2 FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd.
\r
4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
\r
5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 ***************************************************************************
\r
9 * FreeRTOS tutorial books are available in pdf and paperback. *
\r
10 * Complete, revised, and edited pdf reference manuals are also *
\r
13 * Purchasing FreeRTOS documentation will not only help you, by *
\r
14 * ensuring you get running as quickly as possible and with an *
\r
15 * in-depth knowledge of how to use FreeRTOS, it will also help *
\r
16 * the FreeRTOS project to continue with its mission of providing *
\r
17 * professional grade, cross platform, de facto standard solutions *
\r
18 * for microcontrollers - completely free of charge! *
\r
20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
\r
22 * Thank you for using FreeRTOS, and thank you for your support! *
\r
24 ***************************************************************************
\r
27 This file is part of the FreeRTOS distribution.
\r
29 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
30 the terms of the GNU General Public License (version 2) as published by the
\r
31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
\r
33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
\r
34 distribute a combined work that includes FreeRTOS without being obliged to
\r
35 provide the source code for proprietary components outside of the FreeRTOS
\r
38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
\r
41 details. You should have received a copy of the GNU General Public License
\r
42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
\r
43 viewed here: http://www.freertos.org/a00114.html and also obtained by
\r
44 writing to Real Time Engineers Ltd., contact details for whom are available
\r
45 on the FreeRTOS WEB site.
\r
49 ***************************************************************************
\r
51 * Having a problem? Start by reading the FAQ "My application does *
\r
52 * not run, what could be wrong?" *
\r
54 * http://www.FreeRTOS.org/FAQHelp.html *
\r
56 ***************************************************************************
\r
59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
\r
60 license and Real Time Engineers Ltd. contact details.
\r
62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
\r
64 fully thread aware and reentrant UDP/IP stack.
\r
66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
\r
67 Integrity Systems, who sell the code with commercial support,
\r
68 indemnification and middleware, under the OpenRTOS brand.
\r
70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
71 engineered and independently SIL3 certified version for use in safety and
\r
72 mission critical applications that require provable dependability.
\r
76 * The documentation page for this demo available on http://www.FreeRTOS.org
\r
77 * documents the hardware configuration required to run this demo. It also
\r
78 * provides more information on the expected demo application behaviour.
\r
80 * main() creates all the demo application tasks, then starts the scheduler.
\r
81 * A lot of the created tasks are from the pool of "standard demo" tasks. The
\r
82 * web documentation provides more details of the standard demo tasks, which
\r
83 * provide no particular functionality but do provide good examples of how to
\r
84 * use the FreeRTOS API.
\r
86 * In addition to the standard demo tasks, the following tasks, interrupts tests
\r
87 * and timers are defined and/or created within this file:
\r
89 * "LCD" task - The LCD task is a 'gatekeeper' task. It is the only task that
\r
90 * is permitted to access the LCD and therefore ensures access to the LCD is
\r
91 * always serialised and there are no mutual exclusion issues. When a task or
\r
92 * an interrupt wants to write to the LCD, it does not access the LCD directly
\r
93 * but instead sends the message to the LCD task. The LCD task then performs
\r
94 * the actual LCD output. This mechanism also allows interrupts to, in effect,
\r
95 * write to the LCD by sending messages to the LCD task.
\r
97 * The LCD task is also a demonstration of a 'controller' task design pattern.
\r
98 * Some tasks do not actually send a string to the LCD task directly, but
\r
99 * instead send a command that is interpreted by the LCD task. In a normal
\r
100 * application these commands can be control values or set points, in this
\r
101 * simple example the commands just result in messages being displayed on the
\r
104 * "Button Poll" task - This task polls the state of the 'up' key on the
\r
105 * joystick input device. It uses the vTaskDelay() API function to control
\r
106 * the poll rate to ensure debouncing is not necessary and that the task does
\r
107 * not use all the available CPU processing time.
