2 FreeRTOS V7.4.1 - 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 it can 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 * main-blinky.c is included when the "Blinky" build configuration is used.
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77 * main-full.c is included when the "Full" build configuration is used.
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79 * main-full.c (this file) defines a comprehensive demo that creates many
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80 * tasks, queues, semaphores and timers. It also demonstrates how Cortex-M3
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81 * interrupts can interact with FreeRTOS tasks/timers.
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83 * This demo project runs on the SK-FM3-64PMC1 evaluation board, which is
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84 * populated with an MB9A300 microcontroller.
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86 * The main() Function:
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87 * main() creates three demo specific software timers, one demo specific queue,
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88 * and two demo specific tasks. It then creates a whole host of 'standard
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89 * demo' tasks/queues/semaphores, before starting the scheduler. The demo
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90 * specific tasks and timers are described in the comments here. The standard
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91 * demo tasks are described on the FreeRTOS.org web site.
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93 * The standard demo tasks provide no specific functionality. They are
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94 * included to both test the FreeRTOS port, and provide examples of how the
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95 * various FreeRTOS API functions can be used.
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97 * This demo creates 43 tasks in total. If you want a simpler demo, use the
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98 * Blinky build configuration.
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100 * The Demo Specific Queue Send Task:
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101 * The queue send task is implemented by the prvQueueSendTask() function in
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102 * this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
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103 * block for 200 milliseconds, before sending the value 100 to the queue that
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104 * was created within main(). Once the value is sent, the task loops back
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105 * around to block for another 200 milliseconds.
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107 * The Demo Specific Queue Receive Task:
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108 * The queue receive task is implemented by the prvQueueReceiveTask() function
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109 * in this file. prvQueueReceiveTask() sits in a loop that causes it to
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110 * repeatedly attempt to read data from the queue that was created within
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111 * main(). When data is received, the task checks the value of the data, and
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112 * if the value equals the expected 100, toggles an LED in the 7 segment display
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113 * (see the documentation page for this demo on the FreeRTOS.org site to see
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114 * which LED is used). The 'block time' parameter passed to the queue receive
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115 * function specifies that the task should be held in the Blocked state
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116 * indefinitely to wait for data to be available on the queue. The queue
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117 * receive task will only leave the Blocked state when the queue send task
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118 * writes to the queue. As the queue send task writes to the queue every 200
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119 * milliseconds, the queue receive task leaves the Blocked state every 200
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120 * milliseconds, and therefore toggles the LED every 200 milliseconds.
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122 * The Demo Specific LED Software Timer and the Button Interrupt:
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123 * The user button SW2 is configured to generate an interrupt each time it is
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124 * pressed. The interrupt service routine switches an LED on, and resets the
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125 * LED software timer. The LED timer has a 5000 millisecond (5 second) period,
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126 * and uses a callback function that is defined to just turn the LED off again.
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127 * Therefore, pressing the user button will turn the LED on, and the LED will
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128 * remain on until a full five seconds pass without the button being pressed.
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129 * See the documentation page for this demo on the FreeRTOS.org web site to see
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130 * which LED is used.
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132 * The Demo Specific "Check" Callback Function:
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133 * This is called each time the 'check' timer expires. The check timer
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134 * callback function inspects all the standard demo tasks to see if they are
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135 * all executing as expected. The check timer is initially configured to
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136 * expire every three seconds, but will shorted this to every 500ms if an error
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137 * is ever discovered. The check timer callback toggles the LED defined by
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138 * the mainCHECK_LED definition each time it executes. Therefore, if LED
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139 * mainCHECK_LED is toggling every three seconds, then no error have been found.
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140 * If LED mainCHECK_LED is toggling every 500ms, then at least one errors has
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141 * been found. The variable pcStatusMessage is set to a string that indicates
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142 * which task reported an error. See the documentation page for this demo on
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143 * the FreeRTOS.org web site to see which LED in the 7 segment display is used.
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145 * The Demo Specific "Digit Counter" Callback Function:
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146 * This is called each time the 'digit counter' timer expires. It causes the
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147 * digits 0 to 9 to be displayed in turn as the first character of the two
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148 * character display. The LEDs in the other digit of the two character
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149 * display are used as general purpose LEDs, as described in this comment block.
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151 * The Demo Specific Idle Hook Function:
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152 * The idle hook function demonstrates how to query the amount of FreeRTOS heap
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153 * space that is remaining (see vApplicationIdleHook() defined in this file).
