404 lines
17 KiB
C
404 lines
17 KiB
C
/*
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FreeRTOS V7.5.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that has become a de facto standard. *
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* *
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* Help yourself get started quickly and support the FreeRTOS *
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* project by purchasing a FreeRTOS tutorial book, reference *
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* manual, or both from: http://www.FreeRTOS.org/Documentation *
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* *
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* Thank you! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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>>! NOTE: The modification to the GPL is included to allow you to distribute
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>>! a combined work that includes FreeRTOS without being obliged to provide
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>>! the source code for proprietary components outside of the FreeRTOS
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>>! kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available from the following
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link: http://www.freertos.org/a00114.html
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1 tab == 4 spaces!
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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* not run, what could be wrong?" *
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* *
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* http://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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license and Real Time Engineers Ltd. contact details.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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/*
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* main-blinky.c is included when the "Blinky" build configuration is used.
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* main-full.c is included when the "Full" build configuration is used.
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*
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* main-blinky.c (this file) defines a very simple demo that creates two tasks,
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* one queue, and one timer. It also demonstrates how Cortex-M3 interrupts can
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* interact with FreeRTOS tasks/timers.
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*
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* This simple demo project runs on the SmartFusion A2F-EVAL-KIT evaluation
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* board, which is populated with an A2F200M3F SmartFusion mixed signal FPGA.
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* The A2F200M3F incorporates a Cortex-M3 microcontroller.
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*
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* The idle hook function:
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* The idle hook function demonstrates how to query the amount of FreeRTOS heap
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* space that is remaining (see vApplicationIdleHook() defined in this file).
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*
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* The main() Function:
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* main() creates one software timer, one queue, and two tasks. It then starts
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* the scheduler.
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*
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* The Queue Send Task:
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* The queue send task is implemented by the prvQueueSendTask() function in
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* this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
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* block for 200 milliseconds, before sending the value 100 to the queue that
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* was created within main(). Once the value is sent, the task loops back
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* around to block for another 200 milliseconds.
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*
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* The Queue Receive Task:
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* The queue receive task is implemented by the prvQueueReceiveTask() function
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* in this file. prvQueueReceiveTask() sits in a loop that causes it to
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* repeatedly attempt to read data from the queue that was created within
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* main(). When data is received, the task checks the value of the data, and
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* if the value equals the expected 100, toggles the green LED. The 'block
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* time' parameter passed to the queue receive function specifies that the task
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* should be held in the Blocked state indefinitely to wait for data to be
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* available on the queue. The queue receive task will only leave the Blocked
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* state when the queue send task writes to the queue. As the queue send task
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* writes to the queue every 200 milliseconds, the queue receive task leaves
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* the Blocked state every 200 milliseconds, and therefore toggles the LED
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* every 200 milliseconds.
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*
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* The LED Software Timer and the Button Interrupt:
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* The user button SW1 is configured to generate an interrupt each time it is
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* pressed. The interrupt service routine switches an LED on, and resets the
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* LED software timer. The LED timer has a 5000 millisecond (5 second) period,
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* and uses a callback function that is defined to just turn the LED off again.
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* Therefore, pressing the user button will turn the LED on, and the LED will
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* remain on until a full five seconds pass without the button being pressed.
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*/
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "timers.h"
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/* Microsemi drivers/libraries. */
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#include "mss_gpio.h"
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#include "mss_watchdog.h"
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/* Priorities at which the tasks are created. */
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#define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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/* The rate at which data is sent to the queue, specified in milliseconds, and
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converted to ticks using the portTICK_RATE_MS constant. */
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#define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_RATE_MS )
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/* The number of items the queue can hold. This is 1 as the receive task
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will remove items as they are added, meaning the send task should always find
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the queue empty. */
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#define mainQUEUE_LENGTH ( 1 )
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/* The LED toggle by the queue receive task. */
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#define mainTASK_CONTROLLED_LED 0x01UL
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/* The LED turned on by the button interrupt, and turned off by the LED timer. */
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#define mainTIMER_CONTROLLED_LED 0x02UL
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/*-----------------------------------------------------------*/
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/*
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* Setup the NVIC, LED outputs, and button inputs.
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*/
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static void prvSetupHardware( void );
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/*
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* The tasks as described in the comments at the top of this file.
