2 FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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67 *******************************************************************************
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68 * NOTE 1: The Win32 port is a simulation (or is that emulation?) only! Do not
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69 * expect to get real time behaviour from the Win32 port or this demo
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70 * application. It is provided as a convenient development and demonstration
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71 * test bed only. This was tested using Windows XP on a dual core laptop.
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73 * Windows will not be running the FreeRTOS simulator threads continuously, so
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74 * the timing information in the FreeRTOS+Trace logs have no meaningful units.
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75 * See the documentation page for the Windows simulator for an explanation of
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77 * http://www.freertos.org/FreeRTOS-Windows-Simulator-Emulator-for-Visual-Studio-and-Eclipse-MingW.html
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78 * - READ THE WEB DOCUMENTATION FOR THIS PORT FOR MORE INFORMATION ON USING IT -
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80 * NOTE 2: This project provides two demo applications. A simple blinky style
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81 * project, and a more comprehensive test and demo application. The
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82 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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83 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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84 * in main.c. This file implements the comprehensive test and demo version.
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86 * NOTE 3: This file only contains the source code that is specific to the
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87 * basic demo. Generic functions, such FreeRTOS hook functions, are defined in
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89 *******************************************************************************
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91 * main() creates all the demo application tasks, then starts the scheduler.
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92 * The web documentation provides more details of the standard demo application
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93 * tasks, which provide no particular functionality but do provide a good
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94 * example of how to use the FreeRTOS API.
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96 * In addition to the standard demo tasks, the following tasks and tests are
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97 * defined and/or created within this file:
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99 * "Check" task - This only executes every five seconds but has a high priority
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100 * to ensure it gets processor time. Its main function is to check that all the
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101 * standard demo tasks are still operational. While no errors have been
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102 * discovered the check task will print out "OK" and the current simulated tick
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103 * time. If an error is discovered in the execution of a task then the check
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104 * task will print out an appropriate error message.
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109 /* Standard includes. */
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111 #include <stdlib.h>
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113 /* Kernel includes. */
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114 #include <FreeRTOS.h>
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117 #include "timers.h"
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118 #include "semphr.h"
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120 /* Standard demo includes. */
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121 #include "BlockQ.h"
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122 #include "integer.h"
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123 #include "semtest.h"
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125 #include "GenQTest.h"
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127 #include "recmutex.h"
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129 #include "TimerDemo.h"
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130 #include "countsem.h"
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132 #include "dynamic.h"
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133 #include "QueueSet.h"
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134 #include "QueueOverwrite.h"
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135 #include "EventGroupsDemo.h"
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137 /* Priorities at which the tasks are created. */
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138 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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139 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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140 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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141 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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142 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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143 #define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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144 #define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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145 #define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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146 #define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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147 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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148 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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150 #define mainTIMER_TEST_PERIOD ( 50 )
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152 /* Task function prototypes. */
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153 static void prvCheckTask( void *pvParameters );
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155 /* A task that is created from the idle task to test the functionality of
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156 eTaskStateGet(). */
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157 static void prvTestTask( void *pvParameters );
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160 * Called from the idle task hook function to demonstrate a few utility
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161 * functions that are not demonstrated by any of the standard demo tasks.
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163 static void prvDemonstrateTaskStateAndHandleGetFunctions( void );
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166 * A task to demonstrate the use of the xQueueSpacesAvailable() function.