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155 * The Demo Specific Tick Hook Function:
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156 * The tick hook function is used to test the interrupt safe software timer
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160 /* Kernel includes. */
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161 #include "FreeRTOS.h"
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164 #include "timers.h"
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166 /* Fujitsu drivers/libraries. */
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169 /* Common demo includes. */
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170 #include "partest.h"
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172 #include "BlockQ.h"
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174 #include "blocktim.h"
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175 #include "semtest.h"
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176 #include "GenQTest.h"
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178 #include "recmutex.h"
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179 #include "TimerDemo.h"
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180 #include "comtest2.h"
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182 #include "countsem.h"
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183 #include "dynamic.h"
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185 /* The rate at which data is sent to the queue, specified in milliseconds, and
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186 converted to ticks using the portTICK_RATE_MS constant. */
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187 #define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_RATE_MS )
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189 /* The number of items the queue can hold. This is 1 as the receive task
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190 will remove items as they are added, meaning the send task should always find
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191 the queue empty. */
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192 #define mainQUEUE_LENGTH ( 1 )
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194 /* The LED toggled by the check timer callback function. This is an LED in the
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195 second digit of the two digit 7 segment display. See the documentation page
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196 for this demo on the FreeRTOS.org web site to see which LED this relates to. */
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197 #define mainCHECK_LED ( 1UL << 3UL )
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199 /* The LED toggle by the queue receive task. This is an LED in the second digit
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200 of the two digit 7 segment display. See the documentation page for this demo on
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201 the FreeRTOS.org web site to see which LED this relates to. */
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202 #define mainTASK_CONTROLLED_LED 0x07UL
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204 /* The LED turned on by the button interrupt, and turned off by the LED timer.
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205 This is an LED in the second digit of the two digit 7 segment display. See the
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206 documentation page for this demo on the FreeRTOS.org web site to see which LED
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207 this relates to. */
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208 #define mainTIMER_CONTROLLED_LED 0x05UL
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210 /* The LED used by the comtest tasks. See the comtest.c file for more
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211 information. The LEDs used by the comtest task are in the second digit of the
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212 two digit 7 segment display. See the documentation page for this demo on the
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213 FreeRTOS.org web site to see which LEDs this relates to. */
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214 #define mainCOM_TEST_LED 0x03UL
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216 /* Constant used by the standard timer test functions. */
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217 #define mainTIMER_TEST_PERIOD ( 50 )
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219 /* Priorities used by the various different standard demo tasks. */
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220 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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221 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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222 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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223 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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224 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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225 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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226 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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227 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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228 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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230 /* Priorities defined in this main-full.c file. */
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231 #define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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232 #define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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234 /* The period at which the check timer will expire, in ms, provided no errors
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235 have been reported by any of the standard demo tasks. ms are converted to the
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236 equivalent in ticks using the portTICK_RATE_MS constant. */
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237 #define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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239 /* The period at which the check timer will expire, in ms, if an error has been
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240 reported in one of the standard demo tasks. ms are converted to the equivalent
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241 in ticks using the portTICK_RATE_MS constant. */
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242 #define mainERROR_CHECK_TIMER_PERIOD_MS ( 500UL / portTICK_RATE_MS )
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244 /* The period at which the digit counter timer will expire, in ms, and converted
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245 to ticks using the portTICK_RATE_MS constant. */
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246 #define mainDIGIT_COUNTER_TIMER_PERIOD_MS ( 250UL / portTICK_RATE_MS )
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248 /* The LED will remain on until the button has not been pushed for a full
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250 #define mainLED_TIMER_PERIOD_MS ( 5000UL / portTICK_RATE_MS )
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252 /* A zero block time. */
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253 #define mainDONT_BLOCK ( 0UL )
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255 /* Baud rate used by the comtest tasks. */
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256 #define mainCOM_TEST_BAUD_RATE ( 115200UL )
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258 /*-----------------------------------------------------------*/
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261 * Setup the NVIC, LED outputs, and button inputs.
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263 static void prvSetupHardware( void );
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266 * The application specific (not common demo) tasks as described in the comments
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267 * at the top of this file.
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269 static void prvQueueReceiveTask( void *pvParameters );
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270 static void prvQueueSendTask( void *pvParameters );
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273 * The LED timer callback function. This does nothing but switch an LED off.
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275 static void prvLEDTimerCallback( xTimerHandle xTimer );
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278 * The check timer callback function, as described at the top of this file.
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280 static void prvCheckTimerCallback( xTimerHandle xTimer );
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283 * The digit counter callback function, as described at the top of this file.
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285 static void prvDigitCounterTimerCallback( xTimerHandle xTimer );
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288 * This is not a 'standard' partest function, so the prototype is not in
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289 * partest.h, and is instead included here.