\r
109 * Button Interrupt - The select button on the joystick input device is
\r
110 * configured to generate an external interrupt. The handler for this interrupt
\r
111 * sends a message to LCD task, which then prints out a string to say the
\r
112 * joystick select button was pressed.
\r
114 * Idle Hook - The idle hook is a function that is called on each iteration of
\r
115 * the idle task. In this case it is used to place the processor into a low
\r
116 * power mode. Note however that this application is implemented using standard
\r
117 * components, and is therefore not optimised for low power operation. Lower
\r
118 * power consumption would be achieved by converting polling tasks into event
\r
119 * driven tasks, and slowing the tick interrupt frequency, etc.
\r
121 * "Check" callback function - Called each time the 'check' timer expires. The
\r
122 * check timer executes every five seconds. Its main function is to check that
\r
123 * all the standard demo tasks are still operational. Each time it executes it
\r
124 * sends a status code to the LCD task. The LCD task interprets the code and
\r
125 * displays an appropriate message - which will be PASS if no tasks have
\r
126 * reported any errors, or a message stating which task has reported an error.
\r
128 * "Reg test" tasks - These fill the registers with known values, then check
\r
129 * that each register still contains its expected value. Each task uses
\r
130 * different values. The tasks run with very low priority so get preempted
\r
131 * very frequently. A check variable is incremented on each iteration of the
\r
132 * test loop. A register containing an unexpected value is indicative of an
\r
133 * error in the context switching mechanism and will result in a branch to a
\r
134 * null loop - which in turn will prevent the check variable from incrementing
\r
135 * any further and allow the check timer callback (described a above) to
\r
136 * determine that an error has occurred. The nature of the reg test tasks
\r
137 * necessitates that they are written in assembly code.
\r
139 * Tick hook function - called inside the RTOS tick function, this simple
\r
140 * example does nothing but toggle an LED.
\r
142 * *NOTE 1* vApplicationSetupTimerInterrupt() is called by the kernel to let
\r
143 * the application set up a timer to generate the tick interrupt. In this
\r
144 * example a timer A0 is used for this purpose.
\r
148 /* Standard includes. */
\r
151 /* FreeRTOS includes. */
\r
152 #include "FreeRTOS.h"
\r
154 #include "timers.h"
\r
157 /* Hardware includes. */
\r
158 #include "msp430.h"
\r
159 #include "hal_MSP-EXP430F5438.h"
\r
161 /* Standard demo includes. */
\r
162 #include "ParTest.h"
\r
163 #include "dynamic.h"
\r
164 #include "comtest2.h"
\r
165 #include "GenQTest.h"
\r
166 #include "TimerDemo.h"
\r
167 #include "countsem.h"
\r
169 /* Codes sent within messages to the LCD task so the LCD task can interpret
\r
170 exactly what the message it just received was. These are sent in the
\r
171 cMessageID member of the message structure (defined below). */
\r
172 #define mainMESSAGE_BUTTON_UP ( 1 )
\r
173 #define mainMESSAGE_BUTTON_SEL ( 2 )
\r
174 #define mainMESSAGE_STATUS ( 3 )
\r
176 /* When the cMessageID member of the message sent to the LCD task is
\r
177 mainMESSAGE_STATUS then these definitions are sent in the ulMessageValue member
\r
178 of the same message and indicate what the status actually is. */
\r
179 #define mainERROR_DYNAMIC_TASKS ( pdPASS + 1 )
\r
180 #define mainERROR_COM_TEST ( pdPASS + 2 )
\r
181 #define mainERROR_GEN_QUEUE_TEST ( pdPASS + 3 )
