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 #include <FreeRTOS.h>
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59 /* Task priorities. */
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60 #define mainSTDOUT_TASK_PRIORITY tskIDLE_PRIORITY
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63 #define mainSTDOUT_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
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65 /* File scope variables. */
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66 static volatile unsigned long ul1 = 0, ul2 = 0;
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67 static xQueueHandle xStdoutQueue = NULL;
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69 /* Task function prototypes. */
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70 static void prvTask1( void *pvParameters );
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71 static void prvTask2( void *pvParameters );
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72 static void prvStdoutTask( void *pvParameters );
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74 /* Create a queue on which console output strings can be posted, then start the
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75 task that processes the queue - printf()'ing each string that is received. */
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76 static void prvStartStdoutTask( void );
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78 /* Post a message for output by the stdout task. Basically queues the message
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79 pointed to by pcTextToPrint for output to stdout in a thread safe manner. */
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80 void vMainConsolePrint( const char *pcTextToPrint, portTickType xTicksToWait );
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82 volatile unsigned long ulIdleCount = 0UL, ulT1Count = 0UL, ulT2Count = 0UL, ulTicks = 0UL;
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83 /*-----------------------------------------------------------*/
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87 prvStartStdoutTask();
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88 xTaskCreate( prvTask1, "t1", 100, NULL, 0, NULL );
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89 xTaskCreate( prvTask2, "t2", 100, NULL, 0, NULL );
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90 vTaskStartScheduler();
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92 /* Should never get here unless there was not enough heap space to create
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93 the idle and other system tasks. */
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96 /*-----------------------------------------------------------*/
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98 void vMainConsolePrint( const char *pcTextToPrint, portTickType xTicksToWait )
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100 if( xStdoutQueue != NULL )
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102 xQueueSend( xStdoutQueue, &pcTextToPrint, xTicksToWait );
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105 /*-----------------------------------------------------------*/
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107 static void prvStartStdoutTask( void )
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109 const unsigned long ulQueueLength = 20;
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111 /* Create the queue on which starings for output will be stored. */
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112 xStdoutQueue = xQueueCreate( ulQueueLength, ( unsigned portBASE_TYPE ) sizeof( char * ) );
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114 if( xStdoutQueue != NULL )
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116 /* Create the task that processes the stdout messages. */
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117 xTaskCreate( prvStdoutTask, "stdout task", mainSTDOUT_TASK_STACK_SIZE, NULL, mainSTDOUT_TASK_PRIORITY, NULL );
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120 /*-----------------------------------------------------------*/
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122 static void prvStdoutTask( void *pvParameters )
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126 /* Just to remove compiler warnings. */
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127 ( void ) pvParameters;
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131 /* This task would not have been created if the queue had not been created
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132 successfully too. Also, because of the FreeRTOSConfig.h settings using
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133 portMAX_DELAY in this case means wait forever, so when this function returns
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134 we know there is a string to print. */
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135 xQueueReceive( xStdoutQueue, &pcString, portMAX_DELAY );
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136 printf( "%s", pcString );
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137 //fflush( stdout );
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140 /*-----------------------------------------------------------*/
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142 static void prvTask1( void *pvParameters )
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144 const char *pcTask1Message = "Task 1 running\r\n";
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145 const portTickType xTicksToDelay = 1000 / portTICK_RATE_MS;
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147 /* Just to remove compiler warnings. */
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148 ( void ) pvParameters;
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153 vMainConsolePrint( pcTask1Message, 0 );
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154 vTaskDelay( xTicksToDelay );
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158 /*-----------------------------------------------------------*/
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160 static void prvTask2( void *pvParameters )
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162 const char *pcTask2Message = "Task 2 running\r\n";
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163 const portTickType xTicksToDelay = 500 / portTICK_RATE_MS;
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165 /* Just to remove compiler warnings. */
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166 ( void ) pvParameters;
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171 vMainConsolePrint( pcTask2Message, 0 );
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172 vTaskDelay( xTicksToDelay );
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177 /*-----------------------------------------------------------*/
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179 void vApplicationIdleHook()
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181 const unsigned long ulMSToSleep = 5;
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183 /* Sleep to reduce CPU load, but don't sleep indefinitely if not using
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184 preemption as as nothing will cause a task switch. */
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185 #if configUSE_PREEMPTION != 0
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187 SleepEx( INFINITE, TRUE );
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191 SleepEx( ulMSToSleep, TRUE );
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