Remove test1, add freertos-example

7 files changed, 427 insertions, 0 deletions

diff --git a/src/freertos-example/FreeRTOS b/src/freertos-example/FreeRTOS
new file mode 120000
index 0000000..51f4e96
--- /dev/null
+++ b/src/freertos-example/FreeRTOS
@@ -0,0 +1 @@
+../FreeRTOS
\ No newline at end of file
diff --git a/src/freertos-example/FreeRTOSConfig.h b/src/freertos-example/FreeRTOSConfig.h
new file mode 100644
index 0000000..0096216
--- /dev/null
+++ b/src/freertos-example/FreeRTOSConfig.h
@@ -0,0 +1,165 @@
+/*

+    FreeRTOS V8.0.0:rc2 - Copyright (C) 2014 Real Time Engineers Ltd. 

+    All rights reserved

+

+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

+

+    ***************************************************************************

+     *                                                                       *

+     *    FreeRTOS provides completely free yet professionally developed,    *

+     *    robust, strictly quality controlled, supported, and cross          *

+     *    platform software that has become a de facto standard.             *

+     *                                                                       *

+     *    Help yourself get started quickly and support the FreeRTOS         *

+     *    project by purchasing a FreeRTOS tutorial book, reference          *

+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *

+     *                                                                       *

+     *    Thank you!                                                         *

+     *                                                                       *

+    ***************************************************************************

+

+    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 from the following

+    link: http://www.freertos.org/a00114.html

+

+    1 tab == 4 spaces!

+

+    ***************************************************************************

+     *                                                                       *

+     *    Having a problem?  Start by reading the FAQ "My application does   *

+     *    not run, what could be wrong?"                                     *

+     *                                                                       *

+     *    http://www.FreeRTOS.org/FAQHelp.html                               *

+     *                                                                       *

+    ***************************************************************************

+

+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,

+    license and Real Time Engineers Ltd. contact details.

+

+    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High

+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS

+    licenses offer ticketed support, indemnification and 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.

+ *----------------------------------------------------------*/

+

+/* Ensure stdint is only used by the compiler, and not the assembler. */

+//#ifdef __ICCARM__

+	#include <stdint.h>

+	extern uint32_t SystemCoreClock;

+//#endif

+

+#define configUSE_PREEMPTION			1

+#define configUSE_IDLE_HOOK				0 // Default: 1

+#define configUSE_TICK_HOOK				0 // Default: 1

+#define configCPU_CLOCK_HZ				( SystemCoreClock )

+#define configTICK_RATE_HZ				( ( portTickType ) 1000 )

+#define configMAX_PRIORITIES			( 5 )

+#define configMINIMAL_STACK_SIZE		( ( unsigned short ) 130 )

+#define configTOTAL_HEAP_SIZE			( ( size_t ) ( 75 * 1024 ) )

+#define configMAX_TASK_NAME_LEN			( 10 )

+#define configUSE_TRACE_FACILITY		1

+#define configUSE_16_BIT_TICKS			0

+#define configIDLE_SHOULD_YIELD			1

+#define configUSE_MUTEXES				1

+#define configQUEUE_REGISTRY_SIZE		8

+#define configCHECK_FOR_STACK_OVERFLOW	0 // Default: 2

+#define configUSE_RECURSIVE_MUTEXES		1

+#define configUSE_MALLOC_FAILED_HOOK	0 // Default: 1

+#define configUSE_APPLICATION_TASK_TAG	0

+#define configUSE_COUNTING_SEMAPHORES	1

+#define configGENERATE_RUN_TIME_STATS	0

+

+/* Co-routine definitions. */

+#define configUSE_CO_ROUTINES 		0

+#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )

+

+/* Software timer definitions. */

+#define configUSE_TIMERS				1

+#define configTIMER_TASK_PRIORITY		( 2 )

+#define configTIMER_QUEUE_LENGTH		10

+#define configTIMER_TASK_STACK_DEPTH	( configMINIMAL_STACK_SIZE * 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				1

+#define INCLUDE_vTaskCleanUpResources	1

+#define INCLUDE_vTaskSuspend			1

+#define INCLUDE_vTaskDelayUntil			1

+#define INCLUDE_vTaskDelay				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        /* 15 priority levels */

+#endif

+

+/* The lowest interrupt priority that can be used in a call to a "set priority"

