2 FreeRTOS V7.5.1 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 mission critical applications that require provable dependability.
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66 * main-blinky.c is included when the "Blinky" build configuration is used.
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67 * main-full.c is included when the "Full" build configuration is used.
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69 * main-blinky.c (this file) defines a very simple demo that creates two tasks,
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70 * one queue, and one timer. It also demonstrates how Cortex-M3 interrupts can
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71 * interact with FreeRTOS tasks/timers.
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73 * This simple demo project runs on the SK-FM3-64PMC1 evaluation board, which
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74 * is populated with an MB9A314 microcontroller.
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76 * The idle hook function:
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77 * The idle hook function demonstrates how to query the amount of FreeRTOS heap
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78 * space that is remaining (see vApplicationIdleHook() defined in this file).
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80 * The main() Function:
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81 * main() creates one software timer, one queue, and two tasks. It then starts
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84 * The Queue Send Task:
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85 * The queue send task is implemented by the prvQueueSendTask() function in
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86 * this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
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87 * block for 200 milliseconds, before sending the value 100 to the queue that
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88 * was created within main(). Once the value is sent, the task loops back
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89 * around to block for another 200 milliseconds.
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91 * The Queue Receive Task:
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92 * The queue receive task is implemented by the prvQueueReceiveTask() function
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93 * in this file. prvQueueReceiveTask() sits in a loop that causes it to
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94 * repeatedly attempt to read data from the queue that was created within
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95 * main(). When data is received, the task checks the value of the data, and
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96 * if the value equals the expected 100, toggles an LED on the 7 segment
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97 * display. The 'block time' parameter passed to the queue receive function
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98 * specifies that the task should be held in the Blocked state indefinitely to
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99 * wait for data to be available on the queue. The queue receive task will only
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100 * leave the Blocked state when the queue send task writes to the queue. As the
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101 * queue send task writes to the queue every 200 milliseconds, the queue receive
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102 * task leaves the Blocked state every 200 milliseconds, and therefore toggles
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103 * the LED every 200 milliseconds.
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105 * The LED Software Timer and the Button Interrupt:
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106 * The user button SW2 is configured to generate an interrupt each time it is
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107 * pressed. The interrupt service routine switches an LED in the 7 segment
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108 * display on, and resets the LED software timer. The LED timer has a 5000
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109 * millisecond (5 second) period, and uses a callback function that is defined
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110 * to just turn the LED off again. Therefore, pressing the user button will
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111 * turn the LED on, and the LED will remain on until a full five seconds pass
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112 * without the button being pressed.
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115 /* Kernel includes. */
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116 #include "FreeRTOS.h"
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119 #include "timers.h"
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121 /* Fujitsu drivers/libraries. */
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124 /* Priorities at which the tasks are created. */
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125 #define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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126 #define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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128 /* The rate at which data is sent to the queue, specified in milliseconds, and
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129 converted to ticks using the portTICK_RATE_MS constant. */
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130 #define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_RATE_MS )
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132 /* The number of items the queue can hold. This is 1 as the receive task
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133 will remove items as they are added, meaning the send task should always find
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134 the queue empty. */
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135 #define mainQUEUE_LENGTH ( 1 )
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137 /* The LED toggle by the queue receive task. */
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138 #define mainTASK_CONTROLLED_LED ( 1UL << 3UL )
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140 /* The LED turned on by the button interrupt, and turned off by the LED timer. */
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141 #define mainTIMER_CONTROLLED_LED ( 1UL << 2UL )
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143 /*-----------------------------------------------------------*/
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146 * Setup the NVIC, LED outputs, and button inputs.
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148 static void prvSetupHardware( void );
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151 * The tasks as described in the comments at the top of this file.
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153 static void prvQueueReceiveTask( void *pvParameters );
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154 static void prvQueueSendTask( void *pvParameters );
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157 * The LED timer callback function. This does nothing but switch off the
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158 * LED defined by the mainTIMER_CONTROLLED_LED constant.
