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Before changing headers to V6 and changing portLONG, portSHORt and portCHAR to their standard C types.

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This commit is contained in:
Richard Barry 2009-10-05 08:33:08 +00:00
parent 3dfbb349ca
commit 5c64e1fad9
4417 changed files with 1261274 additions and 0 deletions
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109
20091005/Demo/PIC32MX_MPLAB/FreeRTOSConfig.h Normal file
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/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
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 FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
#include <p32xxxx.h>
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configCPU_CLOCK_HZ ( ( unsigned portLONG ) 80000000UL )
#define configPERIPHERAL_CLOCK_HZ ( ( unsigned portLONG ) 40000000UL )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 )
#define configMINIMAL_STACK_SIZE ( 190 )
#define configISR_STACK_SIZE ( 400 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) 28000 )
#define configMAX_TASK_NAME_LEN ( 8 )
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
#define configUSE_MUTEXES 1
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configQUEUE_REGISTRY_SIZE 0
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 0
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
/* The priority at which the tick interrupt runs. This should probably be
kept at 1. */
#define configKERNEL_INTERRUPT_PRIORITY 0x01
/* The maximum interrupt priority from which FreeRTOS.org API functions can
be called. Only API functions that end in ...FromISR() can be used within
interrupts. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 0x03
#endif /* FREERTOS_CONFIG_H */

115
20091005/Demo/PIC32MX_MPLAB/IntQueueTimer.c Normal file
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/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
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() );
}

56
20091005/Demo/PIC32MX_MPLAB/IntQueueTimer.h Normal file
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/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
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

100
20091005/Demo/PIC32MX_MPLAB/IntQueueTimer_isr.S Normal file
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@ -0,0 +1,100 @@
/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
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 <p32xxxx.h>
#include <sys/asm.h>
#include "ISR_Support.h"
#define portEXC_CODE_MASK ( 0x1f << 2 )
.set nomips16
.set noreorder
.extern vT3InterruptHandler
.extern vT4InterruptHandler
.global vT3InterruptWrapper
.global vT4InterruptWrapper
/******************************************************************/
.section .FreeRTOS, "ax", @progbits
.set noreorder
.set noat
.ent vT3InterruptWrapper
vT3InterruptWrapper:
portSAVE_CONTEXT
jal vT3InterruptHandler
nop
portRESTORE_CONTEXT
.end vT3InterruptWrapper
/******************************************************************/
.section .FreeRTOS, "ax", @progbits
.set noreorder
.set noat
.ent vT4InterruptWrapper
vT4InterruptWrapper:
portSAVE_CONTEXT
jal vT4InterruptHandler
nop
portRESTORE_CONTEXT
.end vT4InterruptWrapper

104
20091005/Demo/PIC32MX_MPLAB/ParTest/ParTest.c Normal file
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/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
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.
*/
/* Scheduler includes. */
#include "FreeRTOS.h"
/* Demo app includes. */
#include "partest.h"
#define ptOUTPUT 0
#define ptALL_OFF 0
/*-----------------------------------------------------------
* Simple parallel port IO routines.
*-----------------------------------------------------------*/
void vParTestInitialise( void )
{
/* All LEDs output. */
TRISA = ptOUTPUT;
PORTA = ptALL_OFF;
mJTAGPortEnable( 0 );
}
/*-----------------------------------------------------------*/
void vParTestSetLED( unsigned portBASE_TYPE uxLED, signed portBASE_TYPE xValue )
{
unsigned portBASE_TYPE uxLEDBit;
/* Which port A bit is being modified? */
uxLEDBit = 1 << uxLED;
if( xValue )
{
/* Turn the LED on. Use of the PORTASET register removes the need
to use a critical section. */
PORTASET = uxLEDBit;
}
else
{
/* Turn the LED off. Use of the PORTACLR register removes the need
to use a critical section. */
PORTACLR = uxLEDBit;
}
}
/*-----------------------------------------------------------*/
void vParTestToggleLED( unsigned portBASE_TYPE uxLED )
{
unsigned portBASE_TYPE uxLEDBit;
uxLEDBit = 1 << uxLED;
/* Use of the PORTAINV register removes the need to use a critical section. */
PORTAINV = uxLEDBit;
}

