/* | |
FreeRTOS V8.0.1 - 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 | |
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*************************************************************************** | |
* * | |
* 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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mission critical applications that require provable dependability. | |
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*/ | |
/****************************************************************************** | |
* This project provides two demo applications. A simple blinky style project, | |
* and a more comprehensive test and demo application. The | |
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting (defined in this file) is used to | |
* select between the two. The simply blinky demo is implemented and described | |
* in main_blinky.c. The more comprehensive test and demo application is | |
* implemented and described in main_full.c. | |
* | |
* This file implements the code that is not demo specific, including the | |
* hardware setup and FreeRTOS hook functions. It also contains a dummy | |
* interrupt service routine called Dummy_IRQHandler() that is provided as an | |
* example of how to use interrupt safe FreeRTOS API functions (those that end | |
* in "FromISR"). | |
* | |
*****************************************************************************/ | |
/* FreeRTOS includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Demo app includes. */ | |
#include "UARTCommandConsole.h" | |
/* Demo application include. */ | |
#include "QueueSet.h" | |
/* Library includes. */ | |
#include <asf.h> | |
/* Set mainCREATE_SIMPLE_BLINKY_DEMO_ONLY to one to run the simple blinky demo, | |
or 0 to run the more comprehensive test and demo application. */ | |
#define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 0 | |
/*-----------------------------------------------------------*/ | |
/* | |
* Perform any application specific hardware configuration. | |
*/ | |
static void prvSetupHardware( void ); | |
/* | |
* Prototypes for the FreeRTOS hook/callback functions. See the comments in | |
* the implementation of each function for more information. | |
*/ | |
void vApplicationMallocFailedHook( void ); | |
void vApplicationIdleHook( void ); | |
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName ); | |
void vApplicationTickHook( void ); | |
/* | |
* main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1. | |
* main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0. | |
*/ | |
extern void main_blinky( void ); | |
extern void main_full( void ); | |
/*-----------------------------------------------------------*/ | |
/* Used in the run time stats calculations. */ | |
static unsigned long ulClocksPer10thOfAMilliSecond = 0UL; | |
/*-----------------------------------------------------------*/ | |
int main (void) | |
{ | |
/* Prepare the hardware for the demo. */ | |
prvSetupHardware(); | |
/* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top | |
of this file. */ | |
#if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 | |
{ | |
main_blinky(); | |
} | |
#else | |
{ | |
main_full(); | |
} | |
#endif | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHardware( void ) | |
{ | |
/* Initialisation is performed by the Atmel board support package. */ | |
system_init(); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationMallocFailedHook( void ) | |
{ | |
/* vApplicationMallocFailedHook() will only be called if | |
configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook | |
function that will get called if a call to pvPortMalloc() fails. | |
pvPortMalloc() is called internally by the kernel whenever a task, queue, | |
timer or semaphore is created. It is also called by various parts of the | |
demo application. If heap_1.c or heap_2.c are used, then the size of the | |
heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in | |
FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used | |
to query the size of free heap space that remains (although it does not | |
provide information on how the remaining heap might be fragmented). */ | |
taskDISABLE_INTERRUPTS(); | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationIdleHook( void ) | |
{ | |
/* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set | |
to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle | |
task. It is essential that code added to this hook function never attempts | |
to block in any way (for example, call xQueueReceive() with a block time | |
specified, or call vTaskDelay()). If the application makes use of the | |
vTaskDelete() API function (as this demo application does) then it is also | |
important that vApplicationIdleHook() is permitted to return to its calling | |
function, because it is the responsibility of the idle task to clean up | |
memory allocated by the kernel to any task that has since been deleted. */ | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName ) | |
