main_blinky.c

/*
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    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.

    ***************************************************************************
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    ***************************************************************************

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    ***************************************************************************
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*/

/******************************************************************************
 * NOTE 1:  This project provides three demo applications.  A simple blinky
 * style project, a more comprehensive test and demo application, and an
 * lwIP example.  The mainSELECTED_APPLICATION setting in main.c is used to
 * select between the three.  See the notes on using mainSELECTED_APPLICATION
 * in main.c.  This file implements the simply blinky style version.
 *
 * NOTE 2:  This file only contains the source code that is specific to the
 * basic demo.  Generic functions, such FreeRTOS hook functions, and functions
 * required to configure the hardware are defined in main.c.
 ******************************************************************************
 *
 * main_blinky() creates one queue, and two tasks.  It then starts the
 * scheduler.
 *
 * The Queue Send Task:
 * The queue send task is implemented by the prvQueueSendTask() function in
 * this file.  prvQueueSendTask() sits in a loop that causes it to repeatedly
 * block for 200 milliseconds, before sending the value 100 to the queue that
 * was created within main_blinky().  Once the value is sent, the task loops
 * back around to block for another 200 milliseconds...and so on.
 *
 * The Queue Receive Task:
 * The queue receive task is implemented by the prvQueueReceiveTask() function
 * in this file.  prvQueueReceiveTask() sits in a loop where it repeatedly
 * blocks on attempts to read data from the queue that was created within
 * main_blinky().  When data is received, the task checks the value of the
 * data, and if the value equals the expected 100, toggles an LED.  The 'block
 * time' parameter passed to the queue receive function specifies that the
 * task should be held in the Blocked state indefinitely to wait for data to
 * be available on the queue.  The queue receive task will only leave the
 * Blocked state when the queue send task writes to the queue.  As the queue
 * send task writes to the queue every 200 milliseconds, the queue receive
 * task leaves the Blocked state every 200 milliseconds, and therefore toggles
 * the LED every 200 milliseconds.
 */

/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"

/* Standard demo includes. */
#include "partest.h"
#include "xparameters.h"

/* Priorities at which the tasks are created. */
#define mainQUEUE_IMU_TASK_PRIORITY		        ( tskIDLE_PRIORITY + 2 )
#define	mainQUEUE_TRANSCEIVE_TASK_PRIORITY		( tskIDLE_PRIORITY + 1 )

/* The rate at which data is sent to the queue.  The 200ms value is converted
to ticks using the portTICK_PERIOD_MS constant. */
#define mainQUEUE_SEND_FREQUENCY_MS			( 1000 / portTICK_PERIOD_MS )
#define mainSOME_DELAY         ( 200 / portTICK_PERIOD_MS )

/* The number of items the queue can hold.  This is 1 as the receive task
will remove items as they are added, meaning the send task should always find
the queue empty. */
#define mainQUEUE_LENGTH					( 1 )

/* The LED toggled by the Rx task. */
#define mainTASK_LED						( 0 )

/*-----------------------------------------------------------*/

/*
 * The tasks as described in the comments at the top of this file.
 */
//static void prvQueueReceiveTask( void *pvParameters );
//static void prvQueueSendTask( void *pvParameters );
static void prvTransceiverTask( void *pvParameters );
static void xferIMUTask( void *pvParameters );

/*-----------------------------------------------------------*/

/* The queue used by both tasks. */
static QueueHandle_t xQueue = NULL;

/*-----------------------------------------------------------*/

void main_blinky( void )
{
	/* Create the queue. */
//	xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( uint32_t ) );

	if( xQueue != NULL )
	{
		/* Start the two tasks as described in the comments at the top of this
		file. */
		xTaskCreate( xferIMUTask,				/* The function that implements the task. */
					"imuTask", 								/* The text name assigned to the task - for debug only as it is not used by the kernel. */
					configMINIMAL_STACK_SIZE, 			/* The size of the stack to allocate to the task. */
					NULL, 								/* The parameter passed to the task - not used in this case. */
					mainQUEUE_IMU_TASK_PRIORITY, 	/* The priority assigned to the task. */
					NULL );								/* The task handle is not required, so NULL is passed. */

