/*\r
- FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.\r
- \r
+ FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.\r
+ All rights reserved\r
+\r
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
\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
+ * FreeRTOS provides completely free yet professionally developed, *\r
+ * robust, strictly quality controlled, supported, and cross *\r
+ * platform software that has become a de facto standard. *\r
* *\r
- * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *\r
+ * Help yourself get started quickly and support the FreeRTOS *\r
+ * project by purchasing a FreeRTOS tutorial book, reference *\r
+ * manual, or both from: http://www.FreeRTOS.org/Documentation *\r
* *\r
- * Thank you for using FreeRTOS, and thank you for your support! *\r
+ * Thank you! *\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 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
- by writing to Richard Barry, contact details for whom are available on the\r
- FreeRTOS WEB site.\r
+ Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.\r
+\r
+ >>! NOTE: The modification to the GPL is included to allow you to !<<\r
+ >>! distribute a combined work that includes FreeRTOS without being !<<\r
+ >>! obliged to provide the source code for proprietary components !<<\r
+ >>! outside of the FreeRTOS kernel. !<<\r
+\r
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
+ FOR A PARTICULAR PURPOSE. Full license text is available from the following\r
+ link: http://www.freertos.org/a00114.html\r
\r
1 tab == 4 spaces!\r
- \r
+\r
***************************************************************************\r
* *\r
* Having a problem? Start by reading the FAQ "My application does *\r
- * not run, what could be wrong? *\r
+ * not run, what could be wrong?" *\r
* *\r
* http://www.FreeRTOS.org/FAQHelp.html *\r
* *\r
***************************************************************************\r
\r
- \r
- http://www.FreeRTOS.org - Documentation, training, latest information, \r
- license and contact details.\r
- \r
+ http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
+ license and Real Time Engineers Ltd. contact details.\r
+\r
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
- including FreeRTOS+Trace - an indispensable productivity tool.\r
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
+\r
+ http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
+ Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS\r
+ licenses offer ticketed support, indemnification and middleware.\r
+\r
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
+ engineered and independently SIL3 certified version for use in safety and\r
+ mission critical applications that require provable dependability.\r
\r
- Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell \r
- the code with commercial support, indemnification, and middleware, under \r
- the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also\r
- provide a safety engineered and independently SIL3 certified version under \r
- the SafeRTOS brand: http://www.SafeRTOS.com.\r
+ 1 tab == 4 spaces!\r
*/\r
\r
/*\r
- * The first test creates three tasks - two counter tasks (one continuous count \r
- * and one limited count) and one controller. A "count" variable is shared \r
- * between all three tasks. The two counter tasks should never be in a "ready" \r
- * state at the same time. The controller task runs at the same priority as \r
- * the continuous count task, and at a lower priority than the limited count \r
+ * The first test creates three tasks - two counter tasks (one continuous count\r
+ * and one limited count) and one controller. A "count" variable is shared\r
+ * between all three tasks. The two counter tasks should never be in a "ready"\r
+ * state at the same time. The controller task runs at the same priority as\r
+ * the continuous count task, and at a lower priority than the limited count\r
* task.\r
*\r
* One counter task loops indefinitely, incrementing the shared count variable\r
* on each iteration. To ensure it has exclusive access to the variable it\r
