Update to V4.3.0 as described in http://www.FreeRTOS.org/History.txt
Richard Barry
18 years ago
parent
45410fcd3a
commit
67d0d1ec3b
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/*
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FreeRTOS.org V4.3.0 - Copyright (C) 2003-2007 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
|
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the Free Software Foundation; either version 2 of the License, or
|
||||
(at your option) any later version.
|
||||
|
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FreeRTOS.org 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. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with FreeRTOS.org; if not, write to the Free Software
|
||||
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
|
||||
A special exception to the GPL can be applied should you wish to distribute
|
||||
a combined work that includes FreeRTOS.org, without being obliged to provide
|
||||
the source code for any proprietary components. See the licensing section
|
||||
of http://www.FreeRTOS.org for full details of how and when the exception
|
||||
can be applied.
|
||||
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***************************************************************************
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See http://www.FreeRTOS.org for documentation, latest information, license
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and contact details. Please ensure to read the configuration and relevant
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port sections of the online documentation.
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||||
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Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
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with commercial development and support options.
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***************************************************************************
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*/
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/* Scheduler 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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/* Demo includes. */
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#include "lcd.h"
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/*
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* The LCD is written to by more than one task so is controlled by this
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* 'gatekeeper' task. This is the only task that is actually permitted to
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* access the LCD directly. Other tasks wanting to display a message send
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* the message to the gatekeeper.
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*/
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static void vLCDTask( void *pvParameters );
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/*
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* Setup the peripherals required to communicate with the LCD.
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*/
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static void prvSetupLCD( void );
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/*
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* Move to the first (0) or second (1) row of the LCD.
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*/
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static void prvLCDGotoRow( unsigned portSHORT usRow );
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/*
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* Write a string of text to the LCD.
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*/
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static void prvLCDPutString( portCHAR *pcString );
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/*
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* Clear the LCD.
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*/
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static void prvLCDClear( void );
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/*-----------------------------------------------------------*/
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/* Brief delay to permit the LCD to catch up with commands. */
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#define lcdVERY_SHORT_DELAY ( 1 )
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#define lcdSHORT_DELAY ( 4 / portTICK_RATE_MS )
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#define lcdLONG_DELAY ( 15 / portTICK_RATE_MS )
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/* LCD commands. */
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#define lcdCLEAR ( 0x01 )
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#define lcdHOME ( 0x02 )
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#define lcdLINE2 ( 0xc0 )
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/* SFR that seems to be missing from the standard header files. */
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#define PMAEN *( ( unsigned short * ) 0x60c )
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/* LCD R/W signal. */
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#define lcdRW LATDbits.LATD5
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/* LCD lcdRS signal. */
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#define lcdRS LATBbits.LATB15
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/* LCD lcdE signal . */
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#define lcdE LATDbits.LATD4
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/* Control signal pin direction. */
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#define RW_TRIS TRISDbits.TRISD5
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#define RS_TRIS TRISBbits.TRISB15
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#define E_TRIS TRISDbits.TRISD4
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/* Port for LCD data */
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#define lcdDATA LATE
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#define lcdDATAPORT PORTE
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/* I/O setup for data Port. */
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#define TRISDATA TRISE
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/* The length of the queue used to send messages to the LCD gatekeeper task. */
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#define lcdQUEUE_SIZE 3
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/*-----------------------------------------------------------*/
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/* The queue used to send messages to the LCD task. */
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xQueueHandle xLCDQueue;
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static void prvLCDCommand( portCHAR cCommand );
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static void prvLCDData( portCHAR cChar );
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/*-----------------------------------------------------------*/
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xQueueHandle xStartLCDTask( void )
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{
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/* Create the queue used by the LCD task. Messages for display on the LCD
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are received via this queue. */
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xLCDQueue = xQueueCreate( lcdQUEUE_SIZE, sizeof( xLCDMessage ) );
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/* Start the task that will write to the LCD. The LCD hardware is
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initialised from within the task itself so delays can be used. */
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xTaskCreate( vLCDTask, ( signed portCHAR * ) "LCD", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL );
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return xLCDQueue;
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}
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/*-----------------------------------------------------------*/
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static void prvLCDGotoRow( unsigned portSHORT usRow )
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{
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if( usRow == 0 )
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{
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prvLCDCommand( lcdHOME );
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}
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else
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{
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prvLCDCommand( lcdLINE2 );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvLCDCommand( portCHAR cCommand )
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{
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/* Prepare RD0 - RD7. */
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lcdDATA &= 0xFF00;
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/* Command byte to lcd. */
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lcdDATA |= cCommand;
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/* Ensure lcdRW is 0. */
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lcdRW = 0;
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lcdRS = 0;
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/* Toggle lcdE line. */
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lcdE = 1;
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vTaskDelay( lcdVERY_SHORT_DELAY );
