2 FreeRTOS V7.4.2 - Copyright (C) 2013 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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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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76 *******************************************************************************
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77 * NOTE 1: The Win32 port is a simulation (or is that emulation?) only! Do not
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78 * expect to get real time behaviour from the Win32 port or this demo
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79 * application. It is provided as a convenient development and demonstration
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80 * test bed only. This was tested using Windows XP on a dual core laptop.
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82 * In this example, one simulated millisecond will take approximately 40ms to
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83 * execute, and Windows will not be running the FreeRTOS simulator threads
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84 * continuously, so the timing information in the FreeRTOS+Trace logs have no
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85 * meaningful units. See the documentation page for the Windows simulator for
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86 * an explanation of the slow timing:
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87 * http://www.freertos.org/FreeRTOS-Windows-Simulator-Emulator-for-Visual-Studio-and-Eclipse-MingW.html
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88 * - READ THE WEB DOCUMENTATION FOR THIS PORT FOR MORE INFORMATION ON USING IT -
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90 * NOTE 2: This project provides two demo applications. A simple blinky style
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91 * project, and a more comprehensive test and demo application. The
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92 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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93 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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94 * in main.c. This file implements the comprehensive test and demo version.
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96 * NOTE 3: This file only contains the source code that is specific to the
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97 * basic demo. Generic functions, such FreeRTOS hook functions, are defined in
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99 *******************************************************************************
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101 * main() creates all the demo application tasks, then starts the scheduler.
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102 * The web documentation provides more details of the standard demo application
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103 * tasks, which provide no particular functionality but do provide a good
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104 * example of how to use the FreeRTOS API.
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106 * In addition to the standard demo tasks, the following tasks and tests are
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107 * defined and/or created within this file:
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109 * "Check" task - This only executes every five seconds but has a high priority
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110 * to ensure it gets processor time. Its main function is to check that all the
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111 * standard demo tasks are still operational. While no errors have been
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112 * discovered the check task will print out "OK" and the current simulated tick
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113 * time. If an error is discovered in the execution of a task then the check
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114 * task will print out an appropriate error message.
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119 /* Standard includes. */
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121 #include <stdlib.h>
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123 /* Kernel includes. */
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124 #include <FreeRTOS.h>
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127 #include "timers.h"
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128 #include "semphr.h"
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130 /* Standard demo includes. */
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131 #include "BlockQ.h"
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132 #include "integer.h"
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133 #include "semtest.h"
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135 #include "GenQTest.h"
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137 #include "recmutex.h"
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139 #include "TimerDemo.h"
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140 #include "countsem.h"
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142 #include "dynamic.h"
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143 #include "QueueSet.h"
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144 #include "QueueOverwrite.h"
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146 /* Priorities at which the tasks are created. */
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147 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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148 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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149 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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150 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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151 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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152 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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153 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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154 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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155 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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156 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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157 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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159 #define mainTIMER_TEST_PERIOD ( 50 )
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161 /* Task function prototypes. */
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162 static void prvCheckTask( void *pvParameters );
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164 /* A task that is created from the idle task to test the functionality of
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165 eTaskStateGet(). */
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166 static void prvTestTask( void *pvParameters );
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169 * Called from the idle task hook function to demonstrate a few utility
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170 * functions that are not demonstrated by any of the standard demo tasks.
