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--- /dev/null
+/*\r
+ FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.\r
+\r
+ ***************************************************************************\r
+ * *\r
+ * If you are: *\r
+ * *\r
+ * + New to FreeRTOS, *\r
+ * + Wanting to learn FreeRTOS or multitasking in general quickly *\r
+ * + Looking for basic training, *\r
+ * + Wanting to improve your FreeRTOS skills and productivity *\r
+ * *\r
+ * then take a look at the FreeRTOS books - available as PDF or paperback *\r
+ * *\r
+ * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *\r
+ * http://www.FreeRTOS.org/Documentation *\r
+ * *\r
+ * A pdf reference manual is also available. Both are usually delivered *\r
+ * to your inbox within 20 minutes to two hours when purchased between 8am *\r
+ * and 8pm GMT (although please allow up to 24 hours in case of *\r
+ * exceptional circumstances). Thank you for your support! *\r
+ * *\r
+ ***************************************************************************\r
+\r
+ This file is part of the FreeRTOS distribution.\r
+\r
+ FreeRTOS is free software; you can redistribute it and/or modify it under\r
+ the terms of the GNU General Public License (version 2) as published by the\r
+ Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
+ ***NOTE*** The exception to the GPL is included to allow you to distribute\r
+ a combined work that includes FreeRTOS without being obliged to provide the\r
+ source code for proprietary components outside of the FreeRTOS kernel.\r
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT\r
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or\r
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
+ more details. You should have received a copy of the GNU General Public\r
+ License and the FreeRTOS license exception along with FreeRTOS; if not it\r
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained\r
+ by writing to Richard Barry, contact details for whom are available on the\r
+ FreeRTOS WEB site.\r
+\r
+ 1 tab == 4 spaces!\r
+\r
+ http://www.FreeRTOS.org - Documentation, latest information, license and\r
+ contact details.\r
+\r
+ http://www.SafeRTOS.com - A version that is certified for use in safety\r
+ critical systems.\r
+\r
+ http://www.OpenRTOS.com - Commercial support, development, porting,\r
+ licensing and training services.\r
+*/\r
+\r
+/*\r
+This simple demo project runs on the STM32 Discovery board, which is\r
+populated with an STM32F100RB Cortex-M3 microcontroller. The discovery board \r
+makes an ideal low cost evaluation platform, but the 8K of RAM provided on the\r
+STM32F100RB does not allow the simple application to demonstrate all of all the \r
+FreeRTOS kernel features. Therefore, this simple demo only actively \r
+demonstrates task, queue, timer and interrupt functionality. In addition, the \r
+demo is configured to include malloc failure, idle and stack overflow hook \r
+functions.\r
+\r
+The idle hook function:\r
+The idle hook function queries the amount of FreeRTOS heap space that is\r
+remaining (see vApplicationIdleHook() defined in this file). The demo \r
+application is configured use 7K or the available 8K of RAM as the FreeRTOS heap.\r
+Memory is only allocated from this heap during initialisation, and this demo \r
+only actually uses 1.6K bytes of the configured 7K available - leaving 5.4K \r
+bytes of heap space unallocated.\r
+\r
+The main() Function:\r
+main() creates one software timer, one queue, and two tasks. It then starts the\r
+scheduler.\r
+\r
+The Queue Send Task:\r
+The queue send task is implemented by the prvQueueSendTask() function in this \r
+file. prvQueueSendTask() sits in a loop that causes it to repeatedly block for \r
+200 milliseconds, before sending the value 100 to the queue that was created \r
+within main(). Once the value is sent, the task loops back around to block for\r
+another 200 milliseconds.\r
+\r
+The Queue Receive Task:\r
+The queue receive task is implemented by the prvQueueReceiveTask() function\r
+in this file. prvQueueReceiveTask() sits in a loop that causes repeatedly \r
+attempt to read data from the queue that was created within main(). When data \r
+is received, the task checks the value of the data, and if the value equals \r
+the expected 100, toggles the green LED. The 'block time' parameter passed to \r
+the queue receive function specifies that the task should be held in the Blocked \r
+state indefinitely to wait for data to be available on the queue. The queue \r
+receive task will only leave the Blocked state when the queue send task writes \r
+to the queue. As the queue send task writes to the queue every 200 \r
+milliseconds, the queue receive task leaves the Blocked state every 200 \r
