| /* | |
| 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: 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 simply blinky style version. | |
| * | |
| * NOTE 2: This file only contains the source code that is specific to the | |
| * basic demo. Generic functions, such FreeRTOS hook functions, and functions | |
| * required to configure the hardware, are defined in main.c. | |
| ****************************************************************************** | |
| * | |
| * main_blinky() creates one queue, and two tasks. It then starts the | |
| * scheduler. | |
| * | |
| * The Queue Send Task: | |
| * The queue send task is implemented by the prvQueueSendTask() function in | |
| * this file. prvQueueSendTask() sits in a loop that causes it to repeatedly | |
| * block for 200 milliseconds, before sending the value 100 to the queue that | |
| * was created within main_blinky(). Once the value is sent, the task loops | |
| * back around to block for another 200 milliseconds. | |
| * | |
| * The Queue Receive Task: | |
| * The queue receive task is implemented by the prvQueueReceiveTask() function | |
| * in this file. prvQueueReceiveTask() sits in a loop where it repeatedly | |
| * blocks on attempts to read data from the queue that was created within | |
| * main_blinky(). When data is received, the task checks the value of the | |
| * data, and if the value equals the expected 100, toggles the LED. The 'block | |
| * time' parameter passed to the queue receive function specifies that the | |
| * task should be held in the Blocked state indefinitely to wait for data to | |
| * be available on the queue. The queue receive task will only leave the | |
| * Blocked state when the queue send task writes to the queue. As the queue | |
| * send task writes to the queue every 200 milliseconds, the queue receive | |
| * task leaves the Blocked state every 200 milliseconds, and therefore toggles | |
| * the LED every 200 milliseconds. | |
| */ | |
| /* Standard includes. */ | |
| #include <stdio.h> | |
| /* Kernel includes. */ | |
| #include "FreeRTOS.h" | |
| #include "task.h" | |
| #include "semphr.h" | |
| /* Priorities at which the tasks are created. */ | |
| #define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
| #define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
| /* The rate at which data is sent to the queue. The 200ms value is converted | |
| to ticks using the portTICK_PERIOD_MS constant. */ | |
| #define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_PERIOD_MS ) | |
| /* The number of items the queue can hold. This is 1 as the receive task | |
| will remove items as they are added, meaning the send task should always find | |
| the queue empty. */ | |
| #define mainQUEUE_LENGTH ( 1 ) | |
| /* Values passed to the two tasks just to check the task parameter | |
| functionality. */ | |
| #define mainQUEUE_SEND_PARAMETER ( 0x1111UL ) | |
| #define mainQUEUE_RECEIVE_PARAMETER ( 0x22UL ) | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * The tasks as described in the comments at the top of this file. | |
| */ | |
| static void prvQueueReceiveTask( void *pvParameters ); | |
| static void prvQueueSendTask( void *pvParameters ); | |
| /* | |
| * Called by main() to create the simply blinky style application if | |
| * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1. | |
| */ | |
| void main_blinky( void ); | |
| /*-----------------------------------------------------------*/ | |
| /* The queue used by both tasks. */ | |
| static QueueHandle_t xQueue = NULL; | |
| /*-----------------------------------------------------------*/ | |
| void main_blinky( void ) | |
| { | |
| /* Create the queue. */ | |
| xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) ); | |
| if( xQueue != NULL ) | |
| { | |
| /* Start the two tasks as described in the comments at the top of this | |
| file. */ | |
| xTaskCreate( prvQueueReceiveTask, /* The function that implements the task. */ | |
| "Rx", /* The text name assigned to the task - for debug only as it is not used by the kernel. */ | |
| configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */ | |
| ( void * ) mainQUEUE_RECEIVE_PARAMETER, /* The parameter passed to the task - just to check the functionality. */ | |
| mainQUEUE_RECEIVE_TASK_PRIORITY, /* The priority assigned to the task. */ | |
| NULL ); /* The task handle is not required, so NULL is passed. */ | |
| xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, ( void * ) mainQUEUE_SEND_PARAMETER, mainQUEUE_SEND_TASK_PRIORITY, NULL ); | |
| /* Start the tasks and timer running. */ | |
| vTaskStartScheduler(); | |
| } | |
| /* If all is well, the scheduler will now be running, and the following | |
| line will never be reached. If the following line does execute, then | |
| there was insufficient FreeRTOS heap memory available for the idle and/or | |
| timer tasks to be created. See the memory management section on the | |
| FreeRTOS web site for more details. */ | |
| for( ;; ); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static void prvQueueSendTask( void *pvParameters ) | |
| { | |
| TickType_t xNextWakeTime; | |
| const unsigned long ulValueToSend = 100UL; | |
| /* Check the task parameter is as expected. */ | |
| configASSERT( ( ( unsigned long ) pvParameters ) == mainQUEUE_SEND_PARAMETER ); | |
| /* 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. | |
| The block time is specified in ticks, the constant used converts ticks | |
| to ms. While in the Blocked state this task will not consume any CPU | |
| time. */ | |
| vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS ); | |
| /* Send to the queue - causing the queue receive task to unblock and | |
| toggle the LED. 0 is used as the block time so the sending operation | |
| will not block - it shouldn't need to block as the queue should always | |
| be empty at this point in the code. */ | |
| xQueueSend( xQueue, &ulValueToSend, 0U ); | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static void prvQueueReceiveTask( void *pvParameters ) | |
| { | |
| unsigned long ulReceivedValue; | |
| /* Check the task parameter is as expected. */ | |
| configASSERT( ( ( unsigned long ) pvParameters ) == mainQUEUE_RECEIVE_PARAMETER ); | |
| for( ;; ) | |
| { | |
| /* Wait until something arrives in the queue - this task will block | |
| indefinitely provided INCLUDE_vTaskSuspend is set to 1 in | |
| FreeRTOSConfig.h. */ | |
| xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY ); | |
| /* To get here something must have been received from the queue, but | |
| is it the expected value? If it is, toggle the LED. */ | |
| if( ulReceivedValue == 100UL ) | |
| { | |
| configTOGGLE_LED(); | |
| ulReceivedValue = 0U; | |
| } | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |