter timers can be created in main(), they
\r
551 cannot be started from main(). Once the scheduler has started, the timer
\r
552 service task will drain the command queue, and now the check and digit
\r
553 counter timers can be started successfully. */
\r
554 xTimerStart( xCheckTimer, portMAX_DELAY );
\r
555 xTimerStart( xDigitCounterTimer, portMAX_DELAY );
\r
557 /* Initialise xNextWakeTime - this only needs to be done once. */
\r
558 xNextWakeTime = xTaskGetTickCount();
\r
562 /* Place this task in the blocked state until it is time to run again.
\r
563 The block time is specified in ticks, the constant used converts ticks
\r
564 to ms. While in the Blocked state this task will not consume any CPU
\r
566 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
\r
568 /* Send to the queue - causing the queue receive task to unblock and
\r
569 toggle an LED. 0 is used as the block time so the sending operation
\r
570 will not block - it shouldn't need to block as the queue should always
\r
571 be empty at this point in the code. */
\r
572 xQueueSend( xQueue, &ulValueToSend, mainDONT_BLOCK );
\r
575 /*-----------------------------------------------------------*/
\r
577 static void prvQueueReceiveTask( void *pvParameters )
\r
579 unsigned long ulReceivedValue;
\r
583 /* Wait until something arrives in the queue - this task will block
\r
584 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
\r
585 FreeRTOSConfig.h. */
\r
586 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
\r
588 /* To get here something must have been received from the queue, but
\r
589 is it the expected value? If it is, toggle the LED. */
\r
590 if( ulReceivedValue == 100UL )
\r
592 vParTestToggleLED( mainTASK_CONTROLLED_LED );
\r
596 /*-----------------------------------------------------------*/
\r
598 static void prvSetupHardware( void )
\r
600 const unsigned short usButtonInputBit = 0x01U;
\r
603 SystemCoreClockUpdate();
\r
605 /* Initialise the IO used for the LEDs on the 7 segment displays. */
\r
606 vParTestInitialise();
\r
608 /* Set the switches to input (P18->P1F). */
\r
609 FM3_GPIO->DDR5 = 0x0000;
\r
610 FM3_GPIO->PFR5 = 0x0000;
\r
612 /* Assign the button input as GPIO. */
\r
613 FM3_GPIO->PFR5 |= usButtonInputBit;
\r
615 /* Button interrupt on falling edge. */
\r
616 FM3_EXTI->ELVR = 0x0003;
\r
618 /* Clear all external interrupts. */
\r
619 FM3_EXTI->EICL = 0x0000;
\r
621 /* Enable the button interrupt. */
\r
622 FM3_EXTI->ENIR |= usButtonInputBit;
\r
624 /* Setup the GPIO and the NVIC for the switch used in this simple demo. */
\r
625 NVIC_SetPriority( EXINT0_7_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
\r
626 NVIC_EnableIRQ( EXINT0_7_IRQn );
\r
628 /*-----------------------------------------------------------*/
\r
630 void vApplicationMallocFailedHook( void )
\r
632 /* Called if a call to pvPortMalloc() fails because there is insufficient
\r
633 free memory available in the FreeRTOS heap. pvPortMalloc() is called
\r
634 internally by FreeRTOS API functions that create tasks, queues, software
\r
635 timers, and semaphores. The size of the FreeRTOS heap is set by the
\r
636 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
\r
639 /*-----------------------------------------------------------*/
\r
641 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
\r
643 ( void ) pcTaskName;
\r
646 /* Run time stack overflow checking is performed if
\r
647 configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
\r
648 function is called if a stack overflow is detected. */
\r
649 taskDISABLE_INTERRUPTS();
\r
652 /*-----------------------------------------------------------*/
\r
654 void vApplicationIdleHook( void )
\r
656 volatile size_t xFreeStackSpace;
\r
658 /* This function is called on each cycle of the idle task. In this case it
\r
659 does nothing useful, other than report the amount of FreeRTOS heap that
\r
660 remains unallocated. */
\r
661 xFreeStackSpace = xPortGetFreeHeapSize();
\r
663 if( xFreeStackSpace > 100 )
\r
665 /* By now, the kernel has allocated everything it is going to, so
\r
666 if there is a lot of heap remaining unallocated then
\r
667 the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be
\r
668 reduced accordingly. */
\r
671 /*-----------------------------------------------------------*/
\r
673 void vApplicationTickHook( void )
\r
675 /* Call the periodic timer test, which tests the timer API functions that
\r
676 can be called from an ISR. */
\r
677 vTimerPeriodicISRTests();
\r
679 /*-----------------------------------------------------------*/
\r