2 FreeRTOS V7.3.0 - Copyright (C) 2012 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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32 >>>NOTE<<< The modification to the GPL is included to allow you to
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33 distribute a combined work that includes FreeRTOS without being obliged to
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34 provide the source code for proprietary components outside of the FreeRTOS
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35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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38 more details. You should have received a copy of the GNU General Public
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39 License and the FreeRTOS license exception along with FreeRTOS; if not it
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40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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41 by writing to Richard Barry, contact details for whom are available on the
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46 ***************************************************************************
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48 * Having a problem? Start by reading the FAQ "My application does *
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49 * not run, what could be wrong?" *
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51 * http://www.FreeRTOS.org/FAQHelp.html *
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53 ***************************************************************************
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56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
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57 and contact details.
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59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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60 including FreeRTOS+Trace - an indispensable productivity tool.
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62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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63 the code with commercial support, indemnification, and middleware, under
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64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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65 provide a safety engineered and independently SIL3 certified version under
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66 the SafeRTOS brand: http://www.SafeRTOS.com.
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70 * main-blinky.c is included when the "Blinky" build configuration is used.
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71 * main-full.c is included when the "Full" build configuration is used.
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73 * main-blinky.c (this file) defines a very simple demo that creates two tasks,
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74 * one queue, and one timer. It also demonstrates how MicroBlaze interrupts
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75 * can interact with FreeRTOS tasks/timers.
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77 * This simple demo project was developed and tested on the Spartan-6 SP605
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78 * development board, using the hardware configuration found in the hardware
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79 * project that is already included in the Eclipse project.
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81 * The idle hook function:
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82 * The idle hook function demonstrates how to query the amount of FreeRTOS heap
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83 * space that is remaining (see vApplicationIdleHook() defined in this file).
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85 * The main() Function:
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86 * main() creates one software timer, one queue, and two tasks. It then starts
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89 * The Queue Send Task:
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90 * The queue send task is implemented by the prvQueueSendTask() function in
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91 * this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
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92 * block for 200 milliseconds, before sending the value 100 to the queue that
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93 * was created within main(). Once the value is sent, the task loops back
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94 * around to block for another 200 milliseconds.
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96 * The Queue Receive Task:
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97 * The queue receive task is implemented by the prvQueueReceiveTask() function
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98 * in this file. prvQueueReceiveTask() sits in a loop that causes it to
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99 * repeatedly attempt to read data from the queue that was created within
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100 * main(). When data is received, the task checks the value of the data, and
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101 * if the value equals the expected 100, toggles an LED. The 'block time'
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102 * parameter passed to the queue receive function specifies that the task
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103 * should be held in the Blocked state indefinitely to wait for data to be
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104 * available on the queue. The queue receive task will only leave the Blocked
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105 * state when the queue send task writes to the queue. As the queue send task
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106 * writes to the queue every 200 milliseconds, the queue receive task leaves
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107 * the Blocked state every 200 milliseconds, and therefore toggles the LED
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108 * every 200 milliseconds.
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110 * The LED Software Timer and the Button Interrupt:
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111 * The user buttons are configured to generate an interrupt each time one is
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112 * pressed. The interrupt service routine switches an LED on, and resets the
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113 * LED software timer. The LED timer has a 5000 millisecond (5 second) period,
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114 * and uses a callback function that is defined to just turn the LED off again.
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115 * Therefore, pressing the user button will turn the LED on, and the LED will
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116 * remain on until a full five seconds pass without the button being pressed.
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119 /* Kernel includes. */
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120 #include "FreeRTOS.h"
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123 #include "timers.h"
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125 /* BSP includes. */
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126 #include "xtmrctr.h"
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129 /* Priorities at which the tasks are created. */
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130 #define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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131 #define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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133 /* The rate at which data is sent to the queue, specified in milliseconds, and
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134 converted to ticks using the portTICK_RATE_MS constant. */
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135 #define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_RATE_MS )
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137 /* The number of items the queue can hold. This is 1 as the receive task
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138 will remove items as they are added because it has the higher priority, meaning
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139 the send task should always find the queue empty. */
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140 #define mainQUEUE_LENGTH ( 1 )
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142 /* The LED toggled by the queue receive task. */
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143 #define mainTASK_CONTROLLED_LED 0x01UL
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145 /* The LED turned on by the button interrupt, and turned off by the LED timer. */
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146 #define mainTIMER_CONTROLLED_LED 0x02UL
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148 /* A block time of 0 simply means, "don't block". */
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149 #define mainDONT_BLOCK ( portTickType ) 0
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151 /*-----------------------------------------------------------*/
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154 * Setup the NVIC, LED outputs, and button inputs.
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156 static void prvSetupHardware( void );
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159 * The tasks as described in the comments at the top of this file.
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161 static void prvQueueReceiveTask( void *pvParameters );
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162 static void prvQueueSendTask( void *pvParameters );
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165 * The LED timer callback function. This does nothing but switch off the
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166 * LED defined by the mainTIMER_CONTROLLED_LED constant.
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168 static void vLEDTimerCallback( xTimerHandle xTimer );
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171 * The handler executed each time a button interrupt is generated. This ensures
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172 * the LED defined by mainTIMER_CONTROLLED_LED is on, and resets the timer so
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173 * the timer will not turn the LED off for a full 5 seconds after the button
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174 * interrupt occurred.
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176 static void prvButtonInputInterruptHandler( void *pvUnused );
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178 /*-----------------------------------------------------------*/
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180 /* The queue used by the queue send and queue receive tasks. */
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181 static xQueueHandle xQueue = NULL;
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183 /* The LED software timer. This uses vLEDTimerCallback() as its callback
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185 static xTimerHandle xLEDTimer = NULL;
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187 /* Maintains the current LED output state. */
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188 static volatile unsigned char ucGPIOState = 0U;
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190 /*-----------------------------------------------------------*/
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192 /* Structures that hold the state of the various peripherals used by this demo.
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193 These are used by the Xilinx peripheral driver API functions. */
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194 static XTmrCtr xTimer0Instance;
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195 static XGpio xOutputGPIOInstance, xInputGPIOInstance;
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197 /* Constants required by the Xilinx peripheral driver API functions that are
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198 relevant to the particular hardware set up. */
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199 static const unsigned long ulGPIOOutputChannel = 1UL, ulGPIOInputChannel = 1UL;
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201 /*-----------------------------------------------------------*/
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205 /* *************************************************************************
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206 This is a very simple project suitable for getting started with FreeRTOS.
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207 If you would prefer a more complex project that demonstrates a lot more
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208 features and tests, then select the 'Full' build configuration within the
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210 ***************************************************************************/
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212 /* Configure the interrupt controller, LED outputs and button inputs. */
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213 prvSetupHardware();
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215 /* Create the queue used by the queue send and queue receive tasks as
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216 described in the comments at the top of this file. */
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217 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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219 /* Sanity check that the queue was created. */
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220 configASSERT( xQueue );
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222 /* Start the two tasks as described in the comments at the top of this
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224 xTaskCreate( prvQueueReceiveTask, ( signed char * ) "Rx", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_RECEIVE_TASK_PRIORITY, NULL );
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225 xTaskCreate( prvQueueSendTask, ( signed char * ) "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
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227 /* Create the software timer that is responsible for turning off the LED
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228 if the button is not pushed within 5000ms, as described at the top of
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229 this file. The timer is not actually started until a button interrupt is
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230 pushed, as it is not until that point that the LED is turned on. */
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231 xLEDTimer = xTimerCreate( ( const signed char * ) "LEDTimer", /* A text name, purely to help debugging. */
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232 ( 5000 / portTICK_RATE_MS ), /* The timer period, in this case 5000ms (5s). */
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233 pdFALSE, /* This is a one shot timer, so xAutoReload is set to pdFALSE. */
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234 ( void * ) 0, /* The ID is not used, so can be set to anything. */
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235 vLEDTimerCallback /* The callback function that switches the LED off. */
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238 /* Start the tasks and timer running. */
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239 vTaskStartScheduler();
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241 /* If all is well, the scheduler will now be running, and the following line
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242 will never be reached. If the following line does execute, then there was
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243 insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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244 to be created. See the memory management section on the FreeRTOS web site
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245 for more details. */
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248 /*-----------------------------------------------------------*/
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250 /* The callback is executed when the LED timer expires. */
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251 static void vLEDTimerCallback( xTimerHandle xTimer )
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253 /* The timer has expired - so no button pushes have occurred in the last
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254 five seconds - turn the LED off. NOTE - accessing the LED port should use
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255 a critical section because it is accessed from multiple tasks, and the
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256 button interrupt - in this trivial case, for simplicity, the critical
