2 FreeRTOS V7.4.0 - 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 itcan 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, one queue, and one
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77 * software timer. For a much more complete and complex example select either
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78 * the Debug or Debug_with_optimisation build configurations within the HEW,
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79 * which build main_full.c in place of this file.
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81 * One task (the queue receive task) blocks on the queue to wait for data to
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82 * arrive, toggling LED0 each time '100' is received. The other task (the
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83 * queue send task) repeatedly blocks for a fixed period before sending '100'
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84 * to the queue (causing the first task to toggle the LED).
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86 * The software timer is configured to auto-reload. The timer callback
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87 * function periodically toggles LED1.
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90 /* Hardware specific includes. */
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91 #include "iodefine.h"
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93 /* Kernel includes. */
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94 #include "FreeRTOS.h"
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99 /* Priorities at which the tasks are created. */
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100 #define configQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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101 #define configQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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103 /* The rate at which data is sent to the queue, specified in milliseconds. */
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104 #define mainQUEUE_SEND_PERIOD_MS ( 500 / portTICK_RATE_MS )
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106 /* The period of the software timer, specified in milliseconds. */
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107 #define mainSOFTWARE_TIMER_PERIOD_MS ( 150 / portTICK_RATE_MS )
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109 /* The number of items the queue can hold. This is 1 as the receive task
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110 will remove items as they are added so the send task should always find the
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112 #define mainQUEUE_LENGTH ( 1 )
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114 /* The LEDs toggle by the task and timer respectively. */
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115 #define mainTASK_LED ( 0 )
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116 #define mainTIMER_LED ( 1 )
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119 * The tasks as defined at the top of this file.
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121 static void prvQueueReceiveTask( void *pvParameters );
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122 static void prvQueueSendTask( void *pvParameters );
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125 * The callback function used by the software timer.
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127 static void prvBlinkyTimerCallback( xTimerHandle xTimer );
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129 /* The queue used by both tasks. */
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130 static xQueueHandle xQueue = NULL;
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132 /* This variable is not used by this simple Blinky example. It is defined
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133 purely to allow the project to link as it is used by the full project. */
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134 volatile unsigned long ulHighFrequencyTickCount = 0UL;
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135 /*-----------------------------------------------------------*/
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139 xTimerHandle xTimer;
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141 /* Turn all LEDs off. */
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142 vParTestInitialise();
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144 /* Create the queue. */
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145 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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147 /* Create the software timer, as described at the top of this file. */
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148 xTimer = xTimerCreate( "BlinkyTimer", /* Just a text name to make debugging easier - not used by the scheduler. */
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149 mainSOFTWARE_TIMER_PERIOD_MS, /* The timer period. */
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150 pdTRUE, /* Set to pdTRUE for periodic timer, or pdFALSE for one-shot timer. */
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151 NULL, /* The timer ID is not required. */
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152 prvBlinkyTimerCallback ); /* The function executed when the timer expires. */
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154 if( xTimer != NULL )
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156 /* Start the timer - it will not actually start running until the
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157 scheduler has started. The block time is set to 0, although, because
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158 xTimerStart() is being called before the scheduler has been started,
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159 the any block time specified would be ignored anyway. */
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160 xTimerStart( xTimer, 0UL );
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163 if( xQueue != NULL )
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165 /* Start the two tasks as described at the top of this file. */
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166 xTaskCreate( prvQueueReceiveTask, /* The function that implements the task. */
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167 "Rx", /* Just a text name to make debugging easier - not used by the scheduler. */
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168 configMINIMAL_STACK_SIZE, /* The size of the task stack, in words. */
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169 NULL, /* The task parameter is not used. */
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170 configQUEUE_RECEIVE_TASK_PRIORITY, /* The priority assigned to the task when it is created. */
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171 NULL ); /* The task handle is not used. */
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173 xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, configQUEUE_SEND_TASK_PRIORITY, NULL );
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175 /* Start the tasks running. */
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176 vTaskStartScheduler();
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179 /* If all is well we will never reach here as the scheduler will now be
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180 running. If we do reach here then it is likely that there was insufficient
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181 heap available for the idle task to be created. */
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184 /*-----------------------------------------------------------*/
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186 static void prvQueueSendTask( void *pvParameters )
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188 portTickType xNextWakeTime;
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189 const unsigned long ulValueToSend = 100UL;
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191 /* Initialise xNextWakeTime - this only needs to be done once. */
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192 xNextWakeTime = xTaskGetTickCount();
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196 /* Place this task in the blocked state until it is time to run again.
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197 The block state is specified in ticks, the constant used converts ticks
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199 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_PERIOD_MS );
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201 /* Send to the queue - causing the queue receive task to flash its LED. 0
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202 is used so the send does not block - it shouldn't need to as the queue
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203 should always be empty here. */
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204 xQueueSend( xQueue, &ulValueToSend, 0 );
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207 /*-----------------------------------------------------------*/
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209 static void prvQueueReceiveTask( void *pvParameters )
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211 unsigned long ulReceivedValue;
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215 /* Wait until something arives in the queue - this will block
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216 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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217 FreeRTOSConfig.h. */
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218 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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220 /* To get here something must have arrived, but is it the expected
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221 value? If it is, toggle the LED. */
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222 if( ulReceivedValue == 100UL )
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224 vParTestToggleLED( mainTASK_LED );
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228 /*-----------------------------------------------------------*/
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230 static void prvBlinkyTimerCallback( xTimerHandle xTimer )
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232 /* The software timer does nothing but toggle an LED. */
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233 vParTestToggleLED( mainTIMER_LED );
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235 /*-----------------------------------------------------------*/
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237 void vApplicationSetupTimerInterrupt( void )
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239 /* Enable compare match timer 0. */
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242 /* Interrupt on compare match. */
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243 CMT0.CMCR.BIT.CMIE = 1;
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245 /* Set the compare match value. */
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246 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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248 /* Divide the PCLK by 8. */
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249 CMT0.CMCR.BIT.CKS = 0;
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251 /* Enable the interrupt... */
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252 _IEN( _CMT0_CMI0 ) = 1;
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254 /* ...and set its priority to the application defined kernel priority. */
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255 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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257 /* Start the timer. */
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258 CMT.CMSTR0.BIT.STR0 = 1;
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260 /*-----------------------------------------------------------*/
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262 /* This function is explained by the comments above its prototype at the top
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264 void vApplicationMallocFailedHook( void )
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268 /*-----------------------------------------------------------*/
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270 /* This function is explained by the comments above its prototype at the top
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272 void vApplicationStackOverflowHook( xTaskHandle pxTask, char *pcTaskName )
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276 /*-----------------------------------------------------------*/
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278 /* This function is explained by the comments above its prototype at the top
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280 void vApplicationIdleHook( void )
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282 /* Just to prevent the variable getting optimised away. */
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283 ( void ) ulHighFrequencyTickCount;
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285 /*-----------------------------------------------------------*/
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