185
20091005/Demo/PIC32MX_MPLAB/RTOSDemo.mcp Normal file
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7
20091005/Demo/PIC32MX_MPLAB/RTOSDemo.mcs Normal file
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20091005/Demo/PIC32MX_MPLAB/RTOSDemo.mcw Normal file
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336
20091005/Demo/PIC32MX_MPLAB/RegisterTestTasks.s Normal file
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/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
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 <p32xxxx.h>
#include <sys/asm.h>
.set nomips16
.set noreorder
.global vRegTest1
.global vRegTest2
/* .section .FreeRTOS, ax, @progbits */
.set noreorder
.set noat
.ent vRegTest1
/* Address of $4 ulStatus1 is held in A0, so don't mess with the value of $4 */
vRegTest1:
addiu $1, $0, 0x11
addiu $2, $0, 0x12
addiu $3, $0, 0x13
addiu $5, $0, 0x15
addiu $6, $0, 0x16
addiu $7, $0, 0x17
addiu $8, $0, 0x18
addiu $9, $0, 0x19
addiu $10, $0, 0x110
addiu $11, $0, 0x111
addiu $12, $0, 0x112
addiu $13, $0, 0x113
addiu $14, $0, 0x114
addiu $15, $0, 0x115
addiu $16, $0, 0x116
addiu $17, $0, 0x117
addiu $18, $0, 0x118
addiu $19, $0, 0x119
addiu $20, $0, 0x120
addiu $21, $0, 0x121
addiu $22, $0, 0x122
addiu $23, $0, 0x123
addiu $24, $0, 0x124
addiu $25, $0, 0x125
addiu $30, $0, 0x130
addiu $1, $1, -0x11
beq $1, $0, .+12
nop
sw $0, 0($4)
addiu $2, $2, -0x12
beq $2, $0, .+12
nop
sw $0, 0($4)
addiu $3, $3, -0x13
beq $3, $0, .+12
nop
sw $0, 0($4)
addiu $5, $5, -0x15
beq $5, $0, .+12
nop
sw $0, 0($4)
addiu $6, $6, -0x16
beq $6, $0, .+12
nop
sw $0, 0($4)
addiu $7, $7, -0x17
beq $7, $0, .+12
nop
sw $0, 0($4)
addiu $8, $8, -0x18
beq $8, $0, .+12
nop
sw $0, 0($4)
addiu $9, $9, -0x19
beq $9, $0, .+12
nop
sw $0, 0($4)
addiu $10, $10, -0x110
beq $10, $0, .+12
nop
sw $0, 0($4)
addiu $11, $11, -0x111
beq $11, $0, .+12
nop
sw $0, 0($4)
addiu $12, $12, -0x112
beq $12, $0, .+12
nop
sw $0, 0($4)
addiu $13, $13, -0x113
beq $13, $0, .+12
nop
sw $0, 0($4)
addiu $14, $14, -0x114
beq $14, $0, .+12
nop
sw $0, 0($4)
addiu $15, $15, -0x115
beq $15, $0, .+12
nop
sw $0, 0($4)
addiu $16, $16, -0x116
beq $16, $0, .+12
nop
sw $0, 0($4)
addiu $17, $17, -0x117
beq $17, $0, .+12
nop
sw $0, 0($4)
addiu $18, $18, -0x118
beq $18, $0, .+12
nop
sw $0, 0($4)
addiu $19, $19, -0x119
beq $19, $0, .+12
nop
sw $0, 0($4)
addiu $20, $20, -0x120
beq $20, $0, .+12
nop
sw $0, 0($4)
