/* | |
* FreeRTOS Kernel V10.0.1 | |
* Copyright (C) 2017 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 | |
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* 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! | |
*/ | |
/* | |
* main-blinky.c is included when the "Blinky" build configuration is used. | |
* main-full.c is included when the "Full" build configuration is used. | |
* | |
* main-blinky.c (this file) defines a very simple demo that creates two tasks, | |
* one queue, and one timer. It also demonstrates how Cortex-M3 interrupts can | |
* interact with FreeRTOS tasks/timers. | |
* | |
* This simple demo project runs on the SmartFusion A2F-EVAL-KIT evaluation | |
* board, which is populated with an A2F200M3F SmartFusion mixed signal FPGA. | |
* The A2F200M3F incorporates a Cortex-M3 microcontroller. | |
* | |
* The idle hook function: | |
* The idle hook function demonstrates how to query the amount of FreeRTOS heap | |
* space that is remaining (see vApplicationIdleHook() defined in this file). | |
* | |
* The main() Function: | |
* main() creates one software timer, one queue, and two tasks. It then starts | |
* the scheduler. | |
* | |
* The Queue Send Task: | |
* The queue send task is implemented by the prvQueueSendTask() function in | |
* this file. prvQueueSendTask() sits in a loop that causes it to repeatedly | |
* block for 200 milliseconds, before sending the value 100 to the queue that | |
* was created within main(). Once the value is sent, the task loops back | |
* around to block for another 200 milliseconds. | |
* | |
* The Queue Receive Task: | |
* The queue receive task is implemented by the prvQueueReceiveTask() function | |
* in this file. prvQueueReceiveTask() sits in a loop that causes it to | |
* repeatedly attempt to read data from the queue that was created within | |
* main(). When data is received, the task checks the value of the data, and | |
* if the value equals the expected 100, toggles the green LED. The 'block | |
* time' parameter passed to the queue receive function specifies that the task | |
* should be held in the Blocked state indefinitely to wait for data to be | |
* available on the queue. The queue receive task will only leave the Blocked | |
* state when the queue send task writes to the queue. As the queue send task | |
* writes to the queue every 200 milliseconds, the queue receive task leaves | |
* the Blocked state every 200 milliseconds, and therefore toggles the LED | |
* every 200 milliseconds. | |
* | |
* The LED Software Timer and the Button Interrupt: | |
* The user button SW1 is configured to generate an interrupt each time it is | |
* pressed. The interrupt service routine switches an LED on, and resets the | |
* LED software timer. The LED timer has a 5000 millisecond (5 second) period, | |
* and uses a callback function that is defined to just turn the LED off again. | |
* Therefore, pressing the user button will turn the LED on, and the LED will | |
* remain on until a full five seconds pass without the button being pressed. | |
*/ | |
/* Kernel includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "queue.h" | |
#include "timers.h" | |
/* Microsemi drivers/libraries. */ | |
#include "mss_gpio.h" | |
#include "mss_watchdog.h" | |
/* Priorities at which the tasks are created. */ | |
#define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
/* The rate at which data is sent to the queue, specified in milliseconds, and | |
converted to ticks using the portTICK_PERIOD_MS constant. */ | |
#define mainQUEUE_SEND_FREQUENCY_MS ( 200 / 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, meaning the send task should always find | |
the queue empty. */ | |
#define mainQUEUE_LENGTH ( 1 ) | |
/* The LED toggle by the queue receive task. */ | |
#define mainTASK_CONTROLLED_LED 0x01UL | |
/* The LED turned on by the button interrupt, and turned off by the LED timer. */ | |
#define mainTIMER_CONTROLLED_LED 0x02UL | |
/*-----------------------------------------------------------*/ | |
/* | |
* Setup the NVIC, LED outputs, and button inputs. | |
*/ | |
static void prvSetupHardware( void ); | |
/* | |
* The tasks as described in the comments at the top of this file. | |
*/ | |
static void prvQueueReceiveTask( void *pvParameters ); | |
static void prvQueueSendTask( void *pvParameters ); | |