- * raises it's priority above that of the controller task before each \r
- * increment, lowering it again to it's original priority before starting the\r
+ * raises its priority above that of the controller task before each\r
+ * increment, lowering it again to its original priority before starting the\r
* next iteration.\r
*\r
* The other counter task increments the shared count variable on each\r
- * iteration of it's loop until the count has reached a limit of 0xff - at\r
- * which point it suspends itself. It will not start a new loop until the \r
- * controller task has made it "ready" again by calling vTaskResume (). \r
- * This second counter task operates at a higher priority than controller \r
- * task so does not need to worry about mutual exclusion of the counter \r
+ * iteration of its loop until the count has reached a limit of 0xff - at\r
+ * which point it suspends itself. It will not start a new loop until the\r
+ * controller task has made it "ready" again by calling vTaskResume().\r
+ * This second counter task operates at a higher priority than controller\r
+ * task so does not need to worry about mutual exclusion of the counter\r
* variable.\r
*\r
* The controller task is in two sections. The first section controls and\r
- * monitors the continuous count task. When this section is operational the \r
- * limited count task is suspended. Likewise, the second section controls \r
- * and monitors the limited count task. When this section is operational the \r
+ * monitors the continuous count task. When this section is operational the\r
+ * limited count task is suspended. Likewise, the second section controls\r
+ * and monitors the limited count task. When this section is operational the\r
* continuous count task is suspended.\r
*\r
* In the first section the controller task first takes a copy of the shared\r
* the continuous count task will execute and increment the shared variable.\r
* When the controller task wakes it checks that the continuous count task\r
* has executed by comparing the copy of the shared variable with its current\r
- * value. This time, to ensure mutual exclusion, the scheduler itself is \r
- * suspended with a call to vTaskSuspendAll (). This is for demonstration \r
+ * value. This time, to ensure mutual exclusion, the scheduler itself is\r
+ * suspended with a call to vTaskSuspendAll (). This is for demonstration\r
* purposes only and is not a recommended technique due to its inefficiency.\r
*\r
- * After a fixed number of iterations the controller task suspends the \r
+ * After a fixed number of iterations the controller task suspends the\r
* continuous count task, and moves on to its second section.\r
*\r
* At the start of the second section the shared variable is cleared to zero.\r
- * The limited count task is then woken from it's suspension by a call to\r
+ * The limited count task is then woken from its suspension by a call to\r
* vTaskResume (). As this counter task operates at a higher priority than\r
* the controller task the controller task should not run again until the\r
* shared variable has been counted up to the limited value causing the counter\r
* a check on the shared variable to ensure everything is as expected.\r
*\r
*\r
- * The second test consists of a couple of very simple tasks that post onto a \r
+ * The second test consists of a couple of very simple tasks that post onto a\r
* queue while the scheduler is suspended. This test was added to test parts\r
* of the scheduler not exercised by the first test.\r
*\r
\r
/* Demo task specific constants. */\r
#define priSTACK_SIZE ( configMINIMAL_STACK_SIZE )\r
-#define priSLEEP_TIME ( ( portTickType ) 128 / portTICK_RATE_MS )\r
+#define priSLEEP_TIME ( ( TickType_t ) 128 / portTICK_PERIOD_MS )\r
#define priLOOPS ( 5 )\r
-#define priMAX_COUNT ( ( unsigned long ) 0xff )\r
-#define priNO_BLOCK ( ( portTickType ) 0 )\r
+#define priMAX_COUNT ( ( uint32_t ) 0xff )\r
+#define priNO_BLOCK ( ( TickType_t ) 0 )\r
#define priSUSPENDED_QUEUE_LENGTH ( 1 )\r
\r