addiu $21, $21, -0x121
beq $21, $0, .+12
nop
sw $0, 0($4)
addiu $22, $22, -0x122
beq $22, $0, .+12
nop
sw $0, 0($4)
addiu $23, $23, -0x123
beq $23, $0, .+12
nop
sw $0, 0($4)
addiu $24, $24, -0x124
beq $24, $0, .+12
nop
sw $0, 0($4)
addiu $25, $25, -0x125
beq $25, $0, .+12
nop
sw $0, 0($4)
addiu $30, $30, -0x130
beq $30, $0, .+12
nop
sw $0, 0($4)
jr $31
nop
.end vRegTest1
/* .section .FreeRTOS, ax, @progbits */
.set noreorder
.set noat
.ent vRegTest2
vRegTest2:
addiu $1, $0, 0x10
addiu $2, $0, 0x20
addiu $3, $0, 0x30
addiu $5, $0, 0x50
addiu $6, $0, 0x60
addiu $7, $0, 0x70
addiu $8, $0, 0x80
addiu $9, $0, 0x90
addiu $10, $0, 0x100
addiu $11, $0, 0x110
addiu $12, $0, 0x120
addiu $13, $0, 0x130
addiu $14, $0, 0x140
addiu $15, $0, 0x150
addiu $16, $0, 0x160
addiu $17, $0, 0x170
addiu $18, $0, 0x180
addiu $19, $0, 0x190
addiu $20, $0, 0x200
addiu $21, $0, 0x210
addiu $22, $0, 0x220
addiu $23, $0, 0x230
addiu $24, $0, 0x240
addiu $25, $0, 0x250
addiu $30, $0, 0x300
addiu $1, $1, -0x10
beq $1, $0, .+12
nop
sw $0, 0($4)
addiu $2, $2, -0x20
beq $2, $0, .+12
nop
sw $0, 0($4)
addiu $3, $3, -0x30
beq $3, $0, .+12
nop
sw $0, 0($4)
addiu $5, $5, -0x50
beq $5, $0, .+12
nop
sw $0, 0($4)
addiu $6, $6, -0x60
beq $6, $0, .+12
nop
sw $0, 0($4)
addiu $7, $7, -0x70
beq $7, $0, .+12
nop
sw $0, 0($4)
addiu $8, $8, -0x80
beq $8, $0, .+12
nop
sw $0, 0($4)
addiu $9, $9, -0x90
beq $9, $0, .+12
nop
sw $0, 0($4)
addiu $10, $10, -0x100
beq $10, $0, .+12
nop
sw $0, 0($4)
addiu $11, $11, -0x110
beq $11, $0, .+12
nop
sw $0, 0($4)
addiu $12, $12, -0x120
beq $12, $0, .+12
nop
sw $0, 0($4)
addiu $13, $13, -0x130
beq $13, $0, .+12
nop
sw $0, 0($4)
addiu $14, $14, -0x140
beq $14, $0, .+12
nop
sw $0, 0($4)
addiu $15, $15, -0x150
beq $15, $0, .+12
nop
sw $0, 0($4)
addiu $16, $16, -0x160
beq $16, $0, .+12
nop
sw $0, 0($4)
addiu $17, $17, -0x170
beq $17, $0, .+12
nop
sw $0, 0($4)
addiu $18, $18, -0x180
beq $18, $0, .+12
nop
sw $0, 0($4)
addiu $19, $19, -0x190
beq $19, $0, .+12
nop
sw $0, 0($4)
addiu $20, $20, -0x200
beq $20, $0, .+12
nop
sw $0, 0($4)
addiu $21, $21, -0x210
beq $21, $0, .+12
nop
sw $0, 0($4)
addiu $22, $22, -0x220
beq $22, $0, .+12
nop
sw $0, 0($4)
addiu $23, $23, -0x230
beq $23, $0, .+12
nop
sw $0, 0($4)
addiu $24, $24, -0x240
beq $24, $0, .+12
nop
sw $0, 0($4)
addiu $25, $25, -0x250
beq $25, $0, .+12
nop
sw $0, 0($4)
addiu $30, $30, -0x300
beq $30, $0, .+12
nop
sw $0, 0($4)
jr $31
nop
.end vRegTest2

