2 FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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32 >>>NOTE<<< The modification to the GPL is included to allow you to
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33 distribute a combined work that includes FreeRTOS without being obliged to
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34 provide the source code for proprietary components outside of the FreeRTOS
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35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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38 more details. You should have received a copy of the GNU General Public
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39 License and the FreeRTOS license exception along with FreeRTOS; if not it
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40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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41 by writing to Richard Barry, contact details for whom are available on the
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46 ***************************************************************************
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48 * Having a problem? Start by reading the FAQ "My application does *
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49 * not run, what could be wrong?" *
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51 * http://www.FreeRTOS.org/FAQHelp.html *
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53 ***************************************************************************
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56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
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57 and contact details.
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59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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60 including FreeRTOS+Trace - an indispensable productivity tool.
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62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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63 the code with commercial support, indemnification, and middleware, under
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64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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65 provide a safety engineered and independently SIL3 certified version under
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66 the SafeRTOS brand: http://www.SafeRTOS.com.
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69 /* Scheduler includes. */
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70 #include "FreeRTOS.h"
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75 /* Hardware specifics. */
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76 #include "iodefine.h"
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79 /* States used by the LCD tasks. */
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80 #define lcdRIGHT_TO_LEFT 0U
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81 #define lcdLEFT_TO_RIGHT 1U
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82 #define lcdRUNNING 0U
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84 /* Characters on each line. */
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85 #define lcdSTRING_LEN 8
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87 /* Commands sent from the IRQ to the task controlling the second line of the
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89 #define lcdSHIFT_BACK_COMMAND 0x01U
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90 #define lcdSTART_STOP_COMMAND 0x02U
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91 #define lcdSHIFT_FORWARD_COMMAND 0x03U
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93 /* The length of the queue used to send commands from the ISRs. */
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94 #define lcdCOMMAND_QUEUE_LENGTH 32U
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96 /* Defines the minimum time that must pass between consecutive button presses
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97 to accept a button press as a unique press rather than just a bounce. */
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98 #define lcdMIN_TIME_BETWEEN_INTERRUPTS_MS ( 125UL / portTICK_RATE_MS )
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100 /* Button interrupt handlers. */
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101 #pragma interrupt ( prvIRQ1_Handler( vect = 65, enable ) )
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102 static void prvIRQ1_Handler( void );
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104 #pragma interrupt ( prvIRQ3_Handler( vect = 67, enable ) )
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105 static void prvIRQ3_Handler( void );
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107 #pragma interrupt ( prvIRQ4_Handler(vect = 68, enable ) )
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108 static void prvIRQ4_Handler( void );
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111 * Setup the IO needed for the buttons to generate interrupts.
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113 static void prvSetupButtonIOAndInterrupts( void );
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116 * A task that simply scrolls a string from left to right, then back from the
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117 * right to the left. This is done on the first line of the display.
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119 static void prvLCDTaskLine1( void *pvParameters );
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122 * If no buttons are pushed, then this task acts as per prvLCDTaskLine1(), but
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123 * using the second line of the display.
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125 * Using the buttons, it is possible to start and stop the scrolling of the
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126 * text. Once the scrolling has been stopped, other buttons can be used to
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127 * manually scroll the text either left or right.
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129 static void prvLCDTaskLine2( void *pvParameters );
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132 * Looks at the direction the string is currently being scrolled in, and moves
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133 * the index into the portion of the string that can be seen on the display
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134 * either forward or backward as appropriate.
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136 static prvScrollString( unsigned char *pucDirection, unsigned short *pusPosition, size_t xStringLength );
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139 * Displays lcdSTRING_LEN characters starting from pcString on the line of the
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140 * display requested by ucLine.
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142 static void prvDisplayNextString( unsigned char ucLine, char *pcString );
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145 * Called from the IRQ interrupts, which are generated on button pushes. Send
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146 * ucCommand to the task on the button command queue if
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147 * lcdMIN_TIME_BETWEEN_INTERRUPTS_MS milliseconds have passed since the button
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148 * was last pushed (for debouncing).
