/*\r
- FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd.\r
+ FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd.\r
+ \r
\r
***************************************************************************\r
- * *\r
- * If you are: *\r
- * *\r
- * + New to FreeRTOS, *\r
- * + Wanting to learn FreeRTOS or multitasking in general quickly *\r
- * + Looking for basic training, *\r
- * + Wanting to improve your FreeRTOS skills and productivity *\r
- * *\r
- * then take a look at the FreeRTOS books - available as PDF or paperback *\r
- * *\r
- * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *\r
- * http://www.FreeRTOS.org/Documentation *\r
- * *\r
- * A pdf reference manual is also available. Both are usually delivered *\r
- * to your inbox within 20 minutes to two hours when purchased between 8am *\r
- * and 8pm GMT (although please allow up to 24 hours in case of *\r
- * exceptional circumstances). Thank you for your support! *\r
- * *\r
+ * *\r
+ * FreeRTOS tutorial books are available in pdf and paperback. *\r
+ * Complete, revised, and edited pdf reference manuals are also *\r
+ * available. *\r
+ * *\r
+ * Purchasing FreeRTOS documentation will not only help you, by *\r
+ * ensuring you get running as quickly as possible and with an *\r
+ * in-depth knowledge of how to use FreeRTOS, it will also help *\r
+ * the FreeRTOS project to continue with its mission of providing *\r
+ * professional grade, cross platform, de facto standard solutions *\r
+ * for microcontrollers - completely free of charge! *\r
+ * *\r
+ * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *\r
+ * *\r
+ * Thank you for using FreeRTOS, and thank you for your support! *\r
+ * *\r
***************************************************************************\r
\r
+\r
This file is part of the FreeRTOS distribution.\r
\r
FreeRTOS is free software; you can redistribute it and/or modify it under\r
the terms of the GNU General Public License (version 2) as published by the\r
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
- ***NOTE*** The exception to the GPL is included to allow you to distribute\r
- a combined work that includes FreeRTOS without being obliged to provide the\r
- source code for proprietary components outside of the FreeRTOS kernel.\r
- FreeRTOS is distributed in the hope that it will be useful, but WITHOUT\r
- ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or\r
- FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
+ >>>NOTE<<< The modification to the GPL is included to allow you to\r
+ distribute a combined work that includes FreeRTOS without being obliged to\r
+ provide the source code for proprietary components outside of the FreeRTOS\r
+ kernel. FreeRTOS is distributed in the hope that it will be useful, but\r
+ WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY\r
+ or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
more details. You should have received a copy of the GNU General Public\r
License and the FreeRTOS license exception along with FreeRTOS; if not it\r
can be viewed here: http://www.freertos.org/a00114.html and also obtained\r
licensing and training services.\r
*/\r
\r
+/*\r
+ *******************************************************************************\r
+ * -NOTE- The Win32 port is a simulation (or is that emulation?) only! Do not\r
+ * expect to get real time behaviour from the Win32 port or this demo\r
+ * application. It is provided as a convenient development and demonstration\r
+ * test bed only. This was tested using Windows XP on a dual core laptop.\r
+ *\r
+ * - READ THE WEB DOCUMENTATION FOR THIS PORT FOR MORE INFORMATION ON USING IT -\r
+ *******************************************************************************\r
+ *\r
+ * main() creates all the demo application tasks, then starts the scheduler. \r
+ * The web documentation provides more details of the standard demo application \r
+ * tasks, which provide no particular functionality but do provide a good \r
+ * example of how to use the FreeRTOS API.\r
+ *\r
+ * In addition to the standard demo tasks, the following tasks and tests are\r
+ * defined and/or created within this file:\r
+ *\r
+ * "Check" task - This only executes every five seconds but has a high priority\r
+ * to ensure it gets processor time. Its main function is to check that all the\r
