2 FreeRTOS V7.4.2 - 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 * The documentation page for this demo available on http://www.FreeRTOS.org
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77 * documents the hardware configuration required to run this demo. It also
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78 * provides more information on the expected demo application behaviour.
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80 * main() creates all the demo application tasks, then starts the scheduler.
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81 * A lot of the created tasks are from the pool of "standard demo" tasks. The
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82 * web documentation provides more details of the standard demo tasks, which
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83 * provide no particular functionality but do provide good examples of how to
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84 * use the FreeRTOS API.
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86 * In addition to the standard demo tasks, the following tasks, interrupts and
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87 * tests are defined and/or created within this file:
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89 * "LCD" task - The LCD task is a 'gatekeeper' task. It is the only task that
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90 * is permitted to access the LCD and therefore ensures access to the LCD is
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91 * always serialised and there are no mutual exclusion issues. When a task or
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92 * an interrupt wants to write to the LCD, it does not access the LCD directly
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93 * but instead sends the message to the LCD task. The LCD task then performs
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94 * the actual LCD output. This mechanism also allows interrupts to, in effect,
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95 * write to the LCD by sending messages to the LCD task.
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97 * The LCD task is also a demonstration of a 'controller' task design pattern.
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98 * Some tasks do not actually send a string to the LCD task directly, but
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99 * instead send a command that is interpreted by the LCD task. In a normal
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100 * application these commands can be control values or set points, in this
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101 * simple example the commands just result in messages being displayed on the
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104 * "Button Poll" task - This task polls the state of the 'up' key on the
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105 * joystick input device. It uses the vTaskDelay() API function to control
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106 * the poll rate to ensure debouncing is not necessary and that the task does
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107 * not use all the available CPU processing time.
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109 * Button Interrupt and run time stats display - The select button on the
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110 * joystick input device is configured to generate an external interrupt. The
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111 * handler for this interrupt sends a message to LCD task, which interprets the
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112 * message to mean, firstly write a message to the LCD, and secondly, generate
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113 * a table of run time statistics. The run time statistics are displayed as a
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114 * table that contains information on how much processing time each task has
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115 * been allocated since the application started to execute. This information
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116 * is provided both as an absolute time, and as a percentage of the total run
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117 * time. The information is displayed in the terminal IO window of the IAR
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118 * embedded workbench. The online documentation for this demo shows a screen
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119 * shot demonstrating where the run time stats can be viewed.
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121 * Idle Hook - The idle hook is a function that is called on each iteration of
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122 * the idle task. In this case it is used to place the processor into a low
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123 * power mode. Note however that this application is implemented using standard
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124 * components, and is therefore not optimised for low power operation. Lower
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125 * power consumption would be achieved by converting polling tasks into event
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126 * driven tasks, and slowing the tick interrupt frequency.
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128 * "Check" function called from the tick hook - The tick hook is called during
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129 * each tick interrupt. It is called from an interrupt context so must execute
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130 * quickly, not attempt to block, and not call any FreeRTOS API functions that
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131 * do not end in "FromISR". In this case the tick hook executes a 'check'
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132 * function. This only executes every five seconds. Its main function is to
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133 * check that all the standard demo tasks are still operational. Each time it
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134 * executes it sends a status code to the LCD task. The LCD task interprets the
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135 * code and displays an appropriate message - which will be PASS if no tasks
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136 * have reported any errors, or a message stating which task has reported an
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139 * "Reg test" tasks - These fill the registers with known values, then check
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140 * that each register still contains its expected value. Each task uses
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141 * different values. The tasks run with very low priority so get preempted
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142 * very frequently. A check variable is incremented on each iteration of the
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143 * test loop. A register containing an unexpected value is indicative of an
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144 * error in the context switching mechanism and will result in a branch to a
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145 * null loop - which in turn will prevent the check variable from incrementing
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146 * any further and allow the check task (described a above) to determine that an
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147 * error has occurred. The nature of the reg test tasks necessitates that they
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148 * are written in assembly code.
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150 * *NOTE 1* vApplicationSetupTimerInterrupt() is called by the kernel to let
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151 * the application set up a timer to generate the tick interrupt. In this
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152 * example a timer A0 is used for this purpose.
