Added support for TM4C123 series.

Fixed crashing issue. Had to add another parameter to task scheduler init (sysctl periph value).

Did simple testing to prove task scheduler works. More advanced testing, like measuring jitter, was not done.

.launches/TIVA-Task-Scheduler.launch

@@ -1,9 +1,13 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <launchConfiguration type="com.ti.ccstudio.debug.launchType.device.debugging">
+<stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_DEBUGGER_PROPERTIES.P:\CCS\TIVA-Task-Scheduler\targetConfigs\Tiva TM4C123GH6PM.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot; ?&gt;&#10;&lt;PropertyValues&gt;&#10;&#10;  &lt;property id=&quot;ConnectOnStartup&quot;&gt;&#10;    &lt;curValue&gt;1&lt;/curValue&gt;&#10;  &lt;/property&gt;&#10;&#10;  &lt;property id=&quot;EnableInstalledBreakpoint&quot;&gt;&#10;    &lt;curValue&gt;1&lt;/curValue&gt;&#10;  &lt;/property&gt;&#10;&#10;  &lt;property id=&quot;IgnoreSoftLaunchFailures&quot;&gt;&#10;    &lt;curValue&gt;0&lt;/curValue&gt;&#10;  &lt;/property&gt;&#10;&#10;&lt;/PropertyValues&gt;&#10;"/>
 <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_LOAD_PROGRAM.P:\CCS\TIVA-Task-Scheduler\targetConfigs\Tiva TM4C1294NCPDT.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="ALL"/>
+<stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_PROGRAM.P:\CCS\TIVA-Task-Scheduler\targetConfigs\Tiva TM4C123GH6PM.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="${build_artifact:TIVA-Task-Scheduler}"/>
 <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_PROGRAM.P:\CCS\TIVA-Task-Scheduler\targetConfigs\Tiva TM4C1294NCPDT.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="${build_artifact:TIVA-Task-Scheduler}"/>
+<stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_PROJECT.P:\CCS\TIVA-Task-Scheduler\targetConfigs\Tiva TM4C123GH6PM.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="TIVA-Task-Scheduler"/>
 <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_PROJECT.P:\CCS\TIVA-Task-Scheduler\targetConfigs\Tiva TM4C1294NCPDT.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="TIVA-Task-Scheduler"/>
 <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_TARGET_CONFIG" value="${target_config_active_default:TIVA-Task-Scheduler}"/>
+<stringAttribute key="com.ti.ccstudio.debug.debugModel.MRU_PROGRAM.P:\CCS\TIVA-Task-Scheduler\targetConfigs\Tiva TM4C123GH6PM.ccxml.Stellaris In-Circuit Debug Interface/CORTEX_M4_0" value="P:/CCS\TIVA-Task-Scheduler\Debug\TIVA-Task-Scheduler.out"/>
 <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
 <listEntry value="/TIVA-Task-Scheduler"/>
 </listAttribute>

TaskScheduler/TaskScheduler.c

@@ -6,6 +6,8 @@
 #include <driverlib/timer.h>
 #include <inc/hw_ints.h>
 #include <driverlib/interrupt.h>
+#include <inc/hw_memmap.h>
+#include <driverlib/rom.h>
 
 #ifndef NULL
     #define NULL 0
@@ -48,19 +50,21 @@ void TaskSchedulerTimer_ISR(void){
     TimerIntClear(scheduler.timerBase, TIMER_TIMA_TIMEOUT);
 }
 
-void InitializeTaskScheduler(uint32_t timerBase, uint32_t sysClkFreq, uint32_t timerIntBase){
+void InitializeTaskScheduler(uint32_t timerBase, uint32_t sysCtlTimerPeriph, uint32_t sysClkFreq, uint32_t timerIntBase){
     //Initialize the task scheduler
     scheduler.timerBase = timerBase;
     scheduler.pTaskListRoot = NULL;
 
     //Initialize the timer
-    SysCtlPeripheralEnable(timerBase);
+    SysCtlPeripheralEnable(sysCtlTimerPeriph);
 
     //Wait for the clock to stabilize
-    SysCtlDelay(10);
+    SysCtlDelay(100);
+    IntMasterEnable();
 
     //Configure the timer to be a periodic 100us timer
     TimerConfigure(timerBase, TIMER_CFG_PERIODIC);
+
     TimerLoadSet(timerBase, TIMER_A, sysClkFreq * TASK_SCHEDULER_TIMER_PERIOD / 1000000);
 
     //Configure the ISR
@@ -70,7 +74,6 @@ void InitializeTaskScheduler(uint32_t timerBase, uint32_t sysClkFreq, uint32_t t
 
     //Enable the timer and interrupts
     TimerEnable(timerBase, TIMER_A);
-    IntMasterEnable();
 }
 
 void AddTask(Task *pTask){

TaskScheduler/TaskScheduler.h

@@ -6,7 +6,7 @@
 
 //For the most accurate timer, choose a frequency that is an integer
 #define TASK_SCHEDULER_TIMER_PERIOD         100     //us
-#define TASK_SCHEDULER_TICKS_IN_ONE_SECOND  1/TASK_SCHEDULER_TIMER_PERIOD
+#define TASK_SCHEDULER_TICKS_IN_ONE_SECOND  1/TASK_SCHEDULER_TIMER_PERIOD * 1000000
 
 struct Task_tag;
 typedef struct Task_tag Task;
@@ -28,7 +28,7 @@ typedef struct TaskScheduler_tag{
     Task *pTaskListRoot;
 } TaskScheduler;
 