254
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@ -0,0 +1,254 @@
/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
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.
*/
/* peripheral library include */
#include <plib.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
/* Demo includes. */
#include "lcd.h"
/*
* The LCD is written to by more than one task so is controlled by this
* 'gatekeeper' task. This is the only task that is actually permitted to
* access the LCD directly. Other tasks wanting to display a message send
* the message to the gatekeeper.
*/
static void vLCDTask( void *pvParameters );
/*
* Setup the peripherals required to communicate with the LCD.
*/
static void prvSetupLCD( void );
/*
* Move to the first (0) or second (1) row of the LCD.
*/
static void prvLCDGotoRow( unsigned portSHORT usRow );
/*
* Write a string of text to the LCD.
*/
static void prvLCDPutString( portCHAR *pcString );
/*
* Clear the LCD.
*/
static void prvLCDClear( void );
/*-----------------------------------------------------------*/
/* Brief delay to permit the LCD to catch up with commands. */
#define lcdVERY_SHORT_DELAY ( 1 )
#define lcdSHORT_DELAY ( 4 / portTICK_RATE_MS )
#define lcdLONG_DELAY ( 15 / portTICK_RATE_MS )
/* LCD specific definitions. */
#define LCD_CLEAR_DISPLAY_CMD 0x01
#define LCD_CURSOR_HOME_CMD 0x02
#define LCD_ENTRY_MODE_CMD 0x04
#define LCD_ENTRY_MODE_INCREASE 0x02
#define LCD_DISPLAY_CTRL_CMD 0x08
#define LCD_DISPLAY_CTRL_DISPLAY_ON 0x04
#define LCD_FUNCTION_SET_CMD 0x20
#define LCD_FUNCTION_SET_8_BITS 0x10
#define LCD_FUNCTION_SET_2_LINES 0x08
#define LCD_FUNCTION_SET_LRG_FONT 0x04
#define LCD_NEW_LINE 0xC0
#define LCD_COMMAND_ADDRESS 0x00
#define LCD_DATA_ADDRESS 0x01
/* The length of the queue used to send messages to the LCD gatekeeper task. */
#define lcdQUEUE_SIZE 3
/*-----------------------------------------------------------*/
/* The queue used to send messages to the LCD task. */
xQueueHandle xLCDQueue;
/* LCD access functions. */
static void prvLCDCommand( portCHAR cCommand );
static void prvLCDData( portCHAR cChar );
/*-----------------------------------------------------------*/
xQueueHandle xStartLCDTask( void )
{
/* Create the queue used by the LCD task. Messages for display on the LCD
are received via this queue. */
xLCDQueue = xQueueCreate( lcdQUEUE_SIZE, sizeof( xLCDMessage ));
/* Start the task that will write to the LCD. The LCD hardware is
initialised from within the task itself so delays can be used. */
xTaskCreate( vLCDTask, ( signed portCHAR * ) "LCD", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL );
return xLCDQueue;
}
/*-----------------------------------------------------------*/
static void prvLCDGotoRow( unsigned portSHORT usRow )
{
if(usRow == 0)
{
prvLCDCommand( LCD_CURSOR_HOME_CMD );
}
else
{
prvLCDCommand( LCD_NEW_LINE );
}
}
/*-----------------------------------------------------------*/
static void prvLCDCommand( portCHAR cCommand )
{
PMPSetAddress( LCD_COMMAND_ADDRESS );
PMPMasterWrite( cCommand );
vTaskDelay( lcdSHORT_DELAY );
}
/*-----------------------------------------------------------*/
static void prvLCDData( portCHAR cChar )
{
PMPSetAddress( LCD_DATA_ADDRESS );
PMPMasterWrite( cChar );
vTaskDelay( lcdVERY_SHORT_DELAY );
}
/*-----------------------------------------------------------*/
static void prvLCDPutString( portCHAR *pcString )
{
/* Write out each character with appropriate delay between each. */
while(*pcString)
{
prvLCDData(*pcString);
pcString++;
vTaskDelay(lcdSHORT_DELAY);
}
}
/*-----------------------------------------------------------*/
static void prvLCDClear(void)
{
prvLCDCommand(LCD_CLEAR_DISPLAY_CMD);
}
/*-----------------------------------------------------------*/
static void prvSetupLCD(void)
{
/* Wait for proper power up. */
vTaskDelay( lcdLONG_DELAY );
/* Open the PMP port */
mPMPOpen((PMP_ON | PMP_READ_WRITE_EN | PMP_CS2_CS1_EN |
PMP_LATCH_POL_HI | PMP_CS2_POL_HI | PMP_CS1_POL_HI |
PMP_WRITE_POL_HI | PMP_READ_POL_HI),
(PMP_MODE_MASTER1 | PMP_WAIT_BEG_4 | PMP_WAIT_MID_15 |
PMP_WAIT_END_4),
PMP_PEN_0, 0);
/* Wait for the LCD to power up correctly. */
vTaskDelay( lcdLONG_DELAY );
vTaskDelay( lcdLONG_DELAY );
vTaskDelay( lcdLONG_DELAY );
/* Set up the LCD function. */
prvLCDCommand( LCD_FUNCTION_SET_CMD | LCD_FUNCTION_SET_8_BITS | LCD_FUNCTION_SET_2_LINES | LCD_FUNCTION_SET_LRG_FONT );
/* Turn the display on. */
prvLCDCommand( LCD_DISPLAY_CTRL_CMD | LCD_DISPLAY_CTRL_DISPLAY_ON );
/* Clear the display. */
prvLCDCommand( LCD_CLEAR_DISPLAY_CMD );
vTaskDelay( lcdLONG_DELAY );
/* Increase the cursor. */
prvLCDCommand( LCD_ENTRY_MODE_CMD | LCD_ENTRY_MODE_INCREASE );
vTaskDelay( lcdLONG_DELAY );
vTaskDelay( lcdLONG_DELAY );
vTaskDelay( lcdLONG_DELAY );
}
/*-----------------------------------------------------------*/
static void vLCDTask(void *pvParameters)
{
xLCDMessage xMessage;
unsigned portSHORT usRow = 0;
/* Initialise the hardware. This uses delays so must not be called prior
to the scheduler being started. */
prvSetupLCD();
/* Welcome message. */
prvLCDPutString( "www.FreeRTOS.org" );
for(;;)
{
/* Wait for a message to arrive that requires displaying. */
while( xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY ) != pdPASS );
/* Clear the current display value. */
prvLCDClear();
/* Switch rows each time so we can see that the display is still being
updated. */
prvLCDGotoRow( usRow & 0x01 );
usRow++;
prvLCDPutString( xMessage.pcMessage );
/* Delay the requested amount of time to ensure the text just written
to the LCD is not overwritten. */
vTaskDelay( xMessage.xMinDisplayTime );
}
}

