/* | |
FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd. | |
*************************************************************************** | |
* * | |
* If you are: * | |
* * | |
* + New to FreeRTOS, * | |
* + Wanting to learn FreeRTOS or multitasking in general quickly * | |
* + Looking for basic training, * | |
* + Wanting to improve your FreeRTOS skills and productivity * | |
* * | |
* then take a look at the FreeRTOS books - available as PDF or paperback * | |
* * | |
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" * | |
* http://www.FreeRTOS.org/Documentation * | |
* * | |
* A pdf reference manual is also available. Both are usually delivered * | |
* to your inbox within 20 minutes to two hours when purchased between 8am * | |
* and 8pm GMT (although please allow up to 24 hours in case of * | |
* exceptional circumstances). Thank you for your support! * | |
* * | |
*************************************************************************** | |
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 exception 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. See the GNU General Public License for | |
more details. You should have received a copy of the GNU General Public | |
License and the FreeRTOS license exception along with FreeRTOS; if not it | |
can be viewed here: http://www.freertos.org/a00114.html and also obtained | |
by writing to Richard Barry, contact details for whom are available on the | |
FreeRTOS WEB site. | |
1 tab == 4 spaces! | |
http://www.FreeRTOS.org - Documentation, latest information, license and | |
contact details. | |
http://www.SafeRTOS.com - A version that is certified for use in safety | |
critical systems. | |
http://www.OpenRTOS.com - Commercial support, development, porting, | |
licensing and training services. | |
*/ | |
/***** | |
* | |
* See http://www.freertos.org/Documentation/FreeRTOS-documentation-and-book.html | |
* for an introductory guide to using real time kernels, and FreeRTOS in | |
* particular. | |
* | |
***** | |
* | |
* The DICE-KIT-16FX has two 7 segment displays and two buttons that can | |
* generate interrupts. This example uses this IO as follows: | |
* | |
* | |
* - Left 7 segment display - | |
* | |
* 7 'flash' tasks are created, each of which toggles a single segment of the | |
* left display. Each task executes at a fixed frequency, with a different | |
* frequency being used by each task. | |
* | |
* When button SW2 is pressed an interrupt is generated that wakes up a 'dice' | |
* task. The dice task suspends the 7 tasks that are accessing the left display | |
* before simulating a dice being thrown by generating a random number between | |
* 1 and 6. After the number has been generated the task sleeps for 5 seconds, | |
* if SW2 is pressed again within the 5 seconds another random number is | |
* generated, if SW2 is not pressed within the 5 seconds then the 7 tasks are | |
* un-suspended and will once again toggle the segments of the left hand display. | |
* | |
* | |
* - Right 7 segment display - | |
* | |
* Control of the right side 7 segment display is very similar to that of the | |
* left, except co-routines are used to toggle the segments instead of tasks, | |
* and button SW3 is used instead of SW2. | |
* | |
* | |
* - Notes - | |
* | |
* Only one dice task is actually defined. Two instances of this single | |
* definition are created, the first to simulate a dice being thrown on the left | |
* display, and the other to simulate a dice being thrown on the right display. | |
* The task parameter is used to let the dice tasks know which display to | |
* control. | |
* | |
* Both dice tasks and the flash tasks operate completely independently under | |
* the control of FreeRTOS. 11 tasks and 7 co-routines are created in total, | |
* including the idle task. | |
* | |
* The co-routines all execute within a single low priority task. | |
* | |
* | |
* | |
* When this demo is executing as expected: | |
* | |
* + Every segment of both displays will toggle at a fixed frequency - with each | |
* segment using a different frequency. | |
* + When a button is pushed the segment toggling will temporarily stop and the | |
* dice 'throw' will start whereby the display will show a fast changing random | |
* number for a few seconds before the dice value is chosen and displayed. | |
* + If the button is not pushed again within five seconds of the dice value being | |
* displayed the segment toggling will commence again. | |
* | |
*****/ | |
/* Kernel includes. */ | |
#include "FreeRTOS.h" | |
#include "Task.h" | |
/* Demo includes. */ | |
#include "DiceTask.h" | |
#include "ParTest.h" | |
#include "Flash.h" | |
/* The priority at which the dice task execute. */ | |
#define mainDICE_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
/* | |
* Sets up the MCU IO for the 7 segment displays and the button inputs. | |
*/ | |
static void prvSetupHardware( void ); | |
/* | |
* The function that creates the flash tasks and co-routines (the tasks and | |
* co-routines that toggle the 7 segment display segments. | |
*/ | |
extern vCreateFlashTasksAndCoRoutines( void ); | |
/*-----------------------------------------------------------*/ | |
void main( void ) | |
{ | |
/* Setup the MCU IO. */ | |
prvSetupHardware(); | |
/* Create the tasks and co-routines that toggle the display segments. */ | |
vCreateFlashTasksAndCoRoutines(); | |
/* Create a 'dice' task to control the left hand display. */ | |
xTaskCreate( vDiceTask, ( signed char * ) "Dice1", configMINIMAL_STACK_SIZE, ( void * ) configLEFT_DISPLAY, mainDICE_PRIORITY, NULL ); | |
/* Create a 'dice' task to control the right hand display. */ | |
xTaskCreate( vDiceTask, ( signed char * ) "Dice2", configMINIMAL_STACK_SIZE, ( void * ) configRIGHT_DISPLAY, mainDICE_PRIORITY, NULL ); | |
/* Start the scheduler running. */ | |
vTaskStartScheduler(); | |
/* If this loop is executed then there was insufficient heap memory for the | |
idle task to be created - causing vTaskStartScheduler() to return. */ | |
while( 1 ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHardware( void ) | |
{ | |
/* Setup interrupt hardware - interrupts are kept disabled for now to | |
prevent any interrupts attempting to cause a context switch before the | |
scheduler has been started. */ | |
InitIrqLevels(); | |
portDISABLE_INTERRUPTS(); | |
__set_il( 7 ); | |
/* Set Port3 as output (7Segment Display). */ | |
DDR03 = 0xff; | |
/* Use Port 5 as I/O-Port. */ | |
ADER1 = 0; | |
PDR05 = 0x7f; | |
/* Set Port5 as output (7Segment Display). */ | |
DDR05 = 0xff; | |
/* Disable inputs on the following ports. */ | |
PIER02 = 0x00; | |
PDR02 = 0x00; | |
DDR02 = 0xff; | |
PIER03 = 0x00; | |
PDR03 = 0xff; | |
PIER05 = 0x00; | |
PDR05 = 0x00; | |
PIER06 = 0x00; | |
PDR06 = 0x00; | |
DDR06 = 0xff; | |
/* Enable P00_0/INT8 and P00_1/INT9 as input. */ | |
PIER00 = 0x03; | |
/* Enable external interrupt 8. */ | |
PIER00_IE0 = 1; | |
/* LB0, LA0 = 11 -> falling edge. */ | |
ELVRL1_LB8 = 1; | |
ELVRL1_LA8 = 1; | |
/* Reset and enable the interrupt request. */ | |
EIRR1_ER8 = 0; | |
ENIR1_EN8 = 1; | |
/* Enable external interrupt 9. */ | |
PIER00_IE1 = 1; | |
/* LB1, LA1 = 11 -> falling edge. */ | |
ELVRL1_LB9 = 1; | |
ELVRL1_LA9 = 1; | |
/* Reset and enable the interrupt request. */ | |
EIRR1_ER9 = 0; | |
ENIR1_EN9 = 1; | |
} | |