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150 static portBASE_TYPE prvSendCommandOnDebouncedInput( portTickType *pxTimeLastInterrupt, unsigned char ucCommand );
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152 /*-----------------------------------------------------------*/
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154 /* The queue used to pass commands from the button interrupt handlers to the
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155 prvLCDTaskLine2() task. */
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156 static xQueueHandle xButtonCommandQueue = NULL;
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158 /* The mutex used to ensure only one task writes to the display at any one
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160 static xSemaphoreHandle xLCDMutex = NULL;
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162 /* The string that is scrolled up and down the first line of the display. */
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163 static const char cDataString1[] = " http://www.FreeRTOS.org ";
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165 /* The string that is scrolled/nudged up and down the second line of the
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167 static const char cDataString2[] = "........Rx210 Highlights....1.56 DMips/MHz....DSP functions....1.62V-5.5V operation....200 uA/MHz....Up to 512 kBytes Flash....up to 64 kbytes SRAM....EE Dataflash with 100k w/e....1.3 uA in Real Time Clock Mode....Powerful Motor control timer....4 x 16-bit timers....4 x 8-bit timers....Full Real Time Clock calendar with calibration and alarm functions....Up to 16 channels 1 uS 12-bit ADC, with Dual group programmable SCAN, 3 sample and holds, sample accumulate function....DMA controller....Data Transfer Controller....Up to 9 serial Channels....Up to 6 USARTs ( with Simple I2C / SPI )....USART ( with unique Frame based protocol support )....Multimaster IIC....RSPI....Temperature Sensor....Event Link Controller....Comparators....Safety features include CRC....March X....Dual watchdog Timers with window and independent oscillator....ADC self test....I/O Pin Test....Supported with E1 on chip debugger and RSK210 evaluation system....Rx210 Highlights........";
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169 /* Structures passed into the two tasks to inform them which line to use on the
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170 display, how long to delay for, and which string to use. */
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171 struct _LCD_Params xLCDLine1 =
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173 LCD_LINE1, 215, ( char * ) cDataString1
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176 struct _LCD_Params xLCDLine2 =
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178 LCD_LINE2, 350, ( char * ) cDataString2
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182 /*-----------------------------------------------------------*/
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184 void vStartButtonAndLCDDemo( void )
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186 prvSetupButtonIOAndInterrupts();
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187 InitialiseDisplay();
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189 /* Create the mutex used to guard the LCD. */
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190 xLCDMutex = xSemaphoreCreateMutex();
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191 configASSERT( xLCDMutex );
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193 /* Create the queue used to pass commands from the IRQ interrupts to the
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194 prvLCDTaskLine2() task. */
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195 xButtonCommandQueue = xQueueCreate( lcdCOMMAND_QUEUE_LENGTH, sizeof( unsigned char ) );
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196 configASSERT( xButtonCommandQueue );
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198 /* Start the two tasks as described at the top of this file. */
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199 xTaskCreate( prvLCDTaskLine1, "LCD1", configMINIMAL_STACK_SIZE * 3, ( void * ) &xLCDLine1, tskIDLE_PRIORITY + 1, NULL );
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200 xTaskCreate( prvLCDTaskLine2, "LCD2", configMINIMAL_STACK_SIZE * 3, ( void * ) &xLCDLine2, tskIDLE_PRIORITY + 2, NULL );
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202 /*-----------------------------------------------------------*/
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204 static void prvLCDTaskLine1( void *pvParameters )
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206 struct _LCD_Params *pxLCDParamaters = ( struct _LCD_Params * ) pvParameters;
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207 unsigned short usPosition = 0U;
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208 unsigned char ucDirection = lcdRIGHT_TO_LEFT;
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212 vTaskDelay( pxLCDParamaters->Speed / portTICK_RATE_MS );
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214 /* Write the string. */
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215 prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );
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217 /* Move the string in whichever direction the scroll is currently going
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219 prvScrollString( &ucDirection, &usPosition, strlen( pxLCDParamaters->ptr_str ) );
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222 /*-----------------------------------------------------------*/
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224 static void prvLCDTaskLine2( void *pvParameters )
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226 struct _LCD_Params *pxLCDParamaters = ( struct _LCD_Params * ) pvParameters;
