/* | |
FreeRTOS V8.2.1 - Copyright (C) 2015 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 | |
*************************************************************************** | |
* * | |
* 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 * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading | |
the FAQ page "My application does not run, what could be wrong?". Have you | |
defined configASSERT()? | |
http://www.FreeRTOS.org/support - In return for receiving this top quality | |
embedded software for free we request you assist our global community by | |
participating in the support forum. | |
http://www.FreeRTOS.org/training - Investing in training allows your team to | |
be as productive as possible as early as possible. Now you can receive | |
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers | |
Ltd, and the world's leading authority on the world's leading RTOS. | |
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 file initialises three timers as follows: | |
* | |
* TIM2 and TIM3 provide the interrupts that are used with the IntQ | |
* standard demo tasks, which test interrupt nesting and using queues from | |
* interrupts. The timers generate interrupts at slightly different | |
* frequencies and use different priorities, resulting in a nesting depth of | |
* three (including the tick and PendSV interrupts, which run at lower | |
* priorities). | |
* | |
* TIM4 provides a much higher frequency timer that tests the nesting | |
* of interrupts that don't use the FreeRTOS API. For convenience, the high | |
* frequency timer also keeps a count of the number of times it executes, and | |
* the count can be used as the time base for the run time stats. | |
* | |
* All the timers can nest with the tick interrupt - creating a maximum | |
* interrupt nesting depth of 4. | |
* | |
*/ | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
/* Demo includes. */ | |
#include "IntQueueTimer.h" | |
#include "IntQueue.h" | |
/* The frequencies at which the first two timers expire are slightly offset to | |
ensure they don't remain synchronised. The frequency of the highest priority | |
interrupt is 20 times faster so really hammers the interrupt entry and exit | |
code. */ | |
#define tmrTIMER_2_FREQUENCY ( 2000UL ) | |
#define tmrTIMER_3_FREQUENCY ( 2003UL ) | |
#define tmrTIMER_4_FREQUENCY ( 20000UL ) | |
/* The high frequency interrupt given a priority above the maximum at which | |
interrupt safe FreeRTOS calls can be made. The priority of the lower frequency | |
timers must still be above the tick interrupt priority. */ | |
#define tmrLOWER_PRIORITY configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY + 1 | |
#define tmrMEDIUM_PRIORITY configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY | |
#define tmrHIGHER_PRIORITY configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY - 1 | |
/*-----------------------------------------------------------*/ | |
/* For convenience the high frequency timer increments a variable that is then | |
used as the time base for the run time stats. */ | |
volatile uint32_t ulHighFrequencyTimerCounts = 0; | |
/*-----------------------------------------------------------*/ | |
void vInitialiseTimerForIntQueueTest( void ) | |
{ | |
TIM_HandleTypeDef xTimHandle; | |
const uint32_t ulPrescale = 0; /* No prescale. */ | |
/* Clock the utilised timers. */ | |
__TIM2_CLK_ENABLE(); | |
__TIM3_CLK_ENABLE(); | |
__TIM4_CLK_ENABLE(); | |
/* Configure TIM2 to generate an interrupt at the required frequency. */ | |
xTimHandle.Instance = TIM2; | |
xTimHandle.Init.Period = ( SystemCoreClock / 2UL ) / ( tmrTIMER_2_FREQUENCY - 1 ); | |
xTimHandle.Init.Prescaler = ulPrescale; | |
xTimHandle.Init.ClockDivision = 0; | |
xTimHandle.Init.CounterMode = TIM_COUNTERMODE_UP; | |
HAL_TIM_Base_Init( &xTimHandle ); | |
HAL_TIM_Base_Start_IT( &xTimHandle ); | |
/* Configure and enable TIM2 interrupt. */ | |
NVIC_SetPriority( TIM2_IRQn, tmrLOWER_PRIORITY ); | |
NVIC_ClearPendingIRQ( TIM2_IRQn ); | |
NVIC_EnableIRQ( TIM2_IRQn ); | |
/* Repeat for TIM3 and TIM4. */ | |
xTimHandle.Instance = TIM3; | |
xTimHandle.Init.Period = ( SystemCoreClock / 2UL ) / ( tmrTIMER_3_FREQUENCY - 1 ); | |
HAL_TIM_Base_Init( &xTimHandle ); | |
HAL_TIM_Base_Start_IT( &xTimHandle ); | |
NVIC_SetPriority( TIM3_IRQn, tmrMEDIUM_PRIORITY ); | |
NVIC_ClearPendingIRQ( TIM3_IRQn ); | |
NVIC_EnableIRQ( TIM3_IRQn ); | |
xTimHandle.Instance = TIM4; | |
xTimHandle.Init.Period = ( SystemCoreClock / 2UL ) / ( tmrTIMER_4_FREQUENCY - 1 ); | |
HAL_TIM_Base_Init( &xTimHandle ); | |
HAL_TIM_Base_Start_IT( &xTimHandle ); | |
NVIC_SetPriority( TIM4_IRQn, tmrHIGHER_PRIORITY ); | |
NVIC_ClearPendingIRQ( TIM4_IRQn ); | |
NVIC_EnableIRQ( TIM4_IRQn ); | |
} | |
/*-----------------------------------------------------------*/ | |
void TIM2_IRQHandler( void ) | |
{ | |
/* Clear the interrupt and call the IntQTimer test function. */ | |
TIM2->SR = 0; | |
portYIELD_FROM_ISR( xFirstTimerHandler() ); | |
} | |
/*-----------------------------------------------------------*/ | |
void TIM3_IRQHandler( void ) | |
{ | |
/* Clear the interrupt and call the IntQTimer test function. */ | |
TIM3->SR = 0; | |
portYIELD_FROM_ISR( xSecondTimerHandler() ); | |
} | |
/*-----------------------------------------------------------*/ | |
void TIM4_IRQHandler( void ) | |
{ | |
TIM4->SR = 0; | |
/* Keep a count of the number of interrupts to use as a time base for the | |
run-time stats. */ | |
ulHighFrequencyTimerCounts++; | |
} | |