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 *******************************************************************************
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71 * -NOTE- The Win32 port is a simulation (or is that emulation?) only! Do not
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72 * expect to get real time behaviour from the Win32 port or this demo
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73 * application. It is provided as a convenient development and demonstration
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74 * test bed only. This was tested using Windows XP on a dual core laptop.
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76 * - READ THE WEB DOCUMENTATION FOR THIS PORT FOR MORE INFORMATION ON USING IT -
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77 *******************************************************************************
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79 * main() creates all the demo application tasks, then starts the scheduler.
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80 * The web documentation provides more details of the standard demo application
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81 * tasks, which provide no particular functionality but do provide a good
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82 * example of how to use the FreeRTOS API.
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84 * In addition to the standard demo tasks, the following tasks and tests are
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85 * defined and/or created within this file:
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87 * "Check" task - This only executes every five seconds but has a high priority
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88 * to ensure it gets processor time. Its main function is to check that all the
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89 * standard demo tasks are still operational. While no errors have been
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90 * discovered the check task will print out "OK" and the current simulated tick
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91 * time. If an error is discovered in the execution of a task then the check
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92 * task will print out an appropriate error message.
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97 /* Standard includes. */
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100 /* Kernel includes. */
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101 #include <FreeRTOS.h>
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104 #include "timers.h"
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105 #include "semphr.h"
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107 /* Standard demo includes. */
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108 #include "BlockQ.h"
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109 #include "integer.h"
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110 #include "semtest.h"
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112 #include "GenQTest.h"
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114 #include "recmutex.h"
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116 #include "TimerDemo.h"
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117 #include "countsem.h"
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119 #include "dynamic.h"
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120 #include "QueueSet.h"
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122 /* Priorities at which the tasks are created. */
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123 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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124 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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125 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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126 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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127 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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128 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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129 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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130 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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131 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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132 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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134 #define mainTIMER_TEST_PERIOD ( 50 )
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136 /* Task function prototypes. */
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137 static void prvCheckTask( void *pvParameters );
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139 /* A task that is created from the idle task to test the functionality of
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140 eTaskStateGet(). */
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141 static void prvTestTask( void *pvParameters );
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143 /* The variable into which error messages are latched. */
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144 static char *pcStatusMessage = "OK";
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146 /* This semaphore is created purely to test using the vSemaphoreDelete() and
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147 semaphore tracing API functions. It has no other purpose. */
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148 static xSemaphoreHandle xMutexToDelete = NULL;
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150 /*-----------------------------------------------------------*/
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154 /* Start the check task as described at the top of this file. */
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155 xTaskCreate( prvCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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157 /* Create the standard demo tasks. */
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158 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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159 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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160 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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161 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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162 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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163 vStartQueuePeekTasks();
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164 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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165 vStartRecursiveMutexTasks();
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166 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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167 vStartCountingSemaphoreTasks();
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168 vStartDynamicPriorityTasks();
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169 vStartQueueSetTasks();
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171 /* The suicide tasks must be created last as they need to know how many
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172 tasks were running prior to their creation. This then allows them to
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173 ascertain whether or not the correct/expected number of tasks are running at
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175 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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177 /* Create the semaphore that will be deleted in the idle task hook. This
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178 is done purely to test the use of vSemaphoreDelete(). */
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179 xMutexToDelete = xSemaphoreCreateMutex();
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181 /* Start the scheduler itself. */
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182 vTaskStartScheduler();
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184 /* Should never get here unless there was not enough heap space to create
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185 the idle and other system tasks. */
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188 /*-----------------------------------------------------------*/
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190 static void prvCheckTask( void *pvParameters )
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192 portTickType xNextWakeTime;
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193 const portTickType xCycleFrequency = 1000 / portTICK_RATE_MS;
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195 /* Just to remove compiler warning. */
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196 ( void ) pvParameters;
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198 /* Initialise xNextWakeTime - this only needs to be done once. */
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199 xNextWakeTime = xTaskGetTickCount();
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203 /* Place this task in the blocked state until it is time to run again. */
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204 vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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206 /* Check the standard demo tasks are running without error. */
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207 if( xAreTimerDemoTasksStillRunning( xCycleFrequency ) != pdTRUE )
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209 pcStatusMessage = "Error: TimerDemo";
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211 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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213 pcStatusMessage = "Error: IntMath";
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215 else if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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217 pcStatusMessage = "Error: GenQueue";
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219 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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221 pcStatusMessage = "Error: QueuePeek";
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223 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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225 pcStatusMessage = "Error: BlockQueue";
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227 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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229 pcStatusMessage = "Error: SemTest";
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231 else if( xArePollingQueuesStillRunning() != pdTRUE )
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233 pcStatusMessage = "Error: PollQueue";
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235 else if( xAreMathsTaskStillRunning() != pdPASS )
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237 pcStatusMessage = "Error: Flop";
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239 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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241 pcStatusMessage = "Error: RecMutex";
