2 FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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32 >>>NOTE<<< The modification to the GPL is included to allow you to
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33 distribute a combined work that includes FreeRTOS without being obliged to
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34 provide the source code for proprietary components outside of the FreeRTOS
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35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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38 more details. You should have received a copy of the GNU General Public
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39 License and the FreeRTOS license exception along with FreeRTOS; if not it
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40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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41 by writing to Richard Barry, contact details for whom are available on the
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46 ***************************************************************************
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48 * Having a problem? Start by reading the FAQ "My application does *
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49 * not run, what could be wrong?" *
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51 * http://www.FreeRTOS.org/FAQHelp.html *
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53 ***************************************************************************
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56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
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57 and contact details.
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59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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60 including FreeRTOS+Trace - an indispensable productivity tool.
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62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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63 the code with commercial support, indemnification, and middleware, under
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64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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65 provide a safety engineered and independently SIL3 certified version under
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66 the SafeRTOS brand: http://www.SafeRTOS.com.
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70 * Creates six tasks that operate on three queues as follows:
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72 * The first two tasks send and receive an incrementing number to/from a queue.
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73 * One task acts as a producer and the other as the consumer. The consumer is a
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74 * higher priority than the producer and is set to block on queue reads. The queue
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75 * only has space for one item - as soon as the producer posts a message on the
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76 * queue the consumer will unblock, pre-empt the producer, and remove the item.
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78 * The second two tasks work the other way around. Again the queue used only has
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79 * enough space for one item. This time the consumer has a lower priority than the
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80 * producer. The producer will try to post on the queue blocking when the queue is
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81 * full. When the consumer wakes it will remove the item from the queue, causing
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82 * the producer to unblock, pre-empt the consumer, and immediately re-fill the
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85 * The last two tasks use the same queue producer and consumer functions. This time the queue has
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86 * enough space for lots of items and the tasks operate at the same priority. The
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87 * producer will execute, placing items into the queue. The consumer will start
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88 * executing when either the queue becomes full (causing the producer to block) or
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89 * a context switch occurs (tasks of the same priority will time slice).
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97 + The second set of tasks were created the wrong way around. This has been
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102 #include <stdlib.h>
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104 /* Scheduler include files. */
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105 #include "FreeRTOS.h"
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109 /* Demo program include files. */
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110 #include "BlockQ.h"
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112 #define blckqSTACK_SIZE configMINIMAL_STACK_SIZE
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113 #define blckqNUM_TASK_SETS ( 3 )
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115 /* Structure used to pass parameters to the blocking queue tasks. */
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116 typedef struct BLOCKING_QUEUE_PARAMETERS
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118 xQueueHandle xQueue; /*< The queue to be used by the task. */
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119 portTickType xBlockTime; /*< The block time to use on queue reads/writes. */
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120 volatile short *psCheckVariable; /*< Incremented on each successful cycle to check the task is still running. */
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121 } xBlockingQueueParameters;
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123 /* Task function that creates an incrementing number and posts it on a queue. */
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124 static portTASK_FUNCTION_PROTO( vBlockingQueueProducer, pvParameters );
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126 /* Task function that removes the incrementing number from a queue and checks that
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127 it is the expected number. */
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128 static portTASK_FUNCTION_PROTO( vBlockingQueueConsumer, pvParameters );
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130 /* Variables which are incremented each time an item is removed from a queue, and
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131 found to be the expected value.
