/* | |
* FreeRTOS Kernel V10.3.0 | |
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. | |
* | |
* Permission is hereby granted, free of charge, to any person obtaining a copy of | |
* this software and associated documentation files (the "Software"), to deal in | |
* the Software without restriction, including without limitation the rights to | |
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of | |
* the Software, and to permit persons to whom the Software is furnished to do so, | |
* subject to the following conditions: | |
* | |
* The above copyright notice and this permission notice shall be included in all | |
* copies or substantial portions of the Software. | |
* | |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS | |
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR | |
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER | |
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN | |
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | |
* | |
* http://www.FreeRTOS.org | |
* http://aws.amazon.com/freertos | |
* | |
* 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_PERIOD_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 QueueHandle_t 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 ) | |
{ | |
TickType_t 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( TaskHandle_t pxTask, 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; | |
} | |
/*-----------------------------------------------------------*/ |