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160 static void vLEDTimerCallback( xTimerHandle xTimer );
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162 /*-----------------------------------------------------------*/
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164 /* The queue used by both tasks. */
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165 static xQueueHandle xQueue = NULL;
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167 /* The LED software timer. This uses vLEDTimerCallback() as its callback
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169 static xTimerHandle xLEDTimer = NULL;
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171 /*-----------------------------------------------------------*/
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175 /* Configure the NVIC, LED outputs and button inputs. */
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176 prvSetupHardware();
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178 /* Create the queue. */
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179 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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181 if( xQueue != NULL )
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183 /* Start the two tasks as described in the comments at the top of this
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185 xTaskCreate( prvQueueReceiveTask, ( signed char * ) "Rx", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_RECEIVE_TASK_PRIORITY, NULL );
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186 xTaskCreate( prvQueueSendTask, ( signed char * ) "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
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188 /* Create the software timer that is responsible for turning off the LED
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189 if the button is not pushed within 5000ms, as described at the top of
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191 xLEDTimer = xTimerCreate( ( const signed char * ) "LEDTimer", /* A text name, purely to help debugging. */
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192 ( 5000 / portTICK_RATE_MS ), /* The timer period, in this case 5000ms (5s). */
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193 pdFALSE, /* This is a one shot timer, so xAutoReload is set to pdFALSE. */
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194 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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195 vLEDTimerCallback /* The callback function that switches the LED off. */
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198 /* Start the tasks and timer running. */
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199 vTaskStartScheduler();
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202 /* If all is well, the scheduler will now be running, and the following line
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203 will never be reached. If the following line does execute, then there was
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204 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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205 to be created. See the memory management section on the FreeRTOS web site
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206 for more details. */
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209 /*-----------------------------------------------------------*/
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211 static void vLEDTimerCallback( xTimerHandle xTimer )
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213 /* The timer has expired - so no button pushes have occurred in the last
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214 five seconds - turn the LED off. NOTE - accessing the LED port should use
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215 a critical section because it is accessed from multiple tasks, and the
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216 button interrupt - in this trivial case, for simplicity, the critical
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217 section is omitted. */
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218 FM3_GPIO->PDOR3 |= mainTIMER_CONTROLLED_LED;
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220 /*-----------------------------------------------------------*/
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222 /* The ISR executed when the user button is pushed. */
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223 void INT0_7_Handler( void )
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225 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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227 /* The button was pushed, so ensure the LED is on before resetting the
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228 LED timer. The LED timer will turn the LED off if the button is not
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229 pushed within 5000ms. */
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230 FM3_GPIO->PDOR3 &= ~mainTIMER_CONTROLLED_LED;
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232 /* This interrupt safe FreeRTOS function can be called from this interrupt
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233 because the interrupt priority is below the
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234 configMAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */
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235 xTimerResetFromISR( xLEDTimer, &xHigherPriorityTaskWoken );
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237 /* Clear the interrupt before leaving. This just clears all the interrupts
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238 for simplicity, as only one is actually used in this simple demo anyway. */
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239 FM3_EXTI->EICL = 0x0000;
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241 /* If calling xTimerResetFromISR() caused a task (in this case the timer
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242 service/daemon task) to unblock, and the unblocked task has a priority
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243 higher than or equal to the task that was interrupted, then
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244 xHigherPriorityTaskWoken will now be set to pdTRUE, and calling
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245 portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
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246 portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
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248 /*-----------------------------------------------------------*/
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250 static void prvQueueSendTask( void *pvParameters )
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252 portTickType xNextWakeTime;
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253 const unsigned long ulValueToSend = 100UL;
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255 /* Initialise xNextWakeTime - this only needs to be done once. */
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256 xNextWakeTime = xTaskGetTickCount();
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260 /* Place this task in the blocked state until it is time to run again.
