2 * FreeRTOS Kernel V10.0.0
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3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software. If you wish to use our Amazon
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14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
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16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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23 * http://www.FreeRTOS.org
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24 * http://aws.amazon.com/freertos
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26 * 1 tab == 4 spaces!
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29 /******************************************************************************
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31 * This project is provided as an example of how to create a FreeRTOS project
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32 * that does not need a heap. configSUPPORT_STATIC_ALLOCATION is set to 1 to
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33 * allow RTOS objects to be created using statically allocated RAM, and
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34 * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 to remove any build dependency
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35 * on the FreeRTOS heap. When configSUPPORT_DYNAMIC_ALLOCATION is set to 0
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36 * pvPortMalloc() just equates to NULL, and calls to vPortFree() have no
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39 * http://www.freertos.org/a00111.html and
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40 * http://www.freertos.org/Static_Vs_Dynamic_Memory_Allocation.html
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42 *******************************************************************************
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45 /* Standard includes. */
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50 /* FreeRTOS kernel includes. */
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51 #include "FreeRTOS.h"
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54 /* Standard demo includes. */
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55 #include "StaticAllocation.h"
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58 /*-----------------------------------------------------------*/
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61 * Prototypes for the standard FreeRTOS stack overflow hook (callback)
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62 * function. http://www.freertos.org/Stacks-and-stack-overflow-checking.html
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64 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
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67 * This demo has configSUPPORT_STATIC_ALLOCATION set to 1 so the following
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68 * application callback function must be provided to supply the RAM that will
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69 * get used for the Idle task data structures and stack.
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71 void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
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74 * This demo has configSUPPORT_STATIC_ALLOCATION set to 1 and configUSE_TIMERS
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75 * set to 1 so the following application callback function must be provided to
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76 * supply the RAM that will get used for the Timer task data structures and
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79 void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize );
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81 /* This demo only uses the standard demo tasks that use statically allocated
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82 RAM. A 'check' task is also created to periodically inspect the demo tasks to
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83 ensure they are still running, and that no errors have been detected. */
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84 static void prvStartCheckTask( void );
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85 static void prvCheckTask( void *pvParameters );
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87 /*-----------------------------------------------------------*/
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91 /* This demo has configSUPPORT_STATIC_ALLOCATION set to 1 and
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92 configSUPPORT_DYNAMIC_ALLOCATION set to 0, so the only standard temo tasks
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93 created are the ones that only use static allocation. This allow the
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94 application to be built without including a FreeRTOS heap file (without one
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95 of the heap files described on http://www.freertos.org/a00111.html */
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96 vStartStaticallyAllocatedTasks();
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98 /* Start a task that periodically inspects the tasks created by
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99 vStartStaticallyAllocatedTasks() to ensure they are still running, and not
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100 reporting any errors. */
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101 prvStartCheckTask();
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103 /* Start the scheduler so the demo tasks start to execute. */
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104 vTaskStartScheduler();
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106 /* vTaskStartScheduler() would only return if RAM required by the Idle and
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107 Timer tasks could not be allocated. As this demo uses statically allocated
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108 RAM only, there are no allocations that could fail, and
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109 vTaskStartScheduler() cannot return - so there is no need to put the normal
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110 infinite loop after the call to vTaskStartScheduler(). */
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114 /*-----------------------------------------------------------*/
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116 static void prvStartCheckTask( void )
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118 /* Allocate the data structure that will hold the task's TCB. NOTE: This is
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119 declared static so it still exists after this function has returned. */
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120 static StaticTask_t xCheckTask;
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122 /* Allocate the stack that will be used by the task. NOTE: This is declared
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123 static so it still exists after this function has returned. */
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124 static StackType_t ucTaskStack[ configMINIMAL_STACK_SIZE * sizeof( StackType_t ) ];
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126 /* Create the task, which will use the RAM allocated by the linker to the
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127 variables declared in this function. */
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128 xTaskCreateStatic( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, ucTaskStack, &xCheckTask );
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130 /*-----------------------------------------------------------*/
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132 static void prvCheckTask( void *pvParameters )