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lcdE = 0;
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vTaskDelay( lcdSHORT_DELAY );
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}
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/*-----------------------------------------------------------*/
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static void prvLCDData( portCHAR cChar )
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{
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/* ensure lcdRW is 0. */
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lcdRW = 0;
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/* Assert register select to 1. */
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lcdRS = 1;
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/* Prepare RD0 - RD7. */
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lcdDATA &= 0xFF00;
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/* Data byte to lcd. */
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lcdDATA |= cChar;
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lcdE = 1;
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Nop();
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Nop();
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Nop();
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/* Toggle lcdE signal. */
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lcdE = 0;
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/* Negate register select to 0. */
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lcdRS = 0;
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vTaskDelay( lcdVERY_SHORT_DELAY );
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}
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/*-----------------------------------------------------------*/
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static void prvLCDPutString( portCHAR *pcString )
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{
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/* Write out each character with appropriate delay between each. */
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while( *pcString )
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{
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prvLCDData( *pcString );
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pcString++;
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vTaskDelay( lcdSHORT_DELAY );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvLCDClear( void )
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{
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prvLCDCommand( lcdCLEAR );
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}
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/*-----------------------------------------------------------*/
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static void prvSetupLCD( void )
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{
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/* Wait for proper power up. */
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vTaskDelay( lcdLONG_DELAY );
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/* Set initial states for the data and control pins */
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LATE &= 0xFF00;
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/* R/W state set low. */
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lcdRW = 0;
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/* lcdRS state set low. */
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lcdRS = 0;
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/* lcdE state set low. */
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lcdE = 0;
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/* Set data and control pins to outputs */
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TRISE &= 0xFF00;
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/* lcdRW pin set as output. */
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RW_TRIS = 0;
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/* lcdRS pin set as output. */
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RS_TRIS = 0;
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/* lcdE pin set as output. */
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E_TRIS = 0;
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/* 1st LCD initialization sequence */
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lcdDATA &= 0xFF00;
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lcdDATA |= 0x0038;
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lcdE = 1;
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Nop();
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Nop();
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Nop();
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/* Toggle lcdE signal. */
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lcdE = 0;
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vTaskDelay( lcdSHORT_DELAY );
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vTaskDelay( lcdSHORT_DELAY );
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vTaskDelay( lcdSHORT_DELAY );
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/* 2nd LCD initialization sequence */
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lcdDATA &= 0xFF00;
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lcdDATA |= 0x0038;
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lcdE = 1;
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Nop();
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Nop();
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Nop();
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/* Toggle lcdE signal. */
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lcdE = 0;
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vTaskDelay( lcdSHORT_DELAY );
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/* 3rd LCD initialization sequence */
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lcdDATA &= 0xFF00;
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lcdDATA |= 0x0038;
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lcdE = 1;
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Nop();
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Nop();
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Nop();
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/* Toggle lcdE signal. */
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lcdE = 0;
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vTaskDelay( lcdSHORT_DELAY );
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/* Function set. */
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prvLCDCommand( 0x38 );
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/* Display on/off control, cursor blink off (0x0C). */
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prvLCDCommand( 0x0C );
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/* Entry mode set (0x06). */
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prvLCDCommand( 0x06 );
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prvLCDCommand( lcdCLEAR );
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}
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/*-----------------------------------------------------------*/
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static void vLCDTask( void *pvParameters )
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{
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xLCDMessage xMessage;
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unsigned portSHORT usRow = 0;
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/* Initialise the hardware. This uses delays so must not be called prior
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to the scheduler being started. */
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prvSetupLCD();
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/* Welcome message. */
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prvLCDPutString( "www.FreeRTOS.org" );
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for( ;; )
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{
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/* Wait for a message to arrive that requires displaying. */
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while( xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY ) != pdPASS );
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/* Clear the current display value. */
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prvLCDClear();
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/* Switch rows each time so we can see that the display is still being
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updated. */
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prvLCDGotoRow( usRow & 0x01 );
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usRow++;
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prvLCDPutString( xMessage.pcMessage );
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/* Delay the requested amount of time to ensure the text just written
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to the LCD is not overwritten. */
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vTaskDelay( xMessage.xMinDisplayTime );
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}
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}
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@ -0,0 +1,57 @@
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/*
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FreeRTOS.org V4.3.0 - Copyright (C) 2003-2007 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation; either version 2 of the License, or
|
||||
(at your option) any later version.
