2 * FreeRTOS Kernel V10.1.0
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3 * Copyright (C) 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* Scheduler includes. */
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29 #include "FreeRTOS.h"
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34 /* Hardware specifics. */
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35 #include "iodefine.h"
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38 /* States used by the LCD tasks. */
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39 #define lcdRIGHT_TO_LEFT 0U
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40 #define lcdLEFT_TO_RIGHT 1U
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41 #define lcdRUNNING 0U
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43 /* Characters on each line. */
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44 #define lcdSTRING_LEN 8
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46 /* Commands sent from the IRQ to the task controlling the second line of the
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48 #define lcdSHIFT_BACK_COMMAND 0x01U
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49 #define lcdSTART_STOP_COMMAND 0x02U
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50 #define lcdSHIFT_FORWARD_COMMAND 0x03U
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52 /* The length of the queue used to send commands from the ISRs. */
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53 #define lcdCOMMAND_QUEUE_LENGTH 32U
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55 /* Defines the minimum time that must pass between consecutive button presses
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56 to accept a button press as a unique press rather than just a bounce. */
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57 #define lcdMIN_TIME_BETWEEN_INTERRUPTS_MS ( 125UL / portTICK_PERIOD_MS )
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59 /* Button interrupt handlers. */
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60 #pragma interrupt ( prvIRQ1_Handler( vect = 65, enable ) )
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61 static void prvIRQ1_Handler( void );
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63 #pragma interrupt ( prvIRQ3_Handler( vect = 67, enable ) )
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64 static void prvIRQ3_Handler( void );
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66 #pragma interrupt ( prvIRQ4_Handler(vect = 68, enable ) )
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67 static void prvIRQ4_Handler( void );
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70 * Setup the IO needed for the buttons to generate interrupts.
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72 static void prvSetupButtonIOAndInterrupts( void );
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75 * A task that simply scrolls a string from left to right, then back from the
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76 * right to the left. This is done on the first line of the display.
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78 static void prvLCDTaskLine1( void *pvParameters );
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81 * If no buttons are pushed, then this task acts as per prvLCDTaskLine1(), but
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82 * using the second line of the display.
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84 * Using the buttons, it is possible to start and stop the scrolling of the
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85 * text. Once the scrolling has been stopped, other buttons can be used to
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86 * manually scroll the text either left or right.
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88 static void prvLCDTaskLine2( void *pvParameters );
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91 * Looks at the direction the string is currently being scrolled in, and moves
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92 * the index into the portion of the string that can be seen on the display
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93 * either forward or backward as appropriate.
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95 static prvScrollString( unsigned char *pucDirection, unsigned short *pusPosition, size_t xStringLength );
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98 * Displays lcdSTRING_LEN characters starting from pcString on the line of the
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99 * display requested by ucLine.
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101 static void prvDisplayNextString( unsigned char ucLine, char *pcString );
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104 * Called from the IRQ interrupts, which are generated on button pushes. Send
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105 * ucCommand to the task on the button command queue if
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106 * lcdMIN_TIME_BETWEEN_INTERRUPTS_MS milliseconds have passed since the button
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107 * was last pushed (for debouncing).
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109 static portBASE_TYPE prvSendCommandOnDebouncedInput( TickType_t *pxTimeLastInterrupt, unsigned char ucCommand );
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111 /*-----------------------------------------------------------*/
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113 /* The queue used to pass commands from the button interrupt handlers to the
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114 prvLCDTaskLine2() task. */
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115 static QueueHandle_t xButtonCommandQueue = NULL;
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117 /* The mutex used to ensure only one task writes to the display at any one
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119 static SemaphoreHandle_t xLCDMutex = NULL;
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121 /* The string that is scrolled up and down the first line of the display. */
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122 static const char cDataString1[] = " http://www.FreeRTOS.org ";
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124 /* The string that is scrolled/nudged up and down the second line of the
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126 static const char cDataString2[] = "........Rx210 Highlights....1.56 DMips/MHz....DSP functions....1.62V-5.5V operation....200 uA/MHz....Up to 512 kBytes Flash....up to 64 kbytes SRAM....EE Dataflash with 100k w/e....1.3 uA in Real Time Clock Mode....Powerful Motor control timer....4 x 16-bit timers....4 x 8-bit timers....Full Real Time Clock calendar with calibration and alarm functions....Up to 16 channels 1 uS 12-bit ADC, with Dual group programmable SCAN, 3 sample and holds, sample accumulate function....DMA controller....Data Transfer Controller....Up to 9 serial Channels....Up to 6 USARTs ( with Simple I2C / SPI )....USART ( with unique Frame based protocol support )....Multimaster IIC....RSPI....Temperature Sensor....Event Link Controller....Comparators....Safety features include CRC....March X....Dual watchdog Timers with window and independent oscillator....ADC self test....I/O Pin Test....Supported with E1 on chip debugger and RSK210 evaluation system....Rx210 Highlights........";
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128 /* Structures passed into the two tasks to inform them which line to use on the