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156 /* Standard includes. */
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159 /* FreeRTOS includes. */
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160 #include "FreeRTOS.h"
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164 /* Hardware includes. */
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165 #include "msp430.h"
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166 #include "hal_MSP-EXP430F5438.h"
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168 /* Standard demo includes. */
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169 #include "ParTest.h"
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170 #include "dynamic.h"
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171 #include "comtest2.h"
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172 #include "GenQTest.h"
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174 /* Codes sent within messages to the LCD task so the LCD task can interpret
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175 exactly what the message it just received was. These are sent in the
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176 cMessageID member of the message structure (defined below). */
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177 #define mainMESSAGE_BUTTON_UP ( 1 )
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178 #define mainMESSAGE_BUTTON_SEL ( 2 )
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179 #define mainMESSAGE_STATUS ( 3 )
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181 /* When the cMessageID member of the message sent to the LCD task is
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182 mainMESSAGE_STATUS then these definitions are sent in the ulMessageValue member
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183 of the same message and indicate what the status actually is. */
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184 #define mainERROR_DYNAMIC_TASKS ( pdPASS + 1 )
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185 #define mainERROR_COM_TEST ( pdPASS + 2 )
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186 #define mainERROR_GEN_QUEUE_TEST ( pdPASS + 3 )
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187 #define mainERROR_REG_TEST ( pdPASS + 4 )
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189 /* The length of the queue (the number of items the queue can hold) that is used
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190 to send messages from tasks and interrupts the the LCD task. */
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191 #define mainQUEUE_LENGTH ( 5 )
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193 /* Priorities used by the test and demo tasks. */
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194 #define mainLCD_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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195 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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196 #define mainGENERIC_QUEUE_TEST_PRIORITY ( tskIDLE_PRIORITY )
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198 /* The LED used by the comtest tasks. See the comtest.c file for more
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200 #define mainCOM_TEST_LED ( 1 )
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202 /* The baud rate used by the comtest tasks described at the top of this file. */
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203 #define mainCOM_TEST_BAUD_RATE ( 38400 )
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205 /* The maximum number of lines of text that can be displayed on the LCD. */
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206 #define mainMAX_LCD_LINES ( 8 )
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208 /* Just used to ensure parameters are passed into tasks correctly. */
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209 #define mainTASK_PARAMETER_CHECK_VALUE ( ( void * ) 0xDEAD )
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210 /*-----------------------------------------------------------*/
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213 * The reg test tasks as described at the top of this file.
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215 extern void vRegTest1Task( void *pvParameters );
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216 extern void vRegTest2Task( void *pvParameters );
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219 * Configures clocks, LCD, port pints, etc. necessary to execute this demo.
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221 static void prvSetupHardware( void );
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224 * Definition of the LCD/controller task described in the comments at the top
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227 static void prvLCDTask( void *pvParameters );
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230 * Definition of the button poll task described in the comments at the top of
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233 static void prvButtonPollTask( void *pvParameters );
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236 * Converts a status message value into an appropriate string for display on
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237 * the LCD. The string is written to pcBuffer.
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239 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue );
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241 /*-----------------------------------------------------------*/
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243 /* Variables that are incremented on each iteration of the reg test tasks -
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244 provided the tasks have not reported any errors. The check task inspects these
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245 variables to ensure they are still incrementing as expected. If a variable
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246 stops incrementing then it is likely that its associate task has stalled. */
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247 volatile unsigned short usRegTest1Counter = 0, usRegTest2Counter = 0;
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249 /* The handle of the queue used to send messages from tasks and interrupts to
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251 static xQueueHandle xLCDQueue = NULL;
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253 /* The definition of each message sent from tasks and interrupts to the LCD
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257 char cMessageID; /* << States what the message is. */
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258 unsigned long ulMessageValue; /* << States the message value (can be an integer, string pointer, etc. depending on the value of cMessageID). */
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261 /*-----------------------------------------------------------*/
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263 /* The linker script can be used to test the FreeRTOS ports use of 20bit
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264 addresses by locating all code in high memory. The following pragma ensures
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265 that main remains in low memory when that is done. The ISR_CODE segment is used
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266 for convenience as ISR functions are always placed in low memory. */
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267 #pragma location="ISR_CODE"
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270 /* Configure the peripherals used by this demo application. This includes
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271 configuring the joystick input select button to generate interrupts. */
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272 prvSetupHardware();
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274 /* Create the queue used by tasks and interrupts to send strings to the LCD
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276 xLCDQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( xQueueMessage ) );