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*/
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static void prvQueueReceiveTask( void *pvParameters );
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static void prvQueueSendTask( void *pvParameters );
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/*
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* The LED timer callback function. This does nothing but switch off the
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* LED defined by the mainTIMER_CONTROLLED_LED constant.
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*/
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static void vLEDTimerCallback( xTimerHandle xTimer );
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/*-----------------------------------------------------------*/
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/* The queue used by both tasks. */
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static xQueueHandle xQueue = NULL;
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/* The LED software timer. This uses vLEDTimerCallback() as its callback
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function. */
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static xTimerHandle xLEDTimer = NULL;
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/* Maintains the current LED output state. */
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static volatile unsigned long ulGPIOState = 0UL;
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/*-----------------------------------------------------------*/
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int main(void)
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{
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/* Configure the NVIC, LED outputs and button inputs. */
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prvSetupHardware();
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/* Create the queue. */
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xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
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if( xQueue != NULL )
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{
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/* Start the two tasks as described in the comments at the top of this
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file. */
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xTaskCreate( prvQueueReceiveTask, ( signed char * ) "Rx", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_RECEIVE_TASK_PRIORITY, NULL );
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xTaskCreate( prvQueueSendTask, ( signed char * ) "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
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/* Create the software timer that is responsible for turning off the LED
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if the button is not pushed within 5000ms, as described at the top of
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this file. */
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xLEDTimer = xTimerCreate( ( const signed char * ) "LEDTimer", /* A text name, purely to help debugging. */
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( 5000 / portTICK_RATE_MS ), /* The timer period, in this case 5000ms (5s). */
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pdFALSE, /* This is a one shot timer, so xAutoReload is set to pdFALSE. */
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( void * ) 0, /* The ID is not used, so can be set to anything. */
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vLEDTimerCallback /* The callback function that switches the LED off. */
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);
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/* Start the tasks and timer running. */
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vTaskStartScheduler();
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}
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/* If all is well, the scheduler will now be running, and the following line
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will never be reached. If the following line does execute, then there was
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insufficient FreeRTOS heap memory available for the idle and/or timer tasks
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to be created. See the memory management section on the FreeRTOS web site
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for more details. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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static void vLEDTimerCallback( xTimerHandle xTimer )
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{
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/* The timer has expired - so no button pushes have occurred in the last
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five seconds - turn the LED off. NOTE - accessing the LED port should use
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a critical section because it is accessed from multiple tasks, and the
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button interrupt - in this trivial case, for simplicity, the critical
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section is omitted. */
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ulGPIOState |= mainTIMER_CONTROLLED_LED;
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MSS_GPIO_set_outputs( ulGPIOState );
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}
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/*-----------------------------------------------------------*/
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/* The ISR executed when the user button is pushed. */
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void GPIO8_IRQHandler( void )
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{
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portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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/* The button was pushed, so ensure the LED is on before resetting the
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LED timer. The LED timer will turn the LED off if the button is not
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pushed within 5000ms. */
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ulGPIOState &= ~mainTIMER_CONTROLLED_LED;
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MSS_GPIO_set_outputs( ulGPIOState );
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/* This interrupt safe FreeRTOS function can be called from this interrupt
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because the interrupt priority is below the
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configMAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */
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xTimerResetFromISR( xLEDTimer, &xHigherPriorityTaskWoken );
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/* Clear the interrupt before leaving. */
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MSS_GPIO_clear_irq( MSS_GPIO_8 );
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/* If calling xTimerResetFromISR() caused a task (in this case the timer
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service/daemon task) to unblock, and the unblocked task has a priority
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higher than or equal to the task that was interrupted, then
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xHigherPriorityTaskWoken will now be set to pdTRUE, and calling
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portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */
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portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
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}
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/*-----------------------------------------------------------*/
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static void prvQueueSendTask( void *pvParameters )
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{
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portTickType xNextWakeTime;
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const unsigned long ulValueToSend = 100UL;
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/* Initialise xNextWakeTime - this only needs to be done once. */
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xNextWakeTime = xTaskGetTickCount();
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for( ;; )
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{
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/* Place this task in the blocked state until it is time to run again.
