2 FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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71 BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER FOR UART0.
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73 ***Note*** This example uses queues to send each character into an interrupt
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74 service routine and out of an interrupt service routine individually. This
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75 is done to demonstrate queues being used in an interrupt, and to deliberately
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76 load the system to test the FreeRTOS port. It is *NOT* meant to be an
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77 example of an efficient implementation. An efficient implementation should
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78 use FIFOs or DMA if available, and only use FreeRTOS API functions when
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79 enough has been received to warrant a task being unblocked to process the
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83 /* Scheduler includes. */
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84 #include "FreeRTOS.h"
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87 #include "comtest2.h"
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89 /* Library includes. */
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90 #include "mb9bf506n.h"
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91 #include "system_mb9bf50x.h"
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93 /* Demo application includes. */
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95 /*-----------------------------------------------------------*/
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97 /* Register bit definitions. */
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98 #define serRX_INT_ENABLE 0x10
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99 #define serTX_INT_ENABLE 0x08
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100 #define serRX_ENABLE 0x02
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101 #define serTX_ENABLE 0x01
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102 #define serORE_ERROR_BIT 0x08
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103 #define serFRE_ERROR_BIT 0x10
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104 #define serPE_ERROR_BIT 0x20
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105 #define serRX_INT 0x04
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106 #define serTX_INT 0x02
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108 /* Misc defines. */
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109 #define serINVALID_QUEUE ( ( QueueHandle_t ) 0 )
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110 #define serNO_BLOCK ( ( TickType_t ) 0 )
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112 /*-----------------------------------------------------------*/
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114 /* The queue used to hold received characters. */
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115 static QueueHandle_t xRxedChars;
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116 static QueueHandle_t xCharsForTx;
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118 /*-----------------------------------------------------------*/
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121 * See the serial2.h header file.
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123 xComPortHandle xSerialPortInitMinimal( unsigned long ulWantedBaud, unsigned portBASE_TYPE uxQueueLength )
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125 /* Create the queues used to hold Rx/Tx characters. */
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126 xRxedChars = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
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127 xCharsForTx = xQueueCreate( uxQueueLength + 1, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
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129 /* If the queues were created correctly then setup the serial port
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131 if( ( xRxedChars != serINVALID_QUEUE ) && ( xCharsForTx != serINVALID_QUEUE ) )
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133 /* Ensure interrupts don't fire during the init process. Interrupts
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134 will be enabled automatically when the first task start running. */
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135 portDISABLE_INTERRUPTS();
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137 /* Configure P21 and P22 for use by the UART. */
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138 FM3_GPIO->PFR2 |= ( 1 << 0x01 ) | ( 1 << 0x02 );
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140 /* SIN0_0 and SOT0_0. */
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141 FM3_GPIO->EPFR07 |= ( 1 << 6 );
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144 FM3_MFS0_UART->SCR = 0x80;
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146 /* Enable output in mode 0. */
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147 FM3_MFS0_UART->SMR = 0x01;
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149 /* Clear all errors that may already be present. */
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150 FM3_MFS0_UART->SSR = 0x00;
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151 FM3_MFS0_UART->ESCR = 0x00;
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153 FM3_MFS0_UART->BGR = ( configCPU_CLOCK_HZ / 2UL ) / ( ulWantedBaud - 1UL );
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155 /* Enable Rx, Tx, and the Rx interrupt. */
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156 FM3_MFS0_UART->SCR |= ( serRX_ENABLE | serTX_ENABLE | serRX_INT_ENABLE );
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158 /* Configure the NVIC for UART interrupts. */
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159 NVIC_ClearPendingIRQ( MFS0RX_IRQn );
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160 NVIC_EnableIRQ( MFS0RX_IRQn );
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162 /* The priority *MUST* be at or below
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163 configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY as FreeRTOS API functions
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164 are called in the interrupt handler. */
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165 NVIC_SetPriority( MFS0RX_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
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167 /* Do the same for the Tx interrupts. */
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168 NVIC_ClearPendingIRQ( MFS0TX_IRQn );
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169 NVIC_EnableIRQ( MFS0TX_IRQn );
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171 /* The priority *MUST* be at or below
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172 configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY as FreeRTOS API functions
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173 are called in the interrupt handler. */
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174 NVIC_SetPriority( MFS0TX_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