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257 section is omitted. */
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258 ucGPIOState &= ~mainTIMER_CONTROLLED_LED;
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259 XGpio_DiscreteWrite( &xOutputGPIOInstance, ulGPIOOutputChannel, ucGPIOState );
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261 /*-----------------------------------------------------------*/
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263 /* The ISR is executed when the user button is pushed. */
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264 static void prvButtonInputInterruptHandler( void *pvUnused )
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266 long lHigherPriorityTaskWoken = pdFALSE;
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268 /* The button was pushed, so ensure the LED is on before resetting the
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269 LED timer. The LED timer will turn the LED off if the button is not
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270 pushed within 5000ms. */
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271 ucGPIOState |= mainTIMER_CONTROLLED_LED;
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272 XGpio_DiscreteWrite( &xOutputGPIOInstance, ulGPIOOutputChannel, ucGPIOState );
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274 /* Ensure only the ISR safe reset API function is used, as this is executed
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275 in an interrupt context. */
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276 xTimerResetFromISR( xLEDTimer, &lHigherPriorityTaskWoken );
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278 /* Clear the interrupt before leaving. */
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279 XGpio_InterruptClear( &xInputGPIOInstance, ulGPIOInputChannel );
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281 /* If calling xTimerResetFromISR() caused a task (in this case the timer
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282 service/daemon task) to unblock, and the unblocked task has a priority
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283 higher than or equal to the task that was interrupted, then
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284 lHigherPriorityTaskWoken will now be set to pdTRUE, and calling
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285 portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
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286 portYIELD_FROM_ISR( lHigherPriorityTaskWoken );
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288 /*-----------------------------------------------------------*/
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290 static void prvQueueSendTask( void *pvParameters )
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292 portTickType xNextWakeTime;
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293 const unsigned long ulValueToSend = 100UL;
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295 /* Initialise xNextWakeTime - this only needs to be done once. */
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296 xNextWakeTime = xTaskGetTickCount();
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300 /* Place this task in the blocked state until it is time to run again.
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301 The block time is specified in ticks, the constant used converts ticks
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302 to ms. While in the Blocked state this task will not consume any CPU
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304 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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306 /* Send to the queue - causing the queue receive task to unblock and
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307 toggle an LED. 0 is used as the block time so the sending operation
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308 will not block - it shouldn't need to block as the queue should always
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309 be empty at this point in the code. */
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310 xQueueSend( xQueue, &ulValueToSend, mainDONT_BLOCK );
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313 /*-----------------------------------------------------------*/
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315 static void prvQueueReceiveTask( void *pvParameters )
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317 unsigned long ulReceivedValue;
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321 /* Wait until something arrives in the queue - this task will block
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322 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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323 FreeRTOSConfig.h. */
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324 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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326 /* To get here something must have been received from the queue, but
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327 is it the expected value? If it is, toggle the green LED. */
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328 if( ulReceivedValue == 100UL )
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330 /* NOTE - accessing the LED port should use a critical section
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331 because it is accessed from multiple tasks, and the button interrupt
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332 - in this trivial case, for simplicity, the critical section is
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334 if( ( ucGPIOState & mainTASK_CONTROLLED_LED ) != 0 )
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336 ucGPIOState &= ~mainTASK_CONTROLLED_LED;
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340 ucGPIOState |= mainTASK_CONTROLLED_LED;
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343 XGpio_DiscreteWrite( &xOutputGPIOInstance, ulGPIOOutputChannel, ucGPIOState );
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347 /*-----------------------------------------------------------*/
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349 static void prvSetupHardware( void )
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351 portBASE_TYPE xStatus;
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352 const unsigned char ucSetToOutput = 0U;
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354 /* Initialize the GPIO for the LEDs. */
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355 xStatus = XGpio_Initialize( &xOutputGPIOInstance, XPAR_LEDS_4BITS_DEVICE_ID );
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356 if( xStatus == XST_SUCCESS )
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358 /* All bits on this channel are going to be outputs (LEDs). */
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359 XGpio_SetDataDirection( &xOutputGPIOInstance, ulGPIOOutputChannel, ucSetToOutput );
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361 /* Start with all LEDs off. */
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363 XGpio_DiscreteWrite( &xOutputGPIOInstance, ulGPIOOutputChannel, ucGPIOState );
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366 /* Initialise the GPIO for the button inputs. */
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367 if( xStatus == XST_SUCCESS )
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369 xStatus = XGpio_Initialize( &xInputGPIOInstance, XPAR_PUSH_BUTTONS_4BITS_DEVICE_ID );
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372 if( xStatus == XST_SUCCESS )
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374 /* Install the handler defined in this task for the button input.
