From 797acfc9ebe303d788e5d72a43e6157977b5bdb0 Mon Sep 17 00:00:00 2001 From: richardbarry Date: Sun, 18 May 2008 16:21:12 +0000 Subject: [PATCH] Update demo to include a test of nesting interrupt accessing queues. git-svn-id: https://svn.code.sf.net/p/freertos/code/trunk@352 1d2547de-c912-0410-9cb9-b8ca96c0e9e2 --- Demo/PIC32MX_MPLAB/FreeRTOSConfig.h | 19 +- Demo/PIC32MX_MPLAB/IntQueueTimer.c | 117 ++++++++++++ Demo/PIC32MX_MPLAB/IntQueueTimer.h | 58 ++++++ Demo/PIC32MX_MPLAB/main.c | 18 +- Demo/PIC32MX_MPLAB/printf-stdarg.c | 286 ++++++++++++++++++++++++++++ Demo/PIC32MX_MPLAB/timertest.c | 2 +- 6 files changed, 482 insertions(+), 18 deletions(-) create mode 100644 Demo/PIC32MX_MPLAB/IntQueueTimer.c create mode 100644 Demo/PIC32MX_MPLAB/IntQueueTimer.h create mode 100644 Demo/PIC32MX_MPLAB/printf-stdarg.c diff --git a/Demo/PIC32MX_MPLAB/FreeRTOSConfig.h b/Demo/PIC32MX_MPLAB/FreeRTOSConfig.h index 4d4d73a7d..ad2fad281 100644 --- a/Demo/PIC32MX_MPLAB/FreeRTOSConfig.h +++ b/Demo/PIC32MX_MPLAB/FreeRTOSConfig.h @@ -69,9 +69,9 @@ #define configCPU_CLOCK_HZ ( ( unsigned portLONG ) 72000000UL ) #define configPERIPHERAL_CLOCK_HZ ( ( unsigned portLONG ) 36000000UL ) #define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 ) -#define configMINIMAL_STACK_SIZE ( 210 ) +#define configMINIMAL_STACK_SIZE ( 200 ) #define configISR_STACK_SIZE ( 400 ) -#define configTOTAL_HEAP_SIZE ( ( size_t ) 25000 ) +#define configTOTAL_HEAP_SIZE ( ( size_t ) 28000 ) #define configMAX_TASK_NAME_LEN ( 8 ) #define configUSE_TRACE_FACILITY 0 #define configUSE_16_BIT_TICKS 0 @@ -86,13 +86,14 @@ /* Set the following definitions to 1 to include the API function, or zero to exclude the API function. */ -#define INCLUDE_vTaskPrioritySet 1 -#define INCLUDE_uxTaskPriorityGet 1 -#define INCLUDE_vTaskDelete 0 -#define INCLUDE_vTaskCleanUpResources 0 -#define INCLUDE_vTaskSuspend 1 -#define INCLUDE_vTaskDelayUntil 1 -#define INCLUDE_vTaskDelay 1 +#define INCLUDE_vTaskPrioritySet 1 +#define INCLUDE_uxTaskPriorityGet 1 +#define INCLUDE_vTaskDelete 0 +#define INCLUDE_vTaskCleanUpResources 0 +#define INCLUDE_vTaskSuspend 1 +#define INCLUDE_vTaskDelayUntil 1 +#define INCLUDE_vTaskDelay 1 +#define INCLUDE_uxTaskGetStackHighWaterMark 1 /* The priority at which the tick interrupt runs. This should probably be kept at 1. */ diff --git a/Demo/PIC32MX_MPLAB/IntQueueTimer.c b/Demo/PIC32MX_MPLAB/IntQueueTimer.c new file mode 100644 index 000000000..887fe5e0b --- /dev/null +++ b/Demo/PIC32MX_MPLAB/IntQueueTimer.c @@ -0,0 +1,117 @@ +/* + FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + *************************************************************************** + * * + * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, * + * and even write all or part of your application on your behalf. * + * See http://www.OpenRTOS.com for details of the services we provide to * + * expedite your project. * + * * + *************************************************************************** + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + +#include "FreeRTOS.h" +#include "IntQueueTimer.h" +#include "IntQueue.h" + +#define timerINTERRUPT3_FREQUENCY ( 2000UL ) +#define timerINTERRUPT4_FREQUENCY ( 2001UL ) + +void vT3InterruptHandler( void ); +void vT4InterruptHandler( void ); + +void __attribute__( (interrupt(ipl0), vector(_TIMER_3_VECTOR))) vT3InterruptWrapper( void ); +void __attribute__( (interrupt(ipl0), vector(_TIMER_4_VECTOR))) vT4InterruptWrapper( void ); + +void vInitialiseTimerForIntQueueTest( void ) +{ + /* Timer 1 is used for the tick interrupt, timer 2 is used for the high + frequency interrupt test. This file therefore uses timers 3 and 4. */ + + T3CON = 0; + TMR3 = 0; + PR3 = ( unsigned portSHORT ) ( configPERIPHERAL_CLOCK_HZ / timerINTERRUPT3_FREQUENCY ); + + /* Setup timer 3 interrupt priority to be above the kernel priority. */ + ConfigIntTimer3( T3_INT_ON | ( configMAX_SYSCALL_INTERRUPT_PRIORITY - 1 ) ); + + /* Clear the interrupt as a starting condition. */ + IFS0bits.T3IF = 0; + + /* Enable the interrupt. */ + IEC0bits.T3IE = 1; + + /* Start the timer. */ + T3CONbits.TON = 1; + + + /* Do the same for timer 4. */ + T4CON = 0; + TMR4 = 0; + PR4 = ( unsigned portSHORT ) ( configPERIPHERAL_CLOCK_HZ / timerINTERRUPT4_FREQUENCY ); + + /* Setup timer 4 interrupt priority to be above the kernel priority. */ + ConfigIntTimer4( T4_INT_ON | ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) ); + + /* Clear the interrupt as a starting condition. */ + IFS0bits.T4IF = 0; + + /* Enable the interrupt. */ + IEC0bits.T4IE = 1; + + /* Start the timer. */ + T4CONbits.TON = 1; +} +/*-----------------------------------------------------------*/ + +void vT3InterruptHandler( void ) +{ + IFS0bits.T3IF = 0; + portEND_SWITCHING_ISR( xFirstTimerHandler() ); +} +/*-----------------------------------------------------------*/ + +void vT4InterruptHandler( void ) +{ + IFS0bits.T4IF = 0; + portEND_SWITCHING_ISR( xSecondTimerHandler() ); +} + + diff --git a/Demo/PIC32MX_MPLAB/IntQueueTimer.h b/Demo/PIC32MX_MPLAB/IntQueueTimer.h new file mode 100644 index 000000000..33686269e --- /dev/null +++ b/Demo/PIC32MX_MPLAB/IntQueueTimer.h @@ -0,0 +1,58 @@ +/* + FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + *************************************************************************** + * * + * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, * + * and even write all or part of your application on your behalf. * + * See http://www.OpenRTOS.com for details of the services we provide to * + * expedite your project. * + * * + *************************************************************************** + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + http://www.FreeRTOS.org - Documentation, latest information, license and + contact details. + + http://www.SafeRTOS.com - A version that is certified for use in safety + critical systems. + + http://www.OpenRTOS.com - Commercial support, development, porting, + licensing and training services. +*/ + +#ifndef INT_QUEUE_TIMER_H +#define INT_QUEUE_TIMER_H + +void vInitialiseTimerForIntQueueTest( void ); +portBASE_TYPE xTimer0Handler( void ); +portBASE_TYPE xTimer1Handler( void ); + +#endif + diff --git a/Demo/PIC32MX_MPLAB/main.c b/Demo/PIC32MX_MPLAB/main.c index 12e9912f1..3b1bc954c 100644 --- a/Demo/PIC32MX_MPLAB/main.c +++ b/Demo/PIC32MX_MPLAB/main.c @@ -94,7 +94,6 @@ /* Demo application includes. */ #include "partest.h" -#include "integer.h" #include "blocktim.h" #include "flash.h" #include "semtest.h" @@ -103,6 +102,7 @@ #include "lcd.h" #include "comtest2.h" #include "timertest.h" +#include "IntQueue.h" #pragma config FPLLMUL = MUL_18, FPLLIDIV = DIV_2, FPLLODIV = DIV_1, FWDTEN = OFF #pragma config POSCMOD = HS, FNOSC = PRIPLL, FPBDIV = DIV_2 @@ -206,17 +206,17 @@ int main( void ) vStartLEDFlashTasks( tskIDLE_PRIORITY ); vCreateBlockTimeTasks(); vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); - vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY ); vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY ); vStartQueuePeekTasks(); vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED ); + vStartInterruptQueueTasks(); /* Create the tasks defined within this file. */ xTaskCreate( prvTestTask1, "Tst1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); xTaskCreate( prvTestTask2, "Tst2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); /* prvCheckTask uses sprintf so requires more stack. */ - xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE * 2, NULL, mainCHECK_TASK_PRIORITY, NULL ); + xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); /* Finally start the scheduler. */ vTaskStartScheduler(); @@ -351,11 +351,11 @@ xLCDMessage xMessage = { ( 200 / portTICK_RATE_MS ), cStringBuffer }; ulTicksToWait = mainERROR_PERIOD; xMessage.pcMessage = "Error: Sem test"; } - else if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) - { - ulTicksToWait = mainERROR_PERIOD; - xMessage.pcMessage = "Error: Int math"; - } + else if( xAreIntQueueTasksStillRunning() != pdTRUE ) + { + ulTicksToWait = mainERROR_PERIOD; + xMessage.pcMessage = "Error: Int queue"; + } /* Write the max jitter time to the string buffer. It will only be displayed if no errors have been detected. */ @@ -379,3 +379,5 @@ void _general_exception_handler( unsigned portLONG ulCause, unsigned portLONG ul should be handled here. */ for( ;; ); } +/*-----------------------------------------------------------*/ + diff --git a/Demo/PIC32MX_MPLAB/printf-stdarg.c b/Demo/PIC32MX_MPLAB/printf-stdarg.c new file mode 100644 index 000000000..8eb6da335 --- /dev/null +++ b/Demo/PIC32MX_MPLAB/printf-stdarg.c @@ -0,0 +1,286 @@ +/* + Copyright 2001, 2002 Georges Menie (www.menie.org) + stdarg version contributed by Christian Ettinger + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU Lesser General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + +/* + putchar is the only external dependency for this file, + if you have a working putchar, leave it commented out. + If not, uncomment the define below and + replace outbyte(c) by your own function call. + +#define putchar(c) outbyte(c) +*/ + +#include + +static void printchar(char **str, int c) +{ + extern int putchar(int c); + + if (str) { + **str = c; + ++(*str); + } + else (void)putchar(c); +} + +#define PAD_RIGHT 1 +#define PAD_ZERO 2 + +static int prints(char **out, const char *string, int width, int pad) +{ + register int pc = 0, padchar = ' '; + + if (width > 0) { + register int len = 0; + register const char *ptr; + for (ptr = string; *ptr; ++ptr) ++len; + if (len >= width) width = 0; + else width -= len; + if (pad & PAD_ZERO) padchar = '0'; + } + if (!(pad & PAD_RIGHT)) { + for ( ; width > 0; --width) { + printchar (out, padchar); + ++pc; + } + } + for ( ; *string ; ++string) { + printchar (out, *string); + ++pc; + } + for ( ; width > 0; --width) { + printchar (out, padchar); + ++pc; + } + + return pc; +} + +/* the following should be enough for 32 bit int */ +#define PRINT_BUF_LEN 12 + +static int printi(char **out, int i, int b, int sg, int width, int pad, int letbase) +{ + char print_buf[PRINT_BUF_LEN]; + register char *s; + register int t, neg = 0, pc = 0; + register unsigned int u = i; + + if (i == 0) { + print_buf[0] = '0'; + print_buf[1] = '\0'; + return prints (out, print_buf, width, pad); + } + + if (sg && b == 10 && i < 0) { + neg = 1; + u = -i; + } + + s = print_buf + PRINT_BUF_LEN-1; + *s = '\0'; + + while (u) { + t = u % b; + if( t >= 10 ) + t += letbase - '0' - 10; + *--s = t + '0'; + u /= b; + } + + if (neg) { + if( width && (pad & PAD_ZERO) ) { + printchar (out, '-'); + ++pc; + --width; + } + else { + *--s = '-'; + } + } + + return pc + prints (out, s, width, pad); +} + +static int print( char **out, const char *format, va_list args ) +{ + register int width, pad; + register int pc = 0; + char scr[2]; + + for (; *format != 0; ++format) { + if (*format == '%') { + ++format; + width = pad = 0; + if (*format == '\0') break; + if (*format == '%') goto out; + if (*format == '-') { + ++format; + pad = PAD_RIGHT; + } + while (*format == '0') { + ++format; + pad |= PAD_ZERO; + } + for ( ; *format >= '0' && *format <= '9'; ++format) { + width *= 10; + width += *format - '0'; + } + if( *format == 's' ) { + register char *s = (char *)va_arg( args, int ); + pc += prints (out, s?s:"(null)", width, pad); + continue; + } + if( *format == 'd' ) { + pc += printi (out, va_arg( args, int ), 10, 1, width, pad, 'a'); + continue; + } + if( *format == 'x' ) { + pc += printi (out, va_arg( args, int ), 16, 0, width, pad, 'a'); + continue; + } + if( *format == 'X' ) { + pc += printi (out, va_arg( args, int ), 16, 0, width, pad, 'A'); + continue; + } + if( *format == 'u' ) { + pc += printi (out, va_arg( args, int ), 10, 0, width, pad, 'a'); + continue; + } + if( *format == 'c' ) { + /* char are converted to int then pushed on the stack */ + scr[0] = (char)va_arg( args, int ); + scr[1] = '\0'; + pc += prints (out, scr, width, pad); + continue; + } + } + else { + out: + printchar (out, *format); + ++pc; + } + } + if (out) **out = '\0'; + va_end( args ); + return pc; +} + +int printf(const char *format, ...) +{ + va_list args; + + va_start( args, format ); + return print( 0, format, args ); +} + +int sprintf(char *out, const char *format, ...) +{ + va_list args; + + va_start( args, format ); + return print( &out, format, args ); +} + + +int snprintf( char *buf, unsigned int count, const char *format, ... ) +{ + va_list args; + + ( void ) count; + + va_start( args, format ); + return print( &buf, format, args ); +} + + +#ifdef TEST_PRINTF +int main(void) +{ + char *ptr = "Hello world!"; + char *np = 0; + int i = 5; + unsigned int bs = sizeof(int)*8; + int mi; + char buf[80]; + + mi = (1 << (bs-1)) + 1; + printf("%s\n", ptr); + printf("printf test\n"); + printf("%s is null pointer\n", np); + printf("%d = 5\n", i); + printf("%d = - max int\n", mi); + printf("char %c = 'a'\n", 'a'); + printf("hex %x = ff\n", 0xff); + printf("hex %02x = 00\n", 0); + printf("signed %d = unsigned %u = hex %x\n", -3, -3, -3); + printf("%d %s(s)%", 0, "message"); + printf("\n"); + printf("%d %s(s) with %%\n", 0, "message"); + sprintf(buf, "justif: \"%-10s\"\n", "left"); printf("%s", buf); + sprintf(buf, "justif: \"%10s\"\n", "right"); printf("%s", buf); + sprintf(buf, " 3: %04d zero padded\n", 3); printf("%s", buf); + sprintf(buf, " 3: %-4d left justif.\n", 3); printf("%s", buf); + sprintf(buf, " 3: %4d right justif.\n", 3); printf("%s", buf); + sprintf(buf, "-3: %04d zero padded\n", -3); printf("%s", buf); + sprintf(buf, "-3: %-4d left justif.\n", -3); printf("%s", buf); + sprintf(buf, "-3: %4d right justif.\n", -3); printf("%s", buf); + + return 0; +} + +/* + * if you compile this file with + * gcc -Wall $(YOUR_C_OPTIONS) -DTEST_PRINTF -c printf.c + * you will get a normal warning: + * printf.c:214: warning: spurious trailing `%' in format + * this line is testing an invalid % at the end of the format string. + * + * this should display (on 32bit int machine) : + * + * Hello world! + * printf test + * (null) is null pointer + * 5 = 5 + * -2147483647 = - max int + * char a = 'a' + * hex ff = ff + * hex 00 = 00 + * signed -3 = unsigned 4294967293 = hex fffffffd + * 0 message(s) + * 0 message(s) with % + * justif: "left " + * justif: " right" + * 3: 0003 zero padded + * 3: 3 left justif. + * 3: 3 right justif. + * -3: -003 zero padded + * -3: -3 left justif. + * -3: -3 right justif. + */ + +#endif + + +/* To keep linker happy. */ +int write( int i, char* c, int n) +{ + return 0; +} + diff --git a/Demo/PIC32MX_MPLAB/timertest.c b/Demo/PIC32MX_MPLAB/timertest.c index c2b3b263f..10d0371f2 100644 --- a/Demo/PIC32MX_MPLAB/timertest.c +++ b/Demo/PIC32MX_MPLAB/timertest.c @@ -62,7 +62,7 @@ /* The maximum value the 16bit timer can contain. */ #define timerMAX_COUNT 0xffff -/* The timer 1 interrupt handler. */ +/* The timer 2 interrupt handler. */ void __attribute__( (interrupt(ipl0), vector(_TIMER_2_VECTOR))) vT2InterruptWrapper( void ); /*-----------------------------------------------------------*/ -- 2.39.5