-void InitializeTaskScheduler(uint32_t timerBase, uint32_t sysClkFreq, uint32_t timerIntBase);
+void InitializeTaskScheduler(uint32_t timerBase, uint32_t sysCtlTimerPeriph, uint32_t sysClkFreq, uint32_t timerIntBase);
 
 void AddTask(Task *pTask);
 void RemoveTask(Task *pTask);

main.c

@@ -19,9 +19,16 @@
 #include "driverlib/ssi.h"
 #include "driverlib/uart.h"
 #include "utils/uartstdio.h"
+#include "driverlib/fpu.h"
+#include <driverlib/timer.h>
+#include <driverlib/interrupt.h>
 
-//System clock running at 120MHz
-#define SYS_CLK     120000000
+//System clock running at 120MHz if 129 or 80MHz if 123
+#ifdef PART_TM4C129
+    #define SYS_CLK     120000000
+#elif PART_TM4C123
+    #define SYS_CLK     80000000
+#endif
 
 void EnableClock(void);
 void EnablePeripherals();
@@ -34,32 +41,65 @@ void sprintfloat(char *Buffer, float val, int arg1){
     sprintf(Buffer, "%i.%i", LeftSide, RightSide);
 }
 
+void print(){
+    UARTprintf("Task 1");
+}
+
+void print2(){
+    UARTprintf("Task 2");
+}
+
+void print3(){
+    UARTprintf("Task 3");
+}
+
+Task tasks[3];
+
 int main(void)
 {
+    FPULazyStackingEnable();
     EnableClock();
     EnablePeripherals();
+
+    InitializeTaskScheduler(TIMER0_BASE, SYSCTL_PERIPH_TIMER0, SYS_CLK, INT_TIMER0A);
+
+    tasks[0].period = 3;
+    tasks[0].enabled = 1;
+    tasks[0].pCallback = print;
+
+    tasks[1].period = 1.5;
+    tasks[1].enabled = 1;
+    tasks[1].pCallback = print2;
+
+    tasks[2].period = 1;
+    tasks[2].enabled = 1;
+    tasks[2].pCallback = print3;
+
+    AddTask(&tasks[0]);
+    AddTask(&tasks[1]);
+    AddTask(&tasks[2]);
+
+    while(1){
+    }
 }
 
 void EnableClock(void){
-
+#ifdef PART_TM4C129
     SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
                       SYSCTL_OSC_MAIN |
                       SYSCTL_USE_PLL |
                       SYSCTL_CFG_VCO_480), SYS_CLK);
+#elif PART_TM4C123
+    SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN);
+    uint32_t g_ui32SysClock = SysCtlClockGet ();
+#endif
 }
 
 /*
     Enables all peripherals needed for this motor driver test
 */
 void EnablePeripherals(void){
     InitConsole();
-
-    InitializeTaskScheduler(TIMER0_BASE, SYS_CLK, INT_TIMER0A);
-
-    while(1){
-        UARTprintf("Hello world!");
-        SysCtlDelay(SYS_CLK / 3);
-    }
 }
 
 //Initializes UART0 to be used as a console.

targetConfigs/Tiva TM4C123GH6PM.ccxml

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<configurations XML_version="1.2" id="configurations_0">
+    <configuration XML_version="1.2" id="configuration_0">
+        <instance XML_version="1.2" desc="Stellaris In-Circuit Debug Interface" href="connections/Stellaris_ICDI_Connection.xml" id="Stellaris In-Circuit Debug Interface" xml="Stellaris_ICDI_Connection.xml" xmlpath="connections"/>
+        <connection XML_version="1.2" id="Stellaris In-Circuit Debug Interface">
+            <instance XML_version="1.2" href="drivers/stellaris_cs_dap.xml" id="drivers" xml="stellaris_cs_dap.xml" xmlpath="drivers"/>
+            <instance XML_version="1.2" href="drivers/stellaris_cortex_m4.xml" id="drivers" xml="stellaris_cortex_m4.xml" xmlpath="drivers"/>
+            <platform XML_version="1.2" id="platform_0">
+                <instance XML_version="1.2" desc="Tiva TM4C123GH6PM" href="devices/tm4c123gh6pm.xml" id="Tiva TM4C123GH6PM" xml="tm4c123gh6pm.xml" xmlpath="devices"/>
+            </platform>
+        </connection>
+    </configuration>
+</configurations>

tm4c123gh6pm.cmd

@@ -0,0 +1,45 @@
+/******************************************************************************
+ *
+ * Default Linker Command file for the Texas Instruments TM4C123GH6PM
+ *
+ * This is derived from revision 15071 of the TivaWare Library.
+ *
+ *****************************************************************************/
+
+--retain=g_pfnVectors
+
+MEMORY
+{
+    FLASH (RX) : origin = 0x00000000, length = 0x00040000
+    SRAM (RWX) : origin = 0x20000000, length = 0x00008000
+}
+
+/* The following command line options are set as part of the CCS project.    */
+/* If you are building using the command line, or for some reason want to    */
+/* define them here, you can uncomment and modify these lines as needed.     */
+/* If you are using CCS for building, it is probably better to make any such */
+/* modifications in your CCS project and leave this file alone.              */
+/*                                                                           */
+/* --heap_size=0                                                             */
+/* --stack_size=256                                                          */
+/* --library=rtsv7M4_T_le_eabi.lib                                           */
+
+/* Section allocation in memory */
+
+SECTIONS
+{
+    .intvecs:   > 0x00000000
+    .text   :   > FLASH
+    .const  :   > FLASH
+    .cinit  :   > FLASH
+    .pinit  :   > FLASH
+    .init_array : > FLASH
+
+    .vtable :   > 0x20000000
+    .data   :   > SRAM
+    .bss    :   > SRAM
+    .sysmem :   > SRAM
+    .stack  :   > SRAM
+}
+
+__STACK_TOP = __stack + 512;