/*\r
- FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.\r
+ FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd. \r
+ All rights reserved\r
\r
- FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT \r
- http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\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
+ * 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
- * 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
+ * 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
- * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *\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
* *\r
***************************************************************************\r
\r
- \r
- http://www.FreeRTOS.org - Documentation, training, latest versions, license \r
- 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
- 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
+ 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
+ 1 tab == 4 spaces!\r
*/\r
\r
-/*\r
+/******************************************************************************\r
+ * This project provides two demo applications. A simple blinky style project,\r
+ * and a more comprehensive test and demo application. The\r
+ * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is used to select between the two. \r
+ * The simply blinky demo is implemented and described in main_blinky.c. The \r
+ * more comprehensive test and demo application is implemented and described in \r
+ * main_full.c.\r
+ *\r
+ * This file implements the code that is not demo specific, including the\r
+ * hardware setup and FreeRTOS hook functions.\r
+ *\r
*******************************************************************************\r
* -NOTE- The Win32 port is a simulation (or is that emulation?) only! Do not\r
* expect to get real time behaviour from the Win32 port or this demo\r
* application. It is provided as a convenient development and demonstration\r
* test bed only. This was tested using Windows XP on a dual core laptop.\r
*\r
+ * Windows will not be running the FreeRTOS simulator threads continuously, so \r
+ * the timing information in the FreeRTOS+Trace logs have no meaningful units. \r
+ * See the documentation page for the Windows simulator for an explanation of \r
+ * the slow timing:\r
+ * http://www.freertos.org/FreeRTOS-Windows-Simulator-Emulator-for-Visual-Studio-and-Eclipse-MingW.html\r
* - READ THE WEB DOCUMENTATION FOR THIS PORT FOR MORE INFORMATION ON USING IT -\r
*******************************************************************************\r
*\r
- * main() creates all the demo application tasks, then starts the scheduler. \r
- * The web documentation provides more details of the standard demo application \r
- * tasks, which provide no particular functionality but do provide a good \r
- * example of how to use the FreeRTOS API.\r
- *\r
- * In addition to the standard demo tasks, the following tasks and tests are\r
- * defined and/or created within this file:\r
- *\r
- * "Check" task - This only executes every five seconds but has a high priority\r
- * to ensure it gets processor time. Its main function is to check that all the\r
- * standard demo tasks are still operational. While no errors have been\r
- * discovered the check task will print out "OK" and the current simulated tick\r
- * time. If an error is discovered in the execution of a task then the check\r
- * task will print out an appropriate error message.\r
- *\r
*/\r
\r
-\r
/* Standard includes. */\r
#include <stdio.h>\r
+#include <stdlib.h>\r
+#include <conio.h>\r
\r
-/* Kernel includes. */\r
-#include <FreeRTOS.h>\r
+/* FreeRTOS kernel includes. */\r
+#include "FreeRTOS.h"\r
#include "task.h"\r
-#include "queue.h"\r
-\r
-/* Standard demo includes. */\r
-#include "BlockQ.h"\r
-#include "integer.h"\r
-#include "semtest.h"\r
-#include "PollQ.h"\r
-#include "GenQTest.h"\r
-#include "QPeek.h"\r
-#include "recmutex.h"\r
-#include "flop.h"\r
-\r
-/* Priorities at which the tasks are created. */\r
-#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )\r
-#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
-#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
-#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
-#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )\r
-#define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )\r
-#define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )\r
-#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )\r
-#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )\r
-#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )\r
-\r
-/* Task function prototypes. */\r
-static void prvCheckTask( void *pvParameters );\r
+\r
+/* This project provides two demo applications. A simple blinky style project,\r
+and a more comprehensive test and demo application. The\r
+mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is used to select between the two. \r
+The simply blinky demo is implemented and described in main_blinky.c. The more \r
+comprehensive test and demo application is implemented and described in \r
+main_full.c. */\r
+#define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 1\r
+\r
+/*\r
+ * main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.\r
+ * main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.\r
+ */\r
+extern void main_blinky( void );\r
+extern void main_full( void );\r
+\r
+/* Some of the RTOS hook (callback) functions only need special processing when\r
+the full demo is being used. The simply blinky demo has no special requirements,\r
+so these functions are called from the hook functions defined in this file, but\r
+are defined in main_full.c. */\r
+void vFullDemoTickHookFunction( void );\r
+void vFullDemoIdleFunction( void );\r
+\r
+/* Prototypes for the standard FreeRTOS callback/hook functions implemented\r
+within this file. */\r
+void vApplicationMallocFailedHook( void );\r
+void vApplicationIdleHook( void );\r
+void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );\r
+void vApplicationTickHook( void );\r
+\r
+/*\r
+ * Writes trace data to a disk file when the trace recording is stopped.\r
+ * This function will simply overwrite any trace files that already exist.\r
+ */\r
+static void prvSaveTraceFile( void );\r
+\r
+/* The user trace event posted to the trace recording on each tick interrupt.\r
+Note tick events will not appear in the trace recording with regular period\r
+because this project runs in a Windows simulator, and does not therefore\r
+exhibit deterministic behaviour. */\r
+traceLabel xTickTraceUserEvent;\r
+static portBASE_TYPE xTraceRunning = pdTRUE;\r
\r
/*-----------------------------------------------------------*/\r
\r
int main( void )\r
{\r
- /* Start the check task as described at the top of this file. */\r
- xTaskCreate( prvCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );\r
-\r
- /* Create the standard demo tasks. */\r
- