/* | |
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! | |
*/ | |
/* | |
******************************************************************************* | |
* NOTE 1: The Win32 port is a simulation (or is that emulation?) only! Do not | |
* expect to get real time behaviour from the Win32 port or this demo | |
* application. It is provided as a convenient development and demonstration | |
* test bed only. This was tested using Windows XP on a dual core laptop. | |
* | |
* Windows will not be running the FreeRTOS simulator threads continuously, so | |
* the timing information in the FreeRTOS+Trace logs have no meaningful units. | |
* See the documentation page for the Windows simulator for an explanation of | |
* the slow timing: | |
* http://www.freertos.org/FreeRTOS-Windows-Simulator-Emulator-for-Visual-Studio-and-Eclipse-MingW.html | |
* - READ THE WEB DOCUMENTATION FOR THIS PORT FOR MORE INFORMATION ON USING IT - | |
* | |
* NOTE 2: This project provides two demo applications. A simple blinky style | |
* project, and a more comprehensive test and demo application. The | |
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select | |
* between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY | |
* in main.c. This file implements the comprehensive test and demo version. | |
* | |
* NOTE 3: This file only contains the source code that is specific to the | |
* basic demo. Generic functions, such FreeRTOS hook functions, are defined in | |
* main.c. | |
******************************************************************************* | |
* | |
* main() creates all the demo application tasks, then starts the scheduler. | |
* The web documentation provides more details of the standard demo application | |
* tasks, which provide no particular functionality but do provide a good | |
* example of how to use the FreeRTOS API. | |
* | |
* In addition to the standard demo tasks, the following tasks and tests are | |
* defined and/or created within this file: | |
* | |
* "Check" task - This only executes every five seconds but has a high priority | |
* to ensure it gets processor time. Its main function is to check that all the | |
* standard demo tasks are still operational. While no errors have been | |
* discovered the check task will print out "OK" and the current simulated tick | |
* time. If an error is discovered in the execution of a task then the check | |
* task will print out an appropriate error message. | |
* | |
*/ | |
/* Standard includes. */ | |
#include <stdio.h> | |
#include <stdlib.h> | |
/* Kernel includes. */ | |
#include <FreeRTOS.h> | |
#include "task.h" | |
#include "queue.h" | |
#include "timers.h" | |
#include "semphr.h" | |
/* Standard demo includes. */ | |
#include "BlockQ.h" | |
#include "integer.h" | |
#include "semtest.h" | |
#include "PollQ.h" | |
#include "GenQTest.h" | |
#include "QPeek.h" | |
#include "recmutex.h" | |
#include "flop.h" | |
#include "TimerDemo.h" | |
#include "countsem.h" | |
#include "death.h" | |
#include "dynamic.h" | |
#include "QueueSet.h" | |
#include "QueueOverwrite.h" | |
#include "EventGroupsDemo.h" | |
/* Priorities at which the tasks are created. */ | |
#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 2 ) | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
#define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainTIMER_TEST_PERIOD ( 50 ) | |
/* Task function prototypes. */ | |
static void prvCheckTask( void *pvParameters ); | |
/* A task that is created from the idle task to test the functionality of | |
eTaskStateGet(). */ | |
static void prvTestTask( void *pvParameters ); | |
/* | |
* Called from the idle task hook function to demonstrate a few utility | |
* functions that are not demonstrated by any of the standard demo tasks. | |
*/ | |
static void prvDemonstrateTaskStateAndHandleGetFunctions( void ); | |
/* | |
* Called from the idle task hook function to demonstrate the use of | |
* xTimerPendFunctionCall() as xTimerPendFunctionCall() is not demonstrated by | |
* any of the standard demo tasks. | |
*/ | |
static void prvDemonstratePendingFunctionCall( void ); | |
/* | |
* The function that is pended by prvDemonstratePendingFunctionCall(). | |
*/ | |
static void prvPendedFunction( void *pvParameter1, uint32_t ulParameter2 ); | |
/* | |
* A task to demonstrate the use of the xQueueSpacesAvailable() function. | |
*/ | |
static void prvDemoQueueSpaceFunctions( void *pvParameters ); | |
/*-----------------------------------------------------------*/ | |
/* The variable into which error messages are latched. */ | |
static char *pcStatusMessage = "OK"; | |
/* This semaphore is created purely to test using the vSemaphoreDelete() and | |
semaphore tracing API functions. It has no other purpose. */ | |
static SemaphoreHandle_t xMutexToDelete = NULL; | |
/*-----------------------------------------------------------*/ | |
int main_full( void ) | |
{ | |
/* Start the check task as described at the top of this file. */ | |
xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* Create the standard demo tasks. */ | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY ); | |
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY ); | |
vStartQueuePeekTasks(); | |
vStartMathTasks( mainFLOP_TASK_PRIORITY ); | |
vStartRecursiveMutexTasks(); | |
vStartCountingSemaphoreTasks(); | |
vStartDynamicPriorityTasks(); | |
vStartQueueSetTasks(); | |
vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY ); | |
xTaskCreate( prvDemoQueueSpaceFunctions, "QSpace", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); | |
vStartEventGroupTasks(); | |
#if( configUSE_PREEMPTION != 0 ) | |
{ | |
/* Don't expect these tasks to pass when preemption is not used. */ | |
vStartTimerDemoTask( mainTIMER_TEST_PERIOD ); | |
} | |
#endif | |
/* The suicide tasks must be created last as they need to know how many | |
tasks were running prior to their creation. This then allows them to | |
ascertain whether or not the correct/expected number of tasks are running at | |
any given time. */ | |
vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY ); | |
/* Create the semaphore that will be deleted in the idle task hook. This | |
is done purely to test the use of vSemaphoreDelete(). */ | |
xMutexToDelete = xSemaphoreCreateMutex(); | |
/* Start the scheduler itself. */ | |
vTaskStartScheduler(); | |
/* Should never get here unless there was not enough heap space to create | |
the idle and other system tasks. */ | |
return 0; | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvCheckTask( void *pvParameters ) | |
{ | |
TickType_t xNextWakeTime; | |
const TickType_t xCycleFrequency = 2500 / portTICK_PERIOD_MS; | |
/* Just to remove compiler warning. */ | |
( void ) pvParameters; | |
/* Initialise xNextWakeTime - this only needs to be done once. */ | |
xNextWakeTime = xTaskGetTickCount(); | |
for( ;; ) | |
{ | |
/* Place this task in the blocked state until it is time to run again. */ | |
vTaskDelayUntil( &xNextWakeTime, xCycleFrequency ); | |
/* Check the standard demo tasks are running without error. */ | |
#if( configUSE_PREEMPTION != 0 ) | |
{ | |
/* These tasks are only created when preemption is used. */ | |
if( xAreTimerDemoTasksStillRunning( xCycleFrequency ) != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: TimerDemo"; | |
} | |
} | |
#endif | |
if( xAreEventGroupTasksStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: EventGroup"; | |
} | |
else if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: IntMath"; | |
} | |
else if( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: GenQueue"; | |
} | |
else if( xAreQueuePeekTasksStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: QueuePeek"; | |
} | |
else if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: BlockQueue"; | |
} | |
else if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: SemTest"; | |
} | |
else if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: PollQueue"; | |
} | |
else if( xAreMathsTaskStillRunning() != pdPASS ) | |
{ | |
pcStatusMessage = "Error: Flop"; | |
} | |
else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: RecMutex"; | |
} | |
else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: CountSem"; | |
} | |
else if( xIsCreateTaskStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: Death"; | |
} | |
else if( xAreDynamicPriorityTasksStillRunning() != pdPASS ) | |
{ | |
pcStatusMessage = "Error: Dynamic"; | |
} | |
else if( xAreQueueSetTasksStillRunning() != pdPASS ) | |
{ | |
pcStatusMessage = "Error: Queue set"; | |
} | |
else if( xIsQueueOverwriteTaskStillRunning() != pdPASS ) | |
{ | |
pcStatusMessage = "Error: Queue overwrite"; | |