\r
182 #define mainERROR_REG_TEST ( pdPASS + 4 )
\r
183 #define mainERROR_TIMER_TEST ( pdPASS + 5 )
\r
184 #define mainERROR_COUNT_SEM_TEST ( pdPASS + 6 )
\r
186 /* The length of the queue (the number of items the queue can hold) that is used
\r
187 to send messages from tasks and interrupts the the LCD task. */
\r
188 #define mainQUEUE_LENGTH ( 5 )
\r
190 /* Priorities used by the test and demo tasks. */
\r
191 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
192 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
193 #define mainGENERIC_QUEUE_TEST_PRIORITY ( tskIDLE_PRIORITY )
\r
195 /* The LED used by the comtest tasks. See the comtest.c file for more
\r
197 #define mainCOM_TEST_LED ( 1 )
\r
199 /* The baud rate used by the comtest tasks. */
\r
200 #define mainCOM_TEST_BAUD_RATE ( 38400 )
\r
202 /* The maximum number of lines of text that can be displayed on the LCD. */
\r
203 #define mainMAX_LCD_LINES ( 8 )
\r
205 /* Just used to ensure parameters are passed into tasks correctly. */
\r
206 #define mainTASK_PARAMETER_CHECK_VALUE ( ( void * ) 0xDEAD )
\r
208 /* The base period used by the timer test tasks. */
\r
209 #define mainTIMER_TEST_PERIOD ( 50 )
\r
211 /* The frequency at which the check timer (described in the comments at the top
\r
212 of this file) will call its callback function. */
\r
213 #define mainCHECK_TIMER_PERIOD ( 5000UL / ( unsigned long ) portTICK_RATE_MS )
\r
216 #define mainDONT_BLOCK ( 0 )
\r
217 /*-----------------------------------------------------------*/
\r
220 * The reg test tasks as described at the top of this file.
\r
222 extern void vRegTest1Task( void *pvParameters );
\r
223 extern void vRegTest2Task( void *pvParameters );
\r
226 * Configures clocks, LCD, port pints, etc. necessary to execute this demo.
\r
228 static void prvSetupHardware( void );
\r
231 * Definition of the LCD/controller task described in the comments at the top
\r
234 static void prvLCDTask( void *pvParameters );
\r
237 * Definition of the button poll task described in the comments at the top of
\r
240 static void prvButtonPollTask( void *pvParameters );
\r
243 * Converts a status message value into an appropriate string for display on
\r
244 * the LCD. The string is written to pcBuffer.
\r
246 static void prvGenerateStatusMessage( char *pcBuffer, unsigned long ulStatusValue );
\r
249 * Defines the 'check' functionality as described at the top of this file. This
\r
250 * function is the callback function for the 'check' timer. */
\r
251 static void vCheckTimerCallback( xTimerHandle xTimer );
\r
253 /*-----------------------------------------------------------*/
\r
255 /* Variables that are incremented on each iteration of the reg test tasks -
\r
256 provided the tasks have not reported any errors. The check task inspects these
\r
257 variables to ensure they are still incrementing as expected. If a variable
\r
258 stops incrementing then it is likely that its associate task has stalled. */
\r
259 volatile unsigned short usRegTest1Counter = 0, usRegTest2Counter = 0;
\r
261 /* The handle of the queue used to send messages from tasks and interrupts to
\r
263 static xQueueHandle xLCDQueue = NULL;
\r
265 /* The 'check' timer, as described at the top of this file. */
\r
266 static xTimerHandle xCheckTimer = NULL;
\r
268 /* The definition of each message sent from tasks and interrupts to the LCD
\r
272 char cMessageID; /* << States what the message is. */
\r
273 unsigned long ulMessageValue; /* << States the message value (can be an integer, string pointer, etc. depending on the value of cMessageID). */