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132 These are used to check that the tasks are still running. */
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133 static volatile short sBlockingConsumerCount[ blckqNUM_TASK_SETS ] = { ( unsigned short ) 0, ( unsigned short ) 0, ( unsigned short ) 0 };
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135 /* Variable which are incremented each time an item is posted on a queue. These
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136 are used to check that the tasks are still running. */
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137 static volatile short sBlockingProducerCount[ blckqNUM_TASK_SETS ] = { ( unsigned short ) 0, ( unsigned short ) 0, ( unsigned short ) 0 };
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139 /*-----------------------------------------------------------*/
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141 void vStartBlockingQueueTasks( unsigned portBASE_TYPE uxPriority )
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143 xBlockingQueueParameters *pxQueueParameters1, *pxQueueParameters2;
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144 xBlockingQueueParameters *pxQueueParameters3, *pxQueueParameters4;
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145 xBlockingQueueParameters *pxQueueParameters5, *pxQueueParameters6;
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146 const unsigned portBASE_TYPE uxQueueSize1 = 1, uxQueueSize5 = 5;
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147 const portTickType xBlockTime = ( portTickType ) 1000 / portTICK_RATE_MS;
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148 const portTickType xDontBlock = ( portTickType ) 0;
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150 /* Create the first two tasks as described at the top of the file. */
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152 /* First create the structure used to pass parameters to the consumer tasks. */
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153 pxQueueParameters1 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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155 /* Create the queue used by the first two tasks to pass the incrementing number.
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156 Pass a pointer to the queue in the parameter structure. */
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157 pxQueueParameters1->xQueue = xQueueCreate( uxQueueSize1, ( unsigned portBASE_TYPE ) sizeof( unsigned short ) );
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159 /* The consumer is created first so gets a block time as described above. */
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160 pxQueueParameters1->xBlockTime = xBlockTime;
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162 /* Pass in the variable that this task is going to increment so we can check it
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163 is still running. */
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164 pxQueueParameters1->psCheckVariable = &( sBlockingConsumerCount[ 0 ] );
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166 /* Create the structure used to pass parameters to the producer task. */
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167 pxQueueParameters2 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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169 /* Pass the queue to this task also, using the parameter structure. */
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170 pxQueueParameters2->xQueue = pxQueueParameters1->xQueue;
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172 /* The producer is not going to block - as soon as it posts the consumer will
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173 wake and remove the item so the producer should always have room to post. */
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174 pxQueueParameters2->xBlockTime = xDontBlock;
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176 /* Pass in the variable that this task is going to increment so we can check
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177 it is still running. */
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178 pxQueueParameters2->psCheckVariable = &( sBlockingProducerCount[ 0 ] );
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181 /* Note the producer has a lower priority than the consumer when the tasks are
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183 xTaskCreate( vBlockingQueueConsumer, ( signed char * ) "QConsB1", blckqSTACK_SIZE, ( void * ) pxQueueParameters1, uxPriority, NULL );
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184 xTaskCreate( vBlockingQueueProducer, ( signed char * ) "QProdB2", blckqSTACK_SIZE, ( void * ) pxQueueParameters2, tskIDLE_PRIORITY, NULL );
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188 /* Create the second two tasks as described at the top of the file. This uses
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189 the same mechanism but reverses the task priorities. */
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191 pxQueueParameters3 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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192 pxQueueParameters3->xQueue = xQueueCreate( uxQueueSize1, ( unsigned portBASE_TYPE ) sizeof( unsigned short ) );
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193 pxQueueParameters3->xBlockTime = xDontBlock;
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194 pxQueueParameters3->psCheckVariable = &( sBlockingProducerCount[ 1 ] );
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196 pxQueueParameters4 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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197 pxQueueParameters4->xQueue = pxQueueParameters3->xQueue;
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198 pxQueueParameters4->xBlockTime = xBlockTime;
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199 pxQueueParameters4->psCheckVariable = &( sBlockingConsumerCount[ 1 ] );
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201 xTaskCreate( vBlockingQueueConsumer, ( signed char * ) "QConsB3", blckqSTACK_SIZE, ( void * ) pxQueueParameters3, tskIDLE_PRIORITY, NULL );
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202 xTaskCreate( vBlockingQueueProducer, ( signed char * ) "QProdB4", blckqSTACK_SIZE, ( void * ) pxQueueParameters4, uxPriority, NULL );
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206 /* Create the last two tasks as described above. The mechanism is again just
