2 FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 This file is part of the FreeRTOS distribution.
\r
9 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
10 the terms of the GNU General Public License (version 2) as published by the
\r
11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
\r
13 ***************************************************************************
\r
14 >>! NOTE: The modification to the GPL is included to allow you to !<<
\r
15 >>! distribute a combined work that includes FreeRTOS without being !<<
\r
16 >>! obliged to provide the source code for proprietary components !<<
\r
17 >>! outside of the FreeRTOS kernel. !<<
\r
18 ***************************************************************************
\r
20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
\r
23 link: http://www.freertos.org/a00114.html
\r
25 ***************************************************************************
\r
27 * FreeRTOS provides completely free yet professionally developed, *
\r
28 * robust, strictly quality controlled, supported, and cross *
\r
29 * platform software that is more than just the market leader, it *
\r
30 * is the industry's de facto standard. *
\r
32 * Help yourself get started quickly while simultaneously helping *
\r
33 * to support the FreeRTOS project by purchasing a FreeRTOS *
\r
34 * tutorial book, reference manual, or both: *
\r
35 * http://www.FreeRTOS.org/Documentation *
\r
37 ***************************************************************************
\r
39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
\r
40 the FAQ page "My application does not run, what could be wrong?". Have you
\r
41 defined configASSERT()?
\r
43 http://www.FreeRTOS.org/support - In return for receiving this top quality
\r
44 embedded software for free we request you assist our global community by
\r
45 participating in the support forum.
\r
47 http://www.FreeRTOS.org/training - Investing in training allows your team to
\r
48 be as productive as possible as early as possible. Now you can receive
\r
49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
\r
50 Ltd, and the world's leading authority on the world's leading RTOS.
\r
52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
\r
57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
\r
59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
\r
60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
61 licenses offer ticketed support, indemnification and commercial middleware.
\r
63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
64 engineered and independently SIL3 certified version for use in safety and
\r
65 mission critical applications that require provable dependability.
\r
70 /******************************************************************************
\r
71 * NOTE 1: This project provides two demo applications. A simple blinky style
\r
72 * project, and a more comprehensive test and demo application. The
\r
73 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
\r
74 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
\r
75 * in main.c. This file implements the simply blinky style version.
\r
77 * NOTE 2: This file only contains the source code that is specific to the
\r
78 * basic demo. Generic functions, such FreeRTOS hook functions, and functions
\r
79 * required to configure the hardware, are defined in main.c.
\r
80 ******************************************************************************
\r
82 * main_blinky() creates one queue, two tasks, and one software timer. It then
\r
83 * starts the scheduler.
\r
85 * The Blinky Software Timer:
\r
86 * This demonstrates an auto-reload software timer. The timer callback function
\r
87 * does nothing but toggle an LED.
\r
89 * The Queue Send Task:
\r
90 * The queue send task is implemented by prvQueueSendTask() in main_blinky.c.
\r
91 * prvQueueSendTask() repeatedly blocks for 200 milliseconds before sending the
\r
92 * value 100 to the queue that was created in main_blinky().
\r
94 * The Queue Receive Task:
\r
95 * The queue receive task is implemented by prvQueueReceiveTask() in
\r
96 * main_blinky.c. prvQueueReceiveTask() repeatedly blocks on attempts to read
\r
97 * from the queue that was created in main_blinky(), toggling an LED each time
\r
98 * data is received. The queue send task sends data to the queue every 200
\r
99 * milliseconds, so the LED will toggle every 200 milliseconds.
\r
102 /* Standard includes. */
\r
105 /* Kernel includes. */
\r
106 #include "FreeRTOS.h"
\r
109 #include "timers.h"
\r
111 /* Priorities at which the tasks are created. */
\r
112 #define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
113 #define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
115 /* The rate at which data is sent to the queue. The 200ms value is converted
\r
116 to ticks using the portTICK_PERIOD_MS constant. */
\r
117 #define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_PERIOD_MS )
\r
119 /* The number of items the queue can hold. This is 1 as the receive task
\r
120 will remove items as they are added, meaning the send task should always find
\r
121 the queue empty. */
\r
122 #define mainQUEUE_LENGTH ( 1 )
\r
124 /* Values passed to the two tasks just to check the task parameter
\r
126 #define mainQUEUE_SEND_PARAMETER ( 0x1111UL )
\r
127 #define mainQUEUE_RECEIVE_PARAMETER ( 0x22UL )
\r
129 /* The period of the blinky software timer. The period is specified in ms and
\r
130 converted to ticks using the portTICK_PERIOD_MS constant. */
\r
131 #define mainBLINKY_TIMER_PERIOD ( 50 / portTICK_PERIOD_MS )
\r
133 /* The LED used by the communicating tasks and the blinky timer respectively. */
\r
134 #define mainTASKS_LED ( 0 )
\r
135 #define mainTIMER_LED ( 1 )
\r
138 #define mainDONT_BLOCK ( 0 )
\r
140 /*-----------------------------------------------------------*/
\r
143 * The tasks as described in the comments at the top of this file.
