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248 lines
9.9 KiB
C
248 lines
9.9 KiB
C
/*
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FreeRTOS V7.5.3 - Copyright (C) 2013 Real Time Engineers Ltd.
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All rights reserved
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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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* This is a very simple demo that creates two tasks and one queue. One task
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* (the queue receive task) blocks on the queue to wait for data to arrive,
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* toggling an LED each time '100' is received. The other task (the queue send
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* task) repeatedly blocks for a fixed period before sending '100' to the queue
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* (causing the first task to toggle the LED).
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*
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* For a much more complete and complex example select either the Debug or
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* Debug_with_optimisation build configurations within the HEW IDE.
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*/
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/* Hardware specific includes. */
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#include "iodefine.h"
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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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/* Priorities at which the tasks are created. */
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#define configQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define configQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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/* The rate at which data is sent to the queue, specified in milliseconds. */
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#define mainQUEUE_SEND_FREQUENCY_MS ( 500 / 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 so the send task should always find the
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queue empty. */
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#define mainQUEUE_LENGTH ( 1 )
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/*
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* The tasks as defined 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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/* The queue used by both tasks. */
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static xQueueHandle xQueue = NULL;
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/* This variable is not used by this simple Blinky example. It is defined
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purely to allow the project to link as it is used by the full build
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configuration. */
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volatile unsigned long ulHighFrequencyTickCount = 0UL;
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/*-----------------------------------------------------------*/
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void main(void)
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{
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extern void HardwareSetup( void );
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/* Renesas provided CPU configuration routine. The clocks are configured in
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here. */
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HardwareSetup();
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/* Turn all LEDs off. */
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vParTestInitialise();
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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 at the top of this file. */
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xTaskCreate( prvQueueReceiveTask, "Rx", configMINIMAL_STACK_SIZE, NULL, configQUEUE_RECEIVE_TASK_PRIORITY, NULL );
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xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, configQUEUE_SEND_TASK_PRIORITY, NULL );
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/* Start the tasks running. */
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vTaskStartScheduler();
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}
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/* If all is well the next line of code will not be reached as the scheduler
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will be running. If the next line is reached then it is likely that there was
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insufficient heap available for the idle task to be created. */
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for( ;; );
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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 state is specified in ticks, the constant used converts ticks
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to ms. */
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vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
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/* Send to the queue - causing the queue receive task to flash its LED. 0
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is used so the send does not block - it shouldn't need to as the queue
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should always be empty here (it should always be empty because the task
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removing items from the queue has a higher priority than the task adding
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things to the queue). */
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xQueueSend( xQueue, &ulValueToSend, 0UL );
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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 arives in the queue - this 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 arrived, but is it the expected
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value? If it is, toggle the LED. */
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if( ulReceivedValue == 100UL )
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{
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vParTestToggleLED( 0 );
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}
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}
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}
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/*-----------------------------------------------------------*/
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/* A callback function named vApplicationSetupTimerInterrupt() must be defined
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to configure a tick interrupt source, and configTICK_VECTOR set in
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FreeRTOSConfig.h to install the tick interrupt handler in the correct position
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in the vector table. This example uses a compare match timer. It can be
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into any FreeRTOS project, provided the same compare match timer is available. */
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void vApplicationSetupTimerInterrupt( void )
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{
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/* Enable compare match timer 0. */
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MSTP( CMT0 ) = 0;
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/* Interrupt on compare match. */
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CMT0.CMCR.BIT.CMIE = 1;
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/* Set the compare match value. */
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CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
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/* Divide the PCLK by 8. */
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CMT0.CMCR.BIT.CKS = 0;
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/* Enable the interrupt... */
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_IEN( _CMT0_CMI0 ) = 1;
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/* ...and set its priority to the application defined kernel priority. */
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_IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
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/* Start the timer. */
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CMT.CMSTR0.BIT.STR0 = 1;
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}
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/*-----------------------------------------------------------*/
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/* If configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h, then this
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function will be called if pvPortMalloc() returns NULL because it has exhausted
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the available FreeRTOS heap space. See http://www.freertos.org/a00111.html. */
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void vApplicationMallocFailedHook( void )
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{
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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/* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 in
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FreeRTOSConfig.h, then this function will be called if a task overflows its
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stack space. See
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http://www.freertos.org/Stacks-and-stack-overflow-checking.html. */
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void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
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{
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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/* If configUSE_IDLE_HOOK is set to 1 in FreeRTOSConfig.h, then this function
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will be called on each iteration of the idle task. See
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http://www.freertos.org/a00016.html */
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void vApplicationIdleHook( void )
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{
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/* Just to prevent the variable getting optimised away. */
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( void ) ulHighFrequencyTickCount;
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}
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/*-----------------------------------------------------------*/
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