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278 /* If the queue could not be created then don't create any tasks that might
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279 attempt to use the queue. */
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280 if( xLCDQueue != NULL )
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282 /* Add the created queue to the queue registry so it can be viewed in
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283 the IAR FreeRTOS state viewer plug-in. */
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284 vQueueAddToRegistry( xLCDQueue, "LCDQueue" );
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286 /* Create the standard demo tasks. */
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287 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
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288 vStartDynamicPriorityTasks();
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289 vStartGenericQueueTasks( mainGENERIC_QUEUE_TEST_PRIORITY );
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291 /* Create the LCD, button poll and register test tasks, as described at
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292 the top of this file. */
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293 xTaskCreate( prvLCDTask, ( signed char * ) "LCD", configMINIMAL_STACK_SIZE * 2, mainTASK_PARAMETER_CHECK_VALUE, mainLCD_TASK_PRIORITY, NULL );
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294 xTaskCreate( prvButtonPollTask, ( signed char * ) "BPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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295 xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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296 xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );
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298 /* Start the scheduler. */
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299 vTaskStartScheduler();
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302 /* If all is well then this line will never be reached. If it is reached
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303 then it is likely that there was insufficient (FreeRTOS) heap memory space
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304 to create the idle task. This may have been trapped by the malloc() failed
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305 hook function, if one is configured. */
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308 /*-----------------------------------------------------------*/
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310 static void prvLCDTask( void *pvParameters )
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312 xQueueMessage xReceivedMessage;
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314 /* Buffer into which strings are formatted and placed ready for display on the
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315 LCD. Note this is a static variable to prevent it being allocated on the task
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316 stack, which is too small to hold such a variable. The stack size is configured
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317 when the task is created. */
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318 static char cBuffer[ 512 ];
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319 unsigned char ucLine = 1;
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322 /* This function is the only function that uses printf(). If printf() is
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323 used from any other function then some sort of mutual exclusion on stdout
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326 This is also the only function that is permitted to access the LCD.
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328 First print out the number of bytes that remain in the FreeRTOS heap. This
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329 can be viewed in the terminal IO window within the IAR Embedded Workbench. */
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330 printf( "%d bytes of heap space remain unallocated\n", ( int ) xPortGetFreeHeapSize() );
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332 /* Just as a test of the port, and for no functional reason, check the task
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333 parameter contains its expected value. */
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334 if( pvParameters != mainTASK_PARAMETER_CHECK_VALUE )
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336 halLcdPrintLine( "Invalid parameter", ucLine, OVERWRITE_TEXT );
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342 /* Wait for a message to be received. Using portMAX_DELAY as the block
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343 time will result in an indefinite wait provided INCLUDE_vTaskSuspend is
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344 set to 1 in FreeRTOSConfig.h, therefore there is no need to check the
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345 function return value and the function will only return when a value
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346 has been received. */
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347 xQueueReceive( xLCDQueue, &xReceivedMessage, portMAX_DELAY );
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349 /* Clear the LCD if no room remains for any more text output. */
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350 if( ucLine > mainMAX_LCD_LINES )
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352 halLcdClearScreen();
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356 /* What is this message? What does it contain? */
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357 switch( xReceivedMessage.cMessageID )
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359 case mainMESSAGE_BUTTON_UP : /* The button poll task has just
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360 informed this task that the up
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361 button on the joystick input has
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362 been pressed or released. */
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363 sprintf( cBuffer, "Button up = %d", ( int ) xReceivedMessage.ulMessageValue );
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366 case mainMESSAGE_BUTTON_SEL : /* The select button interrupt
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367 just informed this task that the
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368 select button was pressed.
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369 Generate a table of task run time
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370 statistics and output this to
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371 the terminal IO window in the IAR
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372 embedded workbench. */
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373 printf( "\nTask\t Abs Time\t %%Time\n*****************************************" );
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374 vTaskGetRunTimeStats( ( signed char * ) cBuffer );
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377 /* Also print out a message to
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378 the LCD - in this case the
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379 pointer to the string to print
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380 is sent directly in the
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381 ulMessageValue member of the
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382 message. This just demonstrates
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383 a different communication
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385 sprintf( cBuffer, "%s", ( char * ) xReceivedMessage.ulMessageValue );
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388 case mainMESSAGE_STATUS : /* The tick interrupt hook
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389 function has just informed this
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390 task of the system status.
