2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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68 * This is a very simple demo that creates two tasks and one queue. One task
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69 * (the queue receive task) blocks on the queue to wait for data to arrive,
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70 * toggling an LED each time '100' is received. The other task (the queue send
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71 * task) repeatedly blocks for a fixed period before sending '100' to the queue
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72 * (causing the first task to toggle the LED).
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74 * For a much more complete and complex example select either the Debug or
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75 * Debug_with_optimisation build configurations within the HEW IDE.
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78 /* Hardware specific includes. */
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79 #include "iodefine.h"
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81 /* Kernel includes. */
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82 #include "FreeRTOS.h"
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86 /* Demo includes. */
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87 #include "ParTest.h"
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89 /* Priorities at which the tasks are created. */
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90 #define configQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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91 #define configQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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93 /* The rate at which data is sent to the queue, specified in milliseconds. */
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94 #define mainQUEUE_SEND_FREQUENCY_MS ( 500 / portTICK_RATE_MS )
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96 /* The number of items the queue can hold. This is 1 as the receive task
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97 will remove items as they are added so the send task should always find the
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99 #define mainQUEUE_LENGTH ( 1 )
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102 * The tasks as defined at the top of this file.
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104 static void prvQueueReceiveTask( void *pvParameters );
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105 static void prvQueueSendTask( void *pvParameters );
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107 /* The queue used by both tasks. */
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108 static xQueueHandle xQueue = NULL;
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110 /*-----------------------------------------------------------*/
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114 extern void HardwareSetup( void );
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116 /* Renesas provided CPU configuration routine. The clocks are configured in
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120 /* Turn all LEDs off. */
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121 vParTestInitialise();
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123 /* Create the queue. */
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124 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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126 if( xQueue != NULL )
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128 /* Start the two tasks as described at the top of this file. */
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129 xTaskCreate( prvQueueReceiveTask, ( signed char * ) "Rx", configMINIMAL_STACK_SIZE, NULL, configQUEUE_RECEIVE_TASK_PRIORITY, NULL );
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130 xTaskCreate( prvQueueSendTask, ( signed char * ) "TX", configMINIMAL_STACK_SIZE, NULL, configQUEUE_SEND_TASK_PRIORITY, NULL );
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132 /* Start the tasks running. */
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133 vTaskStartScheduler();
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136 /* If all is well we will never reach here as the scheduler will now be
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137 running. If we do reach here then it is likely that there was insufficient
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138 heap available for the idle task to be created. */
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141 /*-----------------------------------------------------------*/
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143 static void prvQueueSendTask( void *pvParameters )
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145 portTickType xNextWakeTime;
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146 const unsigned long ulValueToSend = 100UL;
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148 /* Initialise xNextWakeTime - this only needs to be done once. */
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149 xNextWakeTime = xTaskGetTickCount();
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153 /* Place this task in the blocked state until it is time to run again.
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154 The block state is specified in ticks, the constant used converts ticks
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156 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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158 /* Send to the queue - causing the queue receive task to flash its LED. 0
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159 is used so the send does not block - it shouldn't need to as the queue
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160 should always be empty here. */
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161 xQueueSend( xQueue, &ulValueToSend, 0 );
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164 /*-----------------------------------------------------------*/
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166 static void prvQueueReceiveTask( void *pvParameters )
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168 unsigned long ulReceivedValue;
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172 /* Wait until something arives in the queue - this will block
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173 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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174 FreeRTOSConfig.h. */
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175 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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177 /* To get here something must have arrived, but is it the expected
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178 value? If it is, toggle the LED. */
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179 if( ulReceivedValue == 100UL )
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181 vParTestToggleLED( 0 );
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185 /*-----------------------------------------------------------*/
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187 void vApplicationSetupTimerInterrupt( void )
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189 /* Enable compare match timer 0. */
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192 /* Interrupt on compare match. */
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193 CMT0.CMCR.BIT.CMIE = 1;
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195 /* Set the compare match value. */
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196 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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198 /* Divide the PCLK by 8. */
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199 CMT0.CMCR.BIT.CKS = 0;
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201 /* Enable the interrupt... */
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202 _IEN( _CMT0_CMI0 ) = 1;
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204 /* ...and set its priority to the application defined kernel priority. */
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205 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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207 /* Start the timer. */
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208 CMT.CMSTR0.BIT.STR0 = 1;
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210 /*-----------------------------------------------------------*/
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212 /* This function is explained by the comments above its prototype at the top
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214 void vApplicationMallocFailedHook( void )
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218 /*-----------------------------------------------------------*/
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220 /* This function is explained by the comments above its prototype at the top
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222 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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226 /*-----------------------------------------------------------*/
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228 /* This function is explained by the comments above its prototype at the top
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230 void vApplicationIdleHook( void )
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233 /*-----------------------------------------------------------*/
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235 /* The following four functions are here just to allow all three build
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236 configurations to use the same vector table. They are not used in this
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237 demo, but linker errors will result if they are not defined. They can
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239 void vT0_1_ISR_Handler( void ) {}
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240 void vT2_3_ISR_Handler( void ) {}
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241 void vEMAC_ISR_Handler( void ) {}
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242 void vTimer2_ISR_Handler( void ) {}
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243 volatile unsigned long ulHighFrequencyTickCount = 0;