Update demo to include a test of nesting interrupt accessing queues.

Demo/PIC32MX_MPLAB/FreeRTOSConfig.h

@@ -69,9 +69,9 @@
 #define configCPU_CLOCK_HZ				( ( unsigned portLONG ) 72000000UL )  
 #define configPERIPHERAL_CLOCK_HZ		( ( unsigned portLONG ) 36000000UL )
 #define configMAX_PRIORITIES			( ( unsigned portBASE_TYPE ) 5 )
-#define configMINIMAL_STACK_SIZE		( 210 )
+#define configMINIMAL_STACK_SIZE		( 200 )
 #define configISR_STACK_SIZE			( 400 )
-#define configTOTAL_HEAP_SIZE			( ( size_t ) 25000 )
+#define configTOTAL_HEAP_SIZE			( ( size_t ) 28000 )
 #define configMAX_TASK_NAME_LEN			( 8 )
 #define configUSE_TRACE_FACILITY		0
 #define configUSE_16_BIT_TICKS			0
@@ -86,13 +86,14 @@
 /* Set the following definitions to 1 to include the API function, or zero
 to exclude the API function. */
 
-#define INCLUDE_vTaskPrioritySet		1
+#define INCLUDE_vTaskPrioritySet			1
-#define INCLUDE_uxTaskPriorityGet		1
+#define INCLUDE_uxTaskPriorityGet			1
-#define INCLUDE_vTaskDelete				0
+#define INCLUDE_vTaskDelete					0
-#define INCLUDE_vTaskCleanUpResources	0
+#define INCLUDE_vTaskCleanUpResources		0
-#define INCLUDE_vTaskSuspend			1
+#define INCLUDE_vTaskSuspend				1
-#define INCLUDE_vTaskDelayUntil			1
+#define INCLUDE_vTaskDelayUntil				1
-#define INCLUDE_vTaskDelay				1
+#define INCLUDE_vTaskDelay					1
+#define INCLUDE_uxTaskGetStackHighWaterMark	1
 
 /* The priority at which the tick interrupt runs.  This should probably be
 kept at 1. */

Demo/PIC32MX_MPLAB/IntQueueTimer.c

@@ -0,0 +1,117 @@
+/*
+	FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.
+
+	This file is part of the FreeRTOS.org distribution.
+
+	FreeRTOS.org is free software; you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation; either version 2 of the License, or
+	(at your option) any later version.
+
+	FreeRTOS.org 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
+	along with FreeRTOS.org; if not, write to the Free Software
+	Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+
+	A special exception to the GPL can be applied should you wish to distribute
+	a combined work that includes FreeRTOS.org, without being obliged to provide
+	the source code for any proprietary components.  See the licensing section
+	of http://www.FreeRTOS.org for full details of how and when the exception
+	can be applied.
+
+    ***************************************************************************
+    ***************************************************************************
+    *                                                                         *
+    * SAVE TIME AND MONEY!  We can port FreeRTOS.org to your own hardware,    *
+    * and even write all or part of your application on your behalf.          *
+    * See http://www.OpenRTOS.com for details of the services we provide to   *
+    * expedite your project.                                                  *
+    *                                                                         *
+    ***************************************************************************
+    ***************************************************************************
+
+	Please ensure to read the configuration and relevant port sections of the
+	online documentation.
+
+	http://www.FreeRTOS.org - Documentation, latest information, license and 
+	contact details.
+
+	http://www.SafeRTOS.com - A version that is certified for use in safety 
+	critical systems.
+
+	http://www.OpenRTOS.com - Commercial support, development, porting, 
+	licensing and training services.
+*/
+
+#include "FreeRTOS.h"
+#include "IntQueueTimer.h"
+#include "IntQueue.h"
+
+#define timerINTERRUPT3_FREQUENCY	( 2000UL )
+#define timerINTERRUPT4_FREQUENCY	( 2001UL )
+
+void vT3InterruptHandler( void );
+void vT4InterruptHandler( void );
+
+void __attribute__( (interrupt(ipl0), vector(_TIMER_3_VECTOR))) vT3InterruptWrapper( void );
+void __attribute__( (interrupt(ipl0), vector(_TIMER_4_VECTOR))) vT4InterruptWrapper( void );
+
+void vInitialiseTimerForIntQueueTest( void )
+{
+	/* Timer 1 is used for the tick interrupt, timer 2 is used for the high
+	frequency interrupt test.  This file therefore uses timers 3 and 4. */
+
+	T3CON = 0;
+	TMR3 = 0;
+	PR3 = ( unsigned portSHORT ) ( configPERIPHERAL_CLOCK_HZ / timerINTERRUPT3_FREQUENCY );
+
+	/* Setup timer 3 interrupt priority to be above the kernel priority. */
+	ConfigIntTimer3( T3_INT_ON | ( configMAX_SYSCALL_INTERRUPT_PRIORITY - 1 ) );
+
+	/* Clear the interrupt as a starting condition. */
+	IFS0bits.T3IF = 0;
+
+	/* Enable the interrupt. */
+	IEC0bits.T3IE = 1;
+
+	/* Start the timer. */
+	T3CONbits.TON = 1;
+
+
+	/* Do the same for timer 4. */
+	T4CON = 0;
+	TMR4 = 0;
+	PR4 = ( unsigned portSHORT ) ( configPERIPHERAL_CLOCK_HZ / timerINTERRUPT4_FREQUENCY );
+
+	/* Setup timer 4 interrupt priority to be above the kernel priority. */
+	ConfigIntTimer4( T4_INT_ON | ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) );
+
+	/* Clear the interrupt as a starting condition. */
+	IFS0bits.T4IF = 0;
+
+	/* Enable the interrupt. */
+	IEC0bits.T4IE = 1;
+
+	/* Start the timer. */
+	T4CONbits.TON = 1;
+}
+/*-----------------------------------------------------------*/
+
+void vT3InterruptHandler( void )
+{
+	IFS0bits.T3IF = 0;
+	portEND_SWITCHING_ISR( xFirstTimerHandler() );
+}
+/*-----------------------------------------------------------*/
+
+void vT4InterruptHandler( void )
+{
+	IFS0bits.T4IF = 0;
+	portEND_SWITCHING_ISR( xSecondTimerHandler() );
+}
+
+