{ | |
( void ) pcTaskName; | |
( void ) pxTask; | |
/* Run time stack overflow checking is performed if | |
configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook | |
function is called if a stack overflow is detected. */ | |
taskDISABLE_INTERRUPTS(); | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationTickHook( void ) | |
{ | |
/* This function will be called by each tick interrupt if | |
configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h. User code can be | |
added here, but the tick hook is called from an interrupt context, so | |
code must not attempt to block, and only the interrupt safe FreeRTOS API | |
functions can be used (those that end in FromISR()). */ | |
/* The semaphore and associated task are not created when the simple blinky | |
demo is used. */ | |
#if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 | |
{ | |
/* Write to a queue that is in use as part of the queue set demo to | |
demonstrate using queue sets from an ISR. */ | |
vQueueSetAccessQueueSetFromISR(); | |
} | |
#endif /* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY */ | |
} | |
/*-----------------------------------------------------------*/ | |
void vMainConfigureTimerForRunTimeStats( void ) | |
{ | |
/* Used by the optional run-time stats gathering functionality. */ | |
/* How many clocks are there per tenth of a millisecond? */ | |
ulClocksPer10thOfAMilliSecond = configCPU_CLOCK_HZ / 10000UL; | |
} | |
/*-----------------------------------------------------------*/ | |
unsigned long ulMainGetRunTimeCounterValue( void ) | |
{ | |
unsigned long ulSysTickCounts, ulTickCount, ulReturn; | |
const unsigned long ulSysTickReloadValue = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; | |
volatile unsigned long * const pulCurrentSysTickCount = ( ( volatile unsigned long *) 0xe000e018 ); | |
volatile unsigned long * const pulInterruptCTRLState = ( ( volatile unsigned long *) 0xe000ed04 ); | |
const unsigned long ulSysTickPendingBit = 0x04000000UL; | |
/* Used by the optional run-time stats gathering functionality. */ | |
/* NOTE: There are potentially race conditions here. However, it is used | |
anyway to keep the examples simple, and to avoid reliance on a separate | |
timer peripheral. */ | |
/* The SysTick is a down counter. How many clocks have passed since it was | |
last reloaded? */ | |
ulSysTickCounts = ulSysTickReloadValue - *pulCurrentSysTickCount; | |
/* How many times has it overflowed? */ | |
ulTickCount = xTaskGetTickCountFromISR(); | |
/* This is called from the context switch, so will be called from a | |
critical section. xTaskGetTickCountFromISR() contains its own critical | |
section, and the ISR safe critical sections are not designed to nest, | |
so reset the critical section. */ | |
portSET_INTERRUPT_MASK_FROM_ISR(); | |
/* Is there a SysTick interrupt pending? */ | |
if( ( *pulInterruptCTRLState & ulSysTickPendingBit ) != 0UL ) | |
{ | |
/* There is a SysTick interrupt pending, so the SysTick has overflowed | |
but the tick count not yet incremented. */ | |
ulTickCount++; | |
/* Read the SysTick again, as the overflow might have occurred since | |
it was read last. */ | |
ulSysTickCounts = ulSysTickReloadValue - *pulCurrentSysTickCount; | |
} | |
/* Convert the tick count into tenths of a millisecond. THIS ASSUMES | |
configTICK_RATE_HZ is 1000! */ | |
ulReturn = ( ulTickCount * 10UL ) ; | |
/* Add on the number of tenths of a millisecond that have passed since the | |
tick count last got updated. */ | |
ulReturn += ( ulSysTickCounts / ulClocksPer10thOfAMilliSecond ); | |
return ulReturn; | |
} | |
/*-----------------------------------------------------------*/ | |
#ifdef JUST_AN_EXAMPLE_ISR | |
void Dummy_IRQHandler(void) | |
{ | |
long lHigherPriorityTaskWoken = pdFALSE; | |
/* Clear the interrupt if necessary. */ | |
Dummy_ClearITPendingBit(); | |
/* This interrupt does nothing more than demonstrate how to synchronise a | |
task with an interrupt. A semaphore is used for this purpose. Note | |
lHigherPriorityTaskWoken is initialised to zero. Only FreeRTOS API functions | |
that end in "FromISR" can be called from an ISR. */ | |
xSemaphoreGiveFromISR( xTestSemaphore, &lHigherPriorityTaskWoken ); | |
/* If there was a task that was blocked on the semaphore, and giving the | |
semaphore caused the task to unblock, and the unblocked task has a priority | |
higher than the current Running state task (the task that this interrupt | |
interrupted), then lHigherPriorityTaskWoken will have been set to pdTRUE | |
internally within xSemaphoreGiveFromISR(). Passing pdTRUE into the | |
portEND_SWITCHING_ISR() macro will result in a context switch being pended to | |
ensure this interrupt returns directly to the unblocked, higher priority, | |
task. Passing pdFALSE into portEND_SWITCHING_ISR() has no effect. */ | |
portEND_SWITCHING_ISR( lHigherPriorityTaskWoken ); | |
} | |
#endif /* JUST_AN_EXAMPLE_ISR */ | |