1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
|
/*
FreeRTOS V8.2.0rc1 - Copyright (C) 2014 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong?". Have you defined configASSERT()? *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
***************************************************************************
* *
* Investing in training allows your team to be as productive as *
* possible as early as possible, lowering your overall development *
* cost, and enabling you to bring a more robust product to market *
* earlier than would otherwise be possible. Richard Barry is both *
* the architect and key author of FreeRTOS, and so also the world's *
* leading authority on what is the world's most popular real time *
* kernel for deeply embedded MCU designs. Obtaining your training *
* from Richard ensures your team will gain directly from his in-depth *
* product knowledge and years of usage experience. Contact Real Time *
* Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
* by Richard Barry: http://www.FreeRTOS.org/contact
* *
***************************************************************************
***************************************************************************
* *
* You are receiving this top quality software for free. Please play *
* fair and reciprocate by reporting any suspected issues and *
* participating in the community forum: *
* http://www.FreeRTOS.org/support *
* *
* Thank you! *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
/*
* This is a very simple demo that creates two tasks, one queue, and one
* software timer. For a much more complete and complex example select either
* the Debug or Debug_with_optimisation build configurations within the HEW,
* which build main_full.c in place of this file.
*
* One task (the queue receive task) blocks on the queue to wait for data to
* arrive, toggling LED0 each time '100' is received. The other task (the
* queue send task) repeatedly blocks for a fixed period before sending '100'
* to the queue (causing the first task to toggle the LED).
*
* The software timer is configured to auto-reload. The timer callback
* function periodically toggles LED1.
*/
/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "queue.h"
/* Priorities at which the tasks are created. */
#define configQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define configQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
/* The rate at which data is sent to the queue, specified in milliseconds. */
#define mainQUEUE_SEND_PERIOD_MS ( 500 / portTICK_PERIOD_MS )
/* The period of the software timer, specified in milliseconds. */
#define mainSOFTWARE_TIMER_PERIOD_MS ( 150 / portTICK_PERIOD_MS )
/* The number of items the queue can hold. This is 1 as the receive task
will remove items as they are added so the send task should always find the
queue empty. */
#define mainQUEUE_LENGTH ( 1 )
/* The LEDs toggle by the task and timer respectively. */
#define mainTASK_LED ( 0 )
#define mainTIMER_LED ( 1 )
/*
* The tasks as defined at the top of this file.
*/
static void prvQueueReceiveTask( void *pvParameters );
static void prvQueueSendTask( void *pvParameters );
/*
* The callback function used by the software timer.
*/
static void prvBlinkyTimerCallback( TimerHandle_t xTimer );
/* The queue used by both tasks. */
static QueueHandle_t xQueue = NULL;
/* This variable is not used by this simple Blinky example. It is defined
purely to allow the project to link as it is used by the full project. */
volatile unsigned long ulHighFrequencyTickCount = 0UL;
/*-----------------------------------------------------------*/
void main(void)
{
TimerHandle_t xTimer;
/* Turn all LEDs off. */
vParTestInitialise();
/* Create the queue. */
xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
/* Create the software timer, as described at the top of this file. */
xTimer = xTimerCreate( "BlinkyTimer", /* Just a text name to make debugging easier - not used by the scheduler. */
mainSOFTWARE_TIMER_PERIOD_MS, /* The timer period. */
pdTRUE, /* Set to pdTRUE for periodic timer, or pdFALSE for one-shot timer. */
NULL, /* The timer ID is not required. */
prvBlinkyTimerCallback ); /* The function executed when the timer expires. */
if( xTimer != NULL )
{
/* Start the timer - it will not actually start running until the
scheduler has started. The block time is set to 0, although, because
xTimerStart() is being called before the scheduler has been started,
the any block time specified would be ignored anyway. */
xTimerStart( xTimer, 0UL );
}
if( xQueue != NULL )
{
/* Start the two tasks as described at the top of this file. */
xTaskCreate( prvQueueReceiveTask, /* The function that implements the task. */
"Rx", /* Just a text name to make debugging easier - not used by the scheduler. */
configMINIMAL_STACK_SIZE, /* The size of the task stack, in words. */
NULL, /* The task parameter is not used. */
configQUEUE_RECEIVE_TASK_PRIORITY, /* The priority assigned to the task when it is created. */
NULL ); /* The task handle is not used. */
xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, configQUEUE_SEND_TASK_PRIORITY, NULL );
/* Start the tasks running. */
vTaskStartScheduler();
}
/* If all is well we will never reach here as the scheduler will now be
running. If we do reach here then it is likely that there was insufficient
heap available for the idle task to be created. */
for( ;; );
}
/*-----------------------------------------------------------*/
static void prvQueueSendTask( void *pvParameters )
{
TickType_t xNextWakeTime;
const unsigned long ulValueToSend = 100UL;
/* Initialise xNextWakeTime - this only needs to be done once. */
xNextWakeTime = xTaskGetTickCount();
for( ;; )
{
/* Place this task in the blocked state until it is time to run again.
The block state is specified in ticks, the constant used converts ticks
to ms. */
vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_PERIOD_MS );
/* Send to the queue - causing the queue receive task to flash its LED. 0
is used so the send does not block - it shouldn't need to as the queue
should always be empty here. */
xQueueSend( xQueue, &ulValueToSend, 0 );
}
}
/*-----------------------------------------------------------*/
static void prvQueueReceiveTask( void *pvParameters )
{
unsigned long ulReceivedValue;
for( ;; )
{
/* Wait until something arives in the queue - this will block
indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
FreeRTOSConfig.h. */
xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
/* To get here something must have arrived, but is it the expected
value? If it is, toggle the LED. */
if( ulReceivedValue == 100UL )
{
vParTestToggleLED( mainTASK_LED );
}
}
}
/*-----------------------------------------------------------*/
static void prvBlinkyTimerCallback( TimerHandle_t xTimer )
{
/* The software timer does nothing but toggle an LED. */
vParTestToggleLED( mainTIMER_LED );
}
/*-----------------------------------------------------------*/
void vApplicationSetupTimerInterrupt( void )
{
/* Enable compare match timer 0. */
MSTP( CMT0 ) = 0;
/* Interrupt on compare match. */
CMT0.CMCR.BIT.CMIE = 1;
/* Set the compare match value. */
CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
/* Divide the PCLK by 8. */
CMT0.CMCR.BIT.CKS = 0;
/* Enable the interrupt... */
_IEN( _CMT0_CMI0 ) = 1;
/* ...and set its priority to the application defined kernel priority. */
_IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
/* Start the timer. */
CMT.CMSTR0.BIT.STR0 = 1;
}
/*-----------------------------------------------------------*/
/* This function is explained by the comments above its prototype at the top
of this file. */
void vApplicationMallocFailedHook( void )
{
for( ;; );
}
/*-----------------------------------------------------------*/
/* This function is explained by the comments above its prototype at the top
of this file. */
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
{
for( ;; );
}
/*-----------------------------------------------------------*/
/* This function is explained by the comments above its prototype at the top
of this file. */
void vApplicationIdleHook( void )
{
/* Just to prevent the variable getting optimised away. */
( void ) ulHighFrequencyTickCount;
}
/*-----------------------------------------------------------*/
|
