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Add PIC32 code.

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This commit is contained in:
Richard Barry 2007-11-26 15:45:21 +00:00
parent 48b4870c7e
commit a8eabeabbb
13 changed files with 1926 additions and 0 deletions
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87
Demo/PIC32MX_MPLAB/FreeRTOSConfig.h Normal file
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/*
FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
Also see http://www.SafeRTOS.com a version that has been certified for use
in safety critical systems, plus commercial licensing, development and
support options.
***************************************************************************
*/
#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.
*----------------------------------------------------------*/
#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 ) 72000000UL )
#define configPERIPHERAL_CLOCK_HZ ( ( unsigned portLONG ) 36000000UL )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 )
#define configMINIMAL_STACK_SIZE ( 230 )
#define configISR_STACK_SIZE ( 130 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) 29000 )
#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
/* 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 configKERNEL_INTERRUPT_PRIORITY 0x01
#endif /* FREERTOS_CONFIG_H */

93
Demo/PIC32MX_MPLAB/ParTest/ParTest.c Normal file
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/*
FreeRTOS.org V4.6.1 - Copyright (C) 2003-2007 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
Also see http://www.SafeRTOS.com a version that has been certified for use
in safety critical systems, plus commercial licensing, development and
support options.
***************************************************************************
*/
/* 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;
}

94
Demo/PIC32MX_MPLAB/RTOSDemo.mcp Normal file
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file_014=..\Common\Minimal\blocktim.c
file_015=lcd.c
file_016=serial\serial.c
file_017=..\Common\Minimal\comtest.c
file_018=serial\serial_isr.S
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file_030=PIC32MX_MPLAB.map
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suite_state=
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TS{77F59DA1-3C53-4677-AC5F-A03EB0125170}=-o"$(BINDIR_)$(TARGETBASE).$(TARGETSUFFIX)" -Map="$(BINDIR_)$(TARGETBASE).map"
TS{0396C0A1-9052-4E4F-8B84-EF0162B1B4E9}=
[INSTRUMENTED_TRACE]
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transport=0
format=0

271
Demo/PIC32MX_MPLAB/RTOSDemo.mcs Normal file
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[File014]
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[File015]
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[TOOL_LOC_STAMPS]
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/*
FreeRTOS.org V4.6.1 - Copyright (C) 2003-2007 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
Also see http://www.SafeRTOS.com a version that has been certified for use
in safety critical systems, plus commercial licensing, development and
support options.
***************************************************************************
*/
#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
#if configUSE_PREEMPTION == 0
syscall 0
#endif
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
#if configUSE_PREEMPTION == 0
syscall 0
#endif
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

243
Demo/PIC32MX_MPLAB/lcd.c Normal file
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@ -0,0 +1,243 @@
/*
FreeRTOS.org V4.6.1 - Copyright (C) 2003-2007 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
Also see http://www.SafeRTOS.com a version that has been certified for use
in safety critical systems, plus commercial licensing, development and
support options.
***************************************************************************
*/
/* 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 );
}
}

58
Demo/PIC32MX_MPLAB/lcd.h Normal file
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@ -0,0 +1,58 @@
/*
FreeRTOS.org V4.6.1 - Copyright (C) 2003-2007 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
Also see http://www.SafeRTOS.com a version that has been certified for use
in safety critical systems, plus commercial licensing, development and
support options.
***************************************************************************
*/
#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 */

362
Demo/PIC32MX_MPLAB/main.c Normal file
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/*
FreeRTOS.org V4.6.1 - Copyright (C) 2003-2007 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
Also see http://www.SafeRTOS.com a version that has been certified for use
in safety critical systems, plus commercial licensing, development and
support options.
***************************************************************************
*/
/*
* 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:
*
* "Fast Interrupt Test" - A high frequency periodic interrupt is generated
* using a free running timer to demonstrate the use of the
* configKERNEL_INTERRUPT_PRIORITY configuration constant. The interrupt
* service routine measures the number of processor clocks that occur between
* each interrupt - and in so doing measures the jitter in the interrupt timing.
* The maximum measured jitter time is latched in the ulMaxJitter variable, and
* displayed on the LCD display by the 'LCD' task as described below. The
* fast interrupt is configured and handled in the timertest.c source 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 writes the
* maximum jitter time to the LCD (as described above) - again via the LCD task.
*
* "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.
*/
/* Standard includes. */
#include <stdio.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
/* Demo application includes. */
#include "partest.h"
#include "integer.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"
#pragma config FPLLMUL = MUL_18, 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 )
/* 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 maximum jitter time 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 );
vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
vStartQueuePeekTasks();
vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
/* Create the tasks defined within this file. */
xTaskCreate( prvTestTask1, "Tst1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
xTaskCreate( prvTestTask2, "Tst2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
/* prvCheckTask uses sprintf so requires more stack. */
xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE * 2, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Setup the high frequency, high priority, timer test. */
vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );
/* 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 );
/* 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 maximum jitter time is written as a string. */
static portCHAR cStringBuffer[ mainMAX_STRING_LENGTH ];
/* The maximum jitter time measured by the fast interrupt test. */
extern unsigned portLONG ulMaxJitter ;
xLCDMessage xMessage = { ( 200 / portTICK_RATE_MS ), cStringBuffer };
/* 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( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
ulTicksToWait = mainERROR_PERIOD;
xMessage.pcMessage = "Error: Int math";
}
/* Write the max jitter time to the string buffer. It will only be
displayed if no errors have been detected. */
sprintf( cStringBuffer, "%dns max jitter", ( int ) ( ( ulMaxJitter - mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ) * mainNS_PER_CLOCK ) );
xQueueSend( xLCDQueue, &xMessage, mainDONT_WAIT );
vParTestToggleLED( mainCHECK_LED );
}
}
/*-----------------------------------------------------------*/
void vApplicationGeneralExceptionHandler( unsigned portLONG ulCause, unsigned portLONG ulStatus )
{
/* This overrides the definition provided by the kernel. Other exceptions
should be handled here. */
for( ;; );
}

