/*
FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and 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 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. 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 itcan be
viewed here: http://www.freertos.org/a00114.html and also obtained by
writing to Real Time Engineers Ltd., contact details for whom are available
on the FreeRTOS WEB site.
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, and our new
fully thread aware and reentrant UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems, who sell the code with commercial support,
indemnification and middleware, under the OpenRTOS brand.
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.
*/
/******************************************************************************
* >>>>>> NOTE 1: <<<<<<
*
* main() can be configured to create either a very simple LED flasher demo, or
* a more comprehensive test/demo application.
*
* To create a very simple LED flasher example, set the
* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY constant (defined below) to 1. When
* this is done, only the standard demo flash tasks are created. The standard
* demo flash example creates three tasks, each of which toggle an LED at a
* fixed but different frequency.
*
* To create a more comprehensive test and demo application, set
* mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY to 0.
*
* >>>>>> NOTE 2: <<<<<<
*
* In addition to the normal set of standard demo tasks, the comprehensive test
* makes heavy use of the floating point unit, and forces floating point
* instructions to be used from interrupts that nest three deep. The nesting
* starts from the tick hook function, resulting is an abnormally long context
* switch time. This is done purely to stress test the FPU context switching
* implementation, and that part of the test can be removed by setting
* configUSE_TICK_HOOK to 0 in FreeRTOSConfig.h.
******************************************************************************
*
* main() creates all the demo application tasks and software timers, then starts
* the scheduler. The web documentation provides more details of the standard
* demo application tasks, which provide no particular functionality, but do
* provide a good example of how to use the FreeRTOS API.
*
* In addition to the standard demo tasks, the following tasks and tests are
* defined and/or created within this file:
*
* "Reg test" tasks - These fill both the core and floating point registers with
* known values, then check that each register maintains its expected value for
* the lifetime of the task. Each task uses a different set of values. The reg
* test tasks execute with a very low priority, so get preempted very
* frequently. A register containing an unexpected value is indicative of an
* error in the context switching mechanism.
*
* "Check" timer - The check software timer period is initially set to three
* seconds. The callback function associated with the check software timer
* checks that all the standard demo tasks, and the register check tasks, are
* not only still executing, but are executing without reporting any errors. If
* the check software timer discovers that a task has either stalled, or
* reported an error, then it changes its own execution period from the initial
* three seconds, to just 200ms. The check software timer callback function
* also toggles an LED each time it is called. This provides a visual
* indication of the system status: If the LED toggles every three seconds,
* then no issues have been discovered. If the LED toggles every 200ms, then
* an issue has been discovered with at least one task.
*
* Tick hook - The application tick hook is called from the schedulers tick
* interrupt service routine when configUSE_TICK_HOOK is set to 1 in
* FreeRTOSConfig.h. In this example, the tick hook is used to test the kernels
* handling of the floating point units (FPU) context, both at the task level
* and when nesting interrupts access the floating point unit registers. The
* tick hook function first fills the FPU registers with a known value, it
* then triggers a medium priority interrupt. The medium priority interrupt
* fills the FPU registers with a different value, and triggers a high priority
* interrupt. The high priority interrupt once again fills the the FPU
* registers with a known value before returning to the medium priority
* interrupt. The medium priority interrupt checks that the FPU registers
* contain the values that it wrote to them, then returns to the tick hook
* function. Finally, the tick hook function checks that the FPU registers
* contain the values that it wrote to them, before it too returns.
*
* Button interrupt - The button marked "USER" on the starter kit is used to
* demonstrate how to write an interrupt service routine, and how to synchronise
* a task with an interrupt. A task is created that blocks on a test semaphore.
* When the USER button is pressed, the button interrupt handler gives the
* semaphore, causing the task to unblock. When the task unblocks, it simply
* increments an execution count variable, then returns to block on the
* semaphore again.
*/
#include <stdio.h>
/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "semphr.h"
/* Demo application includes. */
#include "partest.h"
#include "flash.h"
#include "flop.h"
#include "integer.h"
#include "PollQ.h"
#include "semtest.h"
#include "dynamic.h"
#include "BlockQ.h"
#include "blocktim.h"
#include "countsem.h"
#include "GenQTest.h"
#include "QueueSet.h"
#include "recmutex.h"
#include "death.h"
/* Hardware and starter kit includes. */
#include "M451Series.h"
#define PLL_CLOCK 72000000
/* Priorities for the demo application tasks. */
#define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1UL )
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
#define mainCHECK_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE )
/* The time between cycles of the 'check' task. */
#define mainCHECK_DELAY ( ( portTickType ) 5000 / portTICK_RATE_MS )
/* The LED used by the check timer. */
#define mainCHECK_LED ( 3UL )
/* A block time of zero simply means "don't block". */
#define mainDONT_BLOCK ( 0UL )
/* The period after which the check timer will expire, in ms, provided no errors
have been reported by any of the standard demo tasks. ms are converted to the
equivalent in ticks using the portTICK_RATE_MS constant. */
#define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
/* The period at which the check timer will expire, in ms, if an error has been
reported in one of the standard demo tasks. ms are converted to the equivalent
in ticks using the portTICK_RATE_MS constant. */
#define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
/* Set mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY to 1 to create a simple demo.
