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 * This version of PollQ. c is for use on systems that have limited stack
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71 * space and no display facilities. The complete version can be found in
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72 * the Demo/Common/Full directory.
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74 * Creates two tasks that communicate over a single queue. One task acts as a
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75 * producer, the other a consumer.
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77 * The producer loops for three iteration, posting an incrementing number onto the
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78 * queue each cycle. It then delays for a fixed period before doing exactly the
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81 * The consumer loops emptying the queue. Each item removed from the queue is
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82 * checked to ensure it contains the expected value. When the queue is empty it
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83 * blocks for a fixed period, then does the same again.
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85 * All queue access is performed without blocking. The consumer completely empties
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86 * the queue each time it runs so the producer should never find the queue full.
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88 * An error is flagged if the consumer obtains an unexpected value or the producer
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89 * find the queue is full.
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95 + Delay periods are now specified using variables and constants of
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96 portTickType rather than unsigned long.
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101 /* Scheduler include files. */
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102 #include "FreeRTOS.h"
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106 /* Demo program include files. */
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109 #define pollqSTACK_SIZE configMINIMAL_STACK_SIZE
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110 #define pollqQUEUE_SIZE ( 10 )
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111 #define pollqPRODUCER_DELAY ( ( portTickType ) 200 / portTICK_RATE_MS )
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112 #define pollqCONSUMER_DELAY ( pollqPRODUCER_DELAY - ( portTickType ) ( 20 / portTICK_RATE_MS ) )
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113 #define pollqNO_DELAY ( ( portTickType ) 0 )
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114 #define pollqVALUES_TO_PRODUCE ( ( signed portBASE_TYPE ) 3 )
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115 #define pollqINITIAL_VALUE ( ( signed portBASE_TYPE ) 0 )
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117 /* The task that posts the incrementing number onto the queue. */
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118 static portTASK_FUNCTION_PROTO( vPolledQueueProducer, pvParameters );
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120 /* The task that empties the queue. */
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121 static portTASK_FUNCTION_PROTO( vPolledQueueConsumer, pvParameters );
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123 /* Variables that are used to check that the tasks are still running with no
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125 static volatile signed portBASE_TYPE xPollingConsumerCount = pollqINITIAL_VALUE, xPollingProducerCount = pollqINITIAL_VALUE;
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127 /*-----------------------------------------------------------*/
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129 void vStartPolledQueueTasks( unsigned portBASE_TYPE uxPriority )
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131 static xQueueHandle xPolledQueue;
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133 /* Create the queue used by the producer and consumer. */
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134 xPolledQueue = xQueueCreate( pollqQUEUE_SIZE, ( unsigned portBASE_TYPE ) sizeof( unsigned short ) );
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136 /* vQueueAddToRegistry() adds the queue to the queue registry, if one is
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137 in use. The queue registry is provided as a means for kernel aware
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138 debuggers to locate queues and has no purpose if a kernel aware debugger
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139 is not being used. The call to vQueueAddToRegistry() will be removed
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140 by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
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141 defined to be less than 1. */
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142 vQueueAddToRegistry( xPolledQueue, ( signed char * ) "Poll_Test_Queue" );
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144 /* Spawn the producer and consumer. */
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145 xTaskCreate( vPolledQueueConsumer, ( signed char * ) "QConsNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL );
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146 xTaskCreate( vPolledQueueProducer, ( signed char * ) "QProdNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL );
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148 /*-----------------------------------------------------------*/
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150 static portTASK_FUNCTION( vPolledQueueProducer, pvParameters )
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152 unsigned short usValue = ( unsigned short ) 0;
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153 signed portBASE_TYPE xError = pdFALSE, xLoop;
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157 for( xLoop = 0; xLoop < pollqVALUES_TO_PRODUCE; xLoop++ )
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159 /* Send an incrementing number on the queue without blocking. */
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160 if( xQueueSend( *( ( xQueueHandle * ) pvParameters ), ( void * ) &usValue, pollqNO_DELAY ) != pdPASS )
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162 /* We should never find the queue full so if we get here there
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163 has been an error. */
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168 if( xError == pdFALSE )
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170 /* If an error has ever been recorded we stop incrementing the
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172 portENTER_CRITICAL();
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173 xPollingProducerCount++;
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174 portEXIT_CRITICAL();
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177 /* Update the value we are going to post next time around. */
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182 /* Wait before we start posting again to ensure the consumer runs and
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183 empties the queue. */
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184 vTaskDelay( pollqPRODUCER_DELAY );
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186 } /*lint !e818 Function prototype must conform to API. */
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187 /*-----------------------------------------------------------*/
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189 static portTASK_FUNCTION( vPolledQueueConsumer, pvParameters )
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191 unsigned short usData, usExpectedValue = ( unsigned short ) 0;
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192 signed portBASE_TYPE xError = pdFALSE;
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196 /* Loop until the queue is empty. */
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197 while( uxQueueMessagesWaiting( *( ( xQueueHandle * ) pvParameters ) ) )
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199 if( xQueueReceive( *( ( xQueueHandle * ) pvParameters ), &usData, pollqNO_DELAY ) == pdPASS )
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201 if( usData != usExpectedValue )
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203 /* This is not what we expected to receive so an error has
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207 /* Catch-up to the value we received so our next expected
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208 value should again be correct. */
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209 usExpectedValue = usData;
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213 if( xError == pdFALSE )
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215 /* Only increment the check variable if no errors have
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217 portENTER_CRITICAL();
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218 xPollingConsumerCount++;
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219 portEXIT_CRITICAL();
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223 /* Next time round we would expect the number to be one higher. */
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228 /* Now the queue is empty we block, allowing the producer to place more
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229 items in the queue. */
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230 vTaskDelay( pollqCONSUMER_DELAY );
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232 } /*lint !e818 Function prototype must conform to API. */
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233 /*-----------------------------------------------------------*/
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235 /* This is called to check that all the created tasks are still running with no errors. */
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236 portBASE_TYPE xArePollingQueuesStillRunning( void )
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238 portBASE_TYPE xReturn;
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240 /* Check both the consumer and producer poll count to check they have both
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241 been changed since out last trip round. We do not need a critical section
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242 around the check variables as this is called from a higher priority than
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243 the other tasks that access the same variables. */
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244 if( ( xPollingConsumerCount == pollqINITIAL_VALUE ) ||
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245 ( xPollingProducerCount == pollqINITIAL_VALUE )
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255 /* Set the check variables back down so we know if they have been
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256 incremented the next time around. */
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257 xPollingConsumerCount = pollqINITIAL_VALUE;
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258 xPollingProducerCount = pollqINITIAL_VALUE;
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