Demo/PIC32MX_MPLAB/IntQueueTimer.h

@@ -0,0 +1,58 @@
+/*
+	FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.
+
+	This file is part of the FreeRTOS.org distribution.
+
+	FreeRTOS.org is free software; you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation; either version 2 of the License, or
+	(at your option) any later version.
+
+	FreeRTOS.org 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
+	along with FreeRTOS.org; if not, write to the Free Software
+	Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+
+	A special exception to the GPL can be applied should you wish to distribute
+	a combined work that includes FreeRTOS.org, without being obliged to provide
+	the source code for any proprietary components.  See the licensing section
+	of http://www.FreeRTOS.org for full details of how and when the exception
+	can be applied.
+
+    ***************************************************************************
+    ***************************************************************************
+    *                                                                         *
+    * SAVE TIME AND MONEY!  We can port FreeRTOS.org to your own hardware,    *
+    * and even write all or part of your application on your behalf.          *
+    * See http://www.OpenRTOS.com for details of the services we provide to   *
+    * expedite your project.                                                  *
+    *                                                                         *
+    ***************************************************************************
+    ***************************************************************************
+
+	Please ensure to read the configuration and relevant port sections of the
+	online documentation.
+
+	http://www.FreeRTOS.org - Documentation, latest information, license and 
+	contact details.
+
+	http://www.SafeRTOS.com - A version that is certified for use in safety 
+	critical systems.
+
+	http://www.OpenRTOS.com - Commercial support, development, porting, 
+	licensing and training services.
+*/
+
+#ifndef INT_QUEUE_TIMER_H
+#define INT_QUEUE_TIMER_H
+
+void vInitialiseTimerForIntQueueTest( void );
+portBASE_TYPE xTimer0Handler( void );
+portBASE_TYPE xTimer1Handler( void );
+
+#endif
+

Demo/PIC32MX_MPLAB/main.c

@@ -94,7 +94,6 @@
 
 /* Demo application includes. */
 #include "partest.h"
-#include "integer.h"
 #include "blocktim.h"
 #include "flash.h"
 #include "semtest.h"
@@ -103,6 +102,7 @@
 #include "lcd.h"
 #include "comtest2.h"
 #include "timertest.h"
+#include "IntQueue.h"
 
 #pragma config FPLLMUL = MUL_18, FPLLIDIV = DIV_2, FPLLODIV = DIV_1, FWDTEN = OFF
 #pragma config POSCMOD = HS, FNOSC = PRIPLL, FPBDIV = DIV_2
@@ -206,17 +206,17 @@ int main( void )
 	vStartLEDFlashTasks( tskIDLE_PRIORITY );
     vCreateBlockTimeTasks();
     vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
-    vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
     vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
     vStartQueuePeekTasks();
 	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
+	vStartInterruptQueueTasks();
 
 	/* Create the tasks defined within this file. */
 	xTaskCreate( prvTestTask1, "Tst1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
 	xTaskCreate( prvTestTask2, "Tst2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
 
 	/* prvCheckTask uses sprintf so requires more stack. */
-	xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE * 2, NULL, mainCHECK_TASK_PRIORITY, NULL );
+	xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
 
