2 * FreeRTOS Kernel V10.0.0
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3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software. If you wish to use our Amazon
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14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
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16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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23 * http://www.FreeRTOS.org
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24 * http://aws.amazon.com/freertos
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26 * 1 tab == 4 spaces!
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29 /******************************************************************************
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30 * This project provides two demo applications. A simple blinky style project,
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31 * and a more comprehensive test and demo application. The
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32 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting (defined in this file) is used to
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33 * select between the two. The simply blinky demo is implemented and described
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34 * in main_blinky.c. The more comprehensive test and demo application is
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35 * implemented and described in main_full.c.
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37 * This file implements the code that is not demo specific, including the
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38 * hardware setup and FreeRTOS hook functions. It also contains a dummy
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39 * interrupt service routine called Dummy_IRQHandler() that is provided as an
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40 * example of how to use interrupt safe FreeRTOS API functions (those that end
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43 *****************************************************************************/
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45 /* FreeRTOS includes. */
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46 #include "FreeRTOS.h"
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49 /* Demo app includes. */
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50 #include "UARTCommandConsole.h"
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52 /* Demo application include. */
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53 #include "QueueSet.h"
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55 /* Library includes. */
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58 /* Set mainCREATE_SIMPLE_BLINKY_DEMO_ONLY to one to run the simple blinky demo,
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59 or 0 to run the more comprehensive test and demo application. */
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60 #define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 1
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62 /*-----------------------------------------------------------*/
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65 * Perform any application specific hardware configuration.
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67 static void prvSetupHardware( void );
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70 * Prototypes for the FreeRTOS hook/callback functions. See the comments in
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71 * the implementation of each function for more information.
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73 void vApplicationMallocFailedHook( void );
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74 void vApplicationIdleHook( void );
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75 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
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76 void vApplicationTickHook( void );
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79 * main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
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80 * main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
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82 extern void main_blinky( void );
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83 extern void main_full( void );
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85 /*-----------------------------------------------------------*/
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87 /* Used in the run time stats calculations. */
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88 static unsigned long ulClocksPer10thOfAMilliSecond = 0UL;
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90 /*-----------------------------------------------------------*/
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94 /* Prepare the hardware for the demo. */
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97 /* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
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99 #if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 )
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109 /*-----------------------------------------------------------*/
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111 static void prvSetupHardware( void )
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113 /* Initialisation is performed by the Atmel board support package. */
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116 /*-----------------------------------------------------------*/
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118 void vApplicationMallocFailedHook( void )
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120 /* vApplicationMallocFailedHook() will only be called if
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121 configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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122 function that will get called if a call to pvPortMalloc() fails.
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123 pvPortMalloc() is called internally by the kernel whenever a task, queue,
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124 timer or semaphore is created. It is also called by various parts of the
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125 demo application. If heap_1.c or heap_2.c are used, then the size of the
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126 heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
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127 FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
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128 to query the size of free heap space that remains (although it does not
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129 provide information on how the remaining heap might be fragmented). */
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130 taskDISABLE_INTERRUPTS();
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133 /*-----------------------------------------------------------*/
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135 void vApplicationIdleHook( void )
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137 /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
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138 to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
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139 task. It is essential that code added to this hook function never attempts
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140 to block in any way (for example, call xQueueReceive() with a block time
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141 specified, or call vTaskDelay()). If the application makes use of the
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142 vTaskDelete() API function (as this demo application does) then it is also
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143 important that vApplicationIdleHook() is permitted to return to its calling
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144 function, because it is the responsibility of the idle task to clean up
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145 memory allocated by the kernel to any task that has since been deleted. */
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147 /*-----------------------------------------------------------*/
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149 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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151 ( void ) pcTaskName;
