#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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