\r
276 /*-----------------------------------------------------------*/
\r
280 /* Configure the peripherals used by this demo application. This includes
\r
281 configuring the joystick input select button to generate interrupts. */
\r
282 prvSetupHardware();
\r
284 /* Create the queue used by tasks and interrupts to send strings to the LCD
\r
286 xLCDQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( xQueueMessage ) );
\r
288 /* If the queue could not be created then don't create any tasks that might
\r
289 attempt to use the queue. */
\r
290 if( xLCDQueue != NULL )
\r
292 /* Create the standard demo tasks. */
\r
293 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
\r
294 vStartDynamicPriorityTasks();
\r
295 vStartGenericQueueTasks( mainGENERIC_QUEUE_TEST_PRIORITY );
\r
296 vStartCountingSemaphoreTasks();
\r
298 /* Note that creating the timer test/demo tasks will fill the timer
\r
299 command queue. This is intentional, and forms part of the test the tasks
\r
300 perform. It does mean however that, after this function is called, no
\r
301 more timer commands can be sent until after the scheduler has been
\r
302 started (at which point the timer daemon will drained the timer command
\r
303 queue, freeing up space for more commands to be received). */
\r
304 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
\r
306 /* Create the LCD, button poll and register test tasks, as described at
\r
307 the top of this file. */
\r
308 xTaskCreate( prvLCDTask, ( signed char * ) "LCD", configMINIMAL_STACK_SIZE * 2, mainTASK_PARAMETER_CHECK_VALUE, mainLCD_TASK_PRIORITY, NULL );
\r
309 xTaskCreate( prvButtonPollTask, ( signed char * ) "BPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
\r
310 xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
\r
311 xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
\r
313 /* Create the 'check' timer - the timer that periodically calls the
\r
314 check function as described at the top of this file. Note that, for
\r
315 the reasons stated in the comments above the call to
\r
316 vStartTimerDemoTask(), that the check timer is not actually started
\r
317 until after the scheduler has been started. */
\r
318 xCheckTimer = xTimerCreate( ( const signed char * ) "Check timer", mainCHECK_TIMER_PERIOD, pdTRUE, ( void * ) 0, vCheckTimerCallback );
\r
320 /* Start the scheduler. */
\r
321 vTaskStartScheduler();
\r
324 /* If all is well then this line will never be reached. If it is reached
\r
325 then it is likely that there was insufficient (FreeRTOS) heap memory space
\r
326 to create the idle task. This may have been trapped by the malloc() failed
\r
327 hook function, if one is configured. */
\r
330 /*-----------------------------------------------------------*/
\r
332 static void prvLCDTask( void *pvParameters )
\r
334 xQueueMessage xReceivedMessage;
\r
336 /* Buffer into which strings are formatted and placed ready for display on the
\r
337 LCD. Note this is a static variable to prevent it being allocated on the task
\r
338 stack, which is too small to hold such a variable. The stack size is configured
\r
339 when the task is created. */
\r
340 static char cBuffer[ 50 ];
\r
341 unsigned char ucLine = 1;
\r
343 /* Now the scheduler has been started (it must have been for this task to
\r
344 be running), start the check timer too. The call to xTimerStart() will
\r
345 block until the command has been accepted. */
\r
346 if( xCheckTimer != NULL )
\r
348 xTimerStart( xCheckTimer, portMAX_DELAY );
\r
351 /* This is the only function that is permitted to access the LCD.
