add FreeRTOSConfig.h, use Task notifiers

2 files changed, 216 insertions, 17 deletions

diff --git a/examples/imx7_colibri_m4/low_power_demo/FreeRTOSConfig.h b/examples/imx7_colibri_m4/low_power_demo/FreeRTOSConfig.h
new file mode 100644
index 0000000..0ec37ab
--- /dev/null
+++ b/examples/imx7_colibri_m4/low_power_demo/FreeRTOSConfig.h
@@ -0,0 +1,164 @@
+/*
+    FreeRTOS V8.0.0 - 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>
+#endif
+
+#define configUSE_PREEMPTION              1
+#define configUSE_IDLE_HOOK               0
+#define configUSE_TICK_HOOK               0
+#define configCPU_CLOCK_HZ                (240000000ul)
+#define configTICK_RATE_HZ                ((TickType_t)1000)
+#define configMAX_PRIORITIES              (5)
+#define configMINIMAL_STACK_SIZE          ((unsigned short)130)
+#define configTOTAL_HEAP_SIZE             ((size_t)(20 * 1024))
+#define configMAX_TASK_NAME_LEN           (10)
+#define configUSE_TRACE_FACILITY          0
+#define configUSE_16_BIT_TICKS            0
+#define configIDLE_SHOULD_YIELD           0
+#define configUSE_MUTEXES                 0
+#define configQUEUE_REGISTRY_SIZE         8
+#define configCHECK_FOR_STACK_OVERFLOW    0
+#define configUSE_RECURSIVE_MUTEXES       0
+#define configUSE_MALLOC_FAILED_HOOK      0
+#define configUSE_APPLICATION_TASK_TAG    0
+#define configUSE_COUNTING_SEMAPHORES     0
+#define configGENERATE_RUN_TIME_STATS     0
+#define configUSE_TASK_NOTIFICATIONS      1
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES             0
+#define configMAX_CO_ROUTINE_PRIORITIES   (2)
+
+/* Software timer definitions. */
+#define configUSE_TIMERS                  0
+#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          0
+#define INCLUDE_uxTaskPriorityGet         0
+#define INCLUDE_vTaskDelete               0
+#define INCLUDE_vTaskCleanUpResources     0
+#define INCLUDE_vTaskSuspend              1
+#define INCLUDE_vTaskDelayUntil           0
+#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    1
+
+/* 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/examples/imx7_colibri_m4/low_power_demo/main.c b/examples/imx7_colibri_m4/low_power_demo/main.c
index fc56bc3..44949f6 100644
--- a/examples/imx7_colibri_m4/low_power_demo/main.c
+++ b/examples/imx7_colibri_m4/low_power_demo/main.c
@@ -28,6 +28,7 @@
  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
+#include <limits.h>
 #include <stdio.h>
 #include "FreeRTOS.h"
 #include "task.h"
@@ -37,9 +38,7 @@
 #include "gpio_pins.h"
 #include "gpio_imx.h"
 
-#define GPIO_INTERRUPT         (1)
-#define GPIO_POLLING           (0)
-#define GPIO_DEBOUNCE_DELAY    (100000)
+TaskHandle_t xLcdTaskHandle;
 
 #define BURST_LENGTH_IN_BYTES(x)        ((8 * x) - 1)
 
@@ -110,6 +109,13 @@ static void LCD_Init(void)
 
 	ECSPI_Init(BOARD_ECSPI_BASEADDR, &ecspiMasterInitConfig);
 	ECSPI_SetSCLKInactiveState(BOARD_ECSPI_BASEADDR, 0, ecspiSclkStayHigh);
+	ECSPI_ClearStatusFlag(BOARD_ECSPI_BASEADDR, ~0);
+
+	/*
+	 * IRQ priority must be lower than configMAX_SYSCALL_INTERRUPT_PRIORITY
+	 * (8) to allow FreeRTOS syscalls.
+	 */
+	NVIC_SetPriority(BOARD_ECSPI_IRQ_NUM, 3);
 	NVIC_EnableIRQ(BOARD_ECSPI_IRQ_NUM);
 }
 
@@ -118,6 +124,18 @@ static void LCD_SendBytes(const uint8_t *buf, int count, enum lcd_cmd_type cmd)
 	int bytes;
 	uint32_t data;
 	gpio_pin_action_t a0;
+	uint32_t ulNotifiedValue = 0;
+
+	// For simplicity, we only allow up to 256 bytes in one transfer. This
+	// fits into the FIFO and is below the maximum burst size of 512 bytes.
+	// It simplifies the code here and is good enouth for the ST7565R
+	// controller, where we have to send a "Page Address Set Command" to
+	// select the next page after 128 * 8 bit => 128 bytes of data
+	// anyway.
+	if (count > 64 * 4) {
+		PRINTF("%s: Maximum 256 bytes!\n\r", __func__);
+		return;
+	}
 
 	if (cmd == LCD_COMMAND)
 		a0 = gpioPinClear;
@@ -127,7 +145,7 @@ static void LCD_SendBytes(const uint8_t *buf, int count, enum lcd_cmd_type cmd)
 