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375 *NOTE* The FreeRTOS defined xPortInstallInterruptHandler() API function
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376 must be used for this purpose. */
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377 xStatus = xPortInstallInterruptHandler( XPAR_MICROBLAZE_0_INTC_PUSH_BUTTONS_4BITS_IP2INTC_IRPT_INTR, prvButtonInputInterruptHandler, NULL );
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379 if( xStatus == pdPASS )
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381 /* Set buttons to input. */
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382 XGpio_SetDataDirection( &xInputGPIOInstance, ulGPIOInputChannel, ~( ucSetToOutput ) );
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384 /* Enable the button input interrupts in the interrupt controller.
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385 *NOTE* The vPortEnableInterrupt() API function must be used for this
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387 vPortEnableInterrupt( XPAR_MICROBLAZE_0_INTC_PUSH_BUTTONS_4BITS_IP2INTC_IRPT_INTR );
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389 /* Enable GPIO channel interrupts. */
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390 XGpio_InterruptEnable( &xInputGPIOInstance, ulGPIOInputChannel );
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391 XGpio_InterruptGlobalEnable( &xInputGPIOInstance );
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395 configASSERT( ( xStatus == pdPASS ) );
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397 /*-----------------------------------------------------------*/
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399 void vApplicationMallocFailedHook( void )
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401 /* vApplicationMallocFailedHook() will only be called if
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402 configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
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403 function that will get called if a call to pvPortMalloc() fails.
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404 pvPortMalloc() is called internally by the kernel whenever a task, queue or
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405 semaphore is created. It is also called by various parts of the demo
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406 application. If heap_1.c or heap_2.c are used, then the size of the heap
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407 available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
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408 FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
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409 to query the size of free heap space that remains (although it does not
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410 provide information on how the remaining heap might be fragmented). */
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411 taskDISABLE_INTERRUPTS();
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414 /*-----------------------------------------------------------*/
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416 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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418 ( void ) pcTaskName;
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421 /* vApplicationStackOverflowHook() will only be called if
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422 configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2. The handle and name
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423 of the offending task will be passed into the hook function via its
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424 parameters. However, when a stack has overflowed, it is possible that the
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425 parameters will have been corrupted, in which case the pxCurrentTCB variable
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426 can be inspected directly. */
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427 taskDISABLE_INTERRUPTS();
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430 /*-----------------------------------------------------------*/
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432 void vApplicationIdleHook( void )
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434 #ifdef EXAMPLE_CODE_ONLY
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436 The following code can only be included if heap_1.c or heap_2.c is used in
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437 the project. By default, heap_3.c is used, so the example code is
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438 excluded. See http://www.freertos.org/a00111.html for more information on
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439 memory management options.