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227 unsigned short usPosition = 0U;
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228 unsigned char ucDirection = lcdRIGHT_TO_LEFT, ucStatus = lcdRUNNING, ucQueueData;
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229 portTickType xDelayTicks = ( pxLCDParamaters->Speed / portTICK_RATE_MS );
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233 /* Wait for a message from an IRQ handler. */
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234 if( xQueueReceive( xButtonCommandQueue, &ucQueueData, xDelayTicks ) != pdPASS )
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236 /* A message was not received before xDelayTicks ticks passed, so
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237 generate the next string to display and display it. */
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238 prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );
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240 /* Move the string in whichever direction the scroll is currently
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242 prvScrollString( &ucDirection, &usPosition, strlen( pxLCDParamaters->ptr_str ) );
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246 /* A command was received. Process it. */
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247 switch( ucQueueData )
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249 case lcdSTART_STOP_COMMAND :
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251 /* If the LCD is running, top it. If the LCD is stopped, start
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253 ucStatus = !ucStatus;
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255 if( ucStatus == lcdRUNNING )
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257 xDelayTicks = ( pxLCDParamaters->Speed / portTICK_RATE_MS );
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261 xDelayTicks = portMAX_DELAY;
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266 case lcdSHIFT_BACK_COMMAND :
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268 if( ucStatus != lcdRUNNING )
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270 /* If not already at the start of the display.... */
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271 if( usPosition != 0U )
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273 /* ....move the display position back by one char. */
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275 prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );
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281 case lcdSHIFT_FORWARD_COMMAND :
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283 if( ucStatus != lcdRUNNING )
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285 /* If not already at the end of the display.... */
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286 if( usPosition != ( strlen( pxLCDParamaters->ptr_str ) - ( lcdSTRING_LEN - 1 ) ) )
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288 /* ....move the display position forward by one
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291 prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );
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299 /*-----------------------------------------------------------*/
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301 void prvSetupButtonIOAndInterrupts( void )
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303 /* Configure SW 1-3 pin settings */
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304 PORT3.PDR.BIT.B1 = 0; /* Switch 1 - Port 3.1 - IRQ1 */
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305 PORT3.PDR.BIT.B3 = 0; /* Switch 2 - Port 3.3 - IRQ3 */
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306 PORT3.PDR.BIT.B4 = 0; /* Switch 3 - Port 3.4 - IRQ4 */
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308 PORT3.PMR.BIT.B1 = 1;
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309 PORT3.PMR.BIT.B3 = 1;
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310 PORT3.PMR.BIT.B4 = 1;
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312 MPC.PWPR.BIT.B0WI = 0; /* Writing to the PFSWE bit is enabled */
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313 MPC.PWPR.BIT.PFSWE = 1; /* Writing to the PFS register is enabled */
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314 MPC.P31PFS.BIT.ISEL = 1;
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315 MPC.P33PFS.BIT.ISEL = 1;
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316 MPC.P34PFS.BIT.ISEL = 1;
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319 ICU.IER[ 0x08 ].BIT.IEN1 = 1;
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320 ICU.IPR[ 65 ].BIT.IPR = configMAX_SYSCALL_INTERRUPT_PRIORITY - 1;
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321 ICU.IR[ 65 ].BIT.IR = 0;
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322 ICU.IRQCR[ 1 ].BIT.IRQMD = 2; /* Rising edge */
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325 ICU.IER[ 0x08 ].BIT.IEN3 = 1;
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326 ICU.IPR[ 67 ].BIT.IPR = configMAX_SYSCALL_INTERRUPT_PRIORITY - 1;
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327 ICU.IR[ 67 ].BIT.IR = 0;
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328 ICU.IRQCR[ 3 ].BIT.IRQMD = 2; /* Rising edge */
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331 ICU.IER[ 0x08 ].BIT.IEN4 = 1;
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332 ICU.IPR[ 68 ].BIT.IPR = configMAX_SYSCALL_INTERRUPT_PRIORITY - 1;
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333 ICU.IR[ 68 ].BIT.IR = 0;
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334 ICU.IRQCR[ 4 ].BIT.IRQMD = 2; /* Rising edge */
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336 /*-----------------------------------------------------------*/