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168 static void prvDemoQueueSpaceFunctions( void *pvParameters );
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170 /*-----------------------------------------------------------*/
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172 /* The variable into which error messages are latched. */
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173 static char *pcStatusMessage = "OK";
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175 /* This semaphore is created purely to test using the vSemaphoreDelete() and
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176 semaphore tracing API functions. It has no other purpose. */
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177 static xSemaphoreHandle xMutexToDelete = NULL;
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179 /*-----------------------------------------------------------*/
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181 int main_full( void )
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183 /* Start the check task as described at the top of this file. */
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184 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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186 /* Create the standard demo tasks. */
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187 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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188 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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189 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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190 vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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191 vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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192 vStartQueuePeekTasks();
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193 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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194 vStartRecursiveMutexTasks();
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195 vStartCountingSemaphoreTasks();
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196 vStartDynamicPriorityTasks();
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197 vStartQueueSetTasks();
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198 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
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199 xTaskCreate( prvDemoQueueSpaceFunctions, "QSpace", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
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200 vStartEventGroupTasks();
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202 #if( configUSE_PREEMPTION != 0 )
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204 /* Don't expect these tasks to pass when preemption is not used. */
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205 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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209 /* The suicide tasks must be created last as they need to know how many
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210 tasks were running prior to their creation. This then allows them to
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211 ascertain whether or not the correct/expected number of tasks are running at
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213 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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215 /* Create the semaphore that will be deleted in the idle task hook. This
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216 is done purely to test the use of vSemaphoreDelete(). */
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217 xMutexToDelete = xSemaphoreCreateMutex();
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219 /* Start the scheduler itself. */
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220 vTaskStartScheduler();
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222 /* Should never get here unless there was not enough heap space to create
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223 the idle and other system tasks. */
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226 /*-----------------------------------------------------------*/
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228 static void prvCheckTask( void *pvParameters )
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230 portTickType xNextWakeTime;
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231 const portTickType xCycleFrequency = 2500 / portTICK_RATE_MS;
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233 /* Just to remove compiler warning. */
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234 ( void ) pvParameters;
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236 /* Initialise xNextWakeTime - this only needs to be done once. */
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237 xNextWakeTime = xTaskGetTickCount();
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241 /* Place this task in the blocked state until it is time to run again. */
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242 vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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244 /* Check the standard demo tasks are running without error. */
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245 #if( configUSE_PREEMPTION != 0 )
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247 /* These tasks are only created when preemption is used. */
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248 if( xAreTimerDemoTasksStillRunning( xCycleFrequency ) != pdTRUE )
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250 pcStatusMessage = "Error: TimerDemo";
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255 if( xAreEventGroupTasksStillRunning() != pdTRUE )
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257 pcStatusMessage = "Error: EventGroup";
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259 else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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261 pcStatusMessage = "Error: IntMath";
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263 else if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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265 pcStatusMessage = "Error: GenQueue";
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267 else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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269 pcStatusMessage = "Error: QueuePeek";
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271 else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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273 pcStatusMessage = "Error: BlockQueue";
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275 else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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277 pcStatusMessage = "Error: SemTest";
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279 else if( xArePollingQueuesStillRunning() != pdTRUE )
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281 pcStatusMessage = "Error: PollQueue";
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283 else if( xAreMathsTaskStillRunning() != pdPASS )
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285 pcStatusMessage = "Error: Flop";
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287 else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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289 pcStatusMessage = "Error: RecMutex";
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291 else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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293 pcStatusMessage = "Error: CountSem";
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295 else if( xIsCreateTaskStillRunning() != pdTRUE )
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297 pcStatusMessage = "Error: Death";
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299 else if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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301 pcStatusMessage = "Error: Dynamic";
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303 else if( xAreQueueSetTasksStillRunning() != pdPASS )
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305 pcStatusMessage = "Error: Queue set";
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307 else if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
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309 pcStatusMessage = "Error: Queue overwrite";
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312 /* This is the only task that uses stdout so its ok to call printf()
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314 printf( "%s - %d\r\n", pcStatusMessage, xTaskGetTickCount() );
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317 /*-----------------------------------------------------------*/
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319 static void prvTestTask( void *pvParameters )
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321 const unsigned long ulMSToSleep = 5;
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323 /* Just to remove compiler warnings. */
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324 ( void ) pvParameters;
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326 /* This task is just used to test the eTaskStateGet() function. It
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327 does not have anything to do. */
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330 /* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
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331 tasks waiting to be terminated by the idle task. */
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332 Sleep( ulMSToSleep );
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335 /*-----------------------------------------------------------*/
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337 /* Called from vApplicationIdleHook(), which is defined in main.c. */
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338 void vFullDemoIdleFunction( void )
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340 const unsigned long ulMSToSleep = 15;
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341 const unsigned portBASE_TYPE uxConstQueueNumber = 0xaaU;
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344 /* These three functions are only meant for use by trace code, and not for
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345 direct use from application code, hence their prototypes are not in queue.h. */
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346 extern void vQueueSetQueueNumber( xQueueHandle pxQueue, unsigned portBASE_TYPE uxQueueNumber );
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347 extern unsigned portBASE_TYPE uxQueueGetQueueNumber( xQueueHandle pxQueue );
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348 extern uint8_t ucQueueGetQueueType( xQueueHandle pxQueue );
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349 extern void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle );
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350 extern unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask );
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352 /* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
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353 tasks waiting to be terminated by the idle task. */
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354 Sleep( ulMSToSleep );
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356 /* Demonstrate a few utility functions that are not demonstrated by any of
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357 the standard demo tasks. */
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358 prvDemonstrateTaskStateAndHandleGetFunctions();
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360 /* If xMutexToDelete has not already been deleted, then delete it now.