69
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/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
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 LCD_INC_H
#define LCD_INC_H
/* Create the task that will control the LCD. Returned is a handle to the queue
on which messages to get written to the LCD should be written. */
xQueueHandle xStartLCDTask( void );
typedef struct
{
/* The minimum amount of time the message should remain on the LCD without
being overwritten. */
portTickType xMinDisplayTime;
/* A pointer to the string to be displayed. */
portCHAR *pcMessage;
} xLCDMessage;
#endif /* LCD_INC_H */

395
20091005/Demo/PIC32MX_MPLAB/main.c Normal file
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/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
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.
*/
/*
* Creates all the demo application tasks, then starts the scheduler. The WEB
* documentation provides more details of the standard demo application tasks.
* In addition to the standard demo tasks, the following tasks and tests are
* defined and/or created within this file:
*
* "LCD" task - the LCD task is a 'gatekeeper' task. It is the only task that
* is permitted to access the display directly. Other tasks wishing to write a
* message to the LCD send the message on a queue to the LCD task instead of
* accessing the LCD themselves. The LCD task just blocks on the queue waiting
* for messages - waking and displaying the messages as they arrive.
*
* "Check" task - This only executes every three seconds but has the highest
* priority so is guaranteed to get processor time. Its main function is to
* check that all the standard demo tasks are still operational. Should any
* unexpected behaviour within a demo task be discovered the check task will
* write an error to the LCD (via the LCD task). If all the demo tasks are
* executing with their expected behaviour then the check task instead writes
* a count of the number of times the high frequency interrupt has incremented
* ulHighFrequencyTimerInterrupts - which is one in every 20,000 interrupts.
*
* "Register test" tasks - These tasks are used in part to test the kernel port.
* They set each processor register to a known value, then check that the
* register still contains that value. Each of the tasks sets the registers
* to different values, and will get swapping in and out between setting and
* then subsequently checking the register values. Discovery of an incorrect
* value would be indicative of an error in the task switching mechanism.
*
* By way of demonstration, the demo application defines
* configMAX_SYSCALL_INTERRUPT_PRIORITY to be 3, configKERNEL_INTERRUPT_PRIORITY
* to be 1, and all other interrupts as follows:
*
* + The UART is allocated a priority of 2. This means it can interrupt the
* RTOS tick, and can also safely use queues.
* + Two timers are configured to generate interrupts just to test the nesting
* and queue access mechanisms. These timers are allocated priorities 2 and 3
* respectively. Even though they both access the same two queues, the
* priority 3 interrupt can safely interrupt the priority 2 interrupt. Both
* can interrupt the RTOS tick.
* + Finally a high frequency timer interrupt is configured to use priority 4 -
* therefore kernel activity will never prevent the high frequency timer from
* executing immediately that the interrupt is raised (within the limitations
* of the hardware itself). It would not be safe to access a queue from this
* interrupt as it is above configMAX_SYSCALL_INTERRUPT_PRIORITY.
*
* See the online documentation for this demo for more information on interrupt
* usage.
*/
/* Standard includes. */
#include <stdio.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
/* Demo application includes. */
#include "partest.h"
#include "blocktim.h"
#include "flash.h"
#include "semtest.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "lcd.h"
#include "comtest2.h"
#include "timertest.h"
#include "IntQueue.h"
#pragma config FPLLMUL = MUL_20, FPLLIDIV = DIV_2, FPLLODIV = DIV_1, FWDTEN = OFF
#pragma config POSCMOD = HS, FNOSC = PRIPLL, FPBDIV = DIV_2
/*-----------------------------------------------------------*/
/* The rate at which the LED controlled by the 'check' task will flash when no
errors have been detected. */
#define mainNO_ERROR_PERIOD ( 3000 / portTICK_RATE_MS )
/* The rate at which the LED controlled by the 'check' task will flash when an
error has been detected. */
#define mainERROR_PERIOD ( 500 / portTICK_RATE_MS )
/* The priorities of the various demo application tasks. */
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 4 )
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
/* The LED controlled by the 'check' task. */
#define mainCHECK_LED ( 7 )
/* The LED used by the comtest tasks. mainCOM_TEST_LED + 1 is also used.
See the comtest.c file for more information. */
#define mainCOM_TEST_LED ( 4 )
/* Baud rate used by the comtest tasks. */
#define mainCOM_TEST_BAUD_RATE ( 115200 )
/* Misc. */
#define mainDONT_WAIT ( 0 )
/* Dimension the buffer used to hold the value of the high frequency timer
count when it is converted to a string. */
#define mainMAX_STRING_LENGTH ( 20 )
/* The frequency at which the "fast interrupt test" interrupt will occur. */
#define mainTEST_INTERRUPT_FREQUENCY ( 20000 )
/* The number of timer clocks we expect to occur between each "fast
interrupt test" interrupt. */
#define mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ( ( configCPU_CLOCK_HZ >> 1 ) / mainTEST_INTERRUPT_FREQUENCY )
/* The number of nano seconds between each core clock. */
#define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) ( configCPU_CLOCK_HZ >> 1 ) ) * 1000000000.0 ) )
/*-----------------------------------------------------------*/
/*
* Setup the processor ready for the demo.
*/
static void prvSetupHardware( void );
/*
* Implements the 'check' task functionality as described at the top of this
