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 * This is a very simple demo that creates two tasks and one queue. One task
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71 * (the queue receive task) blocks on the queue to wait for data to arrive,
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72 * toggling an LED each time '100' is received. The other task (the queue send
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73 * task) repeatedly blocks for a fixed period before sending '100' to the queue
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74 * (causing the first task to toggle the LED).
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76 * For a much more complete and complex example select either the Debug or
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77 * Debug_with_optimisation build configurations within the HEW IDE.
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80 /* Hardware specific includes. */
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81 #include "iodefine.h"
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83 /* Kernel includes. */
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84 #include "FreeRTOS.h"
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88 /* Priorities at which the tasks are created. */
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89 #define configQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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90 #define configQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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92 /* The rate at which data is sent to the queue, specified in milliseconds. */
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93 #define mainQUEUE_SEND_FREQUENCY_MS ( 500 / portTICK_RATE_MS )
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95 /* The number of items the queue can hold. This is 1 as the receive task
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96 will remove items as they are added so the send task should always find the
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98 #define mainQUEUE_LENGTH ( 1 )
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101 * The tasks as defined at the top of this file.
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103 static void prvQueueReceiveTask( void *pvParameters );
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104 static void prvQueueSendTask( void *pvParameters );
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106 /* The queue used by both tasks. */
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107 static xQueueHandle xQueue = NULL;
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109 /* This variable is not used by this simple Blinky example. It is defined
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110 purely to allow the project to link as it is used by the full build
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112 volatile unsigned long ulHighFrequencyTickCount = 0UL;
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113 /*-----------------------------------------------------------*/
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117 extern void HardwareSetup( void );
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119 /* Renesas provided CPU configuration routine. The clocks are configured in
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123 /* Turn all LEDs off. */
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124 vParTestInitialise();
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126 /* Create the queue. */
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127 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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129 if( xQueue != NULL )
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131 /* Start the two tasks as described at the top of this file. */
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132 xTaskCreate( prvQueueReceiveTask, "Rx", configMINIMAL_STACK_SIZE, NULL, configQUEUE_RECEIVE_TASK_PRIORITY, NULL );
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133 xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, configQUEUE_SEND_TASK_PRIORITY, NULL );
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135 /* Start the tasks running. */
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136 vTaskStartScheduler();
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139 /* If all is well the next line of code will not be reached as the scheduler
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140 will be running. If the next line is reached then it is likely that there was
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141 insufficient heap available for the idle task to be created. */
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144 /*-----------------------------------------------------------*/
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146 static void prvQueueSendTask( void *pvParameters )
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148 portTickType xNextWakeTime;
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149 const unsigned long ulValueToSend = 100UL;
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151 /* Initialise xNextWakeTime - this only needs to be done once. */
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152 xNextWakeTime = xTaskGetTickCount();
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156 /* Place this task in the blocked state until it is time to run again.
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157 The block state is specified in ticks, the constant used converts ticks
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159 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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161 /* Send to the queue - causing the queue receive task to flash its LED. 0
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162 is used so the send does not block - it shouldn't need to as the queue
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163 should always be empty here (it should always be empty because the task
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164 removing items from the queue has a higher priority than the task adding
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165 things to the queue). */
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166 xQueueSend( xQueue, &ulValueToSend, 0UL );
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169 /*-----------------------------------------------------------*/
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171 static void prvQueueReceiveTask( void *pvParameters )
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173 unsigned long ulReceivedValue;
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177 /* Wait until something arives in the queue - this will block
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178 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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179 FreeRTOSConfig.h. */
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180 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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182 /* To get here something must have arrived, but is it the expected
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183 value? If it is, toggle the LED. */
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184 if( ulReceivedValue == 100UL )
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186 vParTestToggleLED( 0 );
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190 /*-----------------------------------------------------------*/
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192 /* A callback function named vApplicationSetupTimerInterrupt() must be defined
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193 to configure a tick interrupt source, and configTICK_VECTOR set in
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194 FreeRTOSConfig.h to install the tick interrupt handler in the correct position
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195 in the vector table. This example uses a compare match timer. It can be
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196 into any FreeRTOS project, provided the same compare match timer is available. */
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197 void vApplicationSetupTimerInterrupt( void )
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199 /* Enable compare match timer 0. */
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202 /* Interrupt on compare match. */
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203 CMT0.CMCR.BIT.CMIE = 1;
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205 /* Set the compare match value. */
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206 CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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208 /* Divide the PCLK by 8. */
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209 CMT0.CMCR.BIT.CKS = 0;
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211 /* Enable the interrupt... */
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212 _IEN( _CMT0_CMI0 ) = 1;
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214 /* ...and set its priority to the application defined kernel priority. */
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215 _IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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217 /* Start the timer. */
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218 CMT.CMSTR0.BIT.STR0 = 1;
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220 /*-----------------------------------------------------------*/
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222 /* If configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h, then this
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223 function will be called if pvPortMalloc() returns NULL because it has exhausted
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224 the available FreeRTOS heap space. See http://www.freertos.org/a00111.html. */
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225 void vApplicationMallocFailedHook( void )
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229 /*-----------------------------------------------------------*/
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231 /* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 in
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232 FreeRTOSConfig.h, then this function will be called if a task overflows its
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234 http://www.freertos.org/Stacks-and-stack-overflow-checking.html. */
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235 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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239 /*-----------------------------------------------------------*/
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241 /* If configUSE_IDLE_HOOK is set to 1 in FreeRTOSConfig.h, then this function
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242 will be called on each iteration of the idle task. See
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243 http://www.freertos.org/a00016.html */
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244 void vApplicationIdleHook( void )
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246 /* Just to prevent the variable getting optimised away. */
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247 ( void ) ulHighFrequencyTickCount;
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249 /*-----------------------------------------------------------*/
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