2 FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS books - available as PDF or paperback *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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55 *******************************************************************************
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56 * -NOTE- The Win32 port is a simulation (or is that emulation?) only! Do not
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57 * expect to get real time behaviour from the Win32 port or this demo
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58 * application. It is provided as a convenient development and demonstration
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59 * test bed only. Also, at the time of writing, a method of deleting theads
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60 * has not been implemented, although doing so would be trivial so this
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61 * functionality might be added in at a later date. At present, calling
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62 * vTaskDelete() will delete the real time task from FreeRTOS but not the Win32
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63 * thread in which the task was executing. DO NOT CALL vTaskDelete() when using
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64 * the Win32 port! This was tested using Windows XP on a dual core laptop.
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66 * - READ THE WEB DOCUMENTATION FOR THIS PORT FOR MORE INFORMATION ON USING IT -
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67 *******************************************************************************
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69 * main() creates all the demo application tasks, then starts the scheduler.
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70 * The web documentation provides more details of the standard demo application
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71 * tasks, which provide no particular functionality but do provide a good
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72 * example of how to use the FreeRTOS API.
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74 * In addition to the standard demo tasks, the following tasks and tests are
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75 * defined and/or created within this file:
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77 * "Check" task - This only executes every five seconds but has a high priority
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78 * to ensure it gets processor time. Its main function is to check that all the
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79 * standard demo tasks are still operational. While no errors have been
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80 * discovered the check task will print out "OK" and the current simulated tick
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81 * time. If an error is discovered in the execution of a task then the check
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82 * task will print out an appropriate error message.
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87 /* Standard includes. */
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90 /* Kernel includes. */
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91 #include <FreeRTOS.h>
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95 /* Standard demo includes. */
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96 #include "partest.h"
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99 #include "integer.h"
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100 #include "semtest.h"
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102 #include "GenQTest.h"
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104 #include "recmutex.h"
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107 /* Priorities at which the tasks are created. */
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108 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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109 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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110 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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111 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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112 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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113 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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114 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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115 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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116 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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117 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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119 /* Task function prototypes. */
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120 static void prvCheckTask( void *pvParameters );
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122 /*-----------------------------------------------------------*/
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126 /* Start the check task as described at the top of this file. */
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127 xTaskCreate( prvCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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129 /* Create the standard demo tasks. */
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130 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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131 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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132 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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133 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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134 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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135 vStartQueuePeekTasks();
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136 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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137 vStartRecursiveMutexTasks();
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139 /* Start the scheduler itself. */
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140 vTaskStartScheduler();
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142 /* Should never get here unless there was not enough heap space to create
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143 the idle and other system tasks. */
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146 /*-----------------------------------------------------------*/
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148 static void prvCheckTask( void *pvParameters )
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150 portTickType xNextWakeTime;
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151 const portTickType xCycleFrequency = 5000 / portTICK_RATE_MS;
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152 char *pcStatusMessage = "OK";
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154 /* Just to remove compiler warning. */
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155 ( void ) pvParameters;
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157 /* Initialise xNextWakeTime - this only needs to be done once. */
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158 xNextWakeTime = xTaskGetTickCount();
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162 /* Place this task in the blocked state until it is time to run again. */
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163 vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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165 /* Check the standard demo tasks are running without error. */
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166 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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168 pcStatusMessage = "Error: IntMath";
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170 else if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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172 pcStatusMessage = "Error: GenQueue";
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174 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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176 pcStatusMessage = "Error: QueuePeek";
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178 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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180 pcStatusMessage = "Error: BlockQueue";
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182 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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184 pcStatusMessage = "Error: SemTest";
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186 else if( xArePollingQueuesStillRunning() != pdTRUE )
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188 pcStatusMessage = "Error: PollQueue";
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190 else if( xAreMathsTaskStillRunning() != pdPASS )
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192 pcStatusMessage = "Error: Flop";
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194 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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196 pcStatusMessage = "Error: RecMutex";
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199 /* This is the only task that uses stdout so its ok to call printf()
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201 printf( "%s - %d\r\n", pcStatusMessage, xTaskGetTickCount() );
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204 /*-----------------------------------------------------------*/
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206 void vApplicationIdleHook( void )
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208 /* Sleep to reduce CPU load, but don't sleep indefinitely if not using
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209 preemption as as nothing will cause a task switch. */
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210 #if( configUSE_PREEMPTION != 0 )
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212 SleepEx( INFINITE, TRUE );
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216 const unsigned long ulMSToSleep = 5;
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218 SleepEx( ulMSToSleep, TRUE );
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222 /*-----------------------------------------------------------*/
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224 void vApplicationMallocFailedHook( void )
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226 /* Can be implemented if required, but probably not required in this
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227 environment and running this demo. */
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229 /*-----------------------------------------------------------*/
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231 void vApplicationStackOverflowHook( void )
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233 /* Can be implemented if required, but not required in this
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234 environment and running this demo. */
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