/* | |
FreeRTOS V8.0.1 - 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! | |
*/ | |
/** | |
* Create a single persistent task which periodically dynamically creates another | |
* two tasks. The original task is called the creator task, the two tasks it | |
* creates are called suicidal tasks. | |
* | |
* One of the created suicidal tasks kill one other suicidal task before killing | |
* itself - leaving just the original task remaining. | |
* | |
* The creator task must be spawned after all of the other demo application tasks | |
* as it keeps a check on the number of tasks under the scheduler control. The | |
* number of tasks it expects to see running should never be greater than the | |
* number of tasks that were in existence when the creator task was spawned, plus | |
* one set of four suicidal tasks. If this number is exceeded an error is flagged. | |
* | |
* \page DeathC death.c | |
* \ingroup DemoFiles | |
* <HR> | |
*/ | |
#include <stdlib.h> | |
/* Scheduler include files. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Demo program include files. */ | |
#include "death.h" | |
#define deathSTACK_SIZE ( configMINIMAL_STACK_SIZE + 60 ) | |
/* The task originally created which is responsible for periodically dynamically | |
creating another four tasks. */ | |
static portTASK_FUNCTION_PROTO( vCreateTasks, pvParameters ); | |
/* The task function of the dynamically created tasks. */ | |
static portTASK_FUNCTION_PROTO( vSuicidalTask, pvParameters ); | |
/* A variable which is incremented every time the dynamic tasks are created. This | |
is used to check that the task is still running. */ | |
static volatile unsigned short usCreationCount = 0; | |
/* Used to store the number of tasks that were originally running so the creator | |
task can tell if any of the suicidal tasks have failed to die. | |
*/ | |
static volatile unsigned portBASE_TYPE uxTasksRunningAtStart = 0; | |
/* Tasks are deleted by the idle task. Under heavy load the idle task might | |
not get much processing time, so it would be legitimate for several tasks to | |
remain undeleted for a short period. */ | |
static const unsigned portBASE_TYPE uxMaxNumberOfExtraTasksRunning = 3; | |
/* Used to store a handle to the task that should be killed by a suicidal task, | |
before it kills itself. */ | |
TaskHandle_t xCreatedTask; | |
/*-----------------------------------------------------------*/ | |
void vCreateSuicidalTasks( unsigned portBASE_TYPE uxPriority ) | |
{ | |
unsigned portBASE_TYPE *puxPriority; | |
/* Create the Creator tasks - passing in as a parameter the priority at which | |
the suicidal tasks should be created. */ | |
puxPriority = ( unsigned portBASE_TYPE * ) pvPortMalloc( sizeof( unsigned portBASE_TYPE ) ); | |
*puxPriority = uxPriority; | |
xTaskCreate( vCreateTasks, "CREATOR", deathSTACK_SIZE, ( void * ) puxPriority, uxPriority, NULL ); | |
/* Record the number of tasks that are running now so we know if any of the | |
suicidal tasks have failed to be killed. */ | |
uxTasksRunningAtStart = ( unsigned portBASE_TYPE ) uxTaskGetNumberOfTasks(); | |
/* FreeRTOS.org versions before V3.0 started the idle-task as the very | |
first task. The idle task was then already included in uxTasksRunningAtStart. | |
From FreeRTOS V3.0 on, the idle task is started when the scheduler is | |
started. Therefore the idle task is not yet accounted for. We correct | |
this by increasing uxTasksRunningAtStart by 1. */ | |
uxTasksRunningAtStart++; | |
/* From FreeRTOS version 7.0.0 can optionally create a timer service task. | |
If this is done, then uxTasksRunningAtStart needs incrementing again as that | |
too is created when the scheduler is started. */ | |
#if configUSE_TIMERS == 1 | |
uxTasksRunningAtStart++; | |
#endif | |
} | |
/*-----------------------------------------------------------*/ | |
static portTASK_FUNCTION( vSuicidalTask, pvParameters ) | |
{ | |
volatile long l1, l2; | |
TaskHandle_t xTaskToKill; | |
const TickType_t xDelay = ( TickType_t ) 200 / portTICK_PERIOD_MS; | |
if( pvParameters != NULL ) | |
{ | |
/* This task is periodically created four times. Two created tasks are | |
passed a handle to the other task so it can kill it before killing itself. | |
The other task is passed in null. */ | |
xTaskToKill = *( TaskHandle_t* )pvParameters; | |
} | |
else | |
{ | |
xTaskToKill = NULL; | |
} | |
for( ;; ) | |
{ | |
/* Do something random just to use some stack and registers. */ | |
l1 = 2; | |
l2 = 89; | |
l2 *= l1; | |
vTaskDelay( xDelay ); | |
if( xTaskToKill != NULL ) | |
{ | |
/* Make sure the other task has a go before we delete it. */ | |
vTaskDelay( ( TickType_t ) 0 ); | |
/* Kill the other task that was created by vCreateTasks(). */ | |
vTaskDelete( xTaskToKill ); | |
/* Kill ourselves. */ | |
vTaskDelete( NULL ); | |
} | |
} | |
}/*lint !e818 !e550 Function prototype must be as per standard for task functions. */ | |
/*-----------------------------------------------------------*/ | |
static portTASK_FUNCTION( vCreateTasks, pvParameters ) | |
{ | |
const TickType_t xDelay = ( TickType_t ) 1000 / portTICK_PERIOD_MS; | |
unsigned portBASE_TYPE uxPriority; | |
uxPriority = *( unsigned portBASE_TYPE * ) pvParameters; | |
vPortFree( pvParameters ); | |
for( ;; ) | |
{ | |
/* Just loop round, delaying then creating the four suicidal tasks. */ | |
vTaskDelay( xDelay ); | |
xCreatedTask = NULL; | |
xTaskCreate( vSuicidalTask, "SUICID1", configMINIMAL_STACK_SIZE, NULL, uxPriority, &xCreatedTask ); | |
xTaskCreate( vSuicidalTask, "SUICID2", configMINIMAL_STACK_SIZE, &xCreatedTask, uxPriority, NULL ); | |
++usCreationCount; | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
/* This is called to check that the creator task is still running and that there | |
are not any more than four extra tasks. */ | |
portBASE_TYPE xIsCreateTaskStillRunning( void ) | |
{ | |
static unsigned short usLastCreationCount = 0xfff; | |
portBASE_TYPE xReturn = pdTRUE; | |
static unsigned portBASE_TYPE uxTasksRunningNow; | |
if( usLastCreationCount == usCreationCount ) | |
{ | |
xReturn = pdFALSE; | |
} | |
else | |
{ | |
usLastCreationCount = usCreationCount; | |
} | |
uxTasksRunningNow = ( unsigned portBASE_TYPE ) uxTaskGetNumberOfTasks(); | |
if( uxTasksRunningNow < uxTasksRunningAtStart ) | |
{ | |
xReturn = pdFALSE; | |
} | |
else if( ( uxTasksRunningNow - uxTasksRunningAtStart ) > uxMaxNumberOfExtraTasksRunning ) | |
{ | |
xReturn = pdFALSE; | |
} | |
else | |
{ | |
/* Everything is okay. */ | |
} | |
return xReturn; | |
} | |