| /* | |
| FreeRTOS V8.1.0 - Copyright (C) 2014 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 | |
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| 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! | |
| */ | |
| /* BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER. | |
| NOTE: This driver is primarily to test the scheduler functionality. It does | |
| not effectively use the buffers or DMA and is therefore not intended to be | |
| an example of an efficient driver. */ | |
| /* Standard include file. */ | |
| #include <stdlib.h> | |
| #include <plib.h> | |
| /* Scheduler include files. */ | |
| #include "FreeRTOS.h" | |
| #include "queue.h" | |
| #include "task.h" | |
| /* Demo app include files. */ | |
| #include "serial.h" | |
| /* Hardware setup. */ | |
| #define serSET_FLAG ( 1 ) | |
| /* The queues used to communicate between tasks and ISR's. */ | |
| static QueueHandle_t xRxedChars; | |
| static QueueHandle_t xCharsForTx; | |
| /* Flag used to indicate the tx status. */ | |
| static volatile portBASE_TYPE xTxHasEnded; | |
| /*-----------------------------------------------------------*/ | |
| /* The UART interrupt handler. As this uses the FreeRTOS assembly interrupt | |
| entry point the IPL setting in the following prototype has no effect. The | |
| interrupt priority is set by the call to ConfigIntUART2() in | |
| xSerialPortInitMinimal(). */ | |
| void __attribute__( (interrupt(ipl0), vector(_UART2_VECTOR))) vU2InterruptWrapper( void ); | |
| /*-----------------------------------------------------------*/ | |
| xComPortHandle xSerialPortInitMinimal( unsigned long ulWantedBaud, unsigned portBASE_TYPE uxQueueLength ) | |
| { | |
| unsigned short usBRG; | |
| /* Create the queues used by the com test task. */ | |
| xRxedChars = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( signed char ) ); | |
| xCharsForTx = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( signed char ) ); | |
| /* Configure the UART and interrupts. */ | |
| usBRG = (unsigned short)(( (float)configPERIPHERAL_CLOCK_HZ / ( (float)16 * (float)ulWantedBaud ) ) - (float)0.5); | |
| OpenUART2( UART_EN, UART_RX_ENABLE | UART_TX_ENABLE | UART_INT_TX | UART_INT_RX_CHAR, usBRG ); | |
| ConfigIntUART2( ( configKERNEL_INTERRUPT_PRIORITY + 1 ) | UART_INT_SUB_PR0 | UART_TX_INT_EN | UART_RX_INT_EN ); | |
| xTxHasEnded = pdTRUE; | |
| /* Only a single port is implemented so we don't need to return anything. */ | |
| return NULL; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| signed portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, signed char *pcRxedChar, TickType_t xBlockTime ) | |
| { | |
| /* Only one port is supported. */ | |
| ( void ) pxPort; | |
| /* Get the next character from the buffer. Return false if no characters | |
| are available or arrive before xBlockTime expires. */ | |
| if( xQueueReceive( xRxedChars, pcRxedChar, xBlockTime ) ) | |
| { | |
| return pdTRUE; | |
| } | |
| else | |
| { | |
| return pdFALSE; | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| signed portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, signed char cOutChar, TickType_t xBlockTime ) | |
| { | |
| signed portBASE_TYPE xReturn; | |
| /* Only one port is supported. */ | |
| ( void ) pxPort; | |
| /* Return false if after the block time there is no room on the Tx queue. */ | |
| if( xQueueSend( xCharsForTx, &cOutChar, xBlockTime ) != pdPASS ) | |
| { | |
| xReturn = pdFAIL; | |
| } | |
| else | |
| { | |
| xReturn = pdPASS; | |
| } | |
| if( xReturn != pdFAIL ) | |
| { | |
| /* A critical section should not be required as xTxHasEnded will not be | |
| written to by the ISR if it is already 0. */ | |
| if( xTxHasEnded == pdTRUE ) | |
| { | |
| xTxHasEnded = pdFALSE; | |
| IFS1SET = _IFS1_U2TXIF_MASK; | |
| } | |
| } | |
| return pdPASS; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void vSerialClose( xComPortHandle xPort ) | |
| { | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void vU2InterruptHandler( void ) | |
| { | |
| /* Declared static to minimise stack use. */ | |
| static char cChar; | |
| static portBASE_TYPE xHigherPriorityTaskWoken; | |
| xHigherPriorityTaskWoken = pdFALSE; | |
| /* Are any Rx interrupts pending? */ | |
| if( IFS1bits.U2RXIF == 1) | |
| { | |
| while( U2STAbits.URXDA ) | |
| { | |
| /* Retrieve the received character and place it in the queue of | |
| received characters. */ | |
| cChar = U2RXREG; | |
| xQueueSendFromISR( xRxedChars, &cChar, &xHigherPriorityTaskWoken ); | |
| } | |
| IFS1CLR = _IFS1_U2RXIF_MASK; | |
| } | |
| /* Are any Tx interrupts pending? */ | |
| if( IFS1bits.U2TXIF == 1 ) | |
| { | |
| while( ( U2STAbits.UTXBF ) == 0 ) | |
| { | |
| if( xQueueReceiveFromISR( xCharsForTx, &cChar, &xHigherPriorityTaskWoken ) == pdTRUE ) | |
| { | |
| /* Send the next character queued for Tx. */ | |
| U2TXREG = cChar; | |
| } | |
| else | |
| { | |
| /* Queue empty, nothing to send. */ | |
| xTxHasEnded = pdTRUE; | |
| break; | |
| } | |
| } | |
| IFS1CLR = _IFS1_U2TXIF_MASK; | |
| } | |
| /* If sending or receiving necessitates a context switch, then switch now. */ | |
| portEND_SWITCHING_ISR( xHigherPriorityTaskWoken ); | |
| } | |