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441 volatile size_t xFreeHeapSpace;
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443 /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
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444 to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
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445 task. It is essential that code added to this hook function never attempts
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446 to block in any way (for example, call xQueueReceive() with a block time
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447 specified, or call vTaskDelay()). If the application makes use of the
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448 vTaskDelete() API function (as this demo application does) then it is also
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449 important that vApplicationIdleHook() is permitted to return to its calling
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450 function, because it is the responsibility of the idle task to clean up
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451 memory allocated by the kernel to any task that has since been deleted. */
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453 /* This implementation of vApplicationIdleHook() simply demonstrates how
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454 the xPortGetFreeHeapSize() function can be used. */
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455 xFreeHeapSpace = xPortGetFreeHeapSize();
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457 if( xFreeHeapSpace > 100 )
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459 /* By now, the kernel has allocated everything it is going to, so
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460 if there is a lot of heap remaining unallocated then
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461 the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be
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462 reduced accordingly. */
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466 /*-----------------------------------------------------------*/
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468 /* This is an application defined callback function used to install the tick
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469 interrupt handler. It is provided as an application callback because the kernel
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470 will run on lots of different MicroBlaze and FPGA configurations - not all of
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471 which will have the same timer peripherals defined or available. This example
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472 uses the AXI Timer 0. If that is available on your hardware platform then this
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473 example callback implementation should not require modification. The name of
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474 the interrupt handler that should be installed is vPortTickISR(), which the
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475 function below declares as an extern. */
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476 void vApplicationSetupTimerInterrupt( void )
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478 portBASE_TYPE xStatus;
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479 const unsigned char ucTimerCounterNumber = ( unsigned char ) 0U;
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480 const unsigned long ulCounterValue = ( ( XPAR_AXI_TIMER_0_CLOCK_FREQ_HZ / configTICK_RATE_HZ ) - 1UL );
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481 extern void vPortTickISR( void *pvUnused );
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483 /* Initialise the timer/counter. */
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484 xStatus = XTmrCtr_Initialize( &xTimer0Instance, XPAR_AXI_TIMER_0_DEVICE_ID );
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486 if( xStatus == XST_SUCCESS )
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488 /* Install the tick interrupt handler as the timer ISR.
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489 *NOTE* The xPortInstallInterruptHandler() API function must be used for
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491 xStatus = xPortInstallInterruptHandler( XPAR_INTC_0_TMRCTR_0_VEC_ID, vPortTickISR, NULL );
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494 if( xStatus == pdPASS )
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496 /* Enable the timer interrupt in the interrupt controller.
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497 *NOTE* The vPortEnableInterrupt() API function must be used for this
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499 vPortEnableInterrupt( XPAR_INTC_0_TMRCTR_0_VEC_ID );
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501 /* Configure the timer interrupt handler. */
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502 XTmrCtr_SetHandler( &xTimer0Instance, ( void * ) vPortTickISR, NULL );
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504 /* Set the correct period for the timer. */
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505 XTmrCtr_SetResetValue( &xTimer0Instance, ucTimerCounterNumber, ulCounterValue );
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507 /* Enable the interrupts. Auto-reload mode is used to generate a
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508 periodic tick. Note that interrupts are disabled when this function is
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509 called, so interrupts will not start to be processed until the first
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510 task has started to run. */
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511 XTmrCtr_SetOptions( &xTimer0Instance, ucTimerCounterNumber, ( XTC_INT_MODE_OPTION | XTC_AUTO_RELOAD_OPTION | XTC_DOWN_COUNT_OPTION ) );
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513 /* Start the timer. */
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514 XTmrCtr_Start( &xTimer0Instance, ucTimerCounterNumber );
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517 /* Sanity check that the function executed as expected. */
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518 configASSERT( ( xStatus == pdPASS ) );
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520 /*-----------------------------------------------------------*/
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522 /* This is an application defined callback function used to clear whichever
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523 interrupt was installed by the the vApplicationSetupTimerInterrupt() callback
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524 function - in this case the interrupt generated by the AXI timer. It is
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525 provided as an application callback because the kernel will run on lots of
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526 different MicroBlaze and FPGA configurations - not all of which will have the
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527 same timer peripherals defined or available. This example uses the AXI Timer 0.
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528 If that is available on your hardware platform then this example callback
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529 implementation should not require modification provided the example definition
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530 of vApplicationSetupTimerInterrupt() is also not modified. */
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531 void vApplicationClearTimerInterrupt( void )
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533 unsigned long ulCSR;
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535 /* Clear the timer interrupt */
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536 ulCSR = XTmrCtr_GetControlStatusReg( XPAR_AXI_TIMER_0_BASEADDR, 0 );
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537 XTmrCtr_SetControlStatusReg( XPAR_AXI_TIMER_0_BASEADDR, 0, ulCSR );
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539 /*-----------------------------------------------------------*/
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541 /* These functions are not used by the Blinky build configuration. However,
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542 they need to be defined because the Blinky and Full build configurations share
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543 a FreeRTOSConifg.h configuration file. */
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544 void vMainConfigureTimerForRunTimeStats( void ) {}
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545 unsigned long ulMainGetRunTimeCounterValue( void ) { return 1; }
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projects / freertos / blob