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129 display, how long to delay for, and which string to use. */
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130 struct _LCD_Params xLCDLine1 =
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132 LCD_LINE1, 215, ( char * ) cDataString1
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135 struct _LCD_Params xLCDLine2 =
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137 LCD_LINE2, 350, ( char * ) cDataString2
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141 /*-----------------------------------------------------------*/
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143 void vStartButtonAndLCDDemo( void )
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145 prvSetupButtonIOAndInterrupts();
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146 InitialiseDisplay();
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148 /* Create the mutex used to guard the LCD. */
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149 xLCDMutex = xSemaphoreCreateMutex();
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150 configASSERT( xLCDMutex );
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152 /* Create the queue used to pass commands from the IRQ interrupts to the
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153 prvLCDTaskLine2() task. */
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154 xButtonCommandQueue = xQueueCreate( lcdCOMMAND_QUEUE_LENGTH, sizeof( unsigned char ) );
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155 configASSERT( xButtonCommandQueue );
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157 /* Start the two tasks as described at the top of this file. */
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158 xTaskCreate( prvLCDTaskLine1, "LCD1", configMINIMAL_STACK_SIZE * 3, ( void * ) &xLCDLine1, tskIDLE_PRIORITY + 1, NULL );
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159 xTaskCreate( prvLCDTaskLine2, "LCD2", configMINIMAL_STACK_SIZE * 3, ( void * ) &xLCDLine2, tskIDLE_PRIORITY + 2, NULL );
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161 /*-----------------------------------------------------------*/
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163 static void prvLCDTaskLine1( void *pvParameters )
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165 struct _LCD_Params *pxLCDParamaters = ( struct _LCD_Params * ) pvParameters;
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166 unsigned short usPosition = 0U;
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167 unsigned char ucDirection = lcdRIGHT_TO_LEFT;
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171 vTaskDelay( pxLCDParamaters->Speed / portTICK_PERIOD_MS );
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173 /* Write the string. */
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174 prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );
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176 /* Move the string in whichever direction the scroll is currently going
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178 prvScrollString( &ucDirection, &usPosition, strlen( pxLCDParamaters->ptr_str ) );
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181 /*-----------------------------------------------------------*/
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183 static void prvLCDTaskLine2( void *pvParameters )
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185 struct _LCD_Params *pxLCDParamaters = ( struct _LCD_Params * ) pvParameters;
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186 unsigned short usPosition = 0U;
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187 unsigned char ucDirection = lcdRIGHT_TO_LEFT, ucStatus = lcdRUNNING, ucQueueData;
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188 TickType_t xDelayTicks = ( pxLCDParamaters->Speed / portTICK_PERIOD_MS );
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192 /* Wait for a message from an IRQ handler. */
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193 if( xQueueReceive( xButtonCommandQueue, &ucQueueData, xDelayTicks ) != pdPASS )
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195 /* A message was not received before xDelayTicks ticks passed, so
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196 generate the next string to display and display it. */
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197 prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );
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199 /* Move the string in whichever direction the scroll is currently
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201 prvScrollString( &ucDirection, &usPosition, strlen( pxLCDParamaters->ptr_str ) );
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205 /* A command was received. Process it. */
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206 switch( ucQueueData )
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208 case lcdSTART_STOP_COMMAND :
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210 /* If the LCD is running, top it. If the LCD is stopped, start
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212 ucStatus = !ucStatus;
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214 if( ucStatus == lcdRUNNING )
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216 xDelayTicks = ( pxLCDParamaters->Speed / portTICK_PERIOD_MS );
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220 xDelayTicks = portMAX_DELAY;
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225 case lcdSHIFT_BACK_COMMAND :
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227 if( ucStatus != lcdRUNNING )
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229 /* If not already at the start of the display.... */
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230 if( usPosition != 0U )
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232 /* ....move the display position back by one char. */
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234 prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );
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240 case lcdSHIFT_FORWARD_COMMAND :
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242 if( ucStatus != lcdRUNNING )
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244 /* If not already at the end of the display.... */
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245 if( usPosition != ( strlen( pxLCDParamaters->ptr_str ) - ( lcdSTRING_LEN - 1 ) ) )
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247 /* ....move the display position forward by one
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250 prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );
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258 /*-----------------------------------------------------------*/
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260 void prvSetupButtonIOAndInterrupts( void )
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262 /* Configure SW 1-3 pin settings */
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263 PORT3.PDR.BIT.B1 = 0; /* Switch 1 - Port 3.1 - IRQ1 */
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264 PORT3.PDR.BIT.B3 = 0; /* Switch 2 - Port 3.3 - IRQ3 */
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265 PORT3.PDR.BIT.B4 = 0; /* Switch 3 - Port 3.4 - IRQ4 */
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267 PORT3.PMR.BIT.B1 = 1;
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268 PORT3.PMR.BIT.B3 = 1;
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269 PORT3.PMR.BIT.B4 = 1;
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271 MPC.PWPR.BIT.B0WI = 0; /* Writing to the PFSWE bit is enabled */
