begriffs open source - cmsis-freertos/blob - Demo/PIC32MZ_MPLAB/main

1 /*

2 * FreeRTOS Kernel V10.1.1

4 *

5 * Permission is hereby granted, free of charge, to any person obtaining a copy of

6 * this software and associated documentation files (the "Software"), to deal in

7 * the Software without restriction, including without limitation the rights to

8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of

9 * the Software, and to permit persons to whom the Software is furnished to do so,

10 * subject to the following conditions:

11 *

12 * The above copyright notice and this permission notice shall be included in all

13 * copies or substantial portions of the Software.

14 *

15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR

16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS

17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR

18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER

19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN

20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

21 *

22 * http://www.FreeRTOS.org

23 * http://aws.amazon.com/freertos

24 *

25 * 1 tab == 4 spaces!

26 */

27

28 /******************************************************************************

29 * NOTE 1: This project provides two demo applications. A simple blinky style

30 * project, and a more comprehensive test and demo application. The

31 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select

32 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY

33 * in main.c. This file implements the simply blinky style version.

34 *

35 * NOTE 2: This file only contains the source code that is specific to the

36 * basic demo. Generic functions, such FreeRTOS hook functions, and functions

37 * required to configure the hardware, are defined in main.c.

38 ******************************************************************************

39 *

40 * main_blinky() creates one queue, two tasks, and one software timer. It then

41 * starts the scheduler.

42 *

43 * The Blinky Software Timer:

44 * This demonstrates an auto-reload software timer. The timer callback function

45 * does nothing but toggle an LED.

46 *

47 * The Queue Send Task:

48 * The queue send task is implemented by prvQueueSendTask() in main_blinky.c.

49 * prvQueueSendTask() repeatedly blocks for 200 milliseconds before sending the

50 * value 100 to the queue that was created in main_blinky().

51 *

52 * The Queue Receive Task:

53 * The queue receive task is implemented by prvQueueReceiveTask() in

54 * main_blinky.c. prvQueueReceiveTask() repeatedly blocks on attempts to read

55 * from the queue that was created in main_blinky(), toggling an LED each time

56 * data is received. The queue send task sends data to the queue every 200

57 * milliseconds, so the LED will toggle every 200 milliseconds.

58 */

59

60 /* Standard includes. */

61 #include <stdio.h>

62

63 /* Kernel includes. */

64 #include "FreeRTOS.h"

65 #include "task.h"

66 #include "queue.h"

67 #include "timers.h"

68

69 /* Standard demo includes. */

70 #include "partest.h"

71 #include "semphr.h"

72

73 /* Priorities at which the tasks are created. */

74 #define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )

75 #define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )

76

77 /* The rate at which data is sent to the queue. The 200ms value is converted

78 to ticks using the portTICK_PERIOD_MS constant. */

79 #define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_PERIOD_MS )

80

81 /* The number of items the queue can hold. This is 1 as the receive task

82 will remove items as they are added, meaning the send task should always find

83 the queue empty. */

84 #define mainQUEUE_LENGTH ( 1 )

85

86 /* Values passed to the two tasks just to check the task parameter

87 functionality. */

88 #define mainQUEUE_SEND_PARAMETER ( 0x1111UL )

89 #define mainQUEUE_RECEIVE_PARAMETER ( 0x22UL )

90

91 /* The period of the blinky software timer. The period is specified in ms and

92 converted to ticks using the portTICK_PERIOD_MS constant. */

93 #define mainBLINKY_TIMER_PERIOD ( 50 / portTICK_PERIOD_MS )

94

95 /* The LED used by the communicating tasks and the blinky timer respectively. */

96 #define mainTASKS_LED ( 0 )

97 #define mainTIMER_LED ( 1 )

98

99 /* Misc. */

100 #define mainDONT_BLOCK ( 0 )

101

102 /*-----------------------------------------------------------*/

103

104 /*

105 * The tasks as described in the comments at the top of this file.

106 */

107 static void prvQueueReceiveTask( void *pvParameters );

108 static void prvQueueSendTask( void *pvParameters );

109

110 /*

111 * The callback function for the blinky software timer, as described at the top

112 * of this file.

113 */

114 static void prvBlinkyTimerCallback( TimerHandle_t xTimer );

115

116 /*

117 * Called by main() to create the simply blinky style application if

118 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.