\r
353 First print out the number of bytes that remain in the FreeRTOS heap. This
\r
354 is done after a short delay to ensure all the demo tasks have created all
\r
355 the objects they are going to use. */
\r
356 vTaskDelay( mainTIMER_TEST_PERIOD * 10 );
\r
357 sprintf( cBuffer, "%d heap free", ( int ) xPortGetFreeHeapSize() );
\r
358 halLcdPrintLine( cBuffer, ucLine, OVERWRITE_TEXT );
\r
361 /* Just as a test of the port, and for no functional reason, check the task
\r
362 parameter contains its expected value. */
\r
363 if( pvParameters != mainTASK_PARAMETER_CHECK_VALUE )
\r
365 halLcdPrintLine( "Invalid parameter", ucLine, OVERWRITE_TEXT );
\r
371 /* Wait for a message to be received. Using portMAX_DELAY as the block
\r
372 time will result in an indefinite wait provided INCLUDE_vTaskSuspend is
\r
373 set to 1 in FreeRTOSConfig.h, therefore there is no need to check the
\r
374 function return value and the function will only return when a value
\r
375 has been received. */
\r
376 xQueueReceive( xLCDQueue, &xReceivedMessage, portMAX_DELAY );
\r
378 /* Clear the LCD if no room remains for any more text output. */
\r
379 if( ucLine > mainMAX_LCD_LINES )
\r
381 halLcdClearScreen();
\r
385 /* What is this message? What does it contain? */
\r
386 switch( xReceivedMessage.cMessageID )
\r
388 case mainMESSAGE_BUTTON_UP : /* The button poll task has just
\r
389 informed this task that the up
\r
390 button on the joystick input has
\r
391 been pressed or released. */
\r
392 sprintf( cBuffer, "Button up = %d", ( int ) xReceivedMessage.ulMessageValue );
\r
395 case mainMESSAGE_BUTTON_SEL : /* The select button interrupt
\r
396 just informed this task that the
\r
397 select button has been pressed.
\r
398 In this case the pointer to the
\r
399 string to print is sent directly
\r
400 in the ulMessageValue member of
\r
401 the message. This just
\r
402 demonstrates a different
\r
403 communication technique. */
\r
404 sprintf( cBuffer, "%s", ( char * ) xReceivedMessage.ulMessageValue );
\r
407 case mainMESSAGE_STATUS : /* The tick interrupt hook
\r
408 function has just informed this
\r
409 task of the system status.
\r
410 Generate a string in accordance
\r
411 with the status value. */
\r
412 prvGenerateStatusMessage( cBuffer, xReceivedMessage.ulMessageValue );
\r
415 default : sprintf( cBuffer, "Unknown message" );
\r
419 /* Output the message that was placed into the cBuffer array within the
\r
420 switch statement above, then move onto the next line ready for the next
\r
421 message to arrive on the queue. */
\r
422 halLcdPrintLine( cBuffer, ucLine, OVERWRITE_TEXT );
\r
426 /*-----------------------------------------------------------*/
\r
428 static void prvGenerateStatusMessage( char *pcBuffer, unsigned long ulStatusValue )
\r
430 /* Just a utility function to convert a status value into a meaningful
\r
431 string for output onto the LCD. */
\r
432 switch( ulStatusValue )
\r
434 case pdPASS : sprintf( pcBuffer, "Status = PASS" );
\r
436 case mainERROR_DYNAMIC_TASKS : sprintf( pcBuffer, "Err: Dynamic tsks" );
\r
438 case mainERROR_COM_TEST : sprintf( pcBuffer, "Err: COM test" );
\r
440 case mainERROR_GEN_QUEUE_TEST : sprintf( pcBuffer, "Error: Gen Q test" );
\r
442 case mainERROR_REG_TEST : sprintf( pcBuffer, "Error: Reg test" );
\r
444 case mainERROR_TIMER_TEST : sprintf( pcBuffer, "Error: Tmr test" );
\r
446 case mainERROR_COUNT_SEM_TEST : sprintf( pcBuffer, "Error: Count sem" );
\r
448 default : sprintf( pcBuffer, "Unknown status" );
\r
452 /*-----------------------------------------------------------*/
\r
454 static void prvButtonPollTask( void *pvParameters )
\r
456 unsigned char ucLastState = pdFALSE, ucState;
\r
457 xQueueMessage xMessage;
\r
459 /* This tasks performs the button polling functionality as described at the
\r
460 top of this file. */
\r
463 /* Check the button state. */
\r
464 ucState = ( halButtonsPressed() & BUTTON_UP );
\r
468 /* The button was pressed. */
\r
472 if( ucState != ucLastState )
\r
474 /* The state has changed, send a message to the LCD task. */
\r
475 xMessage.cMessageID = mainMESSAGE_BUTTON_UP;
\r
476 xMessage.ulMessageValue = ( unsigned long ) ucState;
\r
477 ucLastState = ucState;
\r
478 xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