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291 void vParTestSetLEDFromISR( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue );
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293 /*-----------------------------------------------------------*/
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295 /* The queue used by both application specific demo tasks defined in this file. */
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296 static xQueueHandle xQueue = NULL;
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298 /* The LED software timer. This uses prvLEDTimerCallback() as it's callback
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300 static xTimerHandle xLEDTimer = NULL;
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302 /* The digit counter software timer. This displays a counting digit on one half
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303 of the seven segment displays. */
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304 static xTimerHandle xDigitCounterTimer = NULL;
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306 /* The check timer. This uses prvCheckTimerCallback() as its callback
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308 static xTimerHandle xCheckTimer = NULL;
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310 /* If an error is detected in a standard demo task, then pcStatusMessage will
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311 be set to point to a string that identifies the offending task. This is just
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312 to make debugging easier. */
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313 static const char *pcStatusMessage = NULL;
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315 /*-----------------------------------------------------------*/
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319 /* Configure the NVIC, LED outputs and button inputs. */
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320 prvSetupHardware();
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322 /* Create the queue. */
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323 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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325 if( xQueue != NULL )
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327 /* Start the two application specific demo tasks, as described in the
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328 comments at the top of this file. */
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329 xTaskCreate( prvQueueReceiveTask, ( signed char * ) "Rx", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_RECEIVE_TASK_PRIORITY, NULL );
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330 xTaskCreate( prvQueueSendTask, ( signed char * ) "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
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332 /* Create the software timer that is responsible for turning off the LED
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333 if the button is not pushed within 5000ms, as described at the top of
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335 xLEDTimer = xTimerCreate( ( const signed char * ) "LEDTimer", /* A text name, purely to help debugging. */
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336 ( mainLED_TIMER_PERIOD_MS ), /* The timer period, in this case 5000ms (5s). */
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337 pdFALSE, /* This is a one shot timer, so xAutoReload is set to pdFALSE. */
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338 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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339 prvLEDTimerCallback /* The callback function that switches the LED off. */
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342 /* Create the software timer that performs the 'check' functionality,
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343 as described at the top of this file. */
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344 xCheckTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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345 ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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346 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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347 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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348 prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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351 /* Create the software timer that performs the 'digit counting'
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352 functionality, as described at the top of this file. */
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353 xDigitCounterTimer = xTimerCreate( ( const signed char * ) "DigitCounter", /* A text name, purely to help debugging. */
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354 ( mainDIGIT_COUNTER_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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355 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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356 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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357 prvDigitCounterTimerCallback /* The callback function that inspects the status of all the other tasks. */
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360 /* Create a lot of 'standard demo' tasks. Over 40 tasks are created in
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361 this demo. For a much simpler demo, select the 'blinky' build
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363 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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364 vCreateBlockTimeTasks();
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365 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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366 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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367 vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
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368 vStartQueuePeekTasks();
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369 vStartRecursiveMutexTasks();
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370 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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371 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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372 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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373 vStartCountingSemaphoreTasks();
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374 vStartDynamicPriorityTasks();
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376 /* The suicide tasks must be created last, as they need to know how many
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377 tasks were running prior to their creation in order to ascertain whether
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378 or not the correct/expected number of tasks are running at any given
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380 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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382 /* Start the tasks and timer running. */
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383 vTaskStartScheduler();
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386 /* If all is well, the scheduler will now be running, and the following line
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387 will never be reached. If the following line does execute, then there was
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388 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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389 to be created. See the memory management section on the FreeRTOS web site
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390 for more details. */
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393 /*-----------------------------------------------------------*/
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395 static void prvCheckTimerCallback( xTimerHandle xTimer )
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397 /* Check the standard demo tasks are running without error. Latch the
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398 latest reported error in the pcStatusMessage character pointer. */
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399 if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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401 pcStatusMessage = "Error: GenQueue";
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404 if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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406 pcStatusMessage = "Error: QueuePeek\r\n";
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409 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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411 pcStatusMessage = "Error: BlockQueue\r\n";
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414 if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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416 pcStatusMessage = "Error: BlockTime\r\n";
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419 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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421 pcStatusMessage = "Error: SemTest\r\n";