/*-----------------------------------------------------------*/\r
\r
/* Handles to the two counter tasks. These could be passed in as parameters\r
to the controller task to prevent them having to be file scope. */\r
-static xTaskHandle xContinousIncrementHandle, xLimitedIncrementHandle;\r
+static TaskHandle_t xContinuousIncrementHandle, xLimitedIncrementHandle;\r
\r
-/* The shared counter variable. This is passed in as a parameter to the two \r
+/* The shared counter variable. This is passed in as a parameter to the two\r
counter variables for demonstration purposes. */\r
-static unsigned long ulCounter;\r
+static volatile uint32_t ulCounter;\r
\r
/* Variables used to check that the tasks are still operating without error.\r
Each complete iteration of the controller task increments this variable\r
provided no errors have been found. The variable maintaining the same value\r
is therefore indication of an error. */\r
-static volatile unsigned short usCheckVariable = ( unsigned short ) 0;\r
-static volatile portBASE_TYPE xSuspendedQueueSendError = pdFALSE;\r
-static volatile portBASE_TYPE xSuspendedQueueReceiveError = pdFALSE;\r
+static volatile uint16_t usCheckVariable = ( uint16_t ) 0;\r
+static volatile BaseType_t xSuspendedQueueSendError = pdFALSE;\r
+static volatile BaseType_t xSuspendedQueueReceiveError = pdFALSE;\r
\r
/* Queue used by the second test. */\r
-xQueueHandle xSuspendedTestQueue;\r
+QueueHandle_t xSuspendedTestQueue;\r
+\r
+/* The value the queue receive task expects to receive next. This is file\r
+scope so xAreDynamicPriorityTasksStillRunning() can ensure it is still\r
+incrementing. */\r
+static uint32_t ulExpectedValue = ( uint32_t ) 0;\r
\r
/*-----------------------------------------------------------*/\r
/*\r
*/\r
void vStartDynamicPriorityTasks( void )\r
{\r
- xSuspendedTestQueue = xQueueCreate( priSUSPENDED_QUEUE_LENGTH, sizeof( unsigned long ) );\r
+ xSuspendedTestQueue = xQueueCreate( priSUSPENDED_QUEUE_LENGTH, sizeof( uint32_t ) );\r
\r
/* vQueueAddToRegistry() adds the queue to the queue registry, if one is\r
- in use. The queue registry is provided as a means for kernel aware \r
+ in use. The queue registry is provided as a means for kernel aware\r
debuggers to locate queues and has no purpose if a kernel aware debugger\r
is not being used. The call to vQueueAddToRegistry() will be removed\r
- by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is \r
+ by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is\r
defined to be less than 1. */\r
- vQueueAddToRegistry( xSuspendedTestQueue, ( signed char * ) "Suspended_Test_Queue" );\r
+ vQueueAddToRegistry( xSuspendedTestQueue, "Suspended_Test_Queue" );\r
\r
- xTaskCreate( vContinuousIncrementTask, ( signed char * ) "CNT_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY, &xContinousIncrementHandle );\r
- xTaskCreate( vLimitedIncrementTask, ( signed char * ) "LIM_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY + 1, &xLimitedIncrementHandle );\r
- xTaskCreate( vCounterControlTask, ( signed char * ) "C_CTRL", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
- xTaskCreate( vQueueSendWhenSuspendedTask, ( signed char * ) "SUSP_TX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
- xTaskCreate( vQueueReceiveWhenSuspendedTask, ( signed char * ) "SUSP_RX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
+ xTaskCreate( vContinuousIncrementTask, "CNT_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY, &xContinuousIncrementHandle );\r
+ xTaskCreate( vLimitedIncrementTask, "LIM_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY + 1, &xLimitedIncrementHandle );\r
+ xTaskCreate( vCounterControlTask, "C_CTRL", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
+ xTaskCreate( vQueueSendWhenSuspendedTask, "SUSP_TX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
+ xTaskCreate( vQueueReceiveWhenSuspendedTask, "SUSP_RX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );\r
}\r
/*-----------------------------------------------------------*/\r
\r
/*\r
* Just loops around incrementing the shared variable until the limit has been\r