 	/* Finally start the scheduler. */
 	vTaskStartScheduler();
@@ -351,11 +351,11 @@ xLCDMessage xMessage = { ( 200 / portTICK_RATE_MS ), cStringBuffer };
 	        ulTicksToWait = mainERROR_PERIOD;
 			xMessage.pcMessage = "Error: Sem test";
 	    }
-	    else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
+		else if( xAreIntQueueTasksStillRunning() != pdTRUE )
-	    {
+		{
-	        ulTicksToWait = mainERROR_PERIOD;
+			ulTicksToWait = mainERROR_PERIOD;
-			xMessage.pcMessage = "Error: Int math";
+			xMessage.pcMessage = "Error: Int queue";
-	    }
+		}
 
 		/* Write the max jitter time to the string buffer.  It will only be 
 		displayed if no errors have been detected. */
@@ -379,3 +379,5 @@ void _general_exception_handler( unsigned portLONG ulCause, unsigned portLONG ul
 	should be handled here. */
 	for( ;; );
 }
+/*-----------------------------------------------------------*/
+

Demo/PIC32MX_MPLAB/printf-stdarg.c

@@ -0,0 +1,286 @@
+/*
+	Copyright 2001, 2002 Georges Menie (www.menie.org)
+	stdarg version contributed by Christian Ettinger
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU Lesser General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program 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 Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public License
+    along with this program; if not, write to the Free Software
+    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+/*
+	putchar is the only external dependency for this file,
+	if you have a working putchar, leave it commented out.
+	If not, uncomment the define below and
+	replace outbyte(c) by your own function call.
+
+#define putchar(c) outbyte(c)
+*/
+
+#include <stdarg.h>
+
+static void printchar(char **str, int c)
+{
+	extern int putchar(int c);
+	
+	if (str) {
+		**str = c;
+		++(*str);
+	}
+	else (void)putchar(c);
+}
+
+#define PAD_RIGHT 1
+#define PAD_ZERO 2
+
+static int prints(char **out, const char *string, int width, int pad)
+{
+	register int pc = 0, padchar = ' ';
+
+	if (width > 0) {
+		register int len = 0;
+		register const char *ptr;
+		for (ptr = string; *ptr; ++ptr) ++len;
+		if (len >= width) width = 0;
+		else width -= len;
+		if (pad & PAD_ZERO) padchar = '0';
+	}
+	if (!(pad & PAD_RIGHT)) {
+		for ( ; width > 0; --width) {
+			printchar (out, padchar);
+			++pc;
+		}
+	}
+	for ( ; *string ; ++string) {
+		printchar (out, *string);
+		++pc;
+	}
+	for ( ; width > 0; --width) {
+		printchar (out, padchar);
+		++pc;
+	}
+
+	return pc;
+}
+
+/* the following should be enough for 32 bit int */
+#define PRINT_BUF_LEN 12
+
+static int printi(char **out, int i, int b, int sg, int width, int pad, int letbase)
+{
+	char print_buf[PRINT_BUF_LEN];
+	register char *s;
+	register int t, neg = 0, pc = 0;
+	register unsigned int u = i;
+
+	if (i == 0) {
+		print_buf[0] = '0';
+		print_buf[1] = '\0';
+		return prints (out, print_buf, width, pad);
+	}
+
+	if (sg && b == 10 && i < 0) {
+		neg = 1;
+		u = -i;
+	}
+
+	s = print_buf + PRINT_BUF_LEN-1;
+	*s = '\0';
+
+	while (u) {
+		t = u % b;
+		if( t >= 10 )
+			t += letbase - '0' - 10;
+		*--s = t + '0';
+		u /= b;
+	}
+
+	if (neg) {
+		if( width && (pad & PAD_ZERO) ) {
+			printchar (out, '-');
+			++pc;
+			--width;
+		}
+		else {
+			*--s = '-';
+		}
+	}
+
+	return pc + prints (out, s, width, pad);
+}
+
+static int print( char **out, const char *format, va_list args )
+{
+	register int width, pad;
+	register int pc = 0;
+	char scr[2];
+
+	for (; *format != 0; ++format) {
+		if (*format == '%') {
+			++format;
+			width = pad = 0;
+			if (*format == '\0') break;
+			if (*format == '%') goto out;
+			if (*format == '-') {
+				++format;
+				pad = PAD_RIGHT;
+			}
+			while (*format == '0') {
+				++format;
+				pad |= PAD_ZERO;
+			}
+			for ( ; *format >= '0' && *format <= '9'; ++format) {
+				width *= 10;
+				width += *format - '0';
+			}
+			if( *format == 's' ) {