\r
145 static void prvQueueReceiveTask( void *pvParameters );
\r
146 static void prvQueueSendTask( void *pvParameters );
\r
149 * The callback function for the blinky software timer, as described at the top
\r
152 static void prvBlinkyTimerCallback( TimerHandle_t xTimer );
\r
155 * Called by main() to create the simply blinky style application if
\r
156 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
\r
158 void main_blinky( void );
\r
161 * LED toggle function that uses a critical section to ensure thread safety.
\r
163 extern void vToggleLED( uint8_t ucLED );
\r
165 /*-----------------------------------------------------------*/
\r
167 /* The queue used by both tasks. */
\r
168 static QueueHandle_t xQueue = NULL;
\r
170 /*-----------------------------------------------------------*/
\r
172 void main_blinky( void )
\r
174 TimerHandle_t xTimer;
\r
176 /* Create the queue. */
\r
177 xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
\r
178 configASSERT( xQueue );
\r
180 if( xQueue != NULL )
\r
182 /* Create the two tasks as described in the comments at the top of this
\r
184 xTaskCreate( prvQueueReceiveTask, /* The function that implements the task. */
\r
185 "Rx", /* The text name assigned to the task - for debug only as it is not used by the kernel. */
\r
186 configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */
\r
187 ( void * ) mainQUEUE_RECEIVE_PARAMETER, /* The parameter passed to the task - just to check the functionality. */
\r
188 mainQUEUE_RECEIVE_TASK_PRIORITY, /* The priority assigned to the task. */
\r
189 NULL ); /* The task handle is not required, so NULL is passed. */
\r
191 xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, ( void * ) mainQUEUE_SEND_PARAMETER, mainQUEUE_SEND_TASK_PRIORITY, NULL );
\r
194 /* Create the blinky software timer as described at the top of this file. */
\r
195 xTimer = xTimerCreate( "Blinky", /* A text name, purely to help debugging. */
\r
196 ( mainBLINKY_TIMER_PERIOD ),/* The timer period. */
\r
197 pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
\r
198 ( void * ) 0, /* The ID is not used, so can be set to anything. */
\r
199 prvBlinkyTimerCallback ); /* The callback function that inspects the status of all the other tasks. */
\r
200 configASSERT( xTimer );
\r
202 if( xTimer != NULL )
\r
204 xTimerStart( xTimer, mainDONT_BLOCK );
\r
207 /* Start the tasks and timer running. */
\r
208 vTaskStartScheduler();
\r
211 /* If all is well, the scheduler will now be running, and the following
\r
212 line will never be reached. If the following line does execute, then
\r
213 there was insufficient FreeRTOS heap memory available for the idle and/or
\r
214 timer tasks to be created. See the memory management section on the
\r
215 FreeRTOS web site for more details. http://www.freertos.org/a00111.html */
\r
218 /*-----------------------------------------------------------*/
\r
220 static void prvQueueSendTask( void *pvParameters )
\r
222 TickType_t xNextWakeTime;
\r
223 const unsigned long ulValueToSend = 100UL;
\r
225 /* Remove compiler warnings in the case that configASSERT() is not defined. */
\r
226 ( void ) pvParameters;
\r
228 /* Check the task parameter is as expected. */
\r
229 configASSERT( ( ( unsigned long ) pvParameters ) == mainQUEUE_SEND_PARAMETER );
\r
231 /* Initialise xNextWakeTime - this only needs to be done once. */
\r
232 xNextWakeTime = xTaskGetTickCount();
\r
236 /* Place this task in the blocked state until it is time to run again.
\r
237 The block time is specified in ticks, the constant used converts ticks
\r
238 to ms. While in the Blocked state this task will not consume any CPU
\r
240 vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
\r
242 /* Send to the queue - causing the queue receive task to unblock and
\r
243 toggle the LED. 0 is used as the block time so the sending operation
\r
244 will not block - it shouldn't need to block as the queue should always
\r
245 be empty at this point in the code. */
\r
246 xQueueSend( xQueue, &ulValueToSend, 0U );
\r
249 /*-----------------------------------------------------------*/
\r
251 static void prvQueueReceiveTask( void *pvParameters )
\r
253 unsigned long ulReceivedValue;
\r
255 /* Remove compiler warnings in the case where configASSERT() is not defined. */
\r
256 ( void ) pvParameters;
\r
258 /* Check the task parameter is as expected. */
\r
259 configASSERT( ( ( unsigned long ) pvParameters ) == mainQUEUE_RECEIVE_PARAMETER );
\r
263 /* Wait until something arrives in the queue - this task will block
\r
264 indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
\r
265 FreeRTOSConfig.h. */
\r
266 xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
\r
268 /* To get here something must have been received from the queue, but
\r
269 is it the expected value? If it is, toggle the LED. */
\r
270 if( ulReceivedValue == 100UL )
\r
272 vToggleLED( mainTASKS_LED );
\r
273 ulReceivedValue = 0U;
\r
277 /*-----------------------------------------------------------*/
\r
279 static void prvBlinkyTimerCallback( TimerHandle_t xTimer )
\r
281 /* Avoid compiler warnings. */
\r
284 /* This function is called when the blinky software time expires. All the
\r
285 function does is toggle the LED. LED mainTIMER_LED should therefore toggle
\r
286 with the period set by mainBLINKY_TIMER_PERIOD. */
\r
287 vToggleLED( mainTIMER_LED );
\r
289 /*-----------------------------------------------------------*/
\r