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172 static void prvDemonstrateTaskStateAndHandleGetFunctions( void );
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174 /*-----------------------------------------------------------*/
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176 /* The variable into which error messages are latched. */
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177 static char *pcStatusMessage = "OK";
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179 /* This semaphore is created purely to test using the vSemaphoreDelete() and
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180 semaphore tracing API functions. It has no other purpose. */
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181 static xSemaphoreHandle xMutexToDelete = NULL;
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183 /*-----------------------------------------------------------*/
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185 int main_full( void )
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187 /* Start the check task as described at the top of this file. */
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188 xTaskCreate( prvCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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190 /* Create the standard demo tasks. */
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191 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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192 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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193 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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194 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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195 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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196 vStartQueuePeekTasks();
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197 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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198 vStartRecursiveMutexTasks();
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199 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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200 vStartCountingSemaphoreTasks();
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201 vStartDynamicPriorityTasks();
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202 vStartQueueSetTasks();
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203 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
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205 /* The suicide tasks must be created last as they need to know how many
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206 tasks were running prior to their creation. This then allows them to
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207 ascertain whether or not the correct/expected number of tasks are running at
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209 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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211 /* Create the semaphore that will be deleted in the idle task hook. This
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212 is done purely to test the use of vSemaphoreDelete(). */
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213 xMutexToDelete = xSemaphoreCreateMutex();
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215 /* Start the scheduler itself. */
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216 vTaskStartScheduler();
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218 /* Should never get here unless there was not enough heap space to create
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219 the idle and other system tasks. */
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222 /*-----------------------------------------------------------*/
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224 static void prvCheckTask( void *pvParameters )
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226 portTickType xNextWakeTime;
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227 const portTickType xCycleFrequency = 1000 / portTICK_RATE_MS;
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229 /* Just to remove compiler warning. */
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230 ( void ) pvParameters;
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232 /* Initialise xNextWakeTime - this only needs to be done once. */
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233 xNextWakeTime = xTaskGetTickCount();
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237 /* Place this task in the blocked state until it is time to run again. */
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238 vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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240 /* Check the standard demo tasks are running without error. */
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241 if( xAreTimerDemoTasksStillRunning( xCycleFrequency ) != pdTRUE )
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243 pcStatusMessage = "Error: TimerDemo";
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245 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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247 pcStatusMessage = "Error: IntMath";
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249 else if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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251 pcStatusMessage = "Error: GenQueue";
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253 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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255 pcStatusMessage = "Error: QueuePeek";
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257 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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259 pcStatusMessage = "Error: BlockQueue";
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261 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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263 pcStatusMessage = "Error: SemTest";
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265 else if( xArePollingQueuesStillRunning() != pdTRUE )
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267 pcStatusMessage = "Error: PollQueue";
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269 else if( xAreMathsTaskStillRunning() != pdPASS )
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271 pcStatusMessage = "Error: Flop";
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273 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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275 pcStatusMessage = "Error: RecMutex";
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277 else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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279 pcStatusMessage = "Error: CountSem";
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281 else if( xIsCreateTaskStillRunning() != pdTRUE )
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283 pcStatusMessage = "Error: Death";
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285 else if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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287 pcStatusMessage = "Error: Dynamic\r\n";
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289 else if( xAreQueueSetTasksStillRunning() != pdPASS )
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291 pcStatusMessage = "Error: Queue set\r\n";
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293 else if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
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295 pcStatusMessage = "Error: Queue overwrite\r\n";
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298 /* This is the only task that uses stdout so its ok to call printf()
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300 printf( "%s - %d\r\n", pcStatusMessage, xTaskGetTickCount() );
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303 /*-----------------------------------------------------------*/
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305 static void prvTestTask( void *pvParameters )
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307 const unsigned long ulMSToSleep = 5;
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309 /* Just to remove compiler warnings. */
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310 ( void ) pvParameters;
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312 /* This task is just used to test the eTaskStateGet() function. It
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313 does not have anything to do. */
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316 /* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
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317 tasks waiting to be terminated by the idle task. */
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318 Sleep( ulMSToSleep );
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321 /*-----------------------------------------------------------*/
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323 /* Called from vApplicationIdleHook(), which is defined in main.c. */
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324 void vFullDemoIdleFunction( void )
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326 const unsigned long ulMSToSleep = 15;
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327 const unsigned char ucConstQueueNumber = 0xaaU;
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330 /* These three functions are only meant for use by trace code, and not for
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331 direct use from application code, hence their prototypes are not in queue.h. */
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332 extern void vQueueSetQueueNumber( xQueueHandle pxQueue, unsigned char ucQueueNumber );
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333 extern unsigned char ucQueueGetQueueNumber( xQueueHandle pxQueue );
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334 extern unsigned char ucQueueGetQueueType( xQueueHandle pxQueue );
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335 extern void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle );
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336 extern unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask );
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338 /* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
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339 tasks waiting to be terminated by the idle task. */
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340 Sleep( ulMSToSleep );
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342 /* Demonstrate a few utility functions that are not demonstrated by any of
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343 the standard demo tasks. */
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344 prvDemonstrateTaskStateAndHandleGetFunctions();
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346 /* If xMutexToDelete has not already been deleted, then delete it now.