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261 The block time is specified in ticks, the constant used converts ticks
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262 to ms. While in the Blocked state this task will not consume any CPU
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264 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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266 /* Send to the queue - causing the queue receive task to unblock and
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267 toggle an LED. 0 is used as the block time so the sending operation
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268 will not block - it shouldn't need to block as the queue should always
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269 be empty at this point in the code. */
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270 xQueueSend( xQueue, &ulValueToSend, 0 );
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273 /*-----------------------------------------------------------*/
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275 static void prvQueueReceiveTask( void *pvParameters )
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277 unsigned long ulReceivedValue;
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281 /* Wait until something arrives in the queue - this task will block
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282 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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283 FreeRTOSConfig.h. */
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284 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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286 /* To get here something must have been received from the queue, but
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287 is it the expected value? If it is, toggle the LED. */
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288 if( ulReceivedValue == 100UL )
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290 /* NOTE - accessing the LED port should use a critical section
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291 because it is accessed from multiple tasks, and the button interrupt
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292 - in this trivial case, for simplicity, the critical section is
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294 if( ( FM3_GPIO->PDOR3 & mainTASK_CONTROLLED_LED ) != 0 )
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296 FM3_GPIO->PDOR3 &= ~mainTASK_CONTROLLED_LED;
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300 FM3_GPIO->PDOR3 |= mainTASK_CONTROLLED_LED;
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305 /*-----------------------------------------------------------*/
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307 static void prvSetupHardware( void )
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309 const unsigned short usButtonInputBit = 0x01U;
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312 SystemCoreClockUpdate();
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314 /* Analog inputs are not used on the LED outputs. */
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315 FM3_GPIO->ADE = 0x0000;
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317 /* Set to output. */
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318 FM3_GPIO->DDR1 |= 0xFFFF;
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319 FM3_GPIO->DDR3 |= 0xFFFF;
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322 FM3_GPIO->PFR1 &= 0x0000;
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323 FM3_GPIO->PFR3 &= 0x0000;
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325 /* Start with all LEDs off. */
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326 FM3_GPIO->PDOR3 = 0xFFFF;
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327 FM3_GPIO->PDOR1 = 0xFFFF;
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329 /* Set the switches to input (P18->P1F). */
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330 FM3_GPIO->DDR5 = 0x0000;
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331 FM3_GPIO->PFR5 = 0x0000;
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333 /* Assign the button input as GPIO. */
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334 FM3_GPIO->PFR5 |= usButtonInputBit;
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336 /* Button interrupt on falling edge. */
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337 FM3_EXTI->ELVR = 0x0003;
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339 /* Clear all external interrupts. */
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340 FM3_EXTI->EICL = 0x0000;
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342 /* Enable the button interrupt. */
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343 FM3_EXTI->ENIR |= usButtonInputBit;
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345 /* Setup the GPIO and the NVIC for the switch used in this simple demo. */
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346 NVIC_SetPriority( EXINT0_7_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
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347 NVIC_EnableIRQ( EXINT0_7_IRQn );
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349 /*-----------------------------------------------------------*/
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351 void vApplicationMallocFailedHook( void )
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353 /* Called if a call to pvPortMalloc() fails because there is insufficient
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354 free memory available in the FreeRTOS heap. pvPortMalloc() is called
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355 internally by FreeRTOS API functions that create tasks, queues, software
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356 timers, and semaphores. The size of the FreeRTOS heap is set by the
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357 configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
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360 /*-----------------------------------------------------------*/
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362 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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364 ( void ) pcTaskName;
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367 /* Run time stack overflow checking is performed if
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368 configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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369 function is called if a stack overflow is detected. */
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372 /*-----------------------------------------------------------*/
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374 void vApplicationTickHook( void )
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376 /* A tick hook is used by the "Full" build configuration. The Full and
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377 blinky build configurations share a FreeRTOSConfig.h header file, so this
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378 simple build configuration also has to define a tick hook - even though it
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379 does not actually use it for anything. */
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381 /*-----------------------------------------------------------*/
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383 void vApplicationIdleHook( void )
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385 volatile size_t xFreeHeapSpace;
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387 /* This function is called on each cycle of the idle task. In this case it
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388 does nothing useful, other than report the amount of FreeRTOS heap that
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389 remains unallocated. */
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390 xFreeHeapSpace = xPortGetFreeHeapSize();
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392 if( xFreeHeapSpace > 100 )
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394 /* By now, the kernel has allocated everything it is going to, so
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395 if there is a lot of heap remaining unallocated then
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396 the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be
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397 reduced accordingly. */
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400 /*-----------------------------------------------------------*/
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