/* | |
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. | |
*/ | |
/* | |
* 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" | |
/* Demo includes. */ | |
#include "ParTest.h" | |
/* Priorities at which the tasks are created. */ | |
#define configQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define configQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
/* 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; | |
/*-----------------------------------------------------------*/ | |
int 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, ( signed char * ) "Rx", configMINIMAL_STACK_SIZE, NULL, configQUEUE_RECEIVE_TASK_PRIORITY, NULL ); | |
xTaskCreate( prvQueueSendTask, ( signed char * ) "TX", configMINIMAL_STACK_SIZE, NULL, configQUEUE_SEND_TASK_PRIORITY, NULL ); | |
/* Start the tasks running. */ | |
vTaskStartScheduler(); | |
} | |
/* If all is well we will never reach here as the scheduler will now be | |
running. If we do reach here 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. */ | |
xQueueSend( xQueue, &ulValueToSend, 0 ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
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 ); | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
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; | |
} | |
/*-----------------------------------------------------------*/ | |
/* This function is explained by the comments above its prototype at the top | |
of this file. */ | |
void vApplicationMallocFailedHook( void ) | |
{ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
/* This function is explained by the comments above its prototype at the top | |
of this file. */ | |
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ) | |
{ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
/* This function is explained by the comments above its prototype at the top | |
of this file. */ | |
void vApplicationIdleHook( void ) | |
{ | |
} | |
/*-----------------------------------------------------------*/ | |
/* The following four functions are here just to allow all three build | |
configurations to use the same vector table. They are not used in this | |
demo, but linker errors will result if they are not defined. They can | |
be ignored. */ | |
void vT0_1_ISR_Handler( void ) {} | |
void vT2_3_ISR_Handler( void ) {} | |
void vEMAC_ISR_Handler( void ) {} | |
void vTimer2_ISR_Handler( void ) {} | |
volatile unsigned long ulHighFrequencyTickCount = 0; |