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Add FreeRTOS-Plus directory.
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Richard Barry
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324
FreeRTOS/Demo/CORTEX_LM3S102_Rowley/Demo3/main.c
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324
FreeRTOS/Demo/CORTEX_LM3S102_Rowley/Demo3/main.c
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/*
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FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* FreeRTOS tutorial books are available in pdf and paperback. *
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* Complete, revised, and edited pdf reference manuals are also *
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* available. *
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* *
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* Purchasing FreeRTOS documentation will not only help you, by *
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* ensuring you get running as quickly as possible and with an *
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* in-depth knowledge of how to use FreeRTOS, it will also help *
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* the FreeRTOS project to continue with its mission of providing *
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* professional grade, cross platform, de facto standard solutions *
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* for microcontrollers - completely free of charge! *
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* *
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* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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* *
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* Thank you for using FreeRTOS, and thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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>>>NOTE<<< The modification to the GPL is included to allow you to
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distribute a combined work that includes FreeRTOS without being obliged to
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provide the source code for proprietary components outside of the FreeRTOS
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kernel. FreeRTOS is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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* not run, what could be wrong? *
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* *
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* http://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, training, latest information,
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license and contact details.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool.
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Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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the code with commercial support, indemnification, and middleware, under
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the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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provide a safety engineered and independently SIL3 certified version under
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the SafeRTOS brand: http://www.SafeRTOS.com.
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*/
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/*
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* This is a mini co-routine demo for the Rowley CrossFire LM3S102 development
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* board. It makes use of the boards tri-colour LED and analogue input.
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*
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* Four co-routines are created - an 'I2C' co-routine and three 'flash'
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* co-routines.
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*
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* The I2C co-routine triggers an ADC conversion then blocks on a queue to
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* wait for the conversion result - which it receives on the queue directly
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* from the I2C interrupt service routine. The conversion result is then
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* scalled to a delay period. The I2C interrupt then wakes each of the
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* flash co-routines before itself delaying for the calculated period and
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* then repeating the whole process.
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*
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* When woken by the I2C co-routine the flash co-routines each block for
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* a given period, illuminate an LED for a fixed period, then go back to
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* sleep to wait for the next cycle. The uxIndex parameter of the flash
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* co-routines is used to ensure that each flashes a different LED, and that
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* the delay periods are such that the LED's get flashed in sequence.
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*/
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "croutine.h"
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/* Demo application include files. */
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#include "partest.h"
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/* Library include files. */
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#include "DriverLib.h"
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/* States of the I2C master interface. */
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#define mainI2C_IDLE 0
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#define mainI2C_READ_1 1
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#define mainI2C_READ_2 2
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#define mainI2C_READ_DONE 3
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#define mainZERO_LENGTH 0
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/* Address of the A2D IC on the CrossFire board. */
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#define mainI2CAddress 0x4D
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/* The queue used to send data from the I2C ISR to the co-routine should never
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contain more than one item as the same co-routine is used to trigger the I2C
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activity. */
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#define mainQUEUE_LENGTH 1
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/* The CrossFire board contains a tri-colour LED. */
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#define mainNUM_LEDs 3
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/* The I2C co-routine has a higher priority than the flash co-routines. This
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is not really necessary as when the I2C co-routine is active the other
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co-routines are delaying. */
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#define mainI2c_CO_ROUTINE_PRIORITY 1
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/* The current state of the I2C master. */
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static volatile unsigned portBASE_TYPE uxState = mainI2C_IDLE;
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/* The delay period derived from the A2D value. */
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static volatile portBASE_TYPE uxDelay = 250;
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/* The queue used to communicate between the I2C interrupt and the I2C
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co-routine. */
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static xQueueHandle xADCQueue;
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/* The queue used to synchronise the flash co-routines. */
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static xQueueHandle xDelayQueue;
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/*
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* Sets up the PLL, I2C and GPIO used by the demo.
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*/
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static void prvSetupHardware( void );
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/* The co-routines as described at the top of the file. */
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static void vI2CCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex );
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static void vFlashCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex );
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/*-----------------------------------------------------------*/
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int main( void )
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{
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unsigned portBASE_TYPE uxCoRoutine;
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/* Setup all the hardware used by this demo. */
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prvSetupHardware();
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/* Create the queue used to communicate between the ISR and I2C co-routine.
