diff --git a/FreeRTOSConfig.h b/FreeRTOSConfig.h new file mode 100644 index 0000000..b7b9eb1 --- /dev/null +++ b/FreeRTOSConfig.h @@ -0,0 +1,173 @@ +/* + FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + 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 modification 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. !<< + *************************************************************************** + + 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. Full license text is available on the following + link: http://www.freertos.org/a00114.html + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that is more than just the market leader, it * + * is the industry's de facto standard. * + * * + * Help yourself get started quickly while simultaneously helping * + * to support the FreeRTOS project by purchasing a FreeRTOS * + * tutorial book, reference manual, or both: * + * http://www.FreeRTOS.org/Documentation * + * * + *************************************************************************** + + http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading + the FAQ page "My application does not run, what could be wrong?". Have you + defined configASSERT()? + + http://www.FreeRTOS.org/support - In return for receiving this top quality + embedded software for free we request you assist our global community by + participating in the support forum. + + http://www.FreeRTOS.org/training - Investing in training allows your team to + be as productive as possible as early as possible. Now you can receive + FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers + Ltd, and the world's leading authority on the world's leading RTOS. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. + + http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. + Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. + + http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High + Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and commercial middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! +*/ + +#ifndef FREERTOS_CONFIG_H +#define FREERTOS_CONFIG_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. + *----------------------------------------------------------*/ + +/* USER CODE BEGIN Includes */ +/* Section where include file can be added */ +/* USER CODE END Includes */ + +/* Ensure stdint is only used by the compiler, and not the assembler. */ +#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__) + #include + #include "main.h" + extern uint32_t SystemCoreClock; +#endif + +#define configUSE_PREEMPTION 1 +#define configSUPPORT_STATIC_ALLOCATION 1 +#define configSUPPORT_DYNAMIC_ALLOCATION 0 +#define configUSE_IDLE_HOOK 0 +#define configUSE_TICK_HOOK 0 +#define configCPU_CLOCK_HZ ( SystemCoreClock ) +#define configTICK_RATE_HZ ((TickType_t)1000) +#define configMAX_PRIORITIES ( 7 ) +#define configMINIMAL_STACK_SIZE ((uint16_t)64) +#define configMAX_TASK_NAME_LEN ( 16 ) +#define configUSE_16_BIT_TICKS 0 +#define configUSE_MUTEXES 1 +#define configQUEUE_REGISTRY_SIZE 0 +#define configCHECK_FOR_STACK_OVERFLOW 2 +#define configENABLE_BACKWARD_COMPATIBILITY 0 +#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 + +/* 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_xTaskGetSchedulerState 1 + +/* Cortex-M specific definitions. */ +#ifdef __NVIC_PRIO_BITS + /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */ + #define configPRIO_BITS __NVIC_PRIO_BITS +#else + #define configPRIO_BITS 4 +#endif + +/* The lowest interrupt priority that can be used in a call to a "set priority" +function. */ +#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15 + +/* The highest interrupt priority that can be used by any interrupt service +routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL +INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER +PRIORITY THAN THIS! (higher priorities are lower numeric values. */ +#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5 + +/* Interrupt priorities used by the kernel port layer itself. These are generic +to all Cortex-M ports, and do not rely on any particular library functions. */ +#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) +/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!! +See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */ +#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) + +/* Normal assert() semantics without relying on the provision of an assert.h +header file. */ +/* USER CODE BEGIN 1 */ +#include "stm32_assert.h" +#define configASSERT assert_param +/* USER CODE END 1 */ + +/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS +standard names. */ +#define vPortSVCHandler SVC_Handler +#define xPortPendSVHandler PendSV_Handler + +/* IMPORTANT: This define MUST be commented when used with STM32Cube firmware, + to prevent overwriting SysTick_Handler defined within STM32Cube HAL */ +/* #define xPortSysTickHandler SysTick_Handler */ + +/* USER CODE BEGIN Defines */ +/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */ +/* USER CODE END Defines */ + +#endif /* FREERTOS_CONFIG_H */ diff --git a/freertos.c b/freertos.c new file mode 100644 index 0000000..f4fc74b --- /dev/null +++ b/freertos.c @@ -0,0 +1,203 @@ +/** + ****************************************************************************** + * File Name : freertos.c + * Description : Code for freertos applications + ****************************************************************************** + * This notice applies to any and all portions of this file + * that are not between comment pairs USER CODE BEGIN and + * USER CODE END. Other portions of this file, whether + * inserted by the user or by software development tools + * are owned by their respective copyright owners. + * + * Copyright (c) 2017 STMicroelectronics International N.V. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted, provided that the following conditions are met: + * + * 1. Redistribution of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * 3. Neither the name of STMicroelectronics nor the names of other + * contributors to this software may be used to endorse or promote products + * derived from this software without specific written permission. + * 4. This software, including modifications and/or derivative works of this + * software, must execute solely and exclusively on microcontroller or + * microprocessor devices manufactured by or for STMicroelectronics. + * 5. Redistribution and use of this software other than as permitted under + * this license is void and will automatically terminate your rights under + * this license. + * + * THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A + * PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY + * RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT + * SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "FreeRTOS.h" +#include "task.h" +#include "cmsis_os.h" + +/* USER CODE BEGIN Includes */ +#include "tasks/sched_queue.h" +#include "stacksmon.h" +/* USER CODE END Includes */ + +/* Variables -----------------------------------------------------------------*/ +osThreadId tskMainHandle; +uint32_t mainTaskBuffer[ 160 ]; +osStaticThreadDef_t mainTaskControlBlock; +osThreadId tskSchedLPHandle; +uint32_t schedLowBuffer[ 128 ]; +osStaticThreadDef_t schedLowControlBlock; +osThreadId tskSchedHPHandle; +uint32_t schedHighBuffer[ 128 ]; +osStaticThreadDef_t schedHighControlBlock; +osMessageQId queSchedLPHandle; +uint8_t myQueue01Buffer[ 5 * sizeof( struct sched_que_item ) ]; +osStaticMessageQDef_t myQueue01ControlBlock; +osMessageQId queSchedHPHandle; +uint8_t myQueue02Buffer[ 5 * sizeof( struct sched_que_item ) ]; +osStaticMessageQDef_t myQueue02ControlBlock; +osMutexId mutTinyFrameTxHandle; +osStaticMutexDef_t myMutex01ControlBlock; +osSemaphoreId semVcomTxReadyHandle; +osStaticSemaphoreDef_t myBinarySem01ControlBlock; + +/* USER CODE BEGIN Variables */ + +/* USER CODE END Variables */ + +/* Function prototypes -------------------------------------------------------*/ +void TaskMain(void const * argument); +extern void TaskSchedLP(void const * argument); +extern void TaskSchedHP(void const * argument); + +void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ + +/* USER CODE BEGIN FunctionPrototypes */ + +/* USER CODE END FunctionPrototypes */ + +/* GetIdleTaskMemory prototype (linked to static allocation support) */ +void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); + +/* Hook prototypes */ +void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName); + +/* USER CODE BEGIN 4 */ +__weak void vApplicationStackOverflowHook(TaskHandle_t xTask, signed char *pcTaskName) +{ + /* Run time stack overflow checking is performed if + configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is + called if a stack overflow is detected. */ +} +/* USER CODE END 4 */ + +/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */ +static StaticTask_t xIdleTaskTCBBuffer; +static StackType_t xIdleStack[configMINIMAL_STACK_SIZE]; + +void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ) +{ + *ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer; + *ppxIdleTaskStackBuffer = &xIdleStack[0]; + *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE; + /* place for user code */ +} +/* USER CODE END GET_IDLE_TASK_MEMORY */ + +/* Init FreeRTOS */ + +void MX_FREERTOS_Init(void) { + /* USER CODE BEGIN Init */ + stackmon_register("Main", mainTaskBuffer, sizeof(mainTaskBuffer)); + stackmon_register("Job Queue Low", schedLowBuffer, sizeof(schedLowBuffer)); + stackmon_register("Job Queue High", schedHighBuffer, sizeof(schedHighBuffer)); + /* USER CODE END Init */ + + /* Create the mutex(es) */ + /* definition and creation of mutTinyFrameTx */ + osMutexStaticDef(mutTinyFrameTx, &myMutex01ControlBlock); + mutTinyFrameTxHandle = osMutexCreate(osMutex(mutTinyFrameTx)); + + /* USER CODE BEGIN RTOS_MUTEX */ + /* add mutexes, ... */ + /* USER CODE END RTOS_MUTEX */ + + /* Create the semaphores(s) */ + /* definition and creation of semVcomTxReady */ + osSemaphoreStaticDef(semVcomTxReady, &myBinarySem01ControlBlock); + semVcomTxReadyHandle = osSemaphoreCreate(osSemaphore(semVcomTxReady), 1); + + /* USER CODE BEGIN RTOS_SEMAPHORES */ + /* add semaphores, ... */ + xSemaphoreGive(semVcomTxReadyHandle); + /* USER CODE END RTOS_SEMAPHORES */ + + /* USER CODE BEGIN RTOS_TIMERS */ + /* start timers, add new ones, ... */ + /* USER CODE END RTOS_TIMERS */ + + /* Create the thread(s) */ + /* definition and creation of tskMain */ + osThreadStaticDef(tskMain, TaskMain, osPriorityHigh, 0, 160, mainTaskBuffer, &mainTaskControlBlock); + tskMainHandle = osThreadCreate(osThread(tskMain), NULL); + + /* definition and creation of tskSchedLP */ + osThreadStaticDef(tskSchedLP, TaskSchedLP, osPriorityLow, 0, 128, schedLowBuffer, &schedLowControlBlock); + tskSchedLPHandle = osThreadCreate(osThread(tskSchedLP), NULL); + + /* definition and creation of tskSchedHP */ + osThreadStaticDef(tskSchedHP, TaskSchedHP, osPriorityAboveNormal, 0, 128, schedHighBuffer, &schedHighControlBlock); + tskSchedHPHandle = osThreadCreate(osThread(tskSchedHP), NULL); + + /* USER CODE BEGIN RTOS_THREADS */ + /* add threads, ... */ + /* USER CODE END RTOS_THREADS */ + + /* Create the queue(s) */ + /* definition and creation of queSchedLP */ + osMessageQStaticDef(queSchedLP, 5, struct sched_que_item, myQueue01Buffer, &myQueue01ControlBlock); + queSchedLPHandle = osMessageCreate(osMessageQ(queSchedLP), NULL); + + /* definition and creation of queSchedHP */ + osMessageQStaticDef(queSchedHP, 5, struct sched_que_item, myQueue02Buffer, &myQueue02ControlBlock); + queSchedHPHandle = osMessageCreate(osMessageQ(queSchedHP), NULL); + + /* USER CODE BEGIN RTOS_QUEUES */ + /* add queues, ... */ + /* USER CODE END RTOS_QUEUES */ +} + +/* TaskMain function */ +__weak void TaskMain(void const * argument) +{ + + /* USER CODE BEGIN TaskMain */ + /* Infinite loop */ + for(;;) + { + osDelay(1); + } + /* USER CODE END TaskMain */ +} + +/* USER CODE BEGIN Application */ + +/* USER CODE END Application */ + +/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/