\r
481 /* Block for 10 milliseconds so this task does not utilise all the CPU
\r
482 time and debouncing of the button is not necessary. */
\r
483 vTaskDelay( 10 / portTICK_RATE_MS );
\r
486 /*-----------------------------------------------------------*/
\r
488 static void vCheckTimerCallback( xTimerHandle xTimer )
\r
490 static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
\r
492 /* Define the status message that is sent to the LCD task. By default the
\r
494 static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };
\r
496 /* This is the callback function used by the 'check' timer, as described
\r
497 at the top of this file. */
\r
499 /* The parameter is not used. */
\r
502 /* See if the standard demo tasks are executing as expected, changing
\r
503 the message that is sent to the LCD task from PASS to an error code if
\r
504 any tasks set reports an error. */
\r
505 if( xAreComTestTasksStillRunning() != pdPASS )
\r
507 xStatusMessage.ulMessageValue = mainERROR_COM_TEST;
\r
510 if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
\r
512 xStatusMessage.ulMessageValue = mainERROR_DYNAMIC_TASKS;
\r
515 if( xAreGenericQueueTasksStillRunning() != pdPASS )
\r
517 xStatusMessage.ulMessageValue = mainERROR_GEN_QUEUE_TEST;
\r
520 if( xAreCountingSemaphoreTasksStillRunning() != pdPASS )
\r
522 xStatusMessage.ulMessageValue = mainERROR_COUNT_SEM_TEST;
\r
525 if( xAreTimerDemoTasksStillRunning( ( portTickType ) mainCHECK_TIMER_PERIOD ) != pdPASS )
\r
527 xStatusMessage.ulMessageValue = mainERROR_TIMER_TEST;
\r
530 /* Check the reg test tasks are still cycling. They will stop
\r
531 incrementing their loop counters if they encounter an error. */
\r
532 if( usRegTest1Counter == usLastRegTest1Counter )
\r
534 xStatusMessage.ulMessageValue = mainERROR_REG_TEST;
\r
537 if( usRegTest2Counter == usLastRegTest2Counter )
\r
539 xStatusMessage.ulMessageValue = mainERROR_REG_TEST;
\r
542 usLastRegTest1Counter = usRegTest1Counter;
\r
543 usLastRegTest2Counter = usRegTest2Counter;
\r
545 /* This is called from a timer callback so must not block! */
\r
546 xQueueSendToBack( xLCDQueue, &xStatusMessage, mainDONT_BLOCK );
\r
548 /*-----------------------------------------------------------*/
\r
550 static void prvSetupHardware( void )
\r
552 taskDISABLE_INTERRUPTS();
\r
554 /* Disable the watchdog. */
\r
555 WDTCTL = WDTPW + WDTHOLD;
\r
559 LFXT_Start( XT1DRIVE_0 );
\r
560 hal430SetSystemClock( configCPU_CLOCK_HZ, configLFXT_CLOCK_HZ );
\r
562 halButtonsInit( BUTTON_ALL );
\r
563 halButtonsInterruptEnable( BUTTON_SELECT );
\r
565 /* Initialise the LCD, but note that the backlight is not used as the
\r
566 library function uses timer A0 to modulate the backlight, and this file
\r
567 defines vApplicationSetupTimerInterrupt() to also use timer A0 to generate
\r
568 the tick interrupt. If the backlight is required, then change either the
\r
569 halLCD library or vApplicationSetupTimerInterrupt() to use a different
\r
570 timer. Timer A1 is used for the run time stats time base6. */
\r
572 halLcdSetContrast( 100 );
\r
573 halLcdClearScreen();
\r
575 halLcdPrintLine( " www.FreeRTOS.org", 0, OVERWRITE_TEXT );
\r
577 /*-----------------------------------------------------------*/
\r
580 void vApplicationTickHook( void )
\r
582 static unsigned long ulCounter = 0;
\r
584 /* Is it time to toggle the LED again? */
\r
587 /* Just periodically toggle an LED to show that the tick interrupt is
\r
588 running. Note that this access LED_PORT_OUT in a non-atomic way, so tasks
\r
589 that access the same port must do so from a critical section. */
\r
590 if( ( ulCounter & 0xff ) == 0 )
\r
592 if( ( LED_PORT_OUT & LED_1 ) == 0 )
\r
594 LED_PORT_OUT |= LED_1;
\r
598 LED_PORT_OUT &= ~LED_1;
\r
602 /*-----------------------------------------------------------*/
\r
604 #pragma vector=PORT2_VECTOR
\r
605 interrupt void prvSelectButtonInterrupt( void )
\r
607 /* Define the message sent to the LCD task from this interrupt. */
\r
608 static const xQueueMessage xMessage = { mainMESSAGE_BUTTON_SEL, ( unsigned long ) "Select Interrupt" };
\r
609 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
\r
611 /* This is the interrupt handler for the joystick select button input.