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177 /* This demo file only supports a single port but we have to return
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178 something to comply with the standard demo header file. */
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179 return ( xComPortHandle ) 0;
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181 /*-----------------------------------------------------------*/
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183 signed portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, signed char *pcRxedChar, TickType_t xBlockTime )
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185 /* The port handle is not required as this driver only supports one port. */
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188 /* Get the next character from the buffer. Return false if no characters
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189 are available, or arrive before xBlockTime expires. */
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190 if( xQueueReceive( xRxedChars, pcRxedChar, xBlockTime ) )
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199 /*-----------------------------------------------------------*/
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201 void vSerialPutString( xComPortHandle pxPort, const signed char * const pcString, unsigned short usStringLength )
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203 signed char *pxNext;
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205 /* A couple of parameters that this port does not use. */
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206 ( void ) usStringLength;
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209 /* NOTE: This implementation does not handle the queue being full as no
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210 block time is used! */
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212 /* The port handle is not required as this driver only supports one UART. */
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215 /* Send each character in the string, one at a time. */
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216 pxNext = ( signed char * ) pcString;
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219 xSerialPutChar( pxPort, *pxNext, serNO_BLOCK );
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223 /*-----------------------------------------------------------*/
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225 signed portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, signed char cOutChar, TickType_t xBlockTime )
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227 signed portBASE_TYPE xReturn;
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229 if( xQueueSend( xCharsForTx, &cOutChar, xBlockTime ) == pdPASS )
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233 /* Enable the UART Tx interrupt. */
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234 FM3_MFS0_UART->SCR |= serTX_INT_ENABLE;
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243 /*-----------------------------------------------------------*/
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245 void vSerialClose( xComPortHandle xPort )
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247 /* Not supported as not required by the demo application. */
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249 /*-----------------------------------------------------------*/
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251 void MFS0RX_IRQHandler( void )
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253 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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256 if( ( FM3_MFS0_UART->SSR & ( serORE_ERROR_BIT | serFRE_ERROR_BIT | serPE_ERROR_BIT ) ) != 0 )
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258 /* A PE, ORE or FRE error occurred. Clear it. */
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259 FM3_MFS0_UART->SSR |= ( 1 << 7 );
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260 cChar = FM3_MFS0_UART->RDR;
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262 else if( FM3_MFS0_UART->SSR & serRX_INT )
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264 /* A character has been received on the USART, send it to the Rx
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266 cChar = FM3_MFS0_UART->RDR;
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267 xQueueSendFromISR( xRxedChars, &cChar, &xHigherPriorityTaskWoken );
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270 /* If sending or receiving from a queue has caused a task to unblock, and
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271 the unblocked task has a priority equal to or higher than the currently
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272 running task (the task this ISR interrupted), then xHigherPriorityTaskWoken
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273 will have automatically been set to pdTRUE within the queue send or receive
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274 function. portEND_SWITCHING_ISR() will then ensure that this ISR returns
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275 directly to the higher priority unblocked task. */
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276 portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
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278 /*-----------------------------------------------------------*/
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280 void MFS0TX_IRQHandler( void )
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282 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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285 if( FM3_MFS0_UART->SSR & serTX_INT )
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287 /* The interrupt was caused by the TX register becoming empty. Are
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288 there any more characters to transmit? */
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289 if( xQueueReceiveFromISR( xCharsForTx, &cChar, &xHigherPriorityTaskWoken ) == pdTRUE )
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291 /* A character was retrieved from the queue so can be sent to the
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293 FM3_MFS0_UART->TDR = cChar;
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297 /* Disable the Tx interrupt. */
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298 FM3_MFS0_UART->SCR &= ~serTX_INT_ENABLE;
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302 /* If sending or receiving from a queue has caused a task to unblock, and
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303 the unblocked task has a priority equal to or higher than the currently
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304 running task (the task this ISR interrupted), then xHigherPriorityTaskWoken
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305 will have automatically been set to pdTRUE within the queue send or receive
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306 function. portEND_SWITCHING_ISR() will then ensure that this ISR returns
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307 directly to the higher priority unblocked task. */
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308 portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
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