| /* | |
| 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 | |
| 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 | |
| compatible FAT file system, and our tiny thread aware UDP/IP stack. | |
| http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
| Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS | |
| 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! | |
| */ | |
| /* | |
| * 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 project. */ | |
| 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 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 ) | |
| { | |
| 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. */ | |
| 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( TaskHandle_t pxTask, char *pcTaskName ) | |
| { | |
| for( ;; ); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* This function is explained by the comments above its prototype at the top | |
| of this file. */ | |
| void vApplicationIdleHook( void ) | |
| { | |
| /* Just to prevent the variable getting optimised away. */ | |
| ( void ) ulHighFrequencyTickCount; | |
| } | |
| /*-----------------------------------------------------------*/ |