} | |
/* This is the only task that uses stdout so its ok to call printf() | |
directly. */ | |
printf( ( char * ) "%s - %u\r\n", pcStatusMessage, ( unsigned int ) xTaskGetTickCount() ); | |
fflush( stdout ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvTestTask( void *pvParameters ) | |
{ | |
const unsigned long ulMSToSleep = 5; | |
/* Just to remove compiler warnings. */ | |
( void ) pvParameters; | |
/* This task is just used to test the eTaskStateGet() function. It | |
does not have anything to do. */ | |
for( ;; ) | |
{ | |
/* Sleep to reduce CPU load, but don't sleep indefinitely in case there are | |
tasks waiting to be terminated by the idle task. */ | |
Sleep( ulMSToSleep ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
/* Called from vApplicationIdleHook(), which is defined in main.c. */ | |
void vFullDemoIdleFunction( void ) | |
{ | |
const unsigned long ulMSToSleep = 15; | |
void *pvAllocated; | |
/* Sleep to reduce CPU load, but don't sleep indefinitely in case there are | |
tasks waiting to be terminated by the idle task. */ | |
Sleep( ulMSToSleep ); | |
/* Demonstrate a few utility functions that are not demonstrated by any of | |
the standard demo tasks. */ | |
prvDemonstrateTaskStateAndHandleGetFunctions(); | |
/* Demonstrate the use of xTimerPendFunctionCall(), which is not | |
demonstrated by any of the standard demo tasks. */ | |
prvDemonstratePendingFunctionCall(); | |
/* If xMutexToDelete has not already been deleted, then delete it now. | |
This is done purely to demonstrate the use of, and test, the | |
vSemaphoreDelete() macro. Care must be taken not to delete a semaphore | |
that has tasks blocked on it. */ | |
if( xMutexToDelete != NULL ) | |
{ | |
vSemaphoreDelete( xMutexToDelete ); | |
xMutexToDelete = NULL; | |
} | |
/* Exercise heap_4 a bit. The malloc failed hook will trap failed | |
allocations so there is no need to test here. */ | |
pvAllocated = pvPortMalloc( ( rand() % 100 ) + 1 ); | |
vPortFree( pvAllocated ); | |
} | |
/*-----------------------------------------------------------*/ | |
/* Called by vApplicationTickHook(), which is defined in main.c. */ | |
void vFullDemoTickHookFunction( void ) | |
{ | |
/* Call the periodic timer test, which tests the timer API functions that | |
can be called from an ISR. */ | |
#if( configUSE_PREEMPTION != 0 ) | |
{ | |
/* Only created when preemption is used. */ | |
vTimerPeriodicISRTests(); | |
} | |
#endif | |
/* Call the periodic queue overwrite from ISR demo. */ | |
vQueueOverwritePeriodicISRDemo(); | |
/* Write to a queue that is in use as part of the queue set demo to | |
demonstrate using queue sets from an ISR. */ | |
vQueueSetAccessQueueSetFromISR(); | |
/* Exercise event groups from interrupts. */ | |
vPeriodicEventGroupsProcessing(); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvPendedFunction( void *pvParameter1, uint32_t ulParameter2 ) | |
{ | |
static uint32_t ulLastParameter1 = 1000UL, ulLastParameter2 = 0UL; | |
uint32_t ulParameter1; | |
ulParameter1 = ( uint32_t ) pvParameter1; | |
/* Ensure the parameters are as expected. */ | |
configASSERT( ulParameter1 == ( ulLastParameter1 + 1 ) ); | |
configASSERT( ulParameter2 == ( ulLastParameter2 + 1 ) ); | |
/* Remember the parameters for the next time the function is called. */ | |
ulLastParameter1 = ulParameter1; | |
ulLastParameter2 = ulParameter2; | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvDemonstratePendingFunctionCall( void ) | |
{ | |
static uint32_t ulParameter1 = 1000UL, ulParameter2 = 0UL; | |
const TickType_t xDontBlock = 0; /* This is called from the idle task so must *not* attempt to block. */ | |
/* prvPendedFunction() just expects the parameters to be incremented by one | |
each time it is called. */ | |
ulParameter1++; | |
ulParameter2++; | |
/* Pend the function call, sending the parameters. */ | |
xTimerPendFunctionCall( prvPendedFunction, ( void * ) ulParameter1, ulParameter2, xDontBlock ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvDemonstrateTaskStateAndHandleGetFunctions( void ) | |
{ | |
TaskHandle_t xIdleTaskHandle, xTimerTaskHandle; | |
char *pcTaskName; | |
static portBASE_TYPE xPerformedOneShotTests = pdFALSE; | |
TaskHandle_t xTestTask; | |
/* Demonstrate the use of the xTimerGetTimerDaemonTaskHandle() and | |