+ * standard demo tasks are still operational. While no errors have been\r
+ * discovered the check task will print out "OK" and the current simulated tick\r
+ * time. If an error is discovered in the execution of a task then the check\r
+ * task will print out an appropriate error message.\r
+ *\r
+ */\r
+\r
+\r
+/* Standard includes. */\r
#include <stdio.h>\r
+\r
+/* Kernel includes. */\r
#include <FreeRTOS.h>\r
#include "task.h"\r
#include "queue.h"\r
-\r
-/* Task priorities. */\r
-#define mainSTDOUT_TASK_PRIORITY tskIDLE_PRIORITY\r
-\r
-/* Stack sizes. */\r
-#define mainSTDOUT_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )\r
-\r
-/* File scope variables. */\r
-static volatile unsigned long ul1 = 0, ul2 = 0;\r
-static xQueueHandle xStdoutQueue = NULL;\r
+#include "timers.h"\r
+#include "semphr.h"\r
+\r
+/* Standard demo includes. */\r
+#include "BlockQ.h"\r
+#include "integer.h"\r
+#include "semtest.h"\r
+#include "PollQ.h"\r
+#include "GenQTest.h"\r
+#include "QPeek.h"\r
+#include "recmutex.h"\r
+#include "flop.h"\r
+#include "TimerDemo.h"\r
+#include "countsem.h"\r
+#include "death.h"\r
+#include "dynamic.h"\r
+\r
+/* Priorities at which the tasks are created. */\r
+#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )\r
+#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
+#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
+#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
+#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )\r
+#define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
+#define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
+#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )\r
+#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )\r
+#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )\r
+\r
+#define mainTIMER_TEST_PERIOD ( 50 )\r
\r
/* Task function prototypes. */\r
-static void prvTask1( void *pvParameters );\r
-static void prvTask2( void *pvParameters );\r
-static void prvStdoutTask( void *pvParameters );\r
+static void prvCheckTask( void *pvParameters );\r
\r
-/* Create a queue on which console output strings can be posted, then start the\r
-task that processes the queue - printf()'ing each string that is received. */\r
-static void prvStartStdoutTask( void );\r
+/* The variable into which error messages are latched. */\r
+static char *pcStatusMessage = "OK";\r
\r
-/* Post a message for output by the stdout task. Basically queues the message\r
-pointed to by pcTextToPrint for output to stdout in a thread safe manner. */\r
-void vMainConsolePrint( const char *pcTextToPrint, portTickType xTicksToWait );\r
+/* This semaphore is created purely to test using the vSemaphoreDelete() and\r
+semaphore tracing API functions. It has no other purpose. */\r
+static xSemaphoreHandle xMutexToDelete = NULL;\r
\r
-volatile unsigned long ulIdleCount = 0UL, ulT1Count = 0UL, ulT2Count = 0UL, ulTicks = 0UL;\r
/*-----------------------------------------------------------*/\r
\r
int main( void )\r
{\r
- prvStartStdoutTask();\r
- xTaskCreate( prvTask1, "t1", 100, NULL, 0, NULL );\r
- xTaskCreate( prvTask2, "t2", 100, NULL, 0, NULL );\r
+ /* Start the check task as described at the top of this file. */\r
+ xTaskCreate( prvCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );\r
+\r
+ /* Create the standard demo tasks. */\r
+ vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );\r
+ vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );\r
+ vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );\r
+ vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );\r
+ vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );\r
+ vStartQueuePeekTasks();\r
+ vStartMathTasks( mainFLOP_TASK_PRIORITY );\r
+ vStartRecursiveMutexTasks();\r
+ vStartTimerDemoTask( mainTIMER_TEST_PERIOD );\r
+ vStartCountingSemaphoreTasks();\r
+ vStartDynamicPriorityTasks();\r
+\r
+ /* The suicide tasks must be created last as they need to know how many\r
+ tasks were running prior to their creation. This then allows them to \r
+ ascertain whether or not the correct/expected number of tasks are running at \r
+ any given time. */\r
+ vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );\r
+\r
+ /* Create the semaphore that will be deleted in the idle task hook. This\r
+ is done purely to test the use of vSemaphoreDelete(). */\r