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This can only ever contain one value. */
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xADCQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( portTickType ) );
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/* Create the queue used to synchronise the flash co-routines. The queue
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is used to trigger three tasks, but is for synchronisation only and does
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not pass any data. It therefore has three position each of zero length. */
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xDelayQueue = xQueueCreate( mainNUM_LEDs, mainZERO_LENGTH );
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/* Create the co-routine that initiates the i2c. */
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xCoRoutineCreate( vI2CCoRoutine, mainI2c_CO_ROUTINE_PRIORITY, 0 );
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/* Create the flash co-routines. */
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for( uxCoRoutine = 0; uxCoRoutine < mainNUM_LEDs; uxCoRoutine++ )
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{
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xCoRoutineCreate( vFlashCoRoutine, tskIDLE_PRIORITY, uxCoRoutine );
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}
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/* Start the scheduler. From this point on the co-routines should
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execute. */
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vTaskStartScheduler();
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/* Should not get here unless we did not have enough memory to start the
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scheduler. */
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for( ;; );
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return 0;
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}
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/*-----------------------------------------------------------*/
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static void prvSetupHardware( void )
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{
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/* Setup the PLL. */
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SysCtlClockSet( SYSCTL_SYSDIV_10 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_6MHZ );
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/* Enable the I2C used to read the pot. */
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SysCtlPeripheralEnable( SYSCTL_PERIPH_I2C );
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SysCtlPeripheralEnable( SYSCTL_PERIPH_GPIOB );
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GPIOPinTypeI2C( GPIO_PORTB_BASE, GPIO_PIN_2 | GPIO_PIN_3 );
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/* Initialize the I2C master. */
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I2CMasterInit( I2C_MASTER_BASE, pdFALSE );
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/* Enable the I2C master interrupt. */
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I2CMasterIntEnable( I2C_MASTER_BASE );
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IntEnable( INT_I2C );
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/* Initialise the hardware used to talk to the LED's. */
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vParTestInitialise();
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}
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/*-----------------------------------------------------------*/
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static void vI2CCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
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{
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portTickType xADCResult;
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static portBASE_TYPE xResult = 0, xMilliSecs, xLED;
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crSTART( xHandle );
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for( ;; )
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{
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/* Start the I2C off to read the ADC. */
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uxState = mainI2C_READ_1;
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I2CMasterSlaveAddrSet( I2C_MASTER_BASE, mainI2CAddress, pdTRUE );
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I2CMasterControl( I2C_MASTER_BASE, I2C_MASTER_CMD_BURST_RECEIVE_START );
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/* Wait to receive the conversion result. */
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crQUEUE_RECEIVE( xHandle, xADCQueue, &xADCResult, portMAX_DELAY, &xResult );
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/* Scale the result to give a useful range of values for a visual
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demo. */
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xADCResult >>= 2;
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xMilliSecs = xADCResult / portTICK_RATE_MS;
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/* The delay is split between the four co-routines so they remain in
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synch. */
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uxDelay = xMilliSecs / ( mainNUM_LEDs + 1 );
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/* Trigger each of the flash co-routines. */
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for( xLED = 0; xLED < mainNUM_LEDs; xLED++ )
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{
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crQUEUE_SEND( xHandle, xDelayQueue, &xLED, 0, &xResult );
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}
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/* Wait for the full delay time then start again. This delay is long
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enough to ensure the flash co-routines have done their thing and gone
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back to sleep. */
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crDELAY( xHandle, xMilliSecs );
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}
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crEND();
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}
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/*-----------------------------------------------------------*/
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static void vFlashCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
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{
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portBASE_TYPE xResult, xNothing;
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crSTART( xHandle );
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for( ;; )
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{
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/* Wait for start of next round. */
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crQUEUE_RECEIVE( xHandle, xDelayQueue, &xNothing, portMAX_DELAY, &xResult );
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/* Wait until it is this co-routines turn to flash. */
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crDELAY( xHandle, uxDelay * uxIndex );
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/* Turn on the LED for a fixed period. */
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vParTestSetLED( uxIndex, pdTRUE );
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crDELAY( xHandle, uxDelay );
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vParTestSetLED( uxIndex, pdFALSE );
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/* Go back and wait for the next round. */
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}
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crEND();
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}
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/*-----------------------------------------------------------*/
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void vI2C_ISR(void)
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{
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static portTickType xReading;
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/* Clear the interrupt. */
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I2CMasterIntClear( I2C_MASTER_BASE );
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/* Determine what to do based on the current uxState. */
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switch (uxState)
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{
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case mainI2C_IDLE: break;
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case mainI2C_READ_1: /* Read ADC result high byte. */
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xReading = I2CMasterDataGet( I2C_MASTER_BASE );
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xReading <<= 8;
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/* Continue the burst read. */
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I2CMasterControl( I2C_MASTER_BASE, I2C_MASTER_CMD_BURST_RECEIVE_CONT );
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uxState = mainI2C_READ_2;
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break;
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case mainI2C_READ_2: /* Read ADC result low byte. */
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xReading |= I2CMasterDataGet( I2C_MASTER_BASE );
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/* Finish the burst read. */
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I2CMasterControl( I2C_MASTER_BASE, I2C_MASTER_CMD_BURST_RECEIVE_FINISH );
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uxState = mainI2C_READ_DONE;
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break;
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case mainI2C_READ_DONE: /* Complete. */
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I2CMasterDataGet( I2C_MASTER_BASE );
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uxState = mainI2C_IDLE;
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/* Send the result to the co-routine. */
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crQUEUE_SEND_FROM_ISR( xADCQueue, &xReading, pdFALSE );
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break;
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}
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}
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/*-----------------------------------------------------------*/
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void vApplicationIdleHook( void )
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{
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for( ;; )
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{
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vCoRoutineSchedule();
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}
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}
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