\r
612 The button has been pushed, write a message to the LCD via the LCD task. */
\r
613 xQueueSendFromISR( xLCDQueue, &xMessage, &xHigherPriorityTaskWoken );
\r
617 /* If writing to xLCDQueue caused a task to unblock, and the unblocked task
\r
618 has a priority equal to or above the task that this interrupt interrupted,
\r
619 then lHigherPriorityTaskWoken will have been set to pdTRUE internally within
\r
620 xQueuesendFromISR(), and portEND_SWITCHING_ISR() will ensure that this
\r
621 interrupt returns directly to the higher priority unblocked task. */
\r
622 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
\r
624 /*-----------------------------------------------------------*/
\r
626 /* The MSP430X port uses this callback function to configure its tick interrupt.
\r
627 This allows the application to choose the tick interrupt source.
\r
628 configTICK_VECTOR must also be set in FreeRTOSConfig.h to the correct
\r
629 interrupt vector for the chosen tick interrupt source. This implementation of
\r
630 vApplicationSetupTimerInterrupt() generates the tick from timer A0, so in this
\r
631 case configTICK_VECTOR is set to TIMER0_A0_VECTOR. */
\r
632 void vApplicationSetupTimerInterrupt( void )
\r
634 const unsigned short usACLK_Frequency_Hz = 32768;
\r
636 /* Ensure the timer is stopped. */
\r
639 /* Run the timer from the ACLK. */
\r
642 /* Clear everything to start with. */
\r
645 /* Set the compare match value according to the tick rate we want. */
\r
646 TA0CCR0 = usACLK_Frequency_Hz / configTICK_RATE_HZ;
\r
648 /* Enable the interrupts. */
\r
651 /* Start up clean. */
\r
657 /*-----------------------------------------------------------*/
\r
659 void vApplicationIdleHook( void )
\r
661 /* Called on each iteration of the idle task. In this case the idle task
\r
662 just enters a low(ish) power mode. */
\r
663 __bis_SR_register( LPM1_bits + GIE );
\r
665 /*-----------------------------------------------------------*/
\r
667 void vApplicationMallocFailedHook( void )
\r
669 /* Called if a call to pvPortMalloc() fails because there is insufficient
\r
670 free memory available in the FreeRTOS heap. pvPortMalloc() is called
\r
671 internally by FreeRTOS API functions that create tasks, queues or
\r
673 taskDISABLE_INTERRUPTS();
\r
676 /*-----------------------------------------------------------*/
\r
678 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
\r
681 ( void ) pcTaskName;
\r
683 /* Run time stack overflow checking is performed if
\r
684 configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
\r
685 function is called if a stack overflow is detected. */
\r
686 taskDISABLE_INTERRUPTS();
\r
689 /*-----------------------------------------------------------*/
\r
projects / freertos / blob