FreeRTOS/Demo/RX600_RX630-RSK_Renesas/RTOSDemo/main-blinky.c - third_party/github/FreeRTOS/FreeRTOS-Kernel - Git at Google

 /*
     FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
     All rights reserved

     VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

     ***************************************************************************
      *                                                                       *
      *    FreeRTOS provides completely free yet professionally developed,    *
      *    robust, strictly quality controlled, supported, and cross          *
      *    platform software that has become a de facto standard.             *
      *                                                                       *
      *    Help yourself get started quickly and support the FreeRTOS         *
      *    project by purchasing a FreeRTOS tutorial book, reference          *
      *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
      *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************

     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 from 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?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************

     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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
     Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
     licenses offer ticketed support, indemnification and 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 and one queue.  One task
  * (the queue receive task) blocks on the queue to wait for data to arrive,
  * toggling an LED 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).
  *
  * For a much more complete and complex example select either the Debug or
  * Debug_with_optimisation build configurations within the HEW IDE.
 */

 /* Hardware specific includes. */
 #include "iodefine.h"

 /* Kernel includes. */
 #include "FreeRTOS.h"
 #include "task.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_FREQUENCY_MS			( 500 / portTICK_RATE_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 tasks as defined at the top of this file.
  */
 static void prvQueueReceiveTask( void *pvParameters );
 static void prvQueueSendTask( void *pvParameters );

 /* The queue used by both tasks. */
 static xQueueHandle 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 build
 configuration. */
 volatile unsigned long ulHighFrequencyTickCount = 0UL;
 /*-----------------------------------------------------------*/

 void main(void)
 {
 extern void HardwareSetup( void );

 	/* Renesas provided CPU configuration routine.  The clocks are configured in
 	here. */
 	HardwareSetup();

 	/* Turn all LEDs off. */
 	vParTestInitialise();

 	/* Create the queue. */
 	xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );

 	if( xQueue != NULL )
 	{
 		/* Start the two tasks as described at the top of this file. */
 		xTaskCreate( prvQueueReceiveTask, "Rx", configMINIMAL_STACK_SIZE, NULL, configQUEUE_RECEIVE_TASK_PRIORITY, NULL );
 		xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, configQUEUE_SEND_TASK_PRIORITY, NULL );

 		/* Start the tasks running. */
 		vTaskStartScheduler();
 	}

 	/* If all is well the next line of code will not be reached as the scheduler
 	will be	running.  If the next line is reached then it is likely that there was
 	insufficient heap available for the idle task to be created. */
 	for( ;; );
 }
 /*-----------------------------------------------------------*/

 static void prvQueueSendTask( void *pvParameters )
 {
 portTickType 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_FREQUENCY_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 (it should always be empty because the task
 		removing items from the queue has a higher priority than the task adding
 		things to the queue). */
 		xQueueSend( xQueue, &ulValueToSend, 0UL );
 	}
 }
 /*-----------------------------------------------------------*/

 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( 0 );
 		}
 	}
 }
 /*-----------------------------------------------------------*/

 /* A callback function named vApplicationSetupTimerInterrupt() must be defined
 to configure a tick interrupt source, and configTICK_VECTOR set in
 FreeRTOSConfig.h to install the tick interrupt handler in the correct position
 in the vector table.  This example uses a compare match timer.  It can be
 into any FreeRTOS project, provided the same compare match timer is available. */
 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;
 }
 /*-----------------------------------------------------------*/

 /* If configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h, then this
 function will be called if pvPortMalloc() returns NULL because it has exhausted
 the available FreeRTOS heap space.  See http://www.freertos.org/a00111.html. */
 void vApplicationMallocFailedHook( void )
 {
 	for( ;; );
 }
 /*-----------------------------------------------------------*/

 /* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 in
 FreeRTOSConfig.h, then this function will be called if a task overflows its
 stack space.  See
 http://www.freertos.org/Stacks-and-stack-overflow-checking.html. */
 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
 {
 	for( ;; );
 }
 /*-----------------------------------------------------------*/

 /* If configUSE_IDLE_HOOK is set to 1 in FreeRTOSConfig.h, then this function
 will be called on each iteration of the idle task.  See
 http://www.freertos.org/a00016.html */
 void vApplicationIdleHook( void )
 {
 	/* Just to prevent the variable getting optimised away. */
 	( void ) ulHighFrequencyTickCount;
 }
 /*-----------------------------------------------------------*/
	/*
	FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
	All rights reserved

	VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

	***************************************************************************
	* *
	* FreeRTOS provides completely free yet professionally developed, *
	* robust, strictly quality controlled, supported, and cross *
	* platform software that has become a de facto standard. *
	* *
	* Help yourself get started quickly and support the FreeRTOS *
	* project by purchasing a FreeRTOS tutorial book, reference *
	* manual, or both from: http://www.FreeRTOS.org/Documentation *
	* *
	* Thank you! *
	* *
	***************************************************************************

	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 from 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?" *
	* *
	* http://www.FreeRTOS.org/FAQHelp.html *
	* *
	***************************************************************************

	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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
	Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
	licenses offer ticketed support, indemnification and 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 and one queue. One task
	* (the queue receive task) blocks on the queue to wait for data to arrive,
	* toggling an LED 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).
	*
	* For a much more complete and complex example select either the Debug or
	* Debug_with_optimisation build configurations within the HEW IDE.
	*/

	/* Hardware specific includes. */
	#include "iodefine.h"

	/* Kernel includes. */
	#include "FreeRTOS.h"
	#include "task.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_FREQUENCY_MS ( 500 / portTICK_RATE_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 tasks as defined at the top of this file.
	*/
	static void prvQueueReceiveTask( void *pvParameters );
	static void prvQueueSendTask( void *pvParameters );

	/* The queue used by both tasks. */
	static xQueueHandle 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 build
	configuration. */
	volatile unsigned long ulHighFrequencyTickCount = 0UL;
	/-----------------------------------------------------------/

	void main(void)
	{
	extern void HardwareSetup( void );

	/* Renesas provided CPU configuration routine. The clocks are configured in
	here. */
	HardwareSetup();

	/* Turn all LEDs off. */
	vParTestInitialise();

	/* Create the queue. */
	xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );

	if( xQueue != NULL )
	{
	/* Start the two tasks as described at the top of this file. */
	xTaskCreate( prvQueueReceiveTask, "Rx", configMINIMAL_STACK_SIZE, NULL, configQUEUE_RECEIVE_TASK_PRIORITY, NULL );
	xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, configQUEUE_SEND_TASK_PRIORITY, NULL );

	/* Start the tasks running. */
	vTaskStartScheduler();
	}

	/* If all is well the next line of code will not be reached as the scheduler
	will be running. If the next line is reached then it is likely that there was
	insufficient heap available for the idle task to be created. */
	for( ;; );
	}
	/-----------------------------------------------------------/

	static void prvQueueSendTask( void *pvParameters )
	{
	portTickType 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_FREQUENCY_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 (it should always be empty because the task
	removing items from the queue has a higher priority than the task adding
	things to the queue). */
	xQueueSend( xQueue, &ulValueToSend, 0UL );
	}
	}
	/-----------------------------------------------------------/

	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( 0 );
	}
	}
	}
	/-----------------------------------------------------------/

	/* A callback function named vApplicationSetupTimerInterrupt() must be defined
	to configure a tick interrupt source, and configTICK_VECTOR set in
	FreeRTOSConfig.h to install the tick interrupt handler in the correct position
	in the vector table. This example uses a compare match timer. It can be
	into any FreeRTOS project, provided the same compare match timer is available. */
	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;
	}
	/-----------------------------------------------------------/

	/* If configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h, then this
	function will be called if pvPortMalloc() returns NULL because it has exhausted
	the available FreeRTOS heap space. See http://www.freertos.org/a00111.html. */
	void vApplicationMallocFailedHook( void )
	{
	for( ;; );
	}
	/-----------------------------------------------------------/

	/* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 in
	FreeRTOSConfig.h, then this function will be called if a task overflows its
	stack space. See
	http://www.freertos.org/Stacks-and-stack-overflow-checking.html. */
	void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
	{
	for( ;; );
	}
	/-----------------------------------------------------------/

	/* If configUSE_IDLE_HOOK is set to 1 in FreeRTOSConfig.h, then this function
	will be called on each iteration of the idle task. See
	http://www.freertos.org/a00016.html */
	void vApplicationIdleHook( void )
	{
	/* Just to prevent the variable getting optimised away. */
	( void ) ulHighFrequencyTickCount;
	}
	/-----------------------------------------------------------/