Set mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY to 0 to create a much more
comprehensive test application. See the comments at the top of this file, and
the documentation page on the http://www.FreeRTOS.org web site for more
information. */
#define mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY 0
#define CHECK_TEST
/*-----------------------------------------------------------*/
/*
* Set up the hardware ready to run this demo.
*/
static void prvSetupHardware(void);
/*-----------------------------------------------------------*/
#ifdef CHECK_TEST
static void vCheckTask(void *pvParameters);
#endif
int main(void)
{
/* Configure the hardware ready to run the test. */
prvSetupHardware();
#ifdef CHECK_TEST
xTaskCreate(vCheckTask, (signed portCHAR *) "Check", mainCHECK_TASK_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL);
#endif
/* Start standard demo/test application flash tasks. See the comments at
the top of this file. The LED flash tasks are always created. The other
tasks are only created if mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to
0 (at the top of this file). See the comments at the top of this file for
more information. */
vStartLEDFlashTasks(mainFLASH_TASK_PRIORITY);
vStartPolledQueueTasks(mainQUEUE_POLL_PRIORITY);
/* The following function will only create more tasks and timers if
mainCREATE_SIMPLE_LED_FLASHER_DEMO_ONLY is set to 0 (at the top of this
file). See the comments at the top of this file for more information. */
//prvOptionallyCreateComprehensveTestApplication();
printf("FreeRTOS is starting ...\n");
/* Start the scheduler. */
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 prvSetupHardware(void)
{
/* Unlock protected registers */
SYS_UnlockReg();
/* Enable HIRC clock */
CLK_EnableXtalRC(CLK_PWRCTL_HIRCEN_Msk);
/* Waiting for HIRC clock ready */
CLK_WaitClockReady(CLK_STATUS_HIRCSTB_Msk);
/* Switch HCLK clock source to HIRC */
CLK_SetHCLK(CLK_CLKSEL0_HCLKSEL_HIRC, CLK_CLKDIV0_HCLK(1));
/* Enable HXT clock (external XTAL 12MHz) */
CLK_EnableXtalRC(CLK_PWRCTL_HXTEN_Msk);
/* Wait for HXT clock ready */
CLK_WaitClockReady(CLK_STATUS_HXTSTB_Msk);
/* Configure PLL */
CLK_EnablePLL(CLK_PLLCTL_PLLSRC_HXT, PLL_CLOCK);
/* Switch HCLK clock source to PLL */
CLK_SetHCLK(CLK_CLKSEL0_HCLKSEL_PLL, CLK_CLKDIV0_HCLK(1));
/* Select UART module clock source as HXT and UART module clock divider as 1 */
CLK_SetModuleClock(UART0_MODULE, CLK_CLKSEL1_UARTSEL_HXT, CLK_CLKDIV0_UART(1));
/* Enable peripheral clock */
CLK_EnableModuleClock(UART0_MODULE);
CLK_EnableModuleClock(TMR0_MODULE);
/* Update System Core Clock */
/* User can use SystemCoreClockUpdate() to calculate SystemCoreClock. */
SystemCoreClockUpdate();
/*---------------------------------------------------------------------------------------------------------*/
/* Init I/O Multi-function */
/*---------------------------------------------------------------------------------------------------------*/
/* Set PD multi-function pins for UART0 RXD and TXD */
SYS->GPD_MFPL &= ~(SYS_GPD_MFPL_PD0MFP_Msk | SYS_GPD_MFPL_PD1MFP_Msk);
SYS->GPD_MFPL |= (SYS_GPD_MFPL_PD0MFP_UART0_RXD | SYS_GPD_MFPL_PD1MFP_UART0_TXD);
/* Lock protected registers */
SYS_LockReg();
/* Init UART to 115200-8n1 for print message */
UART_Open(UART0, 115200);
}
/*-----------------------------------------------------------*/
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(xTaskHandle pxTask, signed 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()). */
#if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0 )
{
/* In this case the tick hook is used as part of the queue set test. */
vQueueSetAccessQueueSetFromISR();
}
#endif /* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY */
}
/*-----------------------------------------------------------*/
#ifdef CHECK_TEST
static void vCheckTask(void *pvParameters)
{
portTickType xLastExecutionTime;
xLastExecutionTime = xTaskGetTickCount();
printf("M451 Check Task is running ...\n");
printf("LED toggle at PA.13\n\n");
for(;;)
{
/* Perform this check every mainCHECK_DELAY milliseconds. */
vTaskDelayUntil(&xLastExecutionTime, mainCHECK_DELAY);
if(xArePollingQueuesStillRunning() != pdTRUE)
{
printf("ERROR IN POLL Q\n");
}
}
}
#endif
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