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The block time is specified in ticks, the constant used converts ticks
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to ms. While in the Blocked state this task will not consume any CPU
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time. */
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vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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/* Send to the queue - causing the queue receive task to unblock and
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toggle an LED. 0 is used as the block time so the sending operation
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will not block - it shouldn't need to block as the queue should always
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be empty at this point in the code. */
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xQueueSend( xQueue, &ulValueToSend, 0 );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvQueueReceiveTask( void *pvParameters )
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{
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unsigned long ulReceivedValue;
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for( ;; )
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{
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/* Wait until something arrives in the queue - this task will block
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indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
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FreeRTOSConfig.h. */
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xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
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/* To get here something must have been received from the queue, but
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is it the expected value? If it is, toggle the green LED. */
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if( ulReceivedValue == 100UL )
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{
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/* NOTE - accessing the LED port should use a critical section
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because it is accessed from multiple tasks, and the button interrupt
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- in this trivial case, for simplicity, the critical section is
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omitted. */
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if( ( ulGPIOState & mainTASK_CONTROLLED_LED ) != 0 )
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{
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ulGPIOState &= ~mainTASK_CONTROLLED_LED;
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}
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else
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{
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ulGPIOState |= mainTASK_CONTROLLED_LED;
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}
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MSS_GPIO_set_outputs( ulGPIOState );
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}
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}
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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SystemCoreClockUpdate();
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/* Disable the Watch Dog Timer */
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MSS_WD_disable( );
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/* Initialise the GPIO */
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MSS_GPIO_init();
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/* Set up GPIO for the LEDs. */
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MSS_GPIO_config( MSS_GPIO_0 , MSS_GPIO_OUTPUT_MODE );
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MSS_GPIO_config( MSS_GPIO_1 , MSS_GPIO_OUTPUT_MODE );
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MSS_GPIO_config( MSS_GPIO_2 , MSS_GPIO_OUTPUT_MODE );
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MSS_GPIO_config( MSS_GPIO_3 , MSS_GPIO_OUTPUT_MODE );
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MSS_GPIO_config( MSS_GPIO_4 , MSS_GPIO_OUTPUT_MODE );
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MSS_GPIO_config( MSS_GPIO_5 , MSS_GPIO_OUTPUT_MODE );
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MSS_GPIO_config( MSS_GPIO_6 , MSS_GPIO_OUTPUT_MODE );
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MSS_GPIO_config( MSS_GPIO_7 , MSS_GPIO_OUTPUT_MODE );
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/* All LEDs start off. */
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ulGPIOState = 0xffffffffUL;
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MSS_GPIO_set_outputs( ulGPIOState );
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/* Setup the GPIO and the NVIC for the switch used in this simple demo. */
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NVIC_SetPriority( GPIO8_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
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NVIC_EnableIRQ( GPIO8_IRQn );
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MSS_GPIO_config( MSS_GPIO_8, MSS_GPIO_INPUT_MODE | MSS_GPIO_IRQ_EDGE_NEGATIVE );
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MSS_GPIO_enable_irq( MSS_GPIO_8 );
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}
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/*-----------------------------------------------------------*/
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void vApplicationMallocFailedHook( void )
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{
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/* Called if a call to pvPortMalloc() fails because there is insufficient
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free memory available in the FreeRTOS heap. pvPortMalloc() is called
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internally by FreeRTOS API functions that create tasks, queues, software
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timers, and semaphores. The size of the FreeRTOS heap is set by the
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configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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{
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( void ) pcTaskName;
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( void ) pxTask;
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/* Run time stack overflow checking is performed if
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configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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function is called if a stack overflow is detected. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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void vApplicationIdleHook( void )
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{
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volatile size_t xFreeHeapSpace;
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/* This function is called on each cycle of the idle task. In this case it
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does nothing useful, other than report the amout of FreeRTOS heap that
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remains unallocated. */
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xFreeHeapSpace = xPortGetFreeHeapSize();
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if( xFreeHeapSpace > 100 )
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{
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/* By now, the kernel has allocated everything it is going to, so
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if there is a lot of heap remaining unallocated then
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the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be
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reduced accordingly. */
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}
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}
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/*-----------------------------------------------------------*/
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void vMainConfigureTimerForRunTimeStats( void )
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{
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/* This function is not used by the Blinky build configuration, but needs
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to be defined as the Blinky and Full build configurations share a
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FreeRTOSConfig.h header file. */
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}
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/*-----------------------------------------------------------*/
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unsigned long ulGetRunTimeCounterValue( void )
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{
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/* This function is not used by the Blinky build configuration, but needs
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to be defined as the Blinky and Full build configurations share a
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FreeRTOSConfig.h header file. */
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return 0UL;
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}
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