- * reached. Once the limit has been reached it suspends itself. \r
+ * reached. Once the limit has been reached it suspends itself.\r
*/\r
static portTASK_FUNCTION( vLimitedIncrementTask, pvParameters )\r
{\r
-unsigned long *pulCounter;\r
+uint32_t *pulCounter;\r
\r
/* Take a pointer to the shared variable from the parameters passed into\r
the task. */\r
- pulCounter = ( unsigned long * ) pvParameters;\r
+ pulCounter = ( uint32_t * ) pvParameters;\r
\r
/* This will run before the control task, so the first thing it does is\r
suspend - the control task will resume it when ready. */\r
for( ;; )\r
{\r
/* Just count up to a value then suspend. */\r
- ( *pulCounter )++; \r
- \r
+ ( *pulCounter )++;\r
+\r
if( *pulCounter >= priMAX_COUNT )\r
{\r
vTaskSuspend( NULL );\r
- } \r
+ }\r
}\r
}\r
/*-----------------------------------------------------------*/\r
*/\r
static portTASK_FUNCTION( vContinuousIncrementTask, pvParameters )\r
{\r
-unsigned long *pulCounter;\r
-unsigned portBASE_TYPE uxOurPriority;\r
+volatile uint32_t *pulCounter;\r
+UBaseType_t uxOurPriority;\r
\r
/* Take a pointer to the shared variable from the parameters passed into\r
the task. */\r
- pulCounter = ( unsigned long * ) pvParameters;\r
+ pulCounter = ( uint32_t * ) pvParameters;\r
\r
- /* Query our priority so we can raise it when exclusive access to the \r
+ /* Query our priority so we can raise it when exclusive access to the\r
shared variable is required. */\r
uxOurPriority = uxTaskPriorityGet( NULL );\r
\r
for( ;; )\r
{\r
- /* Raise our priority above the controller task to ensure a context\r
- switch does not occur while we are accessing this variable. */\r
+ /* Raise the priority above the controller task to ensure a context\r
+ switch does not occur while the variable is being accessed. */\r
vTaskPrioritySet( NULL, uxOurPriority + 1 );\r
- ( *pulCounter )++; \r
+ {\r
+ configASSERT( ( uxTaskPriorityGet( NULL ) == ( uxOurPriority + 1 ) ) );\r
+ ( *pulCounter )++;\r
+ }\r
vTaskPrioritySet( NULL, uxOurPriority );\r
+\r
+ #if( configUSE_PREEMPTION == 0 )\r
+ taskYIELD();\r
+ #endif\r
+\r
+ configASSERT( ( uxTaskPriorityGet( NULL ) == uxOurPriority ) );\r
}\r
}\r
/*-----------------------------------------------------------*/\r
*/\r
static portTASK_FUNCTION( vCounterControlTask, pvParameters )\r
{\r
-unsigned long ulLastCounter;\r
+uint32_t ulLastCounter;\r
short sLoops;\r
short sError = pdFALSE;\r
\r
for( ;; )\r
{\r
/* Start with the counter at zero. */\r
- ulCounter = ( unsigned long ) 0;\r
+ ulCounter = ( uint32_t ) 0;\r
\r
/* First section : */\r
\r
for( sLoops = 0; sLoops < priLOOPS; sLoops++ )\r
{\r
/* Suspend the continuous count task so we can take a mirror of the\r
- shared variable without risk of corruption. */\r
- vTaskSuspend( xContinousIncrementHandle );\r
+ shared variable without risk of corruption. This is not really\r
+ needed as the other task raises its priority above this task's\r
+ priority. */\r
+ vTaskSuspend( xContinuousIncrementHandle );\r
+ {\r
+ #if( INCLUDE_eTaskGetState == 1 )\r
+ {\r
+ configASSERT( eTaskGetState( xContinuousIncrementHandle ) == eSuspended );\r
+ }\r
+ #endif /* INCLUDE_eTaskGetState */\r
+\r
ulLastCounter = ulCounter;\r
- vTaskResume( xContinousIncrementHandle );\r
- \r
+ }\r
+ vTaskResume( xContinuousIncrementHandle );\r
+\r
+ #if( configUSE_PREEMPTION == 0 )\r
+ taskYIELD();\r
+ #endif\r
+\r
+ #if( INCLUDE_eTaskGetState == 1 )\r
+ {\r
+ configASSERT( eTaskGetState( xContinuousIncrementHandle ) == eReady );\r
+ }\r
+ #endif /* INCLUDE_eTaskGetState */\r
+\r
/* Now delay to ensure the other task has processor time. */\r
vTaskDelay( priSLEEP_TIME );\r
\r
- /* Check the shared variable again. This time to ensure mutual \r
+ /* Check the shared variable again. This time to ensure mutual\r
exclusion the whole scheduler will be locked. This is just for\r
demo purposes! */\r
vTaskSuspendAll();\r
xTaskResumeAll();\r
}\r
\r
-\r
/* Second section: */\r
\r
- /* Suspend the continuous counter task so it stops accessing the shared variable. */\r
- vTaskSuspend( xContinousIncrementHandle );\r