/* | |
* The LED timer callback function. This does nothing but switch off the | |
* LED defined by the mainTIMER_CONTROLLED_LED constant. | |
*/ | |
static void vLEDTimerCallback( TimerHandle_t xTimer ); | |
/*-----------------------------------------------------------*/ | |
/* The queue used by both tasks. */ | |
static QueueHandle_t xQueue = NULL; | |
/* The LED software timer. This uses vLEDTimerCallback() as its callback | |
function. */ | |
static TimerHandle_t xLEDTimer = NULL; | |
/* Maintains the current LED output state. */ | |
static volatile unsigned long ulGPIOState = 0UL; | |
/*-----------------------------------------------------------*/ | |
int main(void) | |
{ | |
/* Configure the NVIC, LED outputs and button inputs. */ | |
prvSetupHardware(); | |
/* Create the queue. */ | |
xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) ); | |
if( xQueue != NULL ) | |
{ | |
/* Start the two tasks as described in the comments at the top of this | |
file. */ | |
xTaskCreate( prvQueueReceiveTask, "Rx", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_RECEIVE_TASK_PRIORITY, NULL ); | |
xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL ); | |
/* Create the software timer that is responsible for turning off the LED | |
if the button is not pushed within 5000ms, as described at the top of | |
this file. */ | |
xLEDTimer = xTimerCreate( "LEDTimer", /* A text name, purely to help debugging. */ | |
( 5000 / portTICK_PERIOD_MS ),/* The timer period, in this case 5000ms (5s). */ | |
pdFALSE, /* This is a one shot timer, so xAutoReload is set to pdFALSE. */ | |
( void * ) 0, /* The ID is not used, so can be set to anything. */ | |
vLEDTimerCallback /* The callback function that switches the LED off. */ | |
); | |
/* Start the tasks and timer running. */ | |
vTaskStartScheduler(); | |
} | |
/* If all is well, the scheduler will now be running, and the following line | |
will never be reached. If the following line does execute, then there was | |
insufficient FreeRTOS heap memory available for the idle and/or timer tasks | |
to be created. See the memory management section on the FreeRTOS web site | |
for more details. */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void vLEDTimerCallback( TimerHandle_t xTimer ) | |
{ | |
/* The timer has expired - so no button pushes have occurred in the last | |
five seconds - turn the LED off. NOTE - accessing the LED port should use | |
a critical section because it is accessed from multiple tasks, and the | |
button interrupt - in this trivial case, for simplicity, the critical | |
section is omitted. */ | |
ulGPIOState |= mainTIMER_CONTROLLED_LED; | |
MSS_GPIO_set_outputs( ulGPIOState ); | |
} | |
/*-----------------------------------------------------------*/ | |
/* The ISR executed when the user button is pushed. */ | |
void GPIO8_IRQHandler( void ) | |
{ | |
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE; | |
/* The button was pushed, so ensure the LED is on before resetting the | |
LED timer. The LED timer will turn the LED off if the button is not | |
pushed within 5000ms. */ | |
ulGPIOState &= ~mainTIMER_CONTROLLED_LED; | |
MSS_GPIO_set_outputs( ulGPIOState ); | |
/* This interrupt safe FreeRTOS function can be called from this interrupt | |
because the interrupt priority is below the | |
configMAX_SYSCALL_INTERRUPT_PRIORITY setting in FreeRTOSConfig.h. */ | |
xTimerResetFromISR( xLEDTimer, &xHigherPriorityTaskWoken ); | |
/* Clear the interrupt before leaving. */ | |
MSS_GPIO_clear_irq( MSS_GPIO_8 ); | |
/* If calling xTimerResetFromISR() caused a task (in this case the timer | |
service/daemon task) to unblock, and the unblocked task has a priority | |
higher than or equal to the task that was interrupted, then | |
xHigherPriorityTaskWoken will now be set to pdTRUE, and calling | |
portEND_SWITCHING_ISR() will ensure the unblocked task runs next. */ | |
portEND_SWITCHING_ISR( xHigherPriorityTaskWoken ); | |
} | |
/*-----------------------------------------------------------*/ | |
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 time is specified in ticks, the constant used converts ticks | |
to ms. While in the Blocked state this task will not consume any CPU | |
time. */ | |
vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS ); | |
/* Send to the queue - causing the queue receive task to unblock and | |