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154 /* Run time stack overflow checking is performed if
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155 configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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156 function is called if a stack overflow is detected. */
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157 taskDISABLE_INTERRUPTS();
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160 /*-----------------------------------------------------------*/
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162 void vApplicationTickHook( void )
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164 /* This function will be called by each tick interrupt if
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165 configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h. User code can be
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166 added here, but the tick hook is called from an interrupt context, so
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167 code must not attempt to block, and only the interrupt safe FreeRTOS API
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168 functions can be used (those that end in FromISR()). */
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170 /* The semaphore and associated task are not created when the simple blinky
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172 #if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0
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174 /* Write to a queue that is in use as part of the queue set demo to
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175 demonstrate using queue sets from an ISR. */
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176 vQueueSetAccessQueueSetFromISR();
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178 #endif /* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY */
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180 /*-----------------------------------------------------------*/
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182 void vMainConfigureTimerForRunTimeStats( void )
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184 /* Used by the optional run-time stats gathering functionality. */
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186 /* How many clocks are there per tenth of a millisecond? */
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187 ulClocksPer10thOfAMilliSecond = configCPU_CLOCK_HZ / 10000UL;
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189 /*-----------------------------------------------------------*/
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191 unsigned long ulMainGetRunTimeCounterValue( void )
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193 unsigned long ulSysTickCounts, ulTickCount, ulReturn;
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194 const unsigned long ulSysTickReloadValue = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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195 volatile unsigned long * const pulCurrentSysTickCount = ( ( volatile unsigned long *) 0xe000e018 );
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196 volatile unsigned long * const pulInterruptCTRLState = ( ( volatile unsigned long *) 0xe000ed04 );
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197 const unsigned long ulSysTickPendingBit = 0x04000000UL;
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199 /* Used by the optional run-time stats gathering functionality. */
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202 /* NOTE: There are potentially race conditions here. However, it is used
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203 anyway to keep the examples simple, and to avoid reliance on a separate
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204 timer peripheral. */
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207 /* The SysTick is a down counter. How many clocks have passed since it was
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209 ulSysTickCounts = ulSysTickReloadValue - *pulCurrentSysTickCount;
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211 /* How many times has it overflowed? */
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212 ulTickCount = xTaskGetTickCountFromISR();
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214 /* This is called from the context switch, so will be called from a
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215 critical section. xTaskGetTickCountFromISR() contains its own critical
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216 section, and the ISR safe critical sections are not designed to nest,
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217 so reset the critical section. */
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218 portSET_INTERRUPT_MASK_FROM_ISR();
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220 /* Is there a SysTick interrupt pending? */
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221 if( ( *pulInterruptCTRLState & ulSysTickPendingBit ) != 0UL )
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223 /* There is a SysTick interrupt pending, so the SysTick has overflowed
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224 but the tick count not yet incremented. */
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227 /* Read the SysTick again, as the overflow might have occurred since
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228 it was read last. */
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229 ulSysTickCounts = ulSysTickReloadValue - *pulCurrentSysTickCount;
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232 /* Convert the tick count into tenths of a millisecond. THIS ASSUMES
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233 configTICK_RATE_HZ is 1000! */
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234 ulReturn = ( ulTickCount * 10UL ) ;
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236 /* Add on the number of tenths of a millisecond that have passed since the
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237 tick count last got updated. */
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238 ulReturn += ( ulSysTickCounts / ulClocksPer10thOfAMilliSecond );
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242 /*-----------------------------------------------------------*/
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244 #ifdef JUST_AN_EXAMPLE_ISR
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246 void Dummy_IRQHandler(void)
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248 long lHigherPriorityTaskWoken = pdFALSE;
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250 /* Clear the interrupt if necessary. */
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251 Dummy_ClearITPendingBit();
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253 /* This interrupt does nothing more than demonstrate how to synchronise a
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254 task with an interrupt. A semaphore is used for this purpose. Note
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255 lHigherPriorityTaskWoken is initialised to zero. Only FreeRTOS API functions
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256 that end in "FromISR" can be called from an ISR. */
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257 xSemaphoreGiveFromISR( xTestSemaphore, &lHigherPriorityTaskWoken );
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259 /* If there was a task that was blocked on the semaphore, and giving the
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260 semaphore caused the task to unblock, and the unblocked task has a priority
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261 higher than the current Running state task (the task that this interrupt
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262 interrupted), then lHigherPriorityTaskWoken will have been set to pdTRUE
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263 internally within xSemaphoreGiveFromISR(). Passing pdTRUE into the
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264 portEND_SWITCHING_ISR() macro will result in a context switch being pended to
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265 ensure this interrupt returns directly to the unblocked, higher priority,
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266 task. Passing pdFALSE into portEND_SWITCHING_ISR() has no effect. */
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267 portEND_SWITCHING_ISR( lHigherPriorityTaskWoken );
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270 #endif /* JUST_AN_EXAMPLE_ISR */
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