+function. */

+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY			0xf

+

+/* 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. */

+#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }	

+	

+/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS

+standard names. */

+#define vPortSVCHandler SVC_Handler

+#define xPortPendSVHandler PendSV_Handler

+#define xPortSysTickHandler SysTick_Handler

+

+#endif /* FREERTOS_CONFIG_H */

+

diff --git a/src/freertos-example/Makefile b/src/freertos-example/Makefile
new file mode 100644
index 0000000..a0d377a
--- /dev/null
+++ b/src/freertos-example/Makefile
@@ -0,0 +1,118 @@
+###
+# GNU ARM Embedded Toolchain
+CC=arm-none-eabi-gcc
+LD=arm-none-eabi-ld
+AR=arm-none-eabi-ar
+AS=arm-none-eabi-as
+CP=arm-none-eabi-objcopy
+OD=arm-none-eabi-objdump
+SIZE=arm-none-eabi-size
+
+###
+# Directory Structure
+BINDIR=bin
+SRCDIR=.
+
+###
+# Find source files
+ASOURCES=$(shell find -L $(SRCDIR) -name '*.s')
+CSOURCES+=$(shell find -L $(SRCDIR) -name '*.c')
+# Find header directories
+INC=$(shell find -L . -name '*.h' -exec dirname {} \; | uniq)
+INCLUDES=$(INC:%=-I%)
+# Create object list
+OBJECTS=$(ASOURCES:%.s=%.o)
+OBJECTS+=$(CSOURCES:%.c=%.o)
+# Define output files ELF & IHEX
+BINELF=outp.elf
+BINHEX=outp.hex
+
+###
+# MCU FLAGS
+MCFLAGS=-mcpu=cortex-m4 -mthumb -mlittle-endian \
+-mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb-interwork
+# COMPILE FLAGS
+DEFS=-DUSE_STDPERIPH_DRIVER -DSTM32F4XX
+CFLAGS  =-c $(MCFLAGS) $(DEFS) $(INCLUDES)
+# LINKER FLAGS
+LDSCRIPT= bsp/stm32_flash.ld
+LDFLAGS =-T $(LDSCRIPT) --specs=nosys.specs $(MCFLAGS)
+
+###
+# Optimizations
+OPT?='O1 O2 O3 O4 O6 O7' # O5 disabled by default, because it breaks code
+
+ifneq ($(findstring release-memopt,$(MAKECMDGOALS)),)
+ifneq ($(filter O1,$(OPT)),)
+CXXFLAGS+=-fno-exceptions # Uncomment to disable exception handling
+DEFS+=-DNO_EXCEPTIONS # The source code has to comply with this rule
+endif
+
+ifneq ($(filter O2,$(OPT)),)
+CFLAGS+=-Os # Optimize for size https://gcc.gnu.org/onlinedocs/gcc/Optimize-Options.html
+CXXFLAGS+=-Os
+LDFLAGS+=-Os # Optimize for size https://gcc.gnu.org/onlinedocs/gcc/Optimize-Options.html
+endif
+
+ifneq ($(filter O3,$(OPT)),)
+CFLAGS+=-ffunction-sections -fdata-sections # Place each function or data item into its own section in the output file
+CXXFLAGS+=-ffunction-sections -fdata-sections # -||-
+LDFLAGS+=-Wl,-gc-sections # Remove isolated unused sections
+endif
+
+ifneq ($(filter O4,$(OPT)),)
+CFLAGS+=-fno-builtin # Disable C++ exception handling
+CXXFLAGS+=-fno-builtin # Disable C++ exception handling
+endif
+
+ifneq ($(filter O5,$(OPT)),)
+CFLAGS+=-flto # Enable link time optimization
+CXXFLAGS+=-flto # Enable link time optimization
+LDFLAGS+=-flto # Enable link time optimization
+endif
+
+ifneq ($(filter O6,$(OPT)),)
+CXXFLAGS+=-fno-rtti # Disable type introspection
+endif
+
+ifneq ($(findstring O7,$(OPT)),)
+LDFLAGS+=--specs=nano.specs # Use size optimized newlib
+endif
+endif
+
+###
+# Build Rules
+.PHONY: all release release-memopt debug clean
+
+all: release
+
+release: $(BINDIR)/$(BINHEX)
+
+release-memopt: release
+
+debug: CFLAGS+=-g
+debug: LDFLAGS+=-g
+debug: release
+
+$(BINDIR)/$(BINHEX): $(BINDIR)/$(BINELF)
+	$(CP) -O ihex $< $@
+
+$(BINDIR)/$(BINELF): $(OBJECTS)
+	$(CC) $(LDFLAGS) $(OBJECTS) -o $@
+	$(SIZE) $(BINDIR)/$(BINELF)
+
+%.o: %.c
+	$(CC) $(CFLAGS) $< -o $@
+
+%.o: %.s
+	$(CC) $(CFLAGS) $< -o $@
+
+clean:
+	rm -f $(OBJECTS) $(BINDIR)/$(BINELF) $(BINDIR)/$(BINHEX)
+
+deploy:
+ifeq ($(wildcard /opt/openocd/bin/openocd),)
+	/usr/bin/openocd -f /usr/share/openocd/scripts/board/stm32f4discovery.cfg -c "program bin/"$(BINELF)" verify reset"
+else
+	/opt/openocd/bin/openocd -f /opt/openocd/share/openocd/scripts/board/stm32f4discovery.cfg -c "program bin/"$(BINELF)" verify reset"
+endif
diff --git a/src/freertos-example/bin/.git_keep b/src/freertos-example/bin/.git_keep
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/src/freertos-example/bin/.git_keep
diff --git a/src/freertos-example/bsp b/src/freertos-example/bsp
new file mode 120000
index 0000000..5d9120a
--- /dev/null
+++ b/src/freertos-example/bsp
@@ -0,0 +1 @@
+../bsp
\ No newline at end of file
diff --git a/src/freertos-example/main.c b/src/freertos-example/main.c
new file mode 100644
index 0000000..687de08
--- /dev/null
+++ b/src/freertos-example/main.c
@@ -0,0 +1,137 @@
+/* Board includes */