xTaskGetIdleTaskHandle() functions. Also try using the function that sets | |
the task number. */ | |
xIdleTaskHandle = xTaskGetIdleTaskHandle(); | |
xTimerTaskHandle = xTimerGetTimerDaemonTaskHandle(); | |
/* This is the idle hook, so the current task handle should equal the | |
returned idle task handle. */ | |
if( xTaskGetCurrentTaskHandle() != xIdleTaskHandle ) | |
{ | |
pcStatusMessage = "Error: Returned idle task handle was incorrect"; | |
} | |
/* Check the timer task handle was returned correctly. */ | |
pcTaskName = pcTaskGetTaskName( xTimerTaskHandle ); | |
if( strcmp( pcTaskName, "Tmr Svc" ) != 0 ) | |
{ | |
pcStatusMessage = "Error: Returned timer task handle was incorrect"; | |
} | |
/* This task is running, make sure it's state is returned as running. */ | |
if( eTaskStateGet( xIdleTaskHandle ) != eRunning ) | |
{ | |
pcStatusMessage = "Error: Returned idle task state was incorrect"; | |
} | |
/* If this task is running, then the timer task must be blocked. */ | |
if( eTaskStateGet( xTimerTaskHandle ) != eBlocked ) | |
{ | |
pcStatusMessage = "Error: Returned timer task state was incorrect"; | |
} | |
/* Other tests that should only be performed once follow. The test task | |
is not created on each iteration because to do so would cause the death | |
task to report an error (too many tasks running). */ | |
if( xPerformedOneShotTests == pdFALSE ) | |
{ | |
/* Don't run this part of the test again. */ | |
xPerformedOneShotTests = pdTRUE; | |
/* Create a test task to use to test other eTaskStateGet() return values. */ | |
if( xTaskCreate( prvTestTask, "Test", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTestTask ) == pdPASS ) | |
{ | |
/* If this task is running, the test task must be in the ready state. */ | |
if( eTaskStateGet( xTestTask ) != eReady ) | |
{ | |
pcStatusMessage = "Error: Returned test task state was incorrect 1"; | |
} | |
/* Now suspend the test task and check its state is reported correctly. */ | |
vTaskSuspend( xTestTask ); | |
if( eTaskStateGet( xTestTask ) != eSuspended ) | |
{ | |
pcStatusMessage = "Error: Returned test task state was incorrect 2"; | |
} | |
/* Now delete the task and check its state is reported correctly. */ | |
vTaskDelete( xTestTask ); | |
if( eTaskStateGet( xTestTask ) != eDeleted ) | |
{ | |
pcStatusMessage = "Error: Returned test task state was incorrect 3"; | |
} | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvDemoQueueSpaceFunctions( void *pvParameters ) | |
{ | |
QueueHandle_t xQueue = NULL; | |
const unsigned portBASE_TYPE uxQueueLength = 10; | |
unsigned portBASE_TYPE uxReturn, x; | |
/* Remove compiler warnings. */ | |
( void ) pvParameters; | |
/* Create the queue that will be used. Nothing is actually going to be | |
sent or received so the queue item size is set to 0. */ | |
xQueue = xQueueCreate( uxQueueLength, 0 ); | |
configASSERT( xQueue ); | |
for( ;; ) | |
{ | |
for( x = 0; x < uxQueueLength; x++ ) | |
{ | |
/* Ask how many messages are available... */ | |
uxReturn = uxQueueMessagesWaiting( xQueue ); | |
/* Check the number of messages being reported as being available | |
is as expected, and force an assert if not. */ | |
if( uxReturn != x ) | |
{ | |
/* xQueue cannot be NULL so this is deliberately causing an | |
assert to be triggered as there is an error. */ | |
configASSERT( xQueue == NULL ); | |
} | |
/* Ask how many spaces remain in the queue... */ | |
uxReturn = uxQueueSpacesAvailable( xQueue ); | |
/* Check the number of spaces being reported as being available | |
is as expected, and force an assert if not. */ | |
if( uxReturn != ( uxQueueLength - x ) ) | |
{ | |
/* xQueue cannot be NULL so this is deliberately causing an | |
assert to be triggered as there is an error. */ | |
configASSERT( xQueue == NULL ); | |
} | |
/* Fill one more space in the queue. */ | |
xQueueSendToBack( xQueue, NULL, 0 ); | |
} | |
/* Perform the same check while the queue is full. */ | |
uxReturn = uxQueueMessagesWaiting( xQueue ); | |
if( uxReturn != uxQueueLength ) | |
{ | |
configASSERT( xQueue == NULL ); | |
} | |
uxReturn = uxQueueSpacesAvailable( xQueue ); | |
if( uxReturn != 0 ) | |
{ | |
configASSERT( xQueue == NULL ); | |
} | |
/* The queue is full, start again. */ | |
xQueueReset( xQueue ); | |
#if( configUSE_PREEMPTION == 0 ) | |
taskYIELD(); | |
#endif | |
} | |
} | |