+milliseconds, and therefore toggles the green LED every 200 milliseconds.\r
+\r
+The LED Software Timer and the Button Interrupt:\r
+The user button B1 is configured to generate an interrupt each time it is\r
+pressed. The interrupt service routine switches the red LED on, and resets the \r
+LED software timer. The LED timer has a 5000 millisecond (5 second) period, and\r
+uses a callback function that is defined to just turn the red LED off. \r
+Therefore, pressing the user button will turn the red LED on, and the LED will \r
+remain on until a full five seconds pass without the button being pressed.\r
+*/\r
+\r
+/* Kernel includes. */\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+#include "queue.h"\r
+#include "timers.h"\r
+\r
+/* Microsemi drivers/libraries includes. */\r
+#include "mss_gpio.h"\r
+#include "mss_watchdog.h"\r
+\r
+/* Common demo includes. */\r
+#include "partest.h"\r
+\r
+\r
+/* Priorities at which the tasks are created. */\r
+#define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
+#define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
+\r
+/* The rate at which data is sent to the queue, specified in milliseconds, and\r
+converted to ticks using the portTICK_RATE_MS constant. */\r
+#define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_RATE_MS )\r
+\r
+/* The number of items the queue can hold. This is 1 as the receive task\r
+will remove items as they are added, meaning the send task should always find\r
+the queue empty. */\r
+#define mainQUEUE_LENGTH ( 1 )\r
+\r
+#define mainTASK_CONTROLLED_LED 0x01UL\r
+#define mainTIMER_CONTROLLED_LED 0x02UL\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * Setup the NVIC, LED outputs, and button inputs.\r
+ */\r
+static void prvSetupHardware( void );\r
+\r
+/*\r
+ * The tasks as described in the comments at the top of this file.\r
+ */\r
+static void prvQueueReceiveTask( void *pvParameters );\r
+static void prvQueueSendTask( void *pvParameters );\r
+\r
+/*\r
+ * The LED timer callback function. This does nothing but switch the red LED \r
+ * off.\r
+ */\r
+static void vLEDTimerCallback( xTimerHandle xTimer );\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/* The queue used by both tasks. */\r
+static xQueueHandle xQueue = NULL;\r
+\r
+/* The LED software timer. This uses vLEDTimerCallback() as its callback\r
+function. */\r
+static xTimerHandle xLEDTimer = NULL;\r
+\r
+\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+int main(void)\r
+{\r
+ /* Configure the NVIC, LED outputs and button inputs. */\r
+ prvSetupHardware();\r
+\r
+ /* Create the queue. */\r
+ xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );\r
+\r
+ if( xQueue != NULL )\r
+ {\r
+ /* Start the two tasks as described in the comments at the top of this\r
+ file. */\r
+ xTaskCreate( prvQueueReceiveTask, ( signed char * ) "Rx", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_RECEIVE_TASK_PRIORITY, NULL );\r
+ xTaskCreate( prvQueueSendTask, ( signed char * ) "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );\r
+\r
+ /* Create the software timer that is responsible for turning off the LED \r
+ if the button is not pushed within 5000ms, as described at the top of \r
+ this file. */\r
+ xLEDTimer = xTimerCreate( ( const signed char * ) "LEDTimer", /* A text name, purely to help debugging. */\r
+ ( 5000 / portTICK_RATE_MS ), /* The timer period, in this case 5000ms (5s). */\r
+ pdFALSE, /* This is a one shot timer, so xAutoReload is set to pdFALSE. */\r
+ ( void * ) 0, /* The ID is not used, so can be set to anything. */\r
+ vLEDTimerCallback /* The callback function that switches the LED off. */\r
+ );\r
+\r
+ /* Start the tasks and timer running. */\r
+ vTaskStartScheduler();\r
+ }\r
+\r
+ /* If all is well, the scheduler will now be running, and the following line\r
+ will never be reached. If the following line does execute, then there was\r
+ insufficient FreeRTOS heap memory available for the idle and/or timer tasks\r
+ to be created. See the memory management section on the FreeRTOS web site\r
+ for more details. */\r
+ for( ;; );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void vLEDTimerCallback( xTimerHandle xTimer )\r
+{\r
+ /* The timer has expired - so no button pushes have occurred in the last\r
+ five seconds - turn the LED off. NOTE - accessing the LED port should use\r
+ a critical section because it is accessed from multiple tasks, and the\r
+ button interrupt - in this trivial case, for simplicity, the critical\r
+ section is omitted. */\r
+ ulGPIOState |= mainTIMER_CONTROLLED_LED;\r
+ MSS_GPIO_set_outputs( ulGPIOState );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+/* The ISR executed when the user button is pushed. */\r
+void GPIO8_IRQHandler( void )\r
+{\r
+portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;\r
+\r