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361 This is done purely to demonstrate the use of, and test, the
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362 vSemaphoreDelete() macro. Care must be taken not to delete a semaphore
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363 that has tasks blocked on it. */
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364 if( xMutexToDelete != NULL )
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366 /* Before deleting the semaphore, test the function used to set its
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367 number. This would normally only be done from trace software, rather
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368 than application code. */
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369 vQueueSetQueueNumber( xMutexToDelete, uxConstQueueNumber );
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371 /* Before deleting the semaphore, test the functions used to get its
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372 type and number. Again, these would normally only be done from trace
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373 software, rather than application code. */
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374 configASSERT( uxQueueGetQueueNumber( xMutexToDelete ) == uxConstQueueNumber );
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375 configASSERT( ucQueueGetQueueType( xMutexToDelete ) == queueQUEUE_TYPE_MUTEX );
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376 vSemaphoreDelete( xMutexToDelete );
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377 xMutexToDelete = NULL;
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380 /* Exercise heap_4 a bit. The malloc failed hook will trap failed
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381 allocations so there is no need to test here. */
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382 pvAllocated = pvPortMalloc( ( rand() % 100 ) + 1 );
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383 vPortFree( pvAllocated );
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385 /*-----------------------------------------------------------*/
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387 /* Called by vApplicationTickHook(), which is defined in main.c. */
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388 void vFullDemoTickHookFunction( void )
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390 /* Call the periodic timer test, which tests the timer API functions that
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391 can be called from an ISR. */
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392 #if( configUSE_PREEMPTION != 0 )
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394 /* Only created when preemption is used. */
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395 vTimerPeriodicISRTests();
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399 /* Call the periodic queue overwrite from ISR demo. */
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400 vQueueOverwritePeriodicISRDemo();
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402 /* Write to a queue that is in use as part of the queue set demo to
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403 demonstrate using queue sets from an ISR. */
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404 vQueueSetAccessQueueSetFromISR();
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406 /*-----------------------------------------------------------*/
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408 static void prvDemonstrateTaskStateAndHandleGetFunctions( void )
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410 xTaskHandle xIdleTaskHandle, xTimerTaskHandle;
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411 const unsigned char ucConstTaskNumber = 0x55U;
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412 signed char *pcTaskName;
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413 static portBASE_TYPE xPerformedOneShotTests = pdFALSE;
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414 xTaskHandle xTestTask;
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416 /* Demonstrate the use of the xTimerGetTimerDaemonTaskHandle() and
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417 xTaskGetIdleTaskHandle() functions. Also try using the function that sets
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418 the task number. */
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419 xIdleTaskHandle = xTaskGetIdleTaskHandle();
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420 xTimerTaskHandle = xTimerGetTimerDaemonTaskHandle();
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421 vTaskSetTaskNumber( xIdleTaskHandle, ( unsigned long ) ucConstTaskNumber );
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422 configASSERT( uxTaskGetTaskNumber( xIdleTaskHandle ) == ucConstTaskNumber );
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424 /* This is the idle hook, so the current task handle should equal the
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425 returned idle task handle. */
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426 if( xTaskGetCurrentTaskHandle() != xIdleTaskHandle )
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428 pcStatusMessage = "Error: Returned idle task handle was incorrect";
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431 /* Check the timer task handle was returned correctly. */
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432 pcTaskName = pcTaskGetTaskName( xTimerTaskHandle );
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433 if( strcmp( pcTaskName, "Tmr Svc" ) != 0 )
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435 pcStatusMessage = "Error: Returned timer task handle was incorrect";
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438 /* This task is running, make sure it's state is returned as running. */
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439 if( eTaskStateGet( xIdleTaskHandle ) != eRunning )
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441 pcStatusMessage = "Error: Returned idle task state was incorrect";
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444 /* If this task is running, then the timer task must be blocked. */