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272 MPC.PWPR.BIT.PFSWE = 1; /* Writing to the PFS register is enabled */
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273 MPC.P31PFS.BIT.ISEL = 1;
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274 MPC.P33PFS.BIT.ISEL = 1;
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275 MPC.P34PFS.BIT.ISEL = 1;
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278 ICU.IER[ 0x08 ].BIT.IEN1 = 1;
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279 ICU.IPR[ 65 ].BIT.IPR = configMAX_SYSCALL_INTERRUPT_PRIORITY - 1;
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280 ICU.IR[ 65 ].BIT.IR = 0;
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281 ICU.IRQCR[ 1 ].BIT.IRQMD = 2; /* Rising edge */
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284 ICU.IER[ 0x08 ].BIT.IEN3 = 1;
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285 ICU.IPR[ 67 ].BIT.IPR = configMAX_SYSCALL_INTERRUPT_PRIORITY - 1;
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286 ICU.IR[ 67 ].BIT.IR = 0;
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287 ICU.IRQCR[ 3 ].BIT.IRQMD = 2; /* Rising edge */
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290 ICU.IER[ 0x08 ].BIT.IEN4 = 1;
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291 ICU.IPR[ 68 ].BIT.IPR = configMAX_SYSCALL_INTERRUPT_PRIORITY - 1;
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292 ICU.IR[ 68 ].BIT.IR = 0;
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293 ICU.IRQCR[ 4 ].BIT.IRQMD = 2; /* Rising edge */
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295 /*-----------------------------------------------------------*/
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297 static prvScrollString( unsigned char *pucDirection, unsigned short *pusPosition, size_t xStringLength )
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299 /* Check which way to scroll. */
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300 if( *pucDirection == lcdRIGHT_TO_LEFT )
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302 /* Move to the next character. */
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303 ( *pusPosition )++;
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305 /* Has the end of the string been reached? */
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306 if( ( *pusPosition ) == ( xStringLength - ( lcdSTRING_LEN - 1 ) ) )
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308 /* Switch direction. */
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309 *pucDirection = lcdLEFT_TO_RIGHT;
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310 ( *pusPosition )--;
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315 /* Move (backward) to the next character. */
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316 ( *pusPosition )--;
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317 if( *pusPosition == 0U )
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319 /* Switch Direction. */
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320 *pucDirection = lcdRIGHT_TO_LEFT;
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324 /*-----------------------------------------------------------*/
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326 static void prvDisplayNextString( unsigned char ucLine, char *pcString )
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328 static char cSingleLine[ lcdSTRING_LEN + 1 ];
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330 xSemaphoreTake( xLCDMutex, portMAX_DELAY );
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331 strncpy( cSingleLine, pcString, lcdSTRING_LEN );
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332 DisplayString( ucLine, cSingleLine );
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333 xSemaphoreGive( xLCDMutex );
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335 /*-----------------------------------------------------------*/
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337 static portBASE_TYPE prvSendCommandOnDebouncedInput( TickType_t *pxTimeLastInterrupt, unsigned char ucCommand )
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339 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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340 TickType_t xCurrentTickCount;
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342 /* Check the time now for debouncing purposes. */
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343 xCurrentTickCount = xTaskGetTickCountFromISR();
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345 /* Has enough time passed since the button was last push to accept it as a
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347 if( ( xCurrentTickCount - *pxTimeLastInterrupt ) > lcdMIN_TIME_BETWEEN_INTERRUPTS_MS )
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349 xQueueSendToBackFromISR( xButtonCommandQueue, &ucCommand, &xHigherPriorityTaskWoken );
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352 /* Remember the time now, so debounce can be performed again on the next
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354 *pxTimeLastInterrupt = xCurrentTickCount;
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356 return xHigherPriorityTaskWoken;
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358 /*-----------------------------------------------------------*/
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360 static void prvIRQ1_Handler( void )
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362 static TickType_t xTimeLastInterrupt = 0UL;
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363 static const unsigned char ucCommand = lcdSHIFT_BACK_COMMAND;
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364 portBASE_TYPE xHigherPriorityTaskWoken;
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366 xHigherPriorityTaskWoken = prvSendCommandOnDebouncedInput( &xTimeLastInterrupt, ucCommand );
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367 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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369 /*-----------------------------------------------------------*/
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371 static void prvIRQ3_Handler(void)
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373 static TickType_t xTimeLastInterrupt = 0UL;
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374 static const unsigned char ucCommand = lcdSTART_STOP_COMMAND;
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375 portBASE_TYPE xHigherPriorityTaskWoken;
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377 xHigherPriorityTaskWoken = prvSendCommandOnDebouncedInput( &xTimeLastInterrupt, ucCommand );
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378 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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380 /*-----------------------------------------------------------*/
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382 static void prvIRQ4_Handler(void)
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384 static TickType_t xTimeLastInterrupt = 0UL;
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385 static const unsigned char ucCommand = lcdSHIFT_FORWARD_COMMAND;
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386 portBASE_TYPE xHigherPriorityTaskWoken;
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388 xHigherPriorityTaskWoken = prvSendCommandOnDebouncedInput( &xTimeLastInterrupt, ucCommand );
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389 portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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