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347 This is done purely to demonstrate the use of, and test, the
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348 vSemaphoreDelete() macro. Care must be taken not to delete a semaphore
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349 that has tasks blocked on it. */
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350 if( xMutexToDelete != NULL )
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352 /* Before deleting the semaphore, test the function used to set its
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353 number. This would normally only be done from trace software, rather
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354 than application code. */
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355 vQueueSetQueueNumber( xMutexToDelete, ucConstQueueNumber );
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357 /* Before deleting the semaphore, test the functions used to get its
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358 type and number. Again, these would normally only be done from trace
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359 software, rather than application code. */
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360 configASSERT( ucQueueGetQueueNumber( xMutexToDelete ) == ucConstQueueNumber );
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361 configASSERT( ucQueueGetQueueType( xMutexToDelete ) == queueQUEUE_TYPE_MUTEX );
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362 vSemaphoreDelete( xMutexToDelete );
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363 xMutexToDelete = NULL;
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366 /* Exercise heap_4 a bit. The malloc failed hook will trap failed
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367 allocations so there is no need to test here. */
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368 pvAllocated = pvPortMalloc( ( rand() % 100 ) + 1 );
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369 vPortFree( pvAllocated );
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371 /*-----------------------------------------------------------*/
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373 /* Called by vApplicationTickHook(), which is defined in main.c. */
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374 void vFullDemoTickHookFunction( void )
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376 /* Call the periodic timer test, which tests the timer API functions that
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377 can be called from an ISR. */
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378 vTimerPeriodicISRTests();
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380 /* Call the periodic queue overwrite from ISR demo. */
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381 vQueueOverwritePeriodicISRDemo();
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383 /* Write to a queue that is in use as part of the queue set demo to
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384 demonstrate using queue sets from an ISR. */
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385 vQueueSetAccessQueueSetFromISR();
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387 /*-----------------------------------------------------------*/
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389 static void prvDemonstrateTaskStateAndHandleGetFunctions( void )
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391 xTaskHandle xIdleTaskHandle, xTimerTaskHandle;
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392 const unsigned char ucConstTaskNumber = 0x55U;
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393 signed char *pcTaskName;
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394 static portBASE_TYPE xPerformedOneShotTests = pdFALSE;
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395 xTaskHandle xTestTask;
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397 /* Demonstrate the use of the xTimerGetTimerDaemonTaskHandle() and
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398 xTaskGetIdleTaskHandle() functions. Also try using the function that sets
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399 the task number. */
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400 xIdleTaskHandle = xTaskGetIdleTaskHandle();
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401 xTimerTaskHandle = xTimerGetTimerDaemonTaskHandle();
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402 vTaskSetTaskNumber( xIdleTaskHandle, ( unsigned long ) ucConstTaskNumber );
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403 configASSERT( uxTaskGetTaskNumber( xIdleTaskHandle ) == ucConstTaskNumber );
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405 /* This is the idle hook, so the current task handle should equal the
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406 returned idle task handle. */
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407 if( xTaskGetCurrentTaskHandle() != xIdleTaskHandle )
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409 pcStatusMessage = "Error: Returned idle task handle was incorrect";
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412 /* Check the timer task handle was returned correctly. */
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413 pcTaskName = pcTaskGetTaskName( xTimerTaskHandle );
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414 if( strcmp( pcTaskName, "Tmr Svc" ) != 0 )
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416 pcStatusMessage = "Error: Returned timer task handle was incorrect";
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419 /* This task is running, make sure it's state is returned as running. */
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420 if( eTaskStateGet( xIdleTaskHandle ) != eRunning )
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422 pcStatusMessage = "Error: Returned idle task state was incorrect";
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425 /* If this task is running, then the timer task must be blocked. */
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426 if( eTaskStateGet( xTimerTaskHandle ) != eBlocked )
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428 pcStatusMessage = "Error: Returned timer task state was incorrect";
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431 /* Other tests that should only be performed once follow. The test task
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432 is not created on each iteration because to do so would cause the death
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433 task to report an error (too many tasks running). */
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434 if( xPerformedOneShotTests == pdFALSE )
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436 /* Don't run this part of the test again. */
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437 xPerformedOneShotTests = pdTRUE;
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439 /* Create a test task to use to test other eTaskStateGet() return values. */
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440 if( xTaskCreate( prvTestTask, "Test", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTestTask ) == pdPASS )
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442 /* If this task is running, the test task must be in the ready state. */
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443 if( eTaskStateGet( xTestTask ) != eReady )
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445 pcStatusMessage = "Error: Returned test task state was incorrect 1";
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448 /* Now suspend the test task and check its state is reported correctly. */
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449 vTaskSuspend( xTestTask );
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450 if( eTaskStateGet( xTestTask ) != eSuspended )
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452 pcStatusMessage = "Error: Returned test task state was incorrect 2";
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455 /* Now delete the task and check its state is reported correctly. */
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456 vTaskDelete( xTestTask );
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457 if( eTaskStateGet( xTestTask ) != eDeleted )
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459 pcStatusMessage = "Error: Returned test task state was incorrect 3";
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464 /*-----------------------------------------------------------*/
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