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445 if( eTaskStateGet( xTimerTaskHandle ) != eBlocked )
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447 pcStatusMessage = "Error: Returned timer task state was incorrect";
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450 /* Other tests that should only be performed once follow. The test task
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451 is not created on each iteration because to do so would cause the death
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452 task to report an error (too many tasks running). */
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453 if( xPerformedOneShotTests == pdFALSE )
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455 /* Don't run this part of the test again. */
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456 xPerformedOneShotTests = pdTRUE;
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458 /* Create a test task to use to test other eTaskStateGet() return values. */
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459 if( xTaskCreate( prvTestTask, "Test", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTestTask ) == pdPASS )
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461 /* If this task is running, the test task must be in the ready state. */
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462 if( eTaskStateGet( xTestTask ) != eReady )
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464 pcStatusMessage = "Error: Returned test task state was incorrect 1";
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467 /* Now suspend the test task and check its state is reported correctly. */
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468 vTaskSuspend( xTestTask );
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469 if( eTaskStateGet( xTestTask ) != eSuspended )
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471 pcStatusMessage = "Error: Returned test task state was incorrect 2";
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474 /* Now delete the task and check its state is reported correctly. */
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475 vTaskDelete( xTestTask );
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476 if( eTaskStateGet( xTestTask ) != eDeleted )
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478 pcStatusMessage = "Error: Returned test task state was incorrect 3";
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483 /*-----------------------------------------------------------*/
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485 static void prvDemoQueueSpaceFunctions( void *pvParameters )
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487 xQueueHandle xQueue = NULL;
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488 const unsigned portBASE_TYPE uxQueueLength = 10;
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489 unsigned portBASE_TYPE uxReturn, x;
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491 /* Remove compiler warnings. */
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492 ( void ) pvParameters;
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494 /* Create the queue that will be used. Nothing is actually going to be
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495 sent or received so the queue item size is set to 0. */
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496 xQueue = xQueueCreate( uxQueueLength, 0 );
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497 configASSERT( xQueue );
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501 for( x = 0; x < uxQueueLength; x++ )
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503 /* Ask how many messages are available... */
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504 uxReturn = uxQueueMessagesWaiting( xQueue );
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506 /* Check the number of messages being reported as being available
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507 is as expected, and force an assert if not. */
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508 if( uxReturn != x )
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510 /* xQueue cannot be NULL so this is deliberately causing an
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511 assert to be triggered as there is an error. */
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512 configASSERT( xQueue == NULL );
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515 /* Ask how many spaces remain in the queue... */
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516 uxReturn = uxQueueSpacesAvailable( xQueue );
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518 /* Check the number of spaces being reported as being available
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519 is as expected, and force an assert if not. */
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520 if( uxReturn != ( uxQueueLength - x ) )
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522 /* xQueue cannot be NULL so this is deliberately causing an
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523 assert to be triggered as there is an error. */
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524 configASSERT( xQueue == NULL );
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527 /* Fill one more space in the queue. */
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528 xQueueSendToBack( xQueue, NULL, 0 );
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531 /* Perform the same check while the queue is full. */
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532 uxReturn = uxQueueMessagesWaiting( xQueue );
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533 if( uxReturn != uxQueueLength )
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535 configASSERT( xQueue == NULL );
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538 uxReturn = uxQueueSpacesAvailable( xQueue );
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540 if( uxReturn != 0 )
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542 configASSERT( xQueue == NULL );
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545 /* The queue is full, start again. */
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546 xQueueReset( xQueue );
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548 #if( configUSE_PREEMPTION == 0 )
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