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391 Generate a string in accordance
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392 with the status value. */
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393 prvGenerateStatusMessage( cBuffer, xReceivedMessage.ulMessageValue );
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396 default : sprintf( cBuffer, "Unknown message" );
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400 /* Output the message that was placed into the cBuffer array within the
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401 switch statement above, then move onto the next line ready for the next
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402 message to arrive on the queue. */
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403 halLcdPrintLine( cBuffer, ucLine, OVERWRITE_TEXT );
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407 /*-----------------------------------------------------------*/
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409 static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue )
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411 /* Just a utility function to convert a status value into a meaningful
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412 string for output onto the LCD. */
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413 switch( lStatusValue )
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415 case pdPASS : sprintf( pcBuffer, "Status = PASS" );
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417 case mainERROR_DYNAMIC_TASKS : sprintf( pcBuffer, "Err: Dynamic tsks" );
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419 case mainERROR_COM_TEST : sprintf( pcBuffer, "Err: COM test" );
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421 case mainERROR_GEN_QUEUE_TEST : sprintf( pcBuffer, "Error: Gen Q test" );
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423 case mainERROR_REG_TEST : sprintf( pcBuffer, "Error: Reg test" );
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425 default : sprintf( pcBuffer, "Unknown status" );
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429 /*-----------------------------------------------------------*/
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431 static void prvButtonPollTask( void *pvParameters )
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433 unsigned char ucLastState = pdFALSE, ucState;
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434 xQueueMessage xMessage;
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436 /* This tasks performs the button polling functionality as described at the
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437 top of this file. */
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440 /* Check the button state. */
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441 ucState = ( halButtonsPressed() & BUTTON_UP );
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445 /* The button was pressed. */
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449 if( ucState != ucLastState )
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451 /* The state has changed, send a message to the LCD task. */
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452 xMessage.cMessageID = mainMESSAGE_BUTTON_UP;
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453 xMessage.ulMessageValue = ( unsigned long ) ucState;
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454 ucLastState = ucState;
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455 xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
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458 /* Block for 10 milliseconds so this task does not utilise all the CPU
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459 time and debouncing of the button is not necessary. */
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460 vTaskDelay( 10 / portTICK_RATE_MS );
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463 /*-----------------------------------------------------------*/
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465 static void prvSetupHardware( void )
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469 LFXT_Start( XT1DRIVE_0 );
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470 hal430SetSystemClock( configCPU_CLOCK_HZ, configLFXT_CLOCK_HZ );
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472 halButtonsInit( BUTTON_ALL );
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473 halButtonsInterruptEnable( BUTTON_SELECT );
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475 /* Initialise the LCD, but note that the backlight is not used as the
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476 library function uses timer A0 to modulate the backlight, and this file
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477 defines vApplicationSetupTimerInterrupt() to also use timer A0 to generate
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478 the tick interrupt. If the backlight is required, then change either the
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479 halLCD library or vApplicationSetupTimerInterrupt() to use a different
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480 timer. Timer A1 is used for the run time stats time base6. */
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482 halLcdSetContrast( 100 );
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483 halLcdClearScreen();
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485 halLcdPrintLine( " www.FreeRTOS.org", 0, OVERWRITE_TEXT );
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487 /*-----------------------------------------------------------*/
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489 void vApplicationTickHook( void )
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491 static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;
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492 static unsigned long ulCounter = 0;
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493 static const unsigned long ulCheckFrequency = 5000UL / portTICK_RATE_MS;
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494 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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496 /* Define the status message that is sent to the LCD task. By default the
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498 static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };
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500 /* This is called from within the tick interrupt and performs the 'check'
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501 functionality as described in the comments at the top of this file.
