***************************************************************************\r
\r
\r
- http://www.FreeRTOS.org - Documentation, books, training, latest versions, \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, and our new\r
fully thread aware and reentrant UDP/IP stack.\r
\r
- http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High \r
- Integrity Systems, who sell the code with commercial support, \r
+ http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
+ Integrity Systems, who sell the code with commercial support,\r
indemnification and middleware, under the OpenRTOS brand.\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
+\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
\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
+ * 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
* 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
+ * 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
* 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 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 xContinousIncrementHandle, 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
\r
static volatile portBASE_TYPE xSuspendedQueueReceiveError = pdFALSE;\r
\r
/* Queue used by the second test. */\r
-xQueueHandle xSuspendedTestQueue;\r
+static QueueHandle_t xSuspendedTestQueue;\r
\r
/*-----------------------------------------------------------*/\r
/*\r
xSuspendedTestQueue = xQueueCreate( priSUSPENDED_QUEUE_LENGTH, sizeof( unsigned long ) );\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
\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, &xContinousIncrementHandle );\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
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
the task. */\r
pulCounter = ( unsigned long * ) 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
/* Raise our priority above the controller task to ensure a context\r
switch does not occur while we are accessing this variable. */\r
vTaskPrioritySet( NULL, uxOurPriority + 1 );\r
- ( *pulCounter )++; \r
+ ( *pulCounter )++;\r
vTaskPrioritySet( NULL, uxOurPriority );\r
}\r
}\r
vTaskSuspend( xContinousIncrementHandle );\r
ulLastCounter = ulCounter;\r
vTaskResume( xContinousIncrementHandle );\r
- \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
{\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
/* Called to check that all the created tasks are still running without error. */\r
portBASE_TYPE 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
projects / freertos / blobdiff