       // xTaskCreate( prvTransceiverTask,
                    // "transceiverTask",
                    // configMINIMAL_STACK_SIZE,
                    // NULL,
                    // mainQUEUE_TRANSCEIVE_TASK_PRIORITY,
                    // NULL );

		/* Start the tasks and timer running. */
		vTaskStartScheduler();
	}

	/* If all is well, the scheduler will now be running, and the following
	line will never be reached.  If the following line does execute, then
	there was either insufficient FreeRTOS heap memory available for the idle
	and/or timer tasks to be created, or vTaskStartScheduler() was called from
	User mode.  See the memory management section on the FreeRTOS web site for
	more details on the FreeRTOS heap http://www.freertos.org/a00111.html.  The
	mode from which main() is called is set in the C start up code and must be
	a privileged mode (not user mode). */
	for( ;; );
}

/*-----------------------------------------------------------*/
static void xferIMUTask( void *pvParameters )
{
    TickType_t xNextWakeTime;
    const unsigned long ulValueToSend = 100UL;
    unsigned int counter = 0;
    unsigned int state = 0;

    /* Remove compiler warning about unused parameter. */
    ( void ) pvParameters;

    /* Initialise xNextWakeTime - this only needs to be done once. */
    xNextWakeTime = xTaskGetTickCount();

    for( ;; )
    {
        // Continuously read from the IMU
        readIMU();
        vTaskDelayUntil( &xNextWakeTime, mainSOME_DELAY );
        writePWM();
        vTaskDelayUntil( &xNextWakeTime, mainSOME_DELAY );
    }
}

//static void prvTransceiverTask( void *pvParameters )
//{
//	(void) pvParameters;
//	/*
//	u8 readBuf[32];
//	int i;
//
//	for (i = 0; i < 32; i++)
//	{
//		readBuf[i] = 0;
//	}
//
//	for( ;; )
//	{
//		if (dataReady())
//		{
//			readRx(readBuf, sizeof(unsigned long));
//		}
//		else
//		{
//			readBuf[0] = 0;
//			readBuf[1] = 0;
//		}
//	}
//	*/
//}

//
///*-----------------------------------------------------------*/
//static void prvQueueSendTask( void *pvParameters )
//{
//    TickType_t xNextWakeTime;
//    const unsigned long ulValueToSend = 100UL;
//
//	/* Remove compiler warning about unused parameter. */
//	( void ) pvParameters;
//
//	/* Initialise xNextWakeTime - this only needs to be done once. */
//	xNextWakeTime = xTaskGetTickCount();
//
//	for( ;; )
//	{
//		/* Place this task in the blocked state until it is time to run again. */
//		vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
//
//		/* Send to the queue - causing the queue receive task to unblock and
//		toggle the LED.  0 is used as the block time so the sending operation
//		will not block - it shouldn't need to block as the queue should always
//		be empty at this point in the code. */
//		xQueueSend( xQueue, &ulValueToSend, 0U );
//	}
//}
///*-----------------------------------------------------------*/
//
//static void prvQueueReceiveTask( void *pvParameters )
//{
//    unsigned long ulReceivedValue;
//    const unsigned long ulExpectedValue = 100UL;
//
//	/* Remove compiler warning about unused parameter. */
//	( void ) pvParameters;
//
//	for( ;; )
//	{
//		/* Wait until something arrives in the queue - this task will block
//		indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
//		FreeRTOSConfig.h. */
//		xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
//
//		/*  To get here something must have been received from the queue, but
//		is it the expected value?  If it is, toggle the LED. */
//		if( ulReceivedValue == ulExpectedValue )
//		{
//			vParTestToggleLED( mainTASK_LED );
//			ulReceivedValue = 0U;
//		}
//	}
//}
///*-----------------------------------------------------------*/