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424 if( xIsCreateTaskStillRunning() != pdTRUE )
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426 pcStatusMessage = "Error: Death\r\n";
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429 if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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431 pcStatusMessage = "Error: RecMutex\r\n";
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434 if( xAreComTestTasksStillRunning() != pdPASS )
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436 pcStatusMessage = "Error: ComTest\r\n";
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439 if( xAreTimerDemoTasksStillRunning( ( mainCHECK_TIMER_PERIOD_MS ) ) != pdTRUE )
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441 pcStatusMessage = "Error: TimerDemo";
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444 if( xArePollingQueuesStillRunning() != pdTRUE )
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446 pcStatusMessage = "Error: PollQueue";
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449 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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451 pcStatusMessage = "Error: CountSem";
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454 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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456 pcStatusMessage = "Error: DynamicPriority";
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459 /* Toggle the check LED to give an indication of the system status. If
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460 the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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461 everything is ok. A faster toggle indicates an error. vParTestToggleLED()
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462 is not used to toggle this particular LED as it is on a different IP port
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463 to to the LEDs controlled by ParTest.c. A critical section is not required
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464 as the only other place this port is accessed is from another timer - and
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465 only one timer can be running at any one time. */
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466 if( ( FM3_GPIO->PDOR3 & mainCHECK_LED ) != 0 )
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468 FM3_GPIO->PDOR3 &= ~mainCHECK_LED;
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472 FM3_GPIO->PDOR3 |= mainCHECK_LED;
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475 /* Have any errors been latch in pcStatusMessage? If so, shorten the
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476 period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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477 This will result in an increase in the rate at which mainCHECK_LED
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479 if( pcStatusMessage != NULL )
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481 /* This call to xTimerChangePeriod() uses a zero block time. Functions
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482 called from inside of a timer callback function must *never* attempt
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484 xTimerChangePeriod( xCheckTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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487 /*-----------------------------------------------------------*/
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489 static void prvLEDTimerCallback( xTimerHandle xTimer )
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491 /* The timer has expired - so no button pushes have occurred in the last
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492 five seconds - turn the LED off. */
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493 vParTestSetLED( mainTIMER_CONTROLLED_LED, pdFALSE );
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495 /*-----------------------------------------------------------*/
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497 static void prvDigitCounterTimerCallback( xTimerHandle xTimer )
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499 /* Define the bit patterns that display numbers on the seven segment display. */
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500 static const unsigned short usNumbersPatterns[] = { 0x8004, 0xF204, 0x4804, 0x6004, 0x3204, 0x2404, 0x0404, 0xF104, 0x0004, 0x2004 };
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501 static long lCounter = 0L;
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502 const long lNumberOfDigits = 10L;
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503 unsigned short usCheckLEDState;
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505 /* Unfortunately the LED uses the same port as the digit counter, so remember
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506 the state of the check LED. A critical section is not required to access
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507 the port as only one timer can be executing at any one time. */
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508 usCheckLEDState = ( FM3_GPIO->PDOR3 & mainCHECK_LED );
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510 /* Display the next number, counting up. */
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511 FM3_GPIO->PDOR3 = usNumbersPatterns[ lCounter ] | usCheckLEDState;
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513 /* Move onto the next digit. */
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516 /* Ensure the counter does not go off the end of the array. */
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517 if( lCounter >= lNumberOfDigits )
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522 /*-----------------------------------------------------------*/
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524 /* The ISR executed when the user button is pushed. */
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525 void INT0_7_Handler( void )
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527 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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529 /* The button was pushed, so ensure the LED is on before resetting the
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530 LED timer. The LED timer will turn the LED off if the button is not
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531 pushed within 5000ms. */
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532 vParTestSetLEDFromISR( mainTIMER_CONTROLLED_LED, pdTRUE );
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534 /* This interrupt safe FreeRTOS function can be called from this interrupt
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535 because the interrupt priority is below the
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536 configMAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */
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537 xTimerResetFromISR( xLEDTimer, &xHigherPriorityTaskWoken );
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539 /* Clear the interrupt before leaving. This just clears all the interrupts
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540 for simplicity, as only one is actually used in this simple demo anyway. */
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541 FM3_EXTI->EICL = 0x0000;
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543 /* If calling xTimerResetFromISR() caused a task (in this case the timer
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544 service/daemon task) to unblock, and the unblocked task has a priority
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545 higher than or equal to the task that was interrupted, then
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546 xHigherPriorityTaskWoken will now be set to pdTRUE, and calling
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547 portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
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548 portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
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550 /*-----------------------------------------------------------*/
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552 static void prvQueueSendTask( void *pvParameters )
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554 portTickType xNextWakeTime;
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555 const unsigned long ulValueToSend = 100UL;
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557 /* The timer command queue will have been filled when the timer test tasks
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558 were created in main() (this is part of the test they perform). Therefore,
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559 while the check and digit counter timers can be created in main(), they
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560 cannot be started from main(). Once the scheduler has started, the timer
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561 service task will drain the command queue, and now the check and digit
\r
562 counter timers can be started successfully. */
\r
563 xTimerStart( xCheckTimer, portMAX_DELAY );
\r
564 xTimerStart( xDigitCounterTimer, portMAX_DELAY );
\r
566 /* Initialise xNextWakeTime - this only needs to be done once. */
\r
567 xNextWakeTime = xTaskGetTickCount();
\r
571 /* Place this task in the blocked state until it is time to run again.