+ xMutexToDelete = xSemaphoreCreateMutex();\r
+\r
+ /* Start the scheduler itself. */\r
vTaskStartScheduler();\r
\r
/* Should never get here unless there was not enough heap space to create \r
}\r
/*-----------------------------------------------------------*/\r
\r
-void vMainConsolePrint( const char *pcTextToPrint, portTickType xTicksToWait )\r
+static void prvCheckTask( void *pvParameters )\r
{\r
- if( xStdoutQueue != NULL )\r
- {\r
- xQueueSend( xStdoutQueue, &pcTextToPrint, xTicksToWait );\r
- }\r
-}\r
-/*-----------------------------------------------------------*/\r
+portTickType xNextWakeTime;\r
+const portTickType xCycleFrequency = 1000 / portTICK_RATE_MS;\r
\r
-static void prvStartStdoutTask( void )\r
-{\r
-const unsigned long ulQueueLength = 20;\r
+ /* Just to remove compiler warning. */\r
+ ( void ) pvParameters;\r
\r
- /* Create the queue on which starings for output will be stored. */\r
- xStdoutQueue = xQueueCreate( ulQueueLength, ( unsigned portBASE_TYPE ) sizeof( char * ) );\r
+ /* Initialise xNextWakeTime - this only needs to be done once. */\r
+ xNextWakeTime = xTaskGetTickCount();\r
\r
- if( xStdoutQueue != NULL )\r
+ for( ;; )\r
{\r
- /* Create the task that processes the stdout messages. */\r
- xTaskCreate( prvStdoutTask, "stdout task", mainSTDOUT_TASK_STACK_SIZE, NULL, mainSTDOUT_TASK_PRIORITY, NULL );\r
+ /* Place this task in the blocked state until it is time to run again. */\r
+ vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );\r
+\r
+ /* Check the standard demo tasks are running without error. */\r
+ if( xAreTimerDemoTasksStillRunning( xCycleFrequency ) != pdTRUE )\r
+ {\r
+ pcStatusMessage = "Error: TimerDemo";\r
+ }\r
+ else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )\r
+ {\r
+ pcStatusMessage = "Error: IntMath";\r
+ } \r
+ else if( xAreGenericQueueTasksStillRunning() != pdTRUE )\r
+ { \r
+ pcStatusMessage = "Error: GenQueue";\r
+ }\r
+ else if( xAreQueuePeekTasksStillRunning() != pdTRUE )\r
+ {\r
+ pcStatusMessage = "Error: QueuePeek";\r
+ }\r
+ else if( xAreBlockingQueuesStillRunning() != pdTRUE )\r
+ {\r
+ pcStatusMessage = "Error: BlockQueue";\r
+ }\r
+ else if( xAreSemaphoreTasksStillRunning() != pdTRUE )\r
+ {\r
+ pcStatusMessage = "Error: SemTest";\r
+ }\r
+ else if( xArePollingQueuesStillRunning() != pdTRUE )\r
+ {\r
+ pcStatusMessage = "Error: PollQueue";\r
+ }\r
+ else if( xAreMathsTaskStillRunning() != pdPASS )\r
+ {\r
+ pcStatusMessage = "Error: Flop";\r
+ }\r
+ else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )\r
+ {\r
+ pcStatusMessage = "Error: RecMutex";\r
+ }\r
+ else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )\r
+ {\r
+ pcStatusMessage = "Error: CountSem";\r
+ }\r
+ else if( xIsCreateTaskStillRunning() != pdTRUE )\r
+ {\r
+ pcStatusMessage = "Error: Death";\r
+ }\r
+ else if( xAreDynamicPriorityTasksStillRunning() != pdPASS )\r
+ {\r
+ pcStatusMessage = "Error: Dynamic\r\n";\r
+ }\r
+\r
+ /* This is the only task that uses stdout so its ok to call printf() \r
+ directly. */\r
+ printf( "%s - %d\r\n", pcStatusMessage, xTaskGetTickCount() );\r
}\r
}\r
/*-----------------------------------------------------------*/\r
\r
-static void prvStdoutTask( void *pvParameters )\r
+void vApplicationIdleHook( void )\r
{\r
-char *pcString;\r
+const unsigned long ulMSToSleep = 5;\r
+xTaskHandle xIdleTaskHandle, xTimerTaskHandle;\r
+signed char *pcTaskName;\r
+const unsigned char ucConstQueueNumber = 0xaaU, ucConstTaskNumber = 0x55U;\r
+\r
+/* These three functions are only meant for use by trace code, and not for\r
+direct use from application code, hence their prototypes are not in queue.h. */\r
+extern void vQueueSetQueueNumber( xQueueHandle pxQueue, unsigned char ucQueueNumber );\r
+extern unsigned char ucQueueGetQueueNumber( xQueueHandle pxQueue );\r
+extern unsigned char ucQueueGetQueueType( xQueueHandle pxQueue );\r
+extern void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle );\r
+extern unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask );\r
+\r
+ /* Sleep to reduce CPU load, but don't sleep indefinitely in case there are\r
+ tasks waiting to be terminated by the idle task. */\r
+ Sleep( ulMSToSleep );\r
+\r
+ /* Demonstrate the use of the xTimerGetTimerDaemonTaskHandle() and \r
+ xTaskGetIdleTaskHandle() functions. Also try using the function that sets\r