 	ECSPI_SetBurstLength(BOARD_ECSPI_BASEADDR, BURST_LENGTH_IN_BYTES(count));
 
-	while (count > 0 && !ECSPI_GetStatusFlag(BOARD_ECSPI_BASEADDR, ecspiFlagTxfifoFull)) {
+	while (count > 0) {
 		int i;
 		bytes = count & 0x3;
 		bytes = bytes ? bytes : 4;
@@ -138,17 +156,21 @@ static void LCD_SendBytes(const uint8_t *buf, int count, enum lcd_cmd_type cmd)
 
 		ECSPI_SendData(BOARD_ECSPI_BASEADDR, data);
 		count -= bytes;
+		if (ECSPI_GetStatusFlag(BOARD_ECSPI_BASEADDR, ecspiFlagTxfifoFull)) {
+			PRINTF("%s: FIFO Full!?\n\r", __func__);
+			break;
+		}
 	}
 
-//	PRINTF("LCD_SendBytes, end count %d\n\r", count);
-
-	//ECSPI_SetIntCmd(BOARD_ECSPI_BASEADDR, ecspiFlagTxfifoEmpty, true);
-	//ECSPI_SetIntCmd(BOARD_ECSPI_BASEADDR, ecspiFlagTxfifoTc, true);
+	ECSPI_SetIntCmd(BOARD_ECSPI_BASEADDR, ecspiFlagTxfifoTc, true);
 
 	ECSPI_StartBurst(BOARD_ECSPI_BASEADDR);
-//PRINTF("Status %x\n\r", ECSPI_GetStatusFlag(BOARD_ECSPI_BASEADDR, ecspiFlagTxfifoTc));
-	while (!ECSPI_GetStatusFlag(BOARD_ECSPI_BASEADDR, ecspiFlagTxfifoTc));
-	ECSPI_ClearStatusFlag(BOARD_ECSPI_BASEADDR, ecspiFlagTxfifoTc);
+
+	ulNotifiedValue = ulTaskNotifyTake(pdFALSE, 10);
+
+	if (ulNotifiedValue < 1) {
+		PRINTF("%s: Transfer timeout\n\r", __func__);
+	}
 }
 
 #define CLAMP(x, low, high) { if ( (x) < (low) ) x = (low); if ( (x) > (high) ) x = (high); }
@@ -170,7 +192,7 @@ static void LCD_SetXY(int x, int y)
 	LCD_SendBytes(cmd, 3, LCD_COMMAND);
 }
 
-void UITask(void *pvParameters)
+void LCD_Task(void *pvParameters)
 {
 	const uint8_t LCD_init_seq[] = {
 		0x40, // Display start line 0
@@ -189,7 +211,6 @@ void UITask(void *pvParameters)
 		0xaf, // Display on
 	};
 
-
 	/* GPIO module initialize, configure "LED" as output and button as interrupt mode. */
 	LCD_Init();
 
@@ -211,6 +232,18 @@ void UITask(void *pvParameters)
 		}
 	}
 /*
+	uint8_t page[128];
+	while (true) {
+		data = ~data;
+		for (int x = 0; x < 128; x++)
+			page[x] = data;
+		for (int y = 0; y < 8; y++) {
+			LCD_SetXY(0,y);
+			LCD_SendBytes(page, 128, LCD_DATA);
+			vTaskDelay(100);
+		}
+	}
+
 	while (true) {
 		LCD_SetXY(x,y);
 		LCD_SendBytes(&data, 1, LCD_DATA);
@@ -235,8 +268,8 @@ int main(void)
 	hardware_init();
 	PRINTF("\n\r=> Low Power Demo\n\r");
 
-	xTaskCreate(UITask, "UI Task", configMINIMAL_STACK_SIZE,
-                NULL, tskIDLE_PRIORITY+1, NULL);
+	xTaskCreate(LCD_Task, "LCD Task", configMINIMAL_STACK_SIZE,
+                NULL, tskIDLE_PRIORITY+1, &xLcdTaskHandle);
 
 	/* Start FreeRTOS scheduler. */
 	vTaskStartScheduler();
@@ -246,6 +279,7 @@ int main(void)
 
 void eCSPI3_Handler(void)
 {
+	BaseType_t xHigherPriorityTaskWoken;
 	uint32_t flags;
 
 	flags = ECSPI_GetStatusFlag(BOARD_ECSPI_BASEADDR, ~0);
@@ -253,7 +287,8 @@ void eCSPI3_Handler(void)
 	//PRINTF("IRQ, flags %08x\n\r", flags);
 
 	if (flags & ecspiFlagTxfifoTc) {
-		PRINTF("Transfer Complete\n\r");
-		//ECSPI_ClearStatusFlag(BOARD_ECSPI_BASEADDR, ecspiFlagTxfifoTc);
+		ECSPI_ClearStatusFlag(BOARD_ECSPI_BASEADDR, ecspiFlagTxfifoTc);
+		vTaskNotifyGiveFromISR(xLcdTaskHandle, &xHigherPriorityTaskWoken);
+		portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
 	}
 }