+ /* The button was pushed, so ensure the LED is on before resetting the\r
+ LED timer. The LED timer will turn the LED off if the button is not\r
+ pushed within 5000ms. */\r
+ ulGPIOState &= ~mainTIMER_CONTROLLED_LED;\r
+ MSS_GPIO_set_outputs( ulGPIOState );\r
+\r
+ /* This interrupt safe FreeRTOS function can be called from this interrupt\r
+ because the interrupt priority is below the\r
+ configMAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */\r
+ xTimerResetFromISR( xLEDTimer, &xHigherPriorityTaskWoken );\r
+\r
+ /* Clear the interrupt before leaving. */\r
+ MSS_GPIO_clear_irq( MSS_GPIO_8 );\r
+\r
+ /* If calling xTimerResetFromISR() caused a task (in this case the timer\r
+ service/daemon task) to unblock, and the unblocked task has a priority\r
+ higher than or equal to the task that was interrupted, then\r
+ xHigherPriorityTaskWoken will now be set to pdTRUE, and calling\r
+ portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */\r
+ portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvQueueSendTask( void *pvParameters )\r
+{\r
+portTickType xNextWakeTime;\r
+const unsigned long ulValueToSend = 100UL;\r
+\r
+ /* Initialise xNextWakeTime - this only needs to be done once. */\r
+ xNextWakeTime = xTaskGetTickCount();\r
+\r
+ for( ;; )\r
+ {\r
+ /* Place this task in the blocked state until it is time to run again.\r
+ The block time is specified in ticks, the constant used converts ticks\r
+ to ms. While in the Blocked state this task will not consume any CPU\r
+ time. */\r
+ vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );\r
+\r
+ /* Send to the queue - causing the queue receive task to unblock and\r
+ toggle an LED. 0 is used as the block time so the sending operation\r
+ will not block - it shouldn't need to block as the queue should always\r
+ be empty at this point in the code. */\r
+ xQueueSend( xQueue, &ulValueToSend, 0 );\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvQueueReceiveTask( void *pvParameters )\r
+{\r
+unsigned long ulReceivedValue;\r
+\r
+ for( ;; )\r
+ {\r
+ /* Wait until something arrives in the queue - this task will block\r
+ indefinitely provided INCLUDE_vTaskSuspend is set to 1 in\r
+ FreeRTOSConfig.h. */\r
+ xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );\r
+\r
+ /* To get here something must have been received from the queue, but\r
+ is it the expected value? If it is, toggle the green LED. */\r
+ if( ulReceivedValue == 100UL )\r
+ {\r
+ /* NOTE - accessing the LED port should use a critical section\r
+ because it is accessed from multiple tasks, and the button interrupt \r
+ - in this trivial case, for simplicity, the critical section is \r
+ omitted. */\r
+ if( ( ulGPIOState & mainTASK_CONTROLLED_LED ) != 0 )\r
+ {\r
+ ulGPIOState &= ~mainTASK_CONTROLLED_LED;\r
+ }\r
+ else\r
+ {\r
+ ulGPIOState |= mainTASK_CONTROLLED_LED;\r
+ }\r
+ MSS_GPIO_set_outputs( ulGPIOState );\r
+ }\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+static void prvSetupHardware( void )\r
+{\r
+ /* Disable the Watch Dog Timer */\r
+ MSS_WD_disable( );\r
+\r
+ /* Configure the GPIO for the LEDs. */\r
+ vParTestInitialise();\r
+\r
+ /* Setup the GPIO and the NVIC for the switch used in this simple demo. */\r
+ NVIC_EnableIRQ( GPIO8_IRQn );\r
+ MSS_GPIO_config( MSS_GPIO_8, MSS_GPIO_INPUT_MODE | MSS_GPIO_IRQ_EDGE_NEGATIVE );\r
+ MSS_GPIO_enable_irq( MSS_GPIO_8 );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vApplicationMallocFailedHook( void )\r
+{\r
+ /* Called if a call to pvPortMalloc() fails because there is insufficient\r
+ free memory available in the FreeRTOS heap. pvPortMalloc() is called\r
+ internally by FreeRTOS API functions that create tasks, queues, software \r
+ timers, and semaphores. The size of the FreeRTOS heap is set by the\r
+ configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */\r
+ for( ;; );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )\r
+{\r
+ ( void ) pcTaskName;\r
+ ( void ) pxTask;\r
+\r
+ /* Run time stack overflow checking is performed if\r
+ configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook\r
+ function is called if a stack overflow is detected. */\r
+ for( ;; );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vApplicationIdleHook( void )\r
+{\r
+volatile size_t xFreeStackSpace;\r
+\r
+ /* This function is called on each cycle of the idle task. In this case it\r
+ does nothing useful, other than report the amout of FreeRTOS heap that \r
+ remains unallocated. */\r
+ xFreeStackSpace = xPortGetFreeHeapSize();\r
+\r
+ if( xFreeStackSpace > 100 )\r
+ {\r
+ /* By now, the kernel has allocated everything it is going to, so\r
+ if there is a lot of heap remaining unallocated then\r
+ the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be\r
+ reduced accordingly. */\r
+ }\r
+}\r
projects / freertos / commitdiff