+ the task number. */\r
+ xIdleTaskHandle = xTaskGetIdleTaskHandle();\r
+ xTimerTaskHandle = xTimerGetTimerDaemonTaskHandle();\r
+ vTaskSetTaskNumber( xIdleTaskHandle, ( unsigned long ) ucConstTaskNumber );\r
+ configASSERT( uxTaskGetTaskNumber( xIdleTaskHandle ) == ucConstTaskNumber );\r
+\r
+ /* This is the idle hook, so the current task handle should equal the \r
+ returned idle task handle. */\r
+ if( xTaskGetCurrentTaskHandle() != xIdleTaskHandle )\r
+ {\r
+ pcStatusMessage = "Error: Returned idle task handle was incorrect";\r
+ }\r
\r
- /* Just to remove compiler warnings. */\r
- ( void ) pvParameters;\r
+ /* Check the timer task handle was returned correctly. */\r
+ pcTaskName = pcTaskGetTaskName( xTimerTaskHandle );\r
+ if( strcmp( pcTaskName, "Tmr Svc" ) != 0 )\r
+ {\r
+ pcStatusMessage = "Error: Returned timer task handle was incorrect";\r
+ }\r
\r
- for( ;; )\r
+ /* If xMutexToDelete has not already been deleted, then delete it now.\r
+ This is done purely to demonstrate the use of, and test, the \r
+ vSemaphoreDelete() macro. Care must be taken not to delete a semaphore\r
+ that has tasks blocked on it. */\r
+ if( xMutexToDelete != NULL )\r
{\r
- /* This task would not have been created if the queue had not been created\r
- successfully too. Also, because of the FreeRTOSConfig.h settings using\r
- portMAX_DELAY in this case means wait forever, so when this function returns\r
- we know there is a string to print. */\r
- xQueueReceive( xStdoutQueue, &pcString, portMAX_DELAY );\r
- printf( "%s", pcString );\r
- //fflush( stdout );\r
+ /* Before deleting the semaphore, test the function used to set its\r
+ number. This would normally only be done from trace software, rather\r
+ than application code. */\r
+ vQueueSetQueueNumber( xMutexToDelete, ucConstQueueNumber );\r
+\r
+ /* Before deleting the semaphore, test the functions used to get its\r
+ type and number. Again, these would normally only be done from trace\r
+ software, rather than application code. */\r
+ configASSERT( ucQueueGetQueueNumber( xMutexToDelete ) == ucConstQueueNumber );\r
+ configASSERT( ucQueueGetQueueType( xMutexToDelete ) == queueQUEUE_TYPE_MUTEX );\r
+ vSemaphoreDelete( xMutexToDelete );\r
+ xMutexToDelete = NULL;\r
}\r
}\r
/*-----------------------------------------------------------*/\r
\r
-static void prvTask1( void *pvParameters )\r
+void vApplicationMallocFailedHook( void )\r
{\r
-const char *pcTask1Message = "Task 1 running\r\n";\r
-const portTickType xTicksToDelay = 1000 / portTICK_RATE_MS;\r
-\r
- /* Just to remove compiler warnings. */\r
- ( void ) pvParameters;\r
-\r
- for( ;; )\r
- {\r
-// ul1++;\r
- vMainConsolePrint( pcTask1Message, 0 );\r
- vTaskDelay( xTicksToDelay );\r
- ulT1Count++;\r
- }\r
+ /* Can be implemented if required, but probably not required in this \r
+ environment and running this demo. */\r
}\r
/*-----------------------------------------------------------*/\r
\r
-static void prvTask2( void *pvParameters )\r
+void vApplicationStackOverflowHook( void )\r
{\r
-const char *pcTask2Message = "Task 2 running\r\n";\r
-const portTickType xTicksToDelay = 500 / portTICK_RATE_MS;\r
-\r
- /* Just to remove compiler warnings. */\r
- ( void ) pvParameters;\r
-\r
- for( ;; )\r
- {\r
-// ul2++;\r
- vMainConsolePrint( pcTask2Message, 0 );\r
- vTaskDelay( xTicksToDelay );\r
- ulT2Count++;\r
-// taskYIELD();\r
- }\r
+ /* Can be implemented if required, but not required in this \r
+ environment and running this demo. */\r
}\r
/*-----------------------------------------------------------*/\r
\r
-void vApplicationIdleHook()\r
+void vApplicationTickHook( void )\r
{\r
-const unsigned long ulMSToSleep = 5;\r
-\r
- /* Sleep to reduce CPU load, but don't sleep indefinitely if not using \r
- preemption as as nothing will cause a task switch. */\r
- #if configUSE_PREEMPTION != 0\r
- {\r
- SleepEx( INFINITE, TRUE );\r
- }\r
- #else\r
- {\r
- SleepEx( ulMSToSleep, TRUE );\r
- }\r
- #endif\r
+ /* Call the periodic timer test, which tests the timer API functions that\r
+ can be called from an ISR. */\r
+ vTimerPeriodicISRTests();\r
+}\r
+/*-----------------------------------------------------------*/\r
\r
- ulIdleCount++;\r
+void vAssertCalled( void )\r
+{\r
+ taskDISABLE_INTERRUPTS();\r
+ for( ;; );\r
}\r
+\r
projects / freertos / blobdiff