freertos blinky with software timer

6 files changed, 84 insertions, 29 deletions

diff --git a/examples/device/nrf52840_freertos/segger/nrf5x_freertos.emProject b/examples/device/nrf52840_freertos/segger/nrf5x_freertos.emProject
index cee328c73..dd9edb8dd 100644
--- a/examples/device/nrf52840_freertos/segger/nrf5x_freertos.emProject
+++ b/examples/device/nrf52840_freertos/segger/nrf5x_freertos.emProject
@@ -20,13 +20,13 @@
       arm_target_interface_type="SWD"
       build_treat_warnings_as_errors="Yes"
       c_preprocessor_definitions="NRF52840_XXAA;__nRF_FAMILY;ARM_MATH_CM4;FLASH_PLACEMENT=1;BOARD_PCA10056"
-      c_user_include_directories="../src;$(tusbDir)/hw/cmsis/Include;$(tusbDir)/hw;$(tusbDir)/src;$(nrfxDir)/..;$(nrfxDir);$(nrfxDir)/mdk;$(nrfxDir)/hal;$(nrfxDir)/drivers/include"
+      c_user_include_directories="../src;$(tusbDir)/hw/cmsis/Include;$(tusbDir)/hw;$(tusbDir)/src;$(nrfxDir)/..;$(nrfxDir);$(nrfxDir)/mdk;$(nrfxDir)/hal;$(nrfxDir)/drivers/include;$(freertosDir);$(freertosDir)/Source/include;$(freertosDir)/Source/portable/GCC/ARM_CM4F"
       debug_register_definition_file="$(ProjectDir)/nrf52840_Registers.xml"
       debug_target_connection="J-Link"
       gcc_entry_point="Reset_Handler"
       linker_memory_map_file="$(ProjectDir)/nRF52840_xxAA_MemoryMap.xml"
       linker_section_placement_file="$(ProjectDir)/flash_placement.xml"
-      macros="DeviceHeaderFile=$(PackagesDir)/nRF/CMSIS/Device/Include/nrf.h;DeviceLibraryIdentifier=M4lf;DeviceSystemFile=$(PackagesDir)/nRF/CMSIS/Device/Source/system_nrf52840.c;DeviceVectorsFile=$(PackagesDir)/nRF/Source/ses_nrf52840_Vectors.s;DeviceFamily=nRF;Target=nRF52840_xxAA;Placement=Flash;tusbDir=../../../..;nrfxDir=../../../../hw/mcu/nordic/nrfx"
+      macros="DeviceHeaderFile=$(PackagesDir)/nRF/CMSIS/Device/Include/nrf.h;DeviceLibraryIdentifier=M4lf;DeviceSystemFile=$(PackagesDir)/nRF/CMSIS/Device/Source/system_nrf52840.c;DeviceVectorsFile=$(PackagesDir)/nRF/Source/ses_nrf52840_Vectors.s;DeviceFamily=nRF;Target=nRF52840_xxAA;Placement=Flash;tusbDir=../../../..;nrfxDir=../../../../hw/mcu/nordic/nrfx;freertosDir=../../../../lib/FreeRTOS"
       project_directory=""
       project_type="Executable"
       target_reset_script="Reset();"
@@ -103,6 +103,49 @@
       </folder>
     </folder>
     <configuration Name="Debug" build_treat_warnings_as_errors="Yes" />
+    <folder Name="lib">
+      <folder Name="FreeRTOS">
+        <folder Name="Source">
+          <folder Name="include">
+            <file file_name="../../../../lib/FreeRTOS/Source/include/croutine.h" />
+            <file file_name="../../../../lib/FreeRTOS/Source/include/deprecated_definitions.h" />
+            <file file_name="../../../../lib/FreeRTOS/Source/include/event_groups.h" />
+            <file file_name="../../../../lib/FreeRTOS/Source/include/FreeRTOS.h" />
+            <file file_name="../../../../lib/FreeRTOS/Source/include/list.h" />
+            <file file_name="../../../../lib/FreeRTOS/Source/include/message_buffer.h" />
+            <file file_name="../../../../lib/FreeRTOS/Source/include/mpu_prototypes.h" />
+            <file file_name="../../../../lib/FreeRTOS/Source/include/mpu_wrappers.h" />
+            <file file_name="../../../../lib/FreeRTOS/Source/include/portable.h" />
+            <file file_name="../../../../lib/FreeRTOS/Source/include/projdefs.h" />
+            <file file_name="../../../../lib/FreeRTOS/Source/include/queue.h" />
+            <file file_name="../../../../lib/FreeRTOS/Source/include/semphr.h" />
+            <file file_name="../../../../lib/FreeRTOS/Source/include/stack_macros.h" />
+            <file file_name="../../../../lib/FreeRTOS/Source/include/StackMacros.h" />
+            <file file_name="../../../../lib/FreeRTOS/Source/include/stream_buffer.h" />
+            <file file_name="../../../../lib/FreeRTOS/Source/include/task.h" />
+            <file file_name="../../../../lib/FreeRTOS/Source/include/timers.h" />
+          </folder>
+          <folder Name="portable">
+            <folder Name="Common" />
+            <folder Name="GCC">
+              <folder Name="ARM_CM4F">
+                <file file_name="../../../../lib/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c" />
+                <file file_name="../../../../lib/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h" />
+              </folder>
+            </folder>
+            <folder Name="MemMang">
+              <file file_name="../../../../lib/FreeRTOS/Source/portable/MemMang/heap_4.c" />
+            </folder>
+          </folder>
+          <file file_name="../../../../lib/FreeRTOS/Source/list.c" />
+          <file file_name="../../../../lib/FreeRTOS/Source/queue.c" />
+          <file file_name="../../../../lib/FreeRTOS/Source/tasks.c" />
+          <file file_name="../../../../lib/FreeRTOS/Source/timers.c" />
+        </folder>
+        <file file_name="../../../../lib/FreeRTOS/FreeRTOSConfig.h" />
+        <file file_name="../../../../lib/FreeRTOS/freertos_hook.c" />
+      </folder>
+    </folder>
   </project>
   <configuration
     Name="Debug"
diff --git a/examples/device/nrf52840_freertos/src/main.c b/examples/device/nrf52840_freertos/src/main.c
index 9a80accc9..644829a66 100644
--- a/examples/device/nrf52840_freertos/src/main.c
+++ b/examples/device/nrf52840_freertos/src/main.c
@@ -43,6 +43,12 @@
 #include <stdio.h>
 #include <string.h>
 
+#include "FreeRTOS.h"
+#include "task.h"
+#include "timers.h"
+#include "queue.h"
+#include "semphr.h"
+
 #include "bsp/board.h"
 #include "tusb.h"
 
@@ -54,27 +60,33 @@
 // INTERNAL OBJECT & FUNCTION DECLARATION
 //--------------------------------------------------------------------+
 void print_greeting(void);
-void led_blinking_task(void);
+void led_blinky_cb(TimerHandle_t xTimer);
 void virtual_com_task(void);
 void usb_hid_task(void);
 
+
 /*------------- MAIN -------------*/
 int main(void)
 {
   board_init();
   print_greeting();
 
-  tusb_init();
+  //tusb_init();
 
-  while (1)
-  {
-    tusb_task();
+  // soft timer for blinky
+  TimerHandle_t tm_hdl = xTimerCreate(NULL, pdMS_TO_TICKS(1000), true, NULL, led_blinky_cb);
+  xTimerStart(tm_hdl, 0); 
 
-    led_blinking_task();
-    virtual_com_task();
+  vTaskStartScheduler();
 
-    usb_hid_task();
-  }
+  NVIC_SystemReset();
+
+//  while (1)
+//  {
+//    virtual_com_task();
+//
+//    usb_hid_task();
+//  }
 
   return 0;
 }
@@ -173,14 +185,11 @@ void tud_cdc_rx_cb(uint8_t itf)
 //--------------------------------------------------------------------+
 // BLINKING TASK
 //--------------------------------------------------------------------+
-void led_blinking_task(void)
+void led_blinky_cb(TimerHandle_t xTimer)
 {
-  static tu_timeout_t tm = { .start = 0, .interval = 1000 }; // Blink every 1000 ms
+  (void) xTimer;
   static bool led_state = false;
 
-  if ( !tu_timeout_expired(&tm) ) return; // not enough time
-  tu_timeout_reset(&tm);
-
   board_led_control(BOARD_LED0, led_state);
   led_state = 1 - led_state; // toggle
 }
diff --git a/examples/device/nrf52840_freertos/src/tusb_config.h b/examples/device/nrf52840_freertos/src/tusb_config.h
index 9e6b01616..6b8b0af96 100644
--- a/examples/device/nrf52840_freertos/src/tusb_config.h
+++ b/examples/device/nrf52840_freertos/src/tusb_config.h
@@ -52,8 +52,8 @@
 #define CFG_TUSB_DEBUG              2
 
