/*\r
- FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.\r
- \r
+ FreeRTOS V8.0.0 - 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 distribute\r
+ >>! a combined work that includes FreeRTOS without being obliged to provide\r
+ >>! the source code for proprietary components outside of the FreeRTOS\r
+ >>! 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 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 unsigned long 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
static volatile portBASE_TYPE 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 unsigned long ulExpectedValue = ( unsigned long ) 0;\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
+ 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
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
+volatile unsigned long *pulCounter;\r
unsigned portBASE_TYPE uxOurPriority;\r
\r
/* Take a pointer to the shared variable from the parameters passed into\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
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
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
\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( vQueueReceiveWhenSuspendedTask, pvParameters )\r
{\r
-static unsigned long ulExpectedValue = ( unsigned long ) 0, ulReceivedValue;\r
+unsigned long ulReceivedValue;\r
portBASE_TYPE xGotValue;\r
\r
/* Just to stop warning messages. */\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
/* 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
+static unsigned long ulLastExpectedValue = ( unsigned long ) 0U;\r
portBASE_TYPE xReturn = pdTRUE;\r
\r
/* Check the tasks are still running by ensuring the check variable\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