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/*
    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
 
    ***************************************************************************
    *                                                                         *
    * If you are:                                                             *
    *                                                                         *
    *    + New to FreeRTOS,                                                   *
    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
    *    + Looking for basic training,                                        *
    *    + Wanting to improve your FreeRTOS skills and productivity           *
    *                                                                         *
    * then take a look at the FreeRTOS books - available as PDF or paperback  *
    *                                                                         *
    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
    *                  http://www.FreeRTOS.org/Documentation                  *
    *                                                                         *
    * A pdf reference manual is also available.  Both are usually delivered   *
    * to your inbox within 20 minutes to two hours when purchased between 8am *
    * and 8pm GMT (although please allow up to 24 hours in case of            *
    * exceptional circumstances).  Thank you for your support!                *
    *                                                                         *
    ***************************************************************************
 
    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 exception 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.  See the GNU General Public License for
    more details. You should have received a copy of the GNU General Public 
    License and the FreeRTOS license exception along with FreeRTOS; if not it 
    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
    by writing to Richard Barry, contact details for whom are available on the
    FreeRTOS WEB site.
 
    1 tab == 4 spaces!
 
    http://www.FreeRTOS.org - Documentation, latest information, license and
    contact details.
 
    http://www.SafeRTOS.com - A version that is certified for use in safety
    critical systems.
 
    http://www.OpenRTOS.com - Commercial support, development, porting,
    licensing and training services.
*/
 
/* 
 * This is a very simple demo that creates two tasks and one queue.  One task
 * (the queue receive task) blocks on the queue to wait for data to arrive, 
 * toggling an LED each time '100' is received.  The other task (the queue send
 * task) repeatedly blocks for a fixed period before sending '100' to the queue
 * (causing the first task to toggle the LED). 
 *
 * For a much more complete and complex example select either the Debug or
 * Debug_with_optimisation build configurations within the HEW IDE. 
*/
 
/* Hardware specific includes. */
#include "iodefine.h"
 
/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
 
/* Priorities at which the tasks are created. */
#define configQUEUE_RECEIVE_TASK_PRIORITY	( tskIDLE_PRIORITY + 1 )
#define	configQUEUE_SEND_TASK_PRIORITY		( tskIDLE_PRIORITY + 2 )
 
/* The rate at which data is sent to the queue, specified in milliseconds. */
#define mainQUEUE_SEND_FREQUENCY_MS			( 500 / portTICK_RATE_MS )
 
/* The number of items the queue can hold.  This is 1 as the receive task
will remove items as they are added so the send task should always find the
queue empty. */
#define mainQUEUE_LENGTH					( 1 )
 
/*
 * The tasks as defined at the top of this file.
 */
static void prvQueueReceiveTask( void *pvParameters );
static void prvQueueSendTask( void *pvParameters );
 
/* The queue used by both tasks. */
static xQueueHandle xQueue = NULL;
 
/* This variable is not used by this simple Blinky example.  It is defined 
purely to allow the project to link as it is used by the full project. */
volatile unsigned long ulHighFrequencyTickCount = 0UL;
/*-----------------------------------------------------------*/
 
void main(void)
{
extern void HardwareSetup( void );
 
	/* Renesas provided CPU configuration routine.  The clocks are configured in
	here. */
	HardwareSetup();
 
	/* Turn all LEDs off. */
	vParTestInitialise();
 
	/* Create the queue. */
	xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
 
	if( xQueue != NULL )
	{
		/* Start the two tasks as described at the top of this file. */
		xTaskCreate( prvQueueReceiveTask, "Rx", configMINIMAL_STACK_SIZE, NULL, configQUEUE_RECEIVE_TASK_PRIORITY, NULL );
		xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, configQUEUE_SEND_TASK_PRIORITY, NULL );
 
		/* Start the tasks running. */
		vTaskStartScheduler();
	}
 
	/* If all is well we will never reach here as the scheduler will now be
	running.  If we do reach here then it is likely that there was insufficient
	heap available for the idle task to be created. */
	for( ;; );
}
/*-----------------------------------------------------------*/
 
static void prvQueueSendTask( void *pvParameters )
{
portTickType xNextWakeTime;
const unsigned long ulValueToSend = 100UL;
 
	/* 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. 
		The block state is specified in ticks, the constant used converts ticks
		to ms. */
		vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
 
		/* Send to the queue - causing the queue receive task to flash its LED.  0
		is used so the send does not block - it shouldn't need to as the queue
		should always be empty here. */
		xQueueSend( xQueue, &ulValueToSend, 0 );
	}
}
/*-----------------------------------------------------------*/
 
static void prvQueueReceiveTask( void *pvParameters )
{
unsigned long ulReceivedValue;
 
	for( ;; )
	{
		/* Wait until something arives in the queue - this will block 
		indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
		FreeRTOSConfig.h. */
		xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
 
		/*  To get here something must have arrived, but is it the expected
		value?  If it is, toggle the LED. */
		if( ulReceivedValue == 100UL )
		{
			vParTestToggleLED( 0 );
		}
	}
}
/*-----------------------------------------------------------*/
 
void vApplicationSetupTimerInterrupt( void )
{
	/* Enable compare match timer 0. */
	MSTP( CMT0 ) = 0;
 
	/* Interrupt on compare match. */
	CMT0.CMCR.BIT.CMIE = 1;
 
	/* Set the compare match value. */
	CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
 
	/* Divide the PCLK by 8. */
	CMT0.CMCR.BIT.CKS = 0;
 
	/* Enable the interrupt... */
	_IEN( _CMT0_CMI0 ) = 1;
 
	/* ...and set its priority to the application defined kernel priority. */
	_IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
 
	/* Start the timer. */
	CMT.CMSTR0.BIT.STR0 = 1;
}
/*-----------------------------------------------------------*/
 
/* This function is explained by the comments above its prototype at the top
of this file. */
void vApplicationMallocFailedHook( void )
{
	for( ;; );
}
/*-----------------------------------------------------------*/
 
/* This function is explained by the comments above its prototype at the top
of this file. */
void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
{
	for( ;; );
}
/*-----------------------------------------------------------*/
 
/* This function is explained by the comments above its prototype at the top
of this file. */
void vApplicationIdleHook( void )
{
	/* Just to prevent the variable getting optimised away. */
	( void ) ulHighFrequencyTickCount;
}
/*-----------------------------------------------------------*/