190
Demo/PIC32MX_MPLAB/serial/serial.c Normal file
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/*
FreeRTOS.org V4.6.1 - Copyright (C) 2003-2007 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
Also see http://www.SafeRTOS.com a version that has been certified for use
in safety critical systems, plus commercial licensing, development and
support options.
***************************************************************************
*/
/* 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 | 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 xYieldRequired;
xYieldRequired = 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;
xYieldRequired = xQueueSendFromISR( xRxedChars, &cChar, xYieldRequired );
}
mU2RXClearIntFlag();
}
/* Are any Tx interrupts pending? */
if( mU2TXGetIntFlag() )
{
while( !( U2STAbits.UTXBF ) )
{
if( xQueueReceiveFromISR( xCharsForTx, &cChar, &xYieldRequired ) == 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( xYieldRequired );
}

24
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

125
Demo/PIC32MX_MPLAB/timertest.c Normal file
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/*
FreeRTOS.org V4.6.1 - Copyright (C) 2003-2007 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
Also see http://www.SafeRTOS.com a version that has been certified for use
in safety critical systems, plus commercial licensing, development and
support options.
***************************************************************************
*/
/* High speed timer test as described in main.c. */
/* Scheduler includes. */
#include "FreeRTOS.h"
/* Demo includes. */
#include "partest.h"
/* The number of interrupts to pass before we start looking at the jitter. */
#define timerSETTLE_TIME 200
/* The maximum value the 16bit timer can contain. */
#define timerMAX_COUNT 0xffff
/*-----------------------------------------------------------*/
/* The maximum time (in processor clocks) between two consecutive timer
interrupts so far. */
unsigned portLONG ulMaxJitter = 0;
/*-----------------------------------------------------------*/
void vSetupTimerTest( unsigned portSHORT usFrequencyHz )
{
/* T2 is used to generate interrupts. The core timer is used to provide an
accurate time measurement. */
T2CON = 0;
TMR2 = 0;
/* Timer 2 is going to interrupt at usFrequencyHz Hz. */
PR2 = ( unsigned portSHORT ) ( configPERIPHERAL_CLOCK_HZ / ( unsigned portLONG ) usFrequencyHz );
/* 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 | ( configKERNEL_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 __attribute__( (interrupt(ipl0), vector(_TIMER_2_VECTOR))) vT2InterruptHandler( void );
void vT2InterruptHandler( void )
{
static unsigned portLONG ulLastCount = 0, ulSettleCount = 0;
static unsigned portLONG ulThisCount, ulDifference;
/* Capture the timer value as we enter the interrupt. */
ulThisCount = _CP0_GET_COUNT();
if( ulSettleCount >= timerSETTLE_TIME )
{
/* What is the difference between the timer value in this interrupt
and the value from the last interrupt. */
ulDifference = ulThisCount - ulLastCount;
/* Store the difference in the timer values if it is larger than the
currently stored largest value. The difference over and above the
expected difference will give the 'jitter' in the processing of these
interrupts. */
if( ulDifference > ulMaxJitter )
{
ulMaxJitter = ulDifference;
}
}
else
{
/* Don't bother storing any values for the first couple of
interrupts. */
ulSettleCount++;
}
/* Remember what the timer value was this time through, so we can calculate
the difference the next time through. */
ulLastCount = ulThisCount;
/* Clear the timer interrupt. */
IFS0bits.T2IF = 0;
}

46
Demo/PIC32MX_MPLAB/timertest.h Normal file
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/*
FreeRTOS.org V4.6.1 - Copyright (C) 2003-2007 Richard Barry.
This file is part of the FreeRTOS.org distribution.
FreeRTOS.org is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
FreeRTOS.org is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS.org; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
Also see http://www.SafeRTOS.com a version that has been certified for use
in safety critical systems, plus commercial licensing, development and
support options.
***************************************************************************
*/
#ifndef TIMER_TEST_H
#define TIMER_TEST_H
/* Setup the high frequency timer interrupt. */
void vSetupTimerTest( unsigned portSHORT usFrequencyHz );
#endif /* TIMER_TEST_H */