119 */

120 void main_blinky( void );

121

122 /*-----------------------------------------------------------*/

123

124 /* The queue used by both tasks. */

125 static QueueHandle_t xQueue = NULL;

126

127 /*-----------------------------------------------------------*/

128

129 void main_blinky( void )

130 {

131 TimerHandle_t xTimer;

132

133 /* Create the queue. */

134 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );

135 configASSERT( xQueue );

136

137 if( xQueue != NULL )

138 {

139 /* Create the two tasks as described in the comments at the top of this

140 file. */

141 xTaskCreate( prvQueueReceiveTask, /* The function that implements the task. */

142 "Rx", /* The text name assigned to the task - for debug only as it is not used by the kernel. */

143 configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */

144 ( void * ) mainQUEUE_RECEIVE_PARAMETER, /* The parameter passed to the task - just to check the functionality. */

145 mainQUEUE_RECEIVE_TASK_PRIORITY, /* The priority assigned to the task. */

146 NULL ); /* The task handle is not required, so NULL is passed. */

147

148 xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, ( void * ) mainQUEUE_SEND_PARAMETER, mainQUEUE_SEND_TASK_PRIORITY, NULL );

149

150

151 /* Create the blinky software timer as described at the top of this file. */

152 xTimer = xTimerCreate( "Blinky", /* A text name, purely to help debugging. */

153 ( mainBLINKY_TIMER_PERIOD ),/* The timer period. */

154 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */

155 ( void * ) 0, /* The ID is not used, so can be set to anything. */

156 prvBlinkyTimerCallback ); /* The callback function that inspects the status of all the other tasks. */

157 configASSERT( xTimer );

158

159 if( xTimer != NULL )

160 {

161 xTimerStart( xTimer, mainDONT_BLOCK );

162 }

163

164 /* Start the tasks and timer running. */

165 vTaskStartScheduler();

166 }

167

168 /* If all is well, the scheduler will now be running, and the following

169 line will never be reached. If the following line does execute, then

170 there was insufficient FreeRTOS heap memory available for the idle and/or

171 timer tasks to be created. See the memory management section on the

172 FreeRTOS web site for more details. http://www.freertos.org/a00111.html */

173 for( ;; );

174 }

175 /*-----------------------------------------------------------*/

176

177 static void prvQueueSendTask( void *pvParameters )

178 {

179 TickType_t xNextWakeTime;

180 const unsigned long ulValueToSend = 100UL;

181

182 /* Remove compiler warnigns in the case that configASSERT() is not dfined. */

183 ( void ) pvParameters;

184

185 /* Check the task parameter is as expected. */

186 configASSERT( ( ( unsigned long ) pvParameters ) == mainQUEUE_SEND_PARAMETER );

187

188 /* Initialise xNextWakeTime - this only needs to be done once. */

189 xNextWakeTime = xTaskGetTickCount();

190

191 for( ;; )

192 {

193 /* Place this task in the blocked state until it is time to run again.

194 The block time is specified in ticks, the constant used converts ticks

195 to ms. While in the Blocked state this task will not consume any CPU

196 time. */

197 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );

198

199 /* Send to the queue - causing the queue receive task to unblock and

200 toggle the LED. 0 is used as the block time so the sending operation

201 will not block - it shouldn't need to block as the queue should always

202 be empty at this point in the code. */

203 xQueueSend( xQueue, &ulValueToSend, 0U );

204 }

205 }

206 /*-----------------------------------------------------------*/

207

208 static void prvQueueReceiveTask( void *pvParameters )

209 {

210 unsigned long ulReceivedValue;

211

212 /* Remove compiler warnings in the case where configASSERT() is not defined. */

213 ( void ) pvParameters;

214

215 /* Check the task parameter is as expected. */

216 configASSERT( ( ( unsigned long ) pvParameters ) == mainQUEUE_RECEIVE_PARAMETER );

217

218 for( ;; )

219 {

220 /* Wait until something arrives in the queue - this task will block

221 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in

222 FreeRTOSConfig.h. */

223 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );

224

225 /* To get here something must have been received from the queue, but

226 is it the expected value? If it is, toggle the LED. */

227 if( ulReceivedValue == 100UL )

228 {

229 vParTestToggleLED( mainTASKS_LED );

230 ulReceivedValue = 0U;

231 }

232 }

233 }

234 /*-----------------------------------------------------------*/

235

236 static void prvBlinkyTimerCallback( TimerHandle_t xTimer )

237 {

238 /* Avoid compiler warnings. */

239 ( void ) xTimer;

240

241 /* This function is called when the blinky software time expires. All the

242 function does is toggle the LED. LED mainTIMER_LED should therefore toggle

243 with the period set by mainBLINKY_TIMER_PERIOD. */

244 vParTestToggleLED( mainTIMER_LED );

245 }

246 /*-----------------------------------------------------------*/

247