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134 const TickType_t xCycleFrequency = pdMS_TO_TICKS( 2500UL );
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135 static char *pcStatusMessage = "No errors";
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137 /* Just to remove compiler warning. */
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138 ( void ) pvParameters;
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142 /* Place this task in the blocked state until it is time to run again. */
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143 vTaskDelay( xCycleFrequency );
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145 /* Check the tasks that use static allocation are still executing. */
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146 if( xAreStaticAllocationTasksStillRunning() != pdPASS )
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148 pcStatusMessage = "Error: Static allocation";
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151 /* This is the only task that uses stdout so its ok to call printf()
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153 printf( "%s - tick count %d - number of tasks executing %d\r\n",
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155 xTaskGetTickCount(),
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156 uxTaskGetNumberOfTasks() );
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160 /*-----------------------------------------------------------*/
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161 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
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163 ( void ) pcTaskName;
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166 /* Run time stack overflow checking is performed if
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167 configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
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168 function is called if a stack overflow is detected. This function is
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169 provided as an example only as stack overflow checking does not function
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170 when running the FreeRTOS Windows port. */
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171 vAssertCalled( __LINE__, __FILE__ );
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173 /*-----------------------------------------------------------*/
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175 void vAssertCalled( unsigned long ulLine, const char * const pcFileName )
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177 volatile uint32_t ulSetToNonZeroInDebuggerToContinue = 0;
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179 /* Called if an assertion passed to configASSERT() fails. See
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180 http://www.freertos.org/a00110.html#configASSERT for more information. */
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182 /* Parameters are not used. */
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184 ( void ) pcFileName;
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186 printf( "ASSERT! Line %d, file %s\r\n", ulLine, pcFileName );
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188 taskENTER_CRITICAL();
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190 /* You can step out of this function to debug the assertion by using
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191 the debugger to set ulSetToNonZeroInDebuggerToContinue to a non-zero
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193 while( ulSetToNonZeroInDebuggerToContinue == 0 )
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199 taskEXIT_CRITICAL();
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201 /*-----------------------------------------------------------*/
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203 /* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
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204 implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
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205 used by the Idle task. */
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206 void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
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208 /* If the buffers to be provided to the Idle task are declared inside this
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209 function then they must be declared static - otherwise they will be allocated on
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210 the stack and so not exists after this function exits. */
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211 static StaticTask_t xIdleTaskTCB;
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212 static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
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214 /* Pass out a pointer to the StaticTask_t structure in which the Idle task's
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215 state will be stored. */
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216 *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
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218 /* Pass out the array that will be used as the Idle task's stack. */
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219 *ppxIdleTaskStackBuffer = uxIdleTaskStack;
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221 /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
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222 Note that, as the array is necessarily of type StackType_t,
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223 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
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224 *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
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226 /*-----------------------------------------------------------*/
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228 /* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
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229 application must provide an implementation of vApplicationGetTimerTaskMemory()
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230 to provide the memory that is used by the Timer service task. */
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231 void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize )
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233 /* If the buffers to be provided to the Timer task are declared inside this
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234 function then they must be declared static - otherwise they will be allocated on
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235 the stack and so not exists after this function exits. */
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236 static StaticTask_t xTimerTaskTCB;
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237 static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
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239 /* Pass out a pointer to the StaticTask_t structure in which the Timer
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240 task's state will be stored. */
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241 *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
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243 /* Pass out the array that will be used as the Timer task's stack. */
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244 *ppxTimerTaskStackBuffer = uxTimerTaskStack;
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246 /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
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247 Note that, as the array is necessarily of type StackType_t,
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248 configMINIMAL_STACK_SIZE is specified in words, not bytes. */
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249 *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
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