* file.
*/
static void prvCheckTask( void *pvParameters ) __attribute__((noreturn));
/*
* Tasks that test the context switch mechanism by filling the processor
* registers with known values, then checking that the values contained
* within the registers is as expected. The tasks are likely to get swapped
* in and out between setting the register values and checking the register
* values. */
static void prvTestTask1( void *pvParameters );
static void prvTestTask2( void *pvParameters );
/*-----------------------------------------------------------*/
/* The queue used to send messages to the LCD task. */
static xQueueHandle xLCDQueue;
/* Flag used by prvTestTask1() and prvTestTask2() to indicate their status
(pass/fail). */
unsigned portLONG ulStatus1 = pdPASS;
/* Variables incremented by prvTestTask1() and prvTestTask2() respectively on
each iteration of their function. This is used to detect either task stopping
their execution.. */
unsigned portLONG ulRegTest1Cycles = 0, ulRegTest2Cycles = 0;
/*-----------------------------------------------------------*/
/*
* Create the demo tasks then start the scheduler.
*/
int main( void )
{
/* Configure any hardware required for this demo. */
prvSetupHardware();
/* Create the LCD task - this returns the queue to use when writing
messages to the LCD. */
xLCDQueue = xStartLCDTask();
/* Create all the other standard demo tasks. */
vStartLEDFlashTasks( tskIDLE_PRIORITY );
vCreateBlockTimeTasks();
vStartSemaphoreTasks( mainSEM_TEST_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, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Finally start the scheduler. */
vTaskStartScheduler();
/* Will only reach here if there is insufficient heap available to start
the scheduler. */
return 0;
}
/*-----------------------------------------------------------*/
static void prvTestTask1( void *pvParameters )
{
extern void vRegTest1( unsigned long * );
for( ;; )
{
/* Perform the register test function. */
vRegTest1( &ulStatus1 );
/* Increment the counter so the check task knows we are still
running. */
ulRegTest1Cycles++;
}
}
/*-----------------------------------------------------------*/
static void prvTestTask2( void *pvParameters )
{
extern void vRegTest2( unsigned long * );
for( ;; )
{
/* Perform the register test function. */
vRegTest2( &ulStatus1 );
/* Increment the counter so the check task knows we are still
running. */
ulRegTest2Cycles++;
}
}
/*-----------------------------------------------------------*/
static void prvSetupHardware( void )
{
/* Set the system and peripheral bus speeds and enable the program cache*/
SYSTEMConfigPerformance( configCPU_CLOCK_HZ - 1 );
mOSCSetPBDIV( OSC_PB_DIV_2 );
/* Setup to use the external interrupt controller. */
INTEnableSystemMultiVectoredInt();
portDISABLE_INTERRUPTS();
/* Setup the digital IO for the LED's. */
vParTestInitialise();
}
/*-----------------------------------------------------------*/
static void prvCheckTask( void *pvParameters )
{
unsigned portLONG ulLastRegTest1Value = 0, ulLastRegTest2Value = 0, ulTicksToWait = mainNO_ERROR_PERIOD;
portTickType xLastExecutionTime;
/* Buffer into which the high frequency timer count is written as a string. */
static portCHAR cStringBuffer[ mainMAX_STRING_LENGTH ];
/* The count of the high frequency timer interrupts. */
extern unsigned portLONG ulHighFrequencyTimerInterrupts;
xLCDMessage xMessage = { ( 200 / portTICK_RATE_MS ), cStringBuffer };
/* Setup the high frequency, high priority, timer test. It is setup here
to ensure it does not fire before the scheduler is started. */
vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );
/* Initialise the variable used to control our iteration rate prior to
its first use. */
xLastExecutionTime = xTaskGetTickCount();
for( ;; )
{
/* Wait until it is time to run the tests again. */
vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );
/* Has either register check 1 or 2 task discovered an error? */
if( ulStatus1 != pdPASS )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: Reg test1";
}
/* Check that the register test 1 task is still running. */
if( ulLastRegTest1Value == ulRegTest1Cycles )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: Reg test2";
}
ulLastRegTest1Value = ulRegTest1Cycles;
/* Check that the register test 2 task is still running. */
if( ulLastRegTest2Value == ulRegTest2Cycles )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: Reg test3";
}
ulLastRegTest2Value = ulRegTest2Cycles;
/* Have any of the standard demo tasks detected an error in their
operation? */
if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: Gen Q";
}
else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: Q Peek";
}
else if( xAreComTestTasksStillRunning() != pdTRUE )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: COM test";
}
else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: Blck time";
}
else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: Sem test";
}
else if( xAreIntQueueTasksStillRunning() != pdTRUE )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: Int queue";
}
/* Write the ulHighFrequencyTimerInterrupts value to the string
buffer. It will only be displayed if no errors have been detected. */
sprintf( cStringBuffer, "Pass %u", ( unsigned int ) ulHighFrequencyTimerInterrupts );
xQueueSend( xLCDQueue, &xMessage, mainDONT_WAIT );
vParTestToggleLED( mainCHECK_LED );
}
}
/*-----------------------------------------------------------*/
void vApplicationStackOverflowHook( void )
{
/* Look at pxCurrentTCB to see which task overflowed its stack. */
for( ;; );
}
/*-----------------------------------------------------------*/
void _general_exception_handler( unsigned portLONG ulCause, unsigned portLONG ulStatus )
{
/* This overrides the definition provided by the kernel. Other exceptions
should be handled here. */
for( ;; );
}
/*-----------------------------------------------------------*/