+#include "stm32f4xx_gpio.h"

+#include "stm32f4xx_rcc.h"

+/* Kernel includes. */

+#include "FreeRTOS.h"

+#include "task.h"

+#include "timers.h"

+#include "semphr.h"

+

+#define BLOCK_

+

+void ToggleLED_Timer(void*);

+void DetectButtonPress(void*);

+void ToggleLED_IPC(void*);

+void initHW();

+

+xQueueHandle pbq;

+

+int main(void)

+{

+

+    initHW();

+

+    /* Create IPC variables */

+    pbq = xQueueCreate(10, sizeof(int));

+    if (pbq == 0) {

+        while(1); /* fatal error */

+    }

+

+    /* Create tasks */

+    xTaskCreate(

+            ToggleLED_Timer,                 /* Function pointer */

+            "Task1",                          /* Task name - for debugging only*/

+            configMINIMAL_STACK_SIZE,         /* Stack depth in words */

+            (void*) NULL,                     /* Pointer to tasks arguments (parameter) */

+            tskIDLE_PRIORITY + 2UL,           /* Task priority*/

+            NULL                              /* Task handle */

+            );

+

+    xTaskCreate(

+            DetectButtonPress,

+            "Task2",

+            configMINIMAL_STACK_SIZE,

+            (void*) NULL,

+            tskIDLE_PRIORITY + 2UL,

+            NULL);

+

+    xTaskCreate(

+            ToggleLED_IPC,

+            "Task3",

+            configMINIMAL_STACK_SIZE,

+            (void*) NULL,

+            tskIDLE_PRIORITY + 2UL,

+            NULL);

+

+    /* Start the RTOS Scheduler */

+    vTaskStartScheduler();

+

+    /* HALT */

+    while(1);

+}

+

+/* TASK 1: Toggle LED via RTOS Timer */

+void ToggleLED_Timer(void *pvParameters){

+

+    while (1) {

+        GPIO_ToggleBits(GPIOD, GPIO_Pin_12);

+

+        /*

+           Delay for a period of time. vTaskDelay() places the task into

+           the Blocked state until the period has expired.

+           The delay period is spacified in 'ticks'. We can convert

+           yhis in milisecond with the constant portTICK_RATE_MS.

+           */

+        vTaskDelay(1500 / portTICK_RATE_MS);

+    }

+}

+

+/* TASK 2: Detect Button Press

+ *         And Signal Event via Inter-Process Communication (IPC)

+ */

+void DetectButtonPress(void *pvParameters){

+

+    int sig = 1;

+

+    while (1) {

+        /* Detect Button Press  */

+        if(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_0)>0) {

+            while(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_0)>0)

+                vTaskDelay(100 / portTICK_RATE_MS); /* Button Debounce Delay */

+            while(GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_0)==0)

+                vTaskDelay(100 / portTICK_RATE_MS); /* Button Debounce Delay */

+

+            xQueueSendToBack(pbq, &sig, 0); /* Send Message */

+        }

+    }

+}

+

+/* TASK 3: Toggle LED via Inter-Process Communication (IPC) */

+void ToggleLED_IPC(void *pvParameters) {

+

+    int sig;

+    portBASE_TYPE status;

+

+    while (1) {

+        status = xQueueReceive(pbq, &sig, portMAX_DELAY); /* Receive Message */

+        /* portMAX_DELAY blocks task indefinitely if queue is empty */

+        if(status == pdTRUE) {

+            GPIO_ToggleBits(GPIOD,GPIO_Pin_14);

+        }

+    }

+}

+

+/* Init HW */

+void initHW()

+{

+    GPIO_InitTypeDef GPIO_InitStructure;

+    GPIO_InitTypeDef GPIO_InitStructure2;

+

+    // Init LED

+    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);

+    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;

+    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;

+    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;

+    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;

+    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;

+    GPIO_Init(GPIOD, &GPIO_InitStructure);

+

+    // Init PushButton

+    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);

+    GPIO_InitStructure2.GPIO_Mode = GPIO_Mode_IN;

+    GPIO_InitStructure2.GPIO_Pin =  GPIO_Pin_0;

+    GPIO_InitStructure2.GPIO_PuPd = GPIO_PuPd_NOPULL;

+    GPIO_InitStructure2.GPIO_Speed = GPIO_Speed_100MHz;

+    GPIO_InitStructure2.GPIO_OType = GPIO_OType_PP;

+    GPIO_Init(GPIOA, &GPIO_InitStructure2);

+}

diff --git a/src/freertos-example/main.h b/src/freertos-example/main.h
new file mode 100644
index 0000000..0c8870c
--- /dev/null
+++ b/src/freertos-example/main.h
@@ -0,0 +1,5 @@
+#ifndef __MAIN_H_

+#define __MAIN_H_

+

+#endif

+