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338 static prvScrollString( unsigned char *pucDirection, unsigned short *pusPosition, size_t xStringLength )
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340 /* Check which way to scroll. */
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341 if( *pucDirection == lcdRIGHT_TO_LEFT )
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343 /* Move to the next character. */
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344 ( *pusPosition )++;
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346 /* Has the end of the string been reached? */
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347 if( ( *pusPosition ) == ( xStringLength - ( lcdSTRING_LEN - 1 ) ) )
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349 /* Switch direction. */
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350 *pucDirection = lcdLEFT_TO_RIGHT;
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351 ( *pusPosition )--;
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356 /* Move (backward) to the next character. */
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357 ( *pusPosition )--;
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358 if( *pusPosition == 0U )
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360 /* Switch Direction. */
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361 *pucDirection = lcdRIGHT_TO_LEFT;
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365 /*-----------------------------------------------------------*/
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367 static void prvDisplayNextString( unsigned char ucLine, char *pcString )
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369 static char cSingleLine[ lcdSTRING_LEN + 1 ];
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371 xSemaphoreTake( xLCDMutex, portMAX_DELAY );
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372 strncpy( cSingleLine, pcString, lcdSTRING_LEN );
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373 DisplayString( ucLine, cSingleLine );
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374 xSemaphoreGive( xLCDMutex );
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376 /*-----------------------------------------------------------*/
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378 static portBASE_TYPE prvSendCommandOnDebouncedInput( portTickType *pxTimeLastInterrupt, unsigned char ucCommand )
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380 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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381 portTickType xCurrentTickCount;
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383 /* Check the time now for debouncing purposes. */
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384 xCurrentTickCount = xTaskGetTickCountFromISR();
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386 /* Has enough time passed since the button was last push to accept it as a
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388 if( ( xCurrentTickCount - *pxTimeLastInterrupt ) > lcdMIN_TIME_BETWEEN_INTERRUPTS_MS )
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390 xQueueSendToBackFromISR( xButtonCommandQueue, &ucCommand, &xHigherPriorityTaskWoken );
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393 /* Remember the time now, so debounce can be performed again on the next
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395 *pxTimeLastInterrupt = xCurrentTickCount;
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397 return xHigherPriorityTaskWoken;
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399 /*-----------------------------------------------------------*/
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401 static void prvIRQ1_Handler( void )
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403 static portTickType xTimeLastInterrupt = 0UL;
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404 static const unsigned char ucCommand = lcdSHIFT_BACK_COMMAND;
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405 portBASE_TYPE xHigherPriorityTaskWoken;
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407 xHigherPriorityTaskWoken = prvSendCommandOnDebouncedInput( &xTimeLastInterrupt, ucCommand );
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408 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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410 /*-----------------------------------------------------------*/
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412 static void prvIRQ3_Handler(void)
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414 static portTickType xTimeLastInterrupt = 0UL;
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415 static const unsigned char ucCommand = lcdSTART_STOP_COMMAND;
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416 portBASE_TYPE xHigherPriorityTaskWoken;
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418 xHigherPriorityTaskWoken = prvSendCommandOnDebouncedInput( &xTimeLastInterrupt, ucCommand );
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419 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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421 /*-----------------------------------------------------------*/
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423 static void prvIRQ4_Handler(void)
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425 static portTickType xTimeLastInterrupt = 0UL;
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426 static const unsigned char ucCommand = lcdSHIFT_FORWARD_COMMAND;
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427 portBASE_TYPE xHigherPriorityTaskWoken;
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429 xHigherPriorityTaskWoken = prvSendCommandOnDebouncedInput( &xTimeLastInterrupt, ucCommand );
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430 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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