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503 Is it time to perform the 'check' functionality again? */
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505 if( ulCounter >= ulCheckFrequency )
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507 /* See if the standard demo tasks are executing as expected, changing
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508 the message that is sent to the LCD task from PASS to an error code if
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509 any tasks set reports an error. */
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510 if( xAreComTestTasksStillRunning() != pdPASS )
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512 xStatusMessage.ulMessageValue = mainERROR_COM_TEST;
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515 if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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517 xStatusMessage.ulMessageValue = mainERROR_DYNAMIC_TASKS;
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520 if( xAreGenericQueueTasksStillRunning() != pdPASS )
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522 xStatusMessage.ulMessageValue = mainERROR_GEN_QUEUE_TEST;
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525 /* Check the reg test tasks are still cycling. They will stop
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526 incrementing their loop counters if they encounter an error. */
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527 if( usRegTest1Counter == usLastRegTest1Counter )
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529 xStatusMessage.ulMessageValue = mainERROR_REG_TEST;
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532 if( usRegTest2Counter == usLastRegTest2Counter )
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534 xStatusMessage.ulMessageValue = mainERROR_REG_TEST;
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537 usLastRegTest1Counter = usRegTest1Counter;
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538 usLastRegTest2Counter = usRegTest2Counter;
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540 /* As this is the tick hook the lHigherPriorityTaskWoken parameter is not
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541 needed (a context switch is going to be performed anyway), but it must
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542 still be provided. */
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543 xQueueSendFromISR( xLCDQueue, &xStatusMessage, &xHigherPriorityTaskWoken );
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547 /* Just periodically toggle an LED to show that the tick interrupt is
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548 running. Note that this access LED_PORT_OUT in a non-atomic way, so tasks
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549 that access the same port must do so from a critical section. */
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550 if( ( ulCounter & 0xff ) == 0 )
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552 if( ( LED_PORT_OUT & LED_1 ) == 0 )
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554 LED_PORT_OUT |= LED_1;
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558 LED_PORT_OUT &= ~LED_1;
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562 /*-----------------------------------------------------------*/
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564 #pragma vector=PORT2_VECTOR
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565 __interrupt static void prvSelectButtonInterrupt(void)
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567 /* Define the message sent to the LCD task from this interrupt. */
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568 static const xQueueMessage xMessage = { mainMESSAGE_BUTTON_SEL, ( unsigned long ) "Select Interrupt" };
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569 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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571 /* This is the interrupt handler for the joystick select button input.
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572 The button has been pushed, write a message to the LCD via the LCD task. */
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573 xQueueSendFromISR( xLCDQueue, &xMessage, &xHigherPriorityTaskWoken );
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577 /* If writing to xLCDQueue caused a task to unblock, and the unblocked task
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578 has a priority equal to or above the task that this interrupt interrupted,
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579 then lHigherPriorityTaskWoken will have been set to pdTRUE internally within
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580 xQueuesendFromISR(), and portEND_SWITCHING_ISR() will ensure that this
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581 interrupt returns directly to the higher priority unblocked task. */
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582 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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584 /*-----------------------------------------------------------*/
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586 /* The MSP430X port uses this callback function to configure its tick interrupt.
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587 This allows the application to choose the tick interrupt source.
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588 configTICK_VECTOR must also be set in FreeRTOSConfig.h to the correct
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589 interrupt vector for the chosen tick interrupt source. This implementation of
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590 vApplicationSetupTimerInterrupt() generates the tick from timer A0, so in this
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591 case configTICK_VECTOR is set to TIMER0_A0_VECTOR. */
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592 void vApplicationSetupTimerInterrupt( void )
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594 const unsigned short usACLK_Frequency_Hz = 32768;
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596 /* Ensure the timer is stopped. */
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599 /* Run the timer from the ACLK. */
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602 /* Clear everything to start with. */
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605 /* Set the compare match value according to the tick rate we want. */
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606 TA0CCR0 = usACLK_Frequency_Hz / configTICK_RATE_HZ;
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608 /* Enable the interrupts. */
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611 /* Start up clean. */
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617 /*-----------------------------------------------------------*/
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619 void vApplicationIdleHook( void )
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621 /* Called on each iteration of the idle task. In this case the idle task
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622 just enters a low power mode. */
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623 __bis_SR_register( LPM3_bits + GIE );
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625 /*-----------------------------------------------------------*/
\r
627 void vApplicationMallocFailedHook( void )
\r
629 /* Called if a call to pvPortMalloc() fails because there is insufficient
\r
630 free memory available in the FreeRTOS heap. pvPortMalloc() is called
\r
631 internally by FreeRTOS API functions that create tasks, queues or
\r
633 taskDISABLE_INTERRUPTS();
\r
636 /*-----------------------------------------------------------*/
\r
638 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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641 ( void ) pcTaskName;
\r
643 /* Run time stack overflow checking is performed if
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644 configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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645 function is called if a stack overflow is detected. */
\r
646 taskDISABLE_INTERRUPTS();
\r
649 /*-----------------------------------------------------------*/
\r
projects / freertos / blob