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207 the same. This time both parameter structures are given a block time. */
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208 pxQueueParameters5 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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209 pxQueueParameters5->xQueue = xQueueCreate( uxQueueSize5, ( unsigned portBASE_TYPE ) sizeof( unsigned short ) );
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210 pxQueueParameters5->xBlockTime = xBlockTime;
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211 pxQueueParameters5->psCheckVariable = &( sBlockingProducerCount[ 2 ] );
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213 pxQueueParameters6 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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214 pxQueueParameters6->xQueue = pxQueueParameters5->xQueue;
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215 pxQueueParameters6->xBlockTime = xBlockTime;
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216 pxQueueParameters6->psCheckVariable = &( sBlockingConsumerCount[ 2 ] );
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218 xTaskCreate( vBlockingQueueProducer, ( signed char * ) "QProdB5", blckqSTACK_SIZE, ( void * ) pxQueueParameters5, tskIDLE_PRIORITY, NULL );
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219 xTaskCreate( vBlockingQueueConsumer, ( signed char * ) "QConsB6", blckqSTACK_SIZE, ( void * ) pxQueueParameters6, tskIDLE_PRIORITY, NULL );
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221 /*-----------------------------------------------------------*/
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223 static portTASK_FUNCTION( vBlockingQueueProducer, pvParameters )
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225 unsigned short usValue = 0;
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226 xBlockingQueueParameters *pxQueueParameters;
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227 short sErrorEverOccurred = pdFALSE;
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229 pxQueueParameters = ( xBlockingQueueParameters * ) pvParameters;
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233 if( xQueueSend( pxQueueParameters->xQueue, ( void * ) &usValue, pxQueueParameters->xBlockTime ) != pdPASS )
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235 sErrorEverOccurred = pdTRUE;
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239 /* We have successfully posted a message, so increment the variable
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240 used to check we are still running. */
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241 if( sErrorEverOccurred == pdFALSE )
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243 ( *pxQueueParameters->psCheckVariable )++;
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246 /* Increment the variable we are going to post next time round. The
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247 consumer will expect the numbers to follow in numerical order. */
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252 /*-----------------------------------------------------------*/
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254 static portTASK_FUNCTION( vBlockingQueueConsumer, pvParameters )
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256 unsigned short usData, usExpectedValue = 0;
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257 xBlockingQueueParameters *pxQueueParameters;
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258 short sErrorEverOccurred = pdFALSE;
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260 pxQueueParameters = ( xBlockingQueueParameters * ) pvParameters;
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264 if( xQueueReceive( pxQueueParameters->xQueue, &usData, pxQueueParameters->xBlockTime ) == pdPASS )
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266 if( usData != usExpectedValue )
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269 usExpectedValue = usData;
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271 sErrorEverOccurred = pdTRUE;
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275 /* We have successfully received a message, so increment the
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276 variable used to check we are still running. */
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277 if( sErrorEverOccurred == pdFALSE )
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279 ( *pxQueueParameters->psCheckVariable )++;
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282 /* Increment the value we expect to remove from the queue next time
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289 /*-----------------------------------------------------------*/
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291 /* This is called to check that all the created tasks are still running. */
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292 portBASE_TYPE xAreBlockingQueuesStillRunning( void )
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294 static short sLastBlockingConsumerCount[ blckqNUM_TASK_SETS ] = { ( unsigned short ) 0, ( unsigned short ) 0, ( unsigned short ) 0 };
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295 static short sLastBlockingProducerCount[ blckqNUM_TASK_SETS ] = { ( unsigned short ) 0, ( unsigned short ) 0, ( unsigned short ) 0 };
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296 portBASE_TYPE xReturn = pdPASS, xTasks;
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298 /* Not too worried about mutual exclusion on these variables as they are 16
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299 bits and we are only reading them. We also only care to see if they have
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302 Loop through each check variable to and return pdFALSE if any are found not
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303 to have changed since the last call. */
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305 for( xTasks = 0; xTasks < blckqNUM_TASK_SETS; xTasks++ )
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307 if( sBlockingConsumerCount[ xTasks ] == sLastBlockingConsumerCount[ xTasks ] )
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311 sLastBlockingConsumerCount[ xTasks ] = sBlockingConsumerCount[ xTasks ];
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314 if( sBlockingProducerCount[ xTasks ] == sLastBlockingProducerCount[ xTasks ] )
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318 sLastBlockingProducerCount[ xTasks ] = sBlockingProducerCount[ xTasks ];
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