+				register char *s = (char *)va_arg( args, int );
+				pc += prints (out, s?s:"(null)", width, pad);
+				continue;
+			}
+			if( *format == 'd' ) {
+				pc += printi (out, va_arg( args, int ), 10, 1, width, pad, 'a');
+				continue;
+			}
+			if( *format == 'x' ) {
+				pc += printi (out, va_arg( args, int ), 16, 0, width, pad, 'a');
+				continue;
+			}
+			if( *format == 'X' ) {
+				pc += printi (out, va_arg( args, int ), 16, 0, width, pad, 'A');
+				continue;
+			}
+			if( *format == 'u' ) {
+				pc += printi (out, va_arg( args, int ), 10, 0, width, pad, 'a');
+				continue;
+			}
+			if( *format == 'c' ) {
+				/* char are converted to int then pushed on the stack */
+				scr[0] = (char)va_arg( args, int );
+				scr[1] = '\0';
+				pc += prints (out, scr, width, pad);
+				continue;
+			}
+		}
+		else {
+		out:
+			printchar (out, *format);
+			++pc;
+		}
+	}
+	if (out) **out = '\0';
+	va_end( args );
+	return pc;
+}
+
+int printf(const char *format, ...)
+{
+        va_list args;
+        
+        va_start( args, format );
+        return print( 0, format, args );
+}
+
+int sprintf(char *out, const char *format, ...)
+{
+        va_list args;
+        
+        va_start( args, format );
+        return print( &out, format, args );
+}
+
+
+int snprintf( char *buf, unsigned int count, const char *format, ... )
+{
+        va_list args;
+        
+        ( void ) count;
+        
+        va_start( args, format );
+        return print( &buf, format, args );
+}
+
+
+#ifdef TEST_PRINTF
+int main(void)
+{
+	char *ptr = "Hello world!";
+	char *np = 0;
+	int i = 5;
+	unsigned int bs = sizeof(int)*8;
+	int mi;
+	char buf[80];
+
+	mi = (1 << (bs-1)) + 1;
+	printf("%s\n", ptr);
+	printf("printf test\n");
+	printf("%s is null pointer\n", np);
+	printf("%d = 5\n", i);
+	printf("%d = - max int\n", mi);
+	printf("char %c = 'a'\n", 'a');
+	printf("hex %x = ff\n", 0xff);
+	printf("hex %02x = 00\n", 0);
+	printf("signed %d = unsigned %u = hex %x\n", -3, -3, -3);
+	printf("%d %s(s)%", 0, "message");
+	printf("\n");
+	printf("%d %s(s) with %%\n", 0, "message");
+	sprintf(buf, "justif: \"%-10s\"\n", "left"); printf("%s", buf);
+	sprintf(buf, "justif: \"%10s\"\n", "right"); printf("%s", buf);
+	sprintf(buf, " 3: %04d zero padded\n", 3); printf("%s", buf);
+	sprintf(buf, " 3: %-4d left justif.\n", 3); printf("%s", buf);
+	sprintf(buf, " 3: %4d right justif.\n", 3); printf("%s", buf);
+	sprintf(buf, "-3: %04d zero padded\n", -3); printf("%s", buf);
+	sprintf(buf, "-3: %-4d left justif.\n", -3); printf("%s", buf);
+	sprintf(buf, "-3: %4d right justif.\n", -3); printf("%s", buf);
+
+	return 0;
+}
+
+/*
+ * if you compile this file with
+ *   gcc -Wall $(YOUR_C_OPTIONS) -DTEST_PRINTF -c printf.c
+ * you will get a normal warning:
+ *   printf.c:214: warning: spurious trailing `%' in format
+ * this line is testing an invalid % at the end of the format string.
+ *
+ * this should display (on 32bit int machine) :
+ *
+ * Hello world!
+ * printf test
+ * (null) is null pointer
+ * 5 = 5
+ * -2147483647 = - max int
+ * char a = 'a'
+ * hex ff = ff
+ * hex 00 = 00
+ * signed -3 = unsigned 4294967293 = hex fffffffd
+ * 0 message(s)
+ * 0 message(s) with %
+ * justif: "left      "
+ * justif: "     right"
+ *  3: 0003 zero padded
+ *  3: 3    left justif.
+ *  3:    3 right justif.
+ * -3: -003 zero padded
+ * -3: -3   left justif.
+ * -3:   -3 right justif.
+ */
+
+#endif
+
+
+/* To keep linker happy. */
+int	write( int i, char* c, int n)
+{
+	return 0;
+}
+

Demo/PIC32MX_MPLAB/timertest.c

@@ -62,7 +62,7 @@
 /* The maximum value the 16bit timer can contain. */
 #define timerMAX_COUNT				0xffff
 
-/* The timer 1 interrupt handler. */
+/* The timer 2 interrupt handler. */
 void __attribute__( (interrupt(ipl0), vector(_TIMER_2_VECTOR))) vT2InterruptWrapper( void );
 
 /*-----------------------------------------------------------*/