286
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@ -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;
}

201
20091005/Demo/PIC32MX_MPLAB/serial/serial.c Normal file
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@ -0,0 +1,201 @@
/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
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.
*/
/* BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER.
NOTE: This driver is primarily to test the scheduler functionality. It does
not effectively use the buffers or DMA and is therefore not intended to be
an example of an efficient driver. */
/* Standard include file. */
#include <stdlib.h>
#include <plib.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "queue.h"
#include "task.h"
/* Demo app include files. */
#include "serial.h"
/* Hardware setup. */
#define serSET_FLAG ( 1 )
/* The queues used to communicate between tasks and ISR's. */
static xQueueHandle xRxedChars;
static xQueueHandle xCharsForTx;
/* Flag used to indicate the tx status. */
static portBASE_TYPE xTxHasEnded;
/*-----------------------------------------------------------*/
/* The UART interrupt handler. */
void __attribute__( (interrupt(ipl1), vector(_UART2_VECTOR))) vU2InterruptWrapper( void );
/*-----------------------------------------------------------*/
xComPortHandle xSerialPortInitMinimal( unsigned portLONG ulWantedBaud, unsigned portBASE_TYPE uxQueueLength )
{
unsigned portSHORT usBRG;
/* Create the queues used by the com test task. */
xRxedChars = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( signed portCHAR ) );
xCharsForTx = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( signed portCHAR ) );
/* Configure the UART and interrupts. */
usBRG = (unsigned portSHORT)(( (float)configPERIPHERAL_CLOCK_HZ / ( (float)16 * (float)ulWantedBaud ) ) - (float)0.5);
OpenUART2( UART_EN, UART_RX_ENABLE | UART_TX_ENABLE | UART_INT_TX | UART_INT_RX_CHAR, usBRG );
ConfigIntUART2( ( configKERNEL_INTERRUPT_PRIORITY + 1 ) | UART_INT_SUB_PR0 | UART_TX_INT_EN | UART_RX_INT_EN );
xTxHasEnded = pdTRUE;
/* Only a single port is implemented so we don't need to return anything. */
return NULL;
}
/*-----------------------------------------------------------*/
signed portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, signed portCHAR *pcRxedChar, portTickType xBlockTime )
{
/* Only one port is supported. */
( void ) pxPort;
/* Get the next character from the buffer. Return false if no characters
are available or arrive before xBlockTime expires. */
if( xQueueReceive( xRxedChars, pcRxedChar, xBlockTime ) )
{
return pdTRUE;
}
else
{
return pdFALSE;
}
}
/*-----------------------------------------------------------*/
signed portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, signed portCHAR cOutChar, portTickType xBlockTime )
{
/* Only one port is supported. */
( void ) pxPort;
/* Return false if after the block time there is no room on the Tx queue. */
if( xQueueSend( xCharsForTx, &cOutChar, xBlockTime ) != pdPASS )
{
return pdFAIL;
}
/* A critical section should not be required as xTxHasEnded will not be
written to by the ISR if it is already 0 (is this correct?). */
if( xTxHasEnded )
{
xTxHasEnded = pdFALSE;
IFS1bits.U2TXIF = serSET_FLAG;
}
return pdPASS;
}
/*-----------------------------------------------------------*/
void vSerialClose( xComPortHandle xPort )
{
}
/*-----------------------------------------------------------*/
void vU2InterruptHandler( void )
{
/* Declared static to minimise stack use. */
static portCHAR cChar;
static portBASE_TYPE xHigherPriorityTaskWoken;
xHigherPriorityTaskWoken = pdFALSE;
/* Are any Rx interrupts pending? */
if( mU2RXGetIntFlag() )
{
while( U2STAbits.URXDA )
{
/* Retrieve the received character and place it in the queue of
received characters. */
cChar = U2RXREG;
xQueueSendFromISR( xRxedChars, &cChar, &xHigherPriorityTaskWoken );
}
mU2RXClearIntFlag();
}
/* Are any Tx interrupts pending? */
if( mU2TXGetIntFlag() )
{
while( !( U2STAbits.UTXBF ) )
{
if( xQueueReceiveFromISR( xCharsForTx, &cChar, &xHigherPriorityTaskWoken ) == pdTRUE )
{
/* Send the next character queued for Tx. */
U2TXREG = cChar;
}
else
{
/* Queue empty, nothing to send. */
xTxHasEnded = pdTRUE;
break;
}
}
mU2TXClearIntFlag();
}
/* If sending or receiving necessitates a context switch, then switch now. */
portEND_SWITCHING_ISR( xHigherPriorityTaskWoken );
}