\r
572 The block time is specified in ticks, the constant used converts ticks
\r
573 to ms. While in the Blocked state this task will not consume any CPU
\r
575 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
\r
577 /* Send to the queue - causing the queue receive task to unblock and
\r
578 toggle an LED. 0 is used as the block time so the sending operation
\r
579 will not block - it shouldn't need to block as the queue should always
\r
580 be empty at this point in the code. */
\r
581 xQueueSend( xQueue, &ulValueToSend, mainDONT_BLOCK );
\r
584 /*-----------------------------------------------------------*/
\r
586 static void prvQueueReceiveTask( void *pvParameters )
\r
588 unsigned long ulReceivedValue;
\r
592 /* Wait until something arrives in the queue - this task will block
\r
593 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
\r
594 FreeRTOSConfig.h. */
\r
595 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
\r
597 /* To get here something must have been received from the queue, but
\r
598 is it the expected value? If it is, toggle the LED. */
\r
599 if( ulReceivedValue == 100UL )
\r
601 vParTestToggleLED( mainTASK_CONTROLLED_LED );
\r
605 /*-----------------------------------------------------------*/
\r
607 static void prvSetupHardware( void )
\r
609 const unsigned short usButtonInputBit = 0x01U;
\r
612 SystemCoreClockUpdate();
\r
614 /* Initialise the IO used for the LEDs on the 7 segment displays. */
\r
615 vParTestInitialise();
\r
617 /* Set the switches to input (P18->P1F). */
\r
618 FM3_GPIO->DDR5 = 0x0000;
\r
619 FM3_GPIO->PFR5 = 0x0000;
\r
621 /* Assign the button input as GPIO. */
\r
622 FM3_GPIO->PFR5 |= usButtonInputBit;
\r
624 /* Button interrupt on falling edge. */
\r
625 FM3_EXTI->ELVR = 0x0003;
\r
627 /* Clear all external interrupts. */
\r
628 FM3_EXTI->EICL = 0x0000;
\r
630 /* Enable the button interrupt. */
\r
631 FM3_EXTI->ENIR |= usButtonInputBit;
\r
633 /* Setup the GPIO and the NVIC for the switch used in this simple demo. */
\r
634 NVIC_SetPriority( EXINT0_7_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
\r
635 NVIC_EnableIRQ( EXINT0_7_IRQn );
\r
637 /*-----------------------------------------------------------*/
\r
639 void vApplicationMallocFailedHook( void )
\r
641 /* Called if a call to pvPortMalloc() fails because there is insufficient
\r
642 free memory available in the FreeRTOS heap. pvPortMalloc() is called
\r
643 internally by FreeRTOS API functions that create tasks, queues, software
\r
644 timers, and semaphores. The size of the FreeRTOS heap is set by the
\r
645 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
\r
648 /*-----------------------------------------------------------*/
\r
650 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
\r
652 ( void ) pcTaskName;
\r
655 /* Run time stack overflow checking is performed if
\r
656 configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
\r
657 function is called if a stack overflow is detected. */
\r
658 taskDISABLE_INTERRUPTS();
\r
661 /*-----------------------------------------------------------*/
\r
663 void vApplicationIdleHook( void )
\r
665 volatile size_t xFreeStackSpace;
\r
667 /* This function is called on each cycle of the idle task. In this case it
\r
668 does nothing useful, other than report the amount of FreeRTOS heap that
\r
669 remains unallocated. */
\r
670 xFreeStackSpace = xPortGetFreeHeapSize();
\r
672 if( xFreeStackSpace > 100 )
\r
674 /* By now, the kernel has allocated everything it is going to, so
\r
675 if there is a lot of heap remaining unallocated then
\r
676 the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be
\r
677 reduced accordingly. */
\r
680 /*-----------------------------------------------------------*/
\r
682 void vApplicationTickHook( void )
\r
684 /* Call the periodic timer test, which tests the timer API functions that
\r
685 can be called from an ISR. */
\r
686 vTimerPeriodicISRTests();
\r
688 /*-----------------------------------------------------------*/
\r
projects / freertos / blob