2 FreeRTOS V7.4.2 - Copyright (C) 2013 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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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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76 * This is a very simple demo that creates two tasks and one queue. One task
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77 * (the queue receive task) blocks on the queue to wait for data to arrive,
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78 * toggling an LED each time '100' is received. The other task (the queue send
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79 * task) repeatedly blocks for a fixed period before sending '100' to the queue
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80 * (causing the first task to toggle the LED).
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82 * For a much more complete and complex example select either the Debug or
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83 * Debug_with_optimisation build configurations within the Embedded Workbench
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87 /* Hardware specific includes. */
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88 #include <iorx62n.h>
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90 /* Kernel includes. */
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91 #include "FreeRTOS.h"
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95 /* Demo includes. */
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96 #include "partest.h"
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98 /* Priorities at which the tasks are created. */
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99 #define configQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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100 #define configQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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102 /* The rate at which data is sent to the queue, specified in milliseconds. */
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103 #define mainQUEUE_SEND_FREQUENCY_MS ( 500 / portTICK_RATE_MS )
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105 /* The number of items the queue can hold. This is 1 as the receive task
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106 will remove items as they are added so the send task should always find the
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108 #define mainQUEUE_LENGTH ( 1 )
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111 * The tasks as defined at the top of this file.
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113 static void prvQueueReceiveTask( void *pvParameters );
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114 static void prvQueueSendTask( void *pvParameters );
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116 /* The queue used by both tasks. */
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117 static xQueueHandle xQueue = NULL;
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119 /* This variable is not used by this simple Blinky example. It is defined
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120 purely to allow the project to link as it is used by the full project. */
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121 volatile unsigned long ulHighFrequencyTickCount = 0UL;
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122 /*-----------------------------------------------------------*/
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126 extern void HardwareSetup( void );
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128 /* Renesas provided CPU configuration routine. The clocks are configured in
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132 /* Create the queue. */
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133 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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135 if( xQueue != NULL )
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137 /* Start the two tasks as described at the top of this file. */
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138 xTaskCreate( prvQueueReceiveTask, "Rx", configMINIMAL_STACK_SIZE, NULL, configQUEUE_RECEIVE_TASK_PRIORITY, NULL );
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139 xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, configQUEUE_SEND_TASK_PRIORITY, NULL );
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141 /* Start the tasks running. */
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142 vTaskStartScheduler();
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145 /* If all is well we will never reach here as the scheduler will now be
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146 running. If we do reach here then it is likely that there was insufficient
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147 heap available for the idle task to be created. */
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150 /*-----------------------------------------------------------*/
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152 static void prvQueueSendTask( void *pvParameters )
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154 portTickType xNextWakeTime;
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155 const unsigned long ulValueToSend = 100UL;
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157 /* Initialise xNextWakeTime - this only needs to be done once. */
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158 xNextWakeTime = xTaskGetTickCount();
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162 /* Place this task in the blocked state until it is time to run again.
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163 The block state is specified in ticks, the constant used converts ticks
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165 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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167 /* Send to the queue - causing the queue receive task to flash its LED. 0
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168 is used so the send does not block - it shouldn't need to as the queue
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169 should always be empty here. */
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170 xQueueSend( xQueue, &ulValueToSend, 0 );
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173 /*-----------------------------------------------------------*/
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175 static void prvQueueReceiveTask( void *pvParameters )
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177 unsigned long ulReceivedValue;
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181 /* Wait until something arives in the queue - this will block
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182 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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183 FreeRTOSConfig.h. */
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184 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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186 /* To get here something must have arrived, but is it the expected
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187 value? If it is, toggle the LED. */
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188 if( ulReceivedValue == 100UL )
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190 vParTestToggleLED( 0 );
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194 /*-----------------------------------------------------------*/
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196 void vApplicationSetupTimerInterrupt( void )
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198 /* Enable compare match timer 0. */
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201 /* Interrupt on compare match. */
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202 CMT0.CMCR.BIT.CMIE = 1;
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204 /* Set the compare match value. */
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205 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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207 /* Divide the PCLK by 8. */
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208 CMT0.CMCR.BIT.CKS = 0;
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210 /* Enable the interrupt... */
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211 _IEN( _CMT0_CMI0 ) = 1;
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213 /* ...and set its priority to the application defined kernel priority. */
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214 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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216 /* Start the timer. */
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217 CMT.CMSTR0.BIT.STR0 = 1;
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219 /*-----------------------------------------------------------*/
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221 /* This function is explained by the comments above its prototype at the top
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223 void vApplicationMallocFailedHook( void )
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227 /*-----------------------------------------------------------*/
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229 /* This function is explained by the comments above its prototype at the top
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231 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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235 /*-----------------------------------------------------------*/
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237 /* This function is explained by the comments above its prototype at the top
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239 void vApplicationIdleHook( void )
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241 /* Just to prevent the variable getting optimised away. */
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242 ( void ) ulHighFrequencyTickCount;
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244 /*-----------------------------------------------------------*/
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246 /* The following two functions are here just to allow all three build
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247 configurations to use the same vector table. They are not used in this
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248 demo, but linker errors will result if they are not defined. They can
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250 void vT0_1InterruptHandler( void ) {}
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251 void vT2_3InterruptHandler( void ) {}