2 FreeRTOS V8.2.0rc1 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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97 * This is a very simple demo that creates two tasks and one queue. One task
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98 * (the queue receive task) blocks on the queue to wait for data to arrive,
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99 * toggling an LED each time '100' is received. The other task (the queue send
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100 * task) repeatedly blocks for a fixed period before sending '100' to the queue
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101 * (causing the first task to toggle the LED).
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103 * For a much more complete and complex example select either the Debug or
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104 * Debug_with_optimisation build configurations within the Embedded Workbench
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108 /* Hardware specific includes. */
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109 #include <iorx62n.h>
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111 /* Kernel includes. */
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112 #include "FreeRTOS.h"
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116 /* Demo includes. */
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117 #include "partest.h"
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119 /* Priorities at which the tasks are created. */
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120 #define configQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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121 #define configQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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123 /* The rate at which data is sent to the queue, specified in milliseconds. */
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124 #define mainQUEUE_SEND_FREQUENCY_MS ( 500 / portTICK_PERIOD_MS )
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126 /* The number of items the queue can hold. This is 1 as the receive task
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127 will remove items as they are added so the send task should always find the
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129 #define mainQUEUE_LENGTH ( 1 )
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132 * The tasks as defined at the top of this file.
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134 static void prvQueueReceiveTask( void *pvParameters );
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135 static void prvQueueSendTask( void *pvParameters );
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137 /* The queue used by both tasks. */
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138 static QueueHandle_t xQueue = NULL;
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140 /* This variable is not used by this simple Blinky example. It is defined
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141 purely to allow the project to link as it is used by the full project. */
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142 volatile unsigned long ulHighFrequencyTickCount = 0UL;
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143 /*-----------------------------------------------------------*/
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147 extern void HardwareSetup( void );
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149 /* Renesas provided CPU configuration routine. The clocks are configured in
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153 /* Create the queue. */
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154 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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156 if( xQueue != NULL )
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158 /* Start the two tasks as described at the top of this file. */
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159 xTaskCreate( prvQueueReceiveTask, "Rx", configMINIMAL_STACK_SIZE, NULL, configQUEUE_RECEIVE_TASK_PRIORITY, NULL );
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160 xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, configQUEUE_SEND_TASK_PRIORITY, NULL );
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162 /* Start the tasks running. */
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163 vTaskStartScheduler();
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166 /* If all is well we will never reach here as the scheduler will now be
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167 running. If we do reach here then it is likely that there was insufficient
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168 heap available for the idle task to be created. */
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171 /*-----------------------------------------------------------*/
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173 static void prvQueueSendTask( void *pvParameters )
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175 TickType_t xNextWakeTime;
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176 const unsigned long ulValueToSend = 100UL;
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178 /* Initialise xNextWakeTime - this only needs to be done once. */
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179 xNextWakeTime = xTaskGetTickCount();
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183 /* Place this task in the blocked state until it is time to run again.
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184 The block state is specified in ticks, the constant used converts ticks
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186 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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188 /* Send to the queue - causing the queue receive task to flash its LED. 0
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189 is used so the send does not block - it shouldn't need to as the queue
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190 should always be empty here. */
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191 xQueueSend( xQueue, &ulValueToSend, 0 );
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194 /*-----------------------------------------------------------*/
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196 static void prvQueueReceiveTask( void *pvParameters )
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198 unsigned long ulReceivedValue;
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202 /* Wait until something arives in the queue - this will block
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203 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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204 FreeRTOSConfig.h. */
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205 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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207 /* To get here something must have arrived, but is it the expected
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208 value? If it is, toggle the LED. */
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209 if( ulReceivedValue == 100UL )
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211 vParTestToggleLED( 0 );
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215 /*-----------------------------------------------------------*/
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217 void vApplicationSetupTimerInterrupt( void )
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219 /* Enable compare match timer 0. */
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222 /* Interrupt on compare match. */
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223 CMT0.CMCR.BIT.CMIE = 1;
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225 /* Set the compare match value. */
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226 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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228 /* Divide the PCLK by 8. */
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229 CMT0.CMCR.BIT.CKS = 0;
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231 /* Enable the interrupt... */
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232 _IEN( _CMT0_CMI0 ) = 1;
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234 /* ...and set its priority to the application defined kernel priority. */
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235 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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237 /* Start the timer. */
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238 CMT.CMSTR0.BIT.STR0 = 1;
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240 /*-----------------------------------------------------------*/
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242 /* This function is explained by the comments above its prototype at the top
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244 void vApplicationMallocFailedHook( void )
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248 /*-----------------------------------------------------------*/
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250 /* This function is explained by the comments above its prototype at the top
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252 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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256 /*-----------------------------------------------------------*/
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258 /* This function is explained by the comments above its prototype at the top
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260 void vApplicationIdleHook( void )
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262 /* Just to prevent the variable getting optimised away. */
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263 ( void ) ulHighFrequencyTickCount;
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265 /*-----------------------------------------------------------*/
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267 /* The following two functions are here just to allow all three build
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268 configurations to use the same vector table. They are not used in this
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269 demo, but linker errors will result if they are not defined. They can
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271 void vT0_1InterruptHandler( void ) {}
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272 void vT2_3InterruptHandler( void ) {}