toggle an LED. 0 is used as the block time so the sending operation | |
will not block - it shouldn't need to block as the queue should always | |
be empty at this point in the code. */ | |
xQueueSend( xQueue, &ulValueToSend, 0 ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvQueueReceiveTask( void *pvParameters ) | |
{ | |
unsigned long ulReceivedValue; | |
for( ;; ) | |
{ | |
/* Wait until something arrives in the queue - this task will block | |
indefinitely provided INCLUDE_vTaskSuspend is set to 1 in | |
FreeRTOSConfig.h. */ | |
xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY ); | |
/* To get here something must have been received from the queue, but | |
is it the expected value? If it is, toggle the green LED. */ | |
if( ulReceivedValue == 100UL ) | |
{ | |
/* NOTE - accessing the LED port should use a critical section | |
because it is accessed from multiple tasks, and the button interrupt | |
- in this trivial case, for simplicity, the critical section is | |
omitted. */ | |
if( ( ulGPIOState & mainTASK_CONTROLLED_LED ) != 0 ) | |
{ | |
ulGPIOState &= ~mainTASK_CONTROLLED_LED; | |
} | |
else | |
{ | |
ulGPIOState |= mainTASK_CONTROLLED_LED; | |
} | |
MSS_GPIO_set_outputs( ulGPIOState ); | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupHardware( void ) | |
{ | |
SystemCoreClockUpdate(); | |
/* Disable the Watch Dog Timer */ | |
MSS_WD_disable( ); | |
/* Initialise the GPIO */ | |
MSS_GPIO_init(); | |
/* Set up GPIO for the LEDs. */ | |
MSS_GPIO_config( MSS_GPIO_0 , MSS_GPIO_OUTPUT_MODE ); | |
MSS_GPIO_config( MSS_GPIO_1 , MSS_GPIO_OUTPUT_MODE ); | |
MSS_GPIO_config( MSS_GPIO_2 , MSS_GPIO_OUTPUT_MODE ); | |
MSS_GPIO_config( MSS_GPIO_3 , MSS_GPIO_OUTPUT_MODE ); | |
MSS_GPIO_config( MSS_GPIO_4 , MSS_GPIO_OUTPUT_MODE ); | |
MSS_GPIO_config( MSS_GPIO_5 , MSS_GPIO_OUTPUT_MODE ); | |
MSS_GPIO_config( MSS_GPIO_6 , MSS_GPIO_OUTPUT_MODE ); | |
MSS_GPIO_config( MSS_GPIO_7 , MSS_GPIO_OUTPUT_MODE ); | |
/* All LEDs start off. */ | |
ulGPIOState = 0xffffffffUL; | |
MSS_GPIO_set_outputs( ulGPIOState ); | |
/* Setup the GPIO and the NVIC for the switch used in this simple demo. */ | |
NVIC_SetPriority( GPIO8_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY ); | |
NVIC_EnableIRQ( GPIO8_IRQn ); | |
MSS_GPIO_config( MSS_GPIO_8, MSS_GPIO_INPUT_MODE | MSS_GPIO_IRQ_EDGE_NEGATIVE ); | |
MSS_GPIO_enable_irq( MSS_GPIO_8 ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationMallocFailedHook( void ) | |
{ | |
/* Called if a call to pvPortMalloc() fails because there is insufficient | |
free memory available in the FreeRTOS heap. pvPortMalloc() is called | |
internally by FreeRTOS API functions that create tasks, queues, software | |
timers, and semaphores. The size of the FreeRTOS heap is set by the | |
configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName ) | |
{ | |
( void ) pcTaskName; | |
( void ) pxTask; | |
/* Run time stack overflow checking is performed if | |
configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook | |
function is called if a stack overflow is detected. */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationIdleHook( void ) | |
{ | |
volatile size_t xFreeHeapSpace; | |
/* This function is called on each cycle of the idle task. In this case it | |
does nothing useful, other than report the amout of FreeRTOS heap that | |
remains unallocated. */ | |
xFreeHeapSpace = xPortGetFreeHeapSize(); | |
if( xFreeHeapSpace > 100 ) | |
{ | |
/* By now, the kernel has allocated everything it is going to, so | |
if there is a lot of heap remaining unallocated then | |
the value of configTOTAL_HEAP_SIZE in FreeRTOSConfig.h can be | |
reduced accordingly. */ | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
void vMainConfigureTimerForRunTimeStats( void ) | |
{ | |
/* This function is not used by the Blinky build configuration, but needs | |
to be defined as the Blinky and Full build configurations share a | |
FreeRTOSConfig.h header file. */ | |
} | |
/*-----------------------------------------------------------*/ | |
unsigned long ulGetRunTimeCounterValue( void ) | |
{ | |
/* This function is not used by the Blinky build configuration, but needs | |
to be defined as the Blinky and Full build configurations share a | |
FreeRTOSConfig.h header file. */ | |
return 0UL; | |
} | |