|
||||
|
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FreeRTOS.org is distributed in the hope that it will be useful,
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||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with FreeRTOS.org; if not, write to the Free Software
|
||||
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
|
||||
A special exception to the GPL can be applied should you wish to distribute
|
||||
a combined work that includes FreeRTOS.org, without being obliged to provide
|
||||
the source code for any proprietary components. See the licensing section
|
||||
of http://www.FreeRTOS.org for full details of how and when the exception
|
||||
can be applied.
|
||||
|
||||
***************************************************************************
|
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See http://www.FreeRTOS.org for documentation, latest information, license
|
||||
and contact details. Please ensure to read the configuration and relevant
|
||||
port sections of the online documentation.
|
||||
|
||||
Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
|
||||
with commercial development and support options.
|
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***************************************************************************
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*/
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#ifndef LCD_INC_H
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#define LCD_INC_H
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/* Create the task that will control the LCD. Returned is a handle to the queue
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on which messages to get written to the LCD should be written. */
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xQueueHandle xStartLCDTask( void );
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typedef struct
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{
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/* The minimum amount of time the message should remain on the LCD without
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being overwritten. */
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portTickType xMinDisplayTime;
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/* A pointer to the string to be displayed. */
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portCHAR *pcMessage;
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} xLCDMessage;
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#endif /* LCD_INC_H */
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@ -0,0 +1,144 @@
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/*
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FreeRTOS.org V4.3.0 - Copyright (C) 2003-2007 Richard Barry.
|
||||
|
||||
This file is part of the FreeRTOS.org distribution.
|
||||
|
||||
FreeRTOS.org is free software; you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation; either version 2 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
FreeRTOS.org 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. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with FreeRTOS.org; if not, write to the Free Software
|
||||
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
|
||||
A special exception to the GPL can be applied should you wish to distribute
|
||||
a combined work that includes FreeRTOS.org, without being obliged to provide
|
||||
the source code for any proprietary components. See the licensing section
|
||||
of http://www.FreeRTOS.org for full details of how and when the exception
|
||||
can be applied.
|
||||
|
||||
***************************************************************************
|
||||
See http://www.FreeRTOS.org for documentation, latest information, license
|
||||
and contact details. Please ensure to read the configuration and relevant
|
||||
port sections of the online documentation.
|
||||
|
||||
Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
|
||||
with commercial development and support options.
|
||||
***************************************************************************
|
||||
*/
|
||||
|
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/* High speed timer test as described in main.c. */
|
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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/* Demo includes. */
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#include "partest.h"
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/* The number of interrupts to pass before we start looking at the jitter. */
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#define timerSETTLE_TIME 5
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/* The maximum value the 16bit timer can contain. */
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#define timerMAX_COUNT 0xffff
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/*-----------------------------------------------------------*/
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/*
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* Measure the time between this interrupt and the previous interrupt to
|
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* calculate the timing jitter. Remember the maximum value the jitter has
|
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* ever been calculated to be.