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243 else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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245 pcStatusMessage = "Error: CountSem";
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247 else if( xIsCreateTaskStillRunning() != pdTRUE )
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249 pcStatusMessage = "Error: Death";
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251 else if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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253 pcStatusMessage = "Error: Dynamic\r\n";
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255 else if( xAreQueueSetTasksStillRunning() != pdPASS )
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257 pcStatusMessage = "Error: Queue set\r\n";
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260 /* This is the only task that uses stdout so its ok to call printf()
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262 printf( "%s - %d\r\n", pcStatusMessage, xTaskGetTickCount() );
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265 /*-----------------------------------------------------------*/
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267 static void prvTestTask( void *pvParameters )
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269 const unsigned long ulMSToSleep = 5;
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271 /* Just to remove compiler warnings. */
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272 ( void ) pvParameters;
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274 /* This task is just used to test the eTaskStateGet() function. It
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275 does not have anything to do. */
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278 /* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
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279 tasks waiting to be terminated by the idle task. */
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280 Sleep( ulMSToSleep );
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283 /*-----------------------------------------------------------*/
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285 void vApplicationIdleHook( void )
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287 const unsigned long ulMSToSleep = 15;
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288 xTaskHandle xIdleTaskHandle, xTimerTaskHandle, xTestTask;
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289 signed char *pcTaskName;
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290 const unsigned char ucConstQueueNumber = 0xaaU, ucConstTaskNumber = 0x55U;
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292 /* These three functions are only meant for use by trace code, and not for
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293 direct use from application code, hence their prototypes are not in queue.h. */
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294 extern void vQueueSetQueueNumber( xQueueHandle pxQueue, unsigned char ucQueueNumber );
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295 extern unsigned char ucQueueGetQueueNumber( xQueueHandle pxQueue );
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296 extern unsigned char ucQueueGetQueueType( xQueueHandle pxQueue );
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297 extern void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle );
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298 extern unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask );
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300 /* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
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301 tasks waiting to be terminated by the idle task. */
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302 Sleep( ulMSToSleep );
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304 /* Demonstrate the use of the xTimerGetTimerDaemonTaskHandle() and
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305 xTaskGetIdleTaskHandle() functions. Also try using the function that sets
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306 the task number. */
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307 xIdleTaskHandle = xTaskGetIdleTaskHandle();
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308 xTimerTaskHandle = xTimerGetTimerDaemonTaskHandle();
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309 vTaskSetTaskNumber( xIdleTaskHandle, ( unsigned long ) ucConstTaskNumber );
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310 configASSERT( uxTaskGetTaskNumber( xIdleTaskHandle ) == ucConstTaskNumber );
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312 /* This is the idle hook, so the current task handle should equal the
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313 returned idle task handle. */
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314 if( xTaskGetCurrentTaskHandle() != xIdleTaskHandle )
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316 pcStatusMessage = "Error: Returned idle task handle was incorrect";
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319 /* Check the timer task handle was returned correctly. */
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320 pcTaskName = pcTaskGetTaskName( xTimerTaskHandle );
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321 if( strcmp( pcTaskName, "Tmr Svc" ) != 0 )
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323 pcStatusMessage = "Error: Returned timer task handle was incorrect";
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326 /* This task is running, make sure its state is returned as running. */
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327 if( eTaskStateGet( xIdleTaskHandle ) != eRunning )
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329 pcStatusMessage = "Error: Returned idle task state was incorrect";
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332 /* If this task is running, then the timer task must be blocked. */
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333 if( eTaskStateGet( xTimerTaskHandle ) != eBlocked )
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335 pcStatusMessage = "Error: Returned timer task state was incorrect";
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338 /* If xMutexToDelete has not already been deleted, then delete it now.
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339 This is done purely to demonstrate the use of, and test, the
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340 vSemaphoreDelete() macro. Care must be taken not to delete a semaphore
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341 that has tasks blocked on it. */
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342 if( xMutexToDelete != NULL )
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344 /* Before deleting the semaphore, test the function used to set its
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345 number. This would normally only be done from trace software, rather
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346 than application code. */
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347 vQueueSetQueueNumber( xMutexToDelete, ucConstQueueNumber );
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349 /* Before deleting the semaphore, test the functions used to get its
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350 type and number. Again, these would normally only be done from trace
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351 software, rather than application code. */
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352 configASSERT( ucQueueGetQueueNumber( xMutexToDelete ) == ucConstQueueNumber );
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353 configASSERT( ucQueueGetQueueType( xMutexToDelete ) == queueQUEUE_TYPE_MUTEX );
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354 vSemaphoreDelete( xMutexToDelete );
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355 xMutexToDelete = NULL;
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357 /* Other tests that should only be performed once follow. The test task
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358 is not created on each iteration because to do so would cause the death
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359 task to report an error (too many tasks running). */
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361 /* Create a test task to use to test other eTaskStateGet() return values. */
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362 if( xTaskCreate( prvTestTask, "Test", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTestTask ) == pdPASS )
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364 /* If this task is running, the test task must be in the ready state. */
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365 if( eTaskStateGet( xTestTask ) != eReady )
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367 pcStatusMessage = "Error: Returned test task state was incorrect 1";
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370 /* Now suspend the test task and check its state is reported correctly. */
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371 vTaskSuspend( xTestTask );
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372 if( eTaskStateGet( xTestTask ) != eSuspended )
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374 pcStatusMessage = "Error: Returned test task state was incorrect 2";
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377 /* Now delete the task and check its state is reported correctly. */
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378 vTaskDelete( xTestTask );
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379 if( eTaskStateGet( xTestTask ) != eDeleted )
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381 pcStatusMessage = "Error: Returned test task state was incorrect 3";
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387 /*-----------------------------------------------------------*/
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389 void vApplicationMallocFailedHook( void )
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391 /* Can be implemented if required, but probably not required in this
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392 environment and running this demo. */
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394 /*-----------------------------------------------------------*/
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396 void vApplicationStackOverflowHook( void )
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398 /* Can be implemented if required, but not required in this
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399 environment and running this demo. */
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401 /*-----------------------------------------------------------*/
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403 void vApplicationTickHook( void )
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405 /* Call the periodic timer test, which tests the timer API functions that
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406 can be called from an ISR. */
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407 vTimerPeriodicISRTests();
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409 /* Write to a queue that is in use as part of the queue set demo to
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410 demonstrate using queue sets from an ISR. */
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411 vQueueSetWriteToQueueFromISR();
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413 /*-----------------------------------------------------------*/
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415 void vAssertCalled( void )
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417 taskDISABLE_INTERRUPTS();
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