+ /* Suspend the continuous counter task so it stops accessing the shared\r
+ variable. */\r
+ vTaskSuspend( xContinuousIncrementHandle );\r
\r
/* Reset the variable. */\r
- ulCounter = ( unsigned long ) 0;\r
+ ulCounter = ( uint32_t ) 0;\r
+\r
+ #if( INCLUDE_eTaskGetState == 1 )\r
+ {\r
+ configASSERT( eTaskGetState( xLimitedIncrementHandle ) == eSuspended );\r
+ }\r
+ #endif /* INCLUDE_eTaskGetState */\r
\r
/* Resume the limited count task which has a higher priority than us.\r
We should therefore not return from this call until the limited count\r
task has suspended itself with a known value in the counter variable. */\r
vTaskResume( xLimitedIncrementHandle );\r
\r
+ #if( configUSE_PREEMPTION == 0 )\r
+ taskYIELD();\r
+ #endif\r
+\r
+ /* This task should not run again until xLimitedIncrementHandle has\r
+ suspended itself. */\r
+ #if( INCLUDE_eTaskGetState == 1 )\r
+ {\r
+ configASSERT( eTaskGetState( xLimitedIncrementHandle ) == eSuspended );\r
+ }\r
+ #endif /* INCLUDE_eTaskGetState */\r
+\r
/* Does the counter variable have the expected value? */\r
if( ulCounter != priMAX_COUNT )\r
{\r
}\r
\r
/* Resume the continuous count task and do it all again. */\r
- vTaskResume( xContinousIncrementHandle );\r
+ vTaskResume( xContinuousIncrementHandle );\r
+\r
+ #if( configUSE_PREEMPTION == 0 )\r
+ taskYIELD();\r
+ #endif\r
}\r
}\r
/*-----------------------------------------------------------*/\r
\r
static portTASK_FUNCTION( vQueueSendWhenSuspendedTask, pvParameters )\r
{\r
-static unsigned long ulValueToSend = ( unsigned long ) 0;\r
+static uint32_t ulValueToSend = ( uint32_t ) 0;\r
\r
/* Just to stop warning messages. */\r
( void ) pvParameters;\r
\r
static portTASK_FUNCTION( vQueueReceiveWhenSuspendedTask, pvParameters )\r
{\r
-static unsigned long ulExpectedValue = ( unsigned long ) 0, ulReceivedValue;\r
-portBASE_TYPE xGotValue;\r
+uint32_t ulReceivedValue;\r
+BaseType_t xGotValue;\r
\r
/* Just to stop warning messages. */\r
( void ) pvParameters;\r
{\r
do\r
{\r
- /* Suspending the scheduler here is fairly pointless and \r
+ /* Suspending the scheduler here is fairly pointless and\r
undesirable for a normal application. It is done here purely\r
to test the scheduler. The inner xTaskResumeAll() should\r
never return pdTRUE as the scheduler is still locked by the\r
{\r
xGotValue = xQueueReceive( xSuspendedTestQueue, ( void * ) &ulReceivedValue, priNO_BLOCK );\r
}\r
- if( xTaskResumeAll() )\r
+ if( xTaskResumeAll() != pdFALSE )\r
{\r
xSuspendedQueueReceiveError = pdTRUE;\r
}\r
xSuspendedQueueReceiveError = pdTRUE;\r
}\r
\r
- ++ulExpectedValue;\r
+ if( xSuspendedQueueReceiveError != pdTRUE )\r
+ {\r
+ /* Only increment the variable if an error has not occurred. This\r
+ allows xAreDynamicPriorityTasksStillRunning() to check for stalled\r
+ tasks as well as explicit errors. */\r
+ ++ulExpectedValue;\r
+ }\r
}\r
}\r
/*-----------------------------------------------------------*/\r
\r
/* Called to check that all the created tasks are still running without error. */\r
-portBASE_TYPE xAreDynamicPriorityTasksStillRunning( void )\r
+BaseType_t xAreDynamicPriorityTasksStillRunning( void )\r
{\r
-/* Keep a history of the check variables so we know if it has been incremented \r
+/* Keep a history of the check variables so we know if it has been incremented\r
since the last call. */\r
-static unsigned short usLastTaskCheck = ( unsigned short ) 0;\r
-portBASE_TYPE xReturn = pdTRUE;\r
+static uint16_t usLastTaskCheck = ( uint16_t ) 0;\r
+static uint32_t ulLastExpectedValue = ( uint32_t ) 0U;\r
+BaseType_t xReturn = pdTRUE;\r
\r
/* Check the tasks are still running by ensuring the check variable\r
is still incrementing. */\r
xReturn = pdFALSE;\r
}\r
\r
+ if( ulExpectedValue == ulLastExpectedValue )\r
+ {\r
+ /* The value being received by the queue receive task has not\r
+ incremented so an error exists. */\r
+ xReturn = pdFALSE;\r
+ }\r
+\r
if( xSuspendedQueueSendError == pdTRUE )\r
{\r
xReturn = pdFALSE;\r
}\r
\r
usLastTaskCheck = usCheckVariable;\r
+ ulLastExpectedValue = ulExpectedValue;\r
+\r
return xReturn;\r
}\r
projects / freertos / blobdiff