|
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*/
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static void prvCalculateAndStoreJitter( void );
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/*-----------------------------------------------------------*/
|
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|
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/* The maximum time (in processor clocks) between two consecutive timer
|
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interrupts so far. */
|
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unsigned portSHORT usMaxJitter = 0;
|
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/*-----------------------------------------------------------*/
|
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void vSetupTimerTest( unsigned portSHORT usFrequencyHz )
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{
|
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/* T2 is used to generate interrupts. T4 is used to provide an accurate
|
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time measurement. */
|
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T2CON = 0;
|
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T4CON = 0;
|
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TMR2 = 0;
|
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TMR4 = 0;
|
||||
|
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/* Timer 2 is going to interrupt at usFrequencyHz Hz. */
|
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PR2 = ( unsigned portSHORT ) ( configCPU_CLOCK_HZ / ( unsigned portLONG ) usFrequencyHz );
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|
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/* Timer 4 is going to free run from minimum to maximum value. */
|
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PR4 = ( unsigned portSHORT ) timerMAX_COUNT;
|
||||
|
||||
/* Setup timer 2 interrupt priority to be above the kernel priority so
|
||||
the timer jitter is not effected by the kernel activity. */
|
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IPC1bits.T2IP = configKERNEL_INTERRUPT_PRIORITY + 1;
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||||
|
||||
/* Clear the interrupt as a starting condition. */
|
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IFS0bits.T2IF = 0;
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|
||||
/* Enable the interrupt. */
|
||||
IEC0bits.T2IE = 1;
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|
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/* Start both timers. */
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T2CONbits.TON = 1;
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T4CONbits.TON = 1;
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||||
}
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||||
/*-----------------------------------------------------------*/
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||||
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static void prvCalculateAndStoreJitter( void )
|
||||
{
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static unsigned portSHORT usLastCount = 0, usSettleCount = 0;
|
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unsigned portSHORT usThisCount, usDifference;
|
||||
|
||||
/* Capture the timer value as we enter the interrupt. */
|
||||
usThisCount = TMR4;
|
||||
|
||||
if( usSettleCount >= timerSETTLE_TIME )
|
||||
{
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||||
/* What is the difference between the timer value in this interrupt
|
||||
and the value from the last interrupt. */
|
||||
usDifference = usThisCount - usLastCount;
|
||||
|
||||
/* Store the difference in the timer values if it is larger than the
|
||||
currently stored largest value. The difference over and above the
|
||||
expected difference will give the 'jitter' in the processing of these
|
||||
interrupts. */
|
||||
if( usDifference > usMaxJitter )
|
||||
{
|
||||
usMaxJitter = usDifference;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Don't bother storing any values for the first couple of
|
||||
interrupts. */
|
||||
usSettleCount++;
|
||||
}
|
||||
|
||||
/* Remember what the timer value was this time through, so we can calculate
|
||||
the difference the next time through. */
|
||||
usLastCount = usThisCount;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void __attribute__((__interrupt__, auto_psv)) _T2Interrupt( void )
|
||||
{
|
||||
/* Work out the time between this and the previous interrupt. */
|
||||
prvCalculateAndStoreJitter();
|
||||
|
||||
/* Clear the timer interrupt. */
|
||||
IFS0bits.T2IF = 0;
|
||||
}
|
||||
|
||||
|
||||
@ -0,0 +1,45 @@
|
||||
/*
|
||||
FreeRTOS.org V4.3.0 - Copyright (C) 2003-2007 Richard Barry.
|
||||
|
||||
This file is part of the FreeRTOS.org distribution.
|
||||
|
||||
FreeRTOS.org is free software; you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation; either version 2 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
FreeRTOS.org 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. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with FreeRTOS.org; if not, write to the Free Software
|
||||
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
|
||||
A special exception to the GPL can be applied should you wish to distribute
|
||||
a combined work that includes FreeRTOS.org, without being obliged to provide
|
||||
the source code for any proprietary components. See the licensing section
|
||||
of http://www.FreeRTOS.org for full details of how and when the exception
|
||||
can be applied.
|
||||
|
||||
***************************************************************************
|
||||
See http://www.FreeRTOS.org for documentation, latest information, license
|
||||
and contact details. Please ensure to read the configuration and relevant
|
||||
port sections of the online documentation.
|
||||
|
||||
Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
|
||||
with commercial development and support options.
|
||||
***************************************************************************
|
||||
*/
|
||||
|
||||
#ifndef TIMER_TEST_H
|
||||
#define TIMER_TEST_H
|
||||
|
||||
/* Setup the high frequency timer interrupt. */
|
||||
void vSetupTimerTest( unsigned portSHORT usFrequencyHz );
|
||||
|
||||
#endif /* TIMER_TEST_H */
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in New Issue