24
20091005/Demo/PIC32MX_MPLAB/serial/serial_isr.S Normal file
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#include <p32xxxx.h>
#include <sys/asm.h>
#include "ISR_Support.h"
.set nomips16
.set noreorder
.extern vU2InterruptHandler
.extern xISRStackTop
.global vU2InterruptWrapper
.set noreorder
.set noat
.ent vU2InterruptWrapper
vU2InterruptWrapper:
portSAVE_CONTEXT
jal vU2InterruptHandler
nop
portRESTORE_CONTEXT
.end vU2InterruptWrapper

116
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/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
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.
*/
/* High speed timer test as described in main.c. */
/* Scheduler includes. */
#include "FreeRTOS.h"
/* The maximum value the 16bit timer can contain. */
#define timerMAX_COUNT 0xffff
/* The timer 2 interrupt handler. */
void __attribute__( (interrupt(ipl0), vector(_TIMER_2_VECTOR))) vT2InterruptWrapper( void );
/*-----------------------------------------------------------*/
/* Incremented every 20,000 interrupts, so should count in seconds. */
unsigned portLONG ulHighFrequencyTimerInterrupts = 0;
/* The frequency at which the timer is interrupting. */
static unsigned portLONG ulFrequencyHz;
/*-----------------------------------------------------------*/
void vSetupTimerTest( unsigned portSHORT usFrequencyHz )
{
/* Remember the frequency so it can be used from the ISR. */
ulFrequencyHz = ( unsigned portLONG ) usFrequencyHz;
/* T2 is used to generate interrupts above the kernel and max syscall interrupt
priority. */
T2CON = 0;
TMR2 = 0;
/* Timer 2 is going to interrupt at usFrequencyHz Hz. */
PR2 = ( unsigned portSHORT ) ( ( configPERIPHERAL_CLOCK_HZ / ( unsigned portLONG ) usFrequencyHz ) - 1 );
/* Setup timer 2 interrupt priority to be above the kernel priority so
the timer jitter is not effected by the kernel activity. */
ConfigIntTimer2( T2_INT_ON | ( configMAX_SYSCALL_INTERRUPT_PRIORITY + 1 ) );
/* Clear the interrupt as a starting condition. */
IFS0bits.T2IF = 0;
/* Enable the interrupt. */
IEC0bits.T2IE = 1;
/* Start the timer. */
T2CONbits.TON = 1;
}
/*-----------------------------------------------------------*/
void vT2InterruptHandler( void )
{
static unsigned portLONG ulCalls = 0;
++ulCalls;
if( ulCalls >= ulFrequencyHz )
{
/* Increment the count that will be shown on the LCD.
The increment occurs once every 20,000 interrupts so
ulHighFrequencyTimerInterrupts should count in seconds. */
ulHighFrequencyTimerInterrupts++;
ulCalls = 0;
}
/* Clear the timer interrupt. */
IFS0bits.T2IF = 0;
}

57
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/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
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 TIMER_TEST_H
#define TIMER_TEST_H
/* Setup the high frequency timer interrupt. */
void vSetupTimerTest( unsigned portSHORT usFrequencyHz );
#endif /* TIMER_TEST_H */

71
20091005/Demo/PIC32MX_MPLAB/timertest_isr.S Normal file
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/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
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 <p32xxxx.h>
#include <sys/asm.h>
#include "ISR_Support.h"
.set nomips16
.set noreorder
.extern vT2InterruptHandler
.extern xISRStackTop
.global vT2InterruptWrapper
.set noreorder
.set noat
.ent vT2InterruptWrapper
vT2InterruptWrapper:
portSAVE_CONTEXT
jal vT2InterruptHandler
nop
portRESTORE_CONTEXT
.end vT2InterruptWrapper