 /*------------- RTOS -------------*/
-#define CFG_TUSB_OS                 OPT_OS_NONE // be passed from IDE/command line for easy project switching
-//#define CFG_TUD_TASK_PRIO         0
+#define CFG_TUSB_OS                 OPT_OS_FREERTOS
+#define CFG_TUD_TASK_PRIO           (configMAX_PRIORITIES-2)
 //#define CFG_TUD_TASK_QUEUE_SZ     16
 //#define CFG_TUD_TASK_STACK_SZ     150
 
diff --git a/hw/bsp/pca10056/board_pca10056.c b/hw/bsp/pca10056/board_pca10056.c
index c6815917e..4c67b902a 100644
--- a/hw/bsp/pca10056/board_pca10056.c
+++ b/hw/bsp/pca10056/board_pca10056.c
@@ -59,6 +59,7 @@ uint8_t _button_pins[] = { 11, 12, 24, 25 };
 /*------------------------------------------------------------------*/
 /* TUSB HAL MILLISECOND
  *------------------------------------------------------------------*/
+#if CFG_TUSB_OS  == OPT_OS_NONE
 volatile uint32_t system_ticks = 0;
 
 void SysTick_Handler (void)
@@ -70,6 +71,7 @@ uint32_t tusb_hal_millis(void)
 {
   return board_tick2ms(system_ticks);
 }
+#endif
 
 /*------------------------------------------------------------------*/
 /* BOARD API
@@ -92,9 +94,10 @@ void board_init(void)
   // Button
   for(uint8_t i=0; i<BOARD_BUTTON_COUNT; i++) nrf_gpio_cfg_input(_button_pins[i], NRF_GPIO_PIN_PULLUP);
 
+#if CFG_TUSB_OS  == OPT_OS_NONE
   // Tick init
   SysTick_Config(SystemCoreClock/1000);
-  NVIC_EnableIRQ(SysTick_IRQn);
+#endif
 
   // USB power may already be ready at this time -> no event generated
   // We need to invoke the handler based on the status initially
diff --git a/lib/FreeRTOS/FreeRTOSConfig.h b/lib/FreeRTOS/FreeRTOSConfig.h
index 6dbb674dc..ef936727e 100644
--- a/lib/FreeRTOS/FreeRTOSConfig.h
+++ b/lib/FreeRTOS/FreeRTOSConfig.h
@@ -4,13 +4,18 @@
 //--------------------------------------------------------------------+
 // See http://www.freertos.org/a00110.html.
 //--------------------------------------------------------------------+
+//#include "bsp/board.h"
+#include "nrf.h"
+
+#if 0
 #if CFG_TUSB_MCU == OPT_MCU_LPC43XX
   // TODO remove
   #include "lpc43xx_cgu.h"
   #define configCPU_CLOCK_HZ                   CGU_GetPCLKFrequency(CGU_PERIPHERAL_M4CORE)
-#else
-  #define configCPU_CLOCK_HZ                   SystemCoreClock
 #endif
+#endif
+
+#define configCPU_CLOCK_HZ                   SystemCoreClock
 
 #define configUSE_PREEMPTION                    1
 #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
@@ -31,9 +36,10 @@
 #define configENABLE_BACKWARD_COMPATIBILITY     1
 
 #define configSUPPORT_STATIC_ALLOCATION         1
+#define configSUPPORT_DYNAMIC_ALLOCATION        1
 
 /* Hook function related definitions. */
-#define configUSE_IDLE_HOOK                    1
+#define configUSE_IDLE_HOOK                    0
 #define configUSE_TICK_HOOK                    0
 #define configUSE_MALLOC_FAILED_HOOK           1
 #define configCHECK_FOR_STACK_OVERFLOW         2
@@ -48,7 +54,7 @@
 #define configMAX_CO_ROUTINE_PRIORITIES        2
 
 /* Software timer related definitions. */
-#define configUSE_TIMERS                       0
+#define configUSE_TIMERS                       1
 #define configTIMER_TASK_PRIORITY              ( configMAX_PRIORITIES - 3 )
 #define configTIMER_QUEUE_LENGTH               10
 #define configTIMER_TASK_STACK_DEPTH	         configMINIMAL_STACK_SIZE
diff --git a/lib/FreeRTOS/freertos_hook.c b/lib/FreeRTOS/freertos_hook.c
index d96c0a669..70348a446 100644
--- a/lib/FreeRTOS/freertos_hook.c
+++ b/lib/FreeRTOS/freertos_hook.c
@@ -50,12 +50,6 @@ void vApplicationMallocFailedHook(void)
 	TU_ASSERT(false, );
 }
 
-void vApplicationIdleHook(void)
-{
-  // no freeRTOS blocking API should be called here
-	__WFI(); // sleep until next interrupt
-}
-
 void vApplicationStackOverflowHook(xTaskHandle pxTask, signed char *pcTaskName)
 {
 	(void) pxTask;