Using the FreeRTOS component from HALCoGen

An app note is not currently available, but I have listed the steps required to setup the FreeRTOS component n the TMS570 microcontroller.

In order to setup the FreeRTOS component in HalCoGen:

1) Go to the Interrupts tab under the main device tab.
2) Click the checkboxes to the left of the SVC to enable the SVC handler.
3) Delete '_svc' and replace it with 'vPortYieldProcessor'.
4) Go to the VIM Channel 0-31 tab.
5) Notice that the RTI Compare 0 interrupt is assigned to Channel 2.
6) Click the checkboxes to the right of channel 2 to enable the interrupt.
7) Click the checkboxes to enable the interrupt as an IRQ.
8) Go to the VIM RAM tab.
9) Delete 'rtiCompare0Interrupt' from the textbox next to 0x0000000C and replace it with 'vPortPreemptiveTick'.
10) Go to File>Generate Code.

This code can then be converted to a CCS4 project by following these steps:

1) Open CCS4.
2) Create a new project with the same name and in the same directory as the HalCoGen project.
        a) Go to File --> New --> CCS Project.
        b) Enter the HalCoGen project name in the Project Name box.
        c) Verify that the workspace is pointing to the correct directory.
        d) Click Next three times and click Finish.
3) Click the C/C++ button on the upper right-hand side of the GUI.
4) The code should now appear on the left-hand side of the GUI.

The following code is available at www.freertos.org and should be placed in the main function located in the sys_main.c file:

    int main( void )
    {
        /* Setup the microcontroller hardware for the demo. */
        prvSetupHardware();

        /* Create the common demo application tasks, for example: */
        vCreateFlashTasks();
        vCreatePollQTasks();
        vCreateComTestTasks();
        //Etc.

        /* Create any tasks defined within main.c itself, or otherwise specific to the
        demo being built. */
        xTaskCreate( vCheckTask, "check", STACK_SIZE, NULL, TASK_PRIORITY, NULL );
        //Etc.

        Start the scheduler, this function should not return as it causes the execution
        context to change from main() to one of the created tasks. */
        vTaskStartScheduler();

        /* Should never get here! */
        return 0;
    }

Before the code will run properly, a change must be made to the canGetData() function located in the can.c file:

if (node->IF2MCTL & 0x4000U);
{
   success = 3U;
}

should be

if (node->IF2MCTL & 0x4000U)
{
   success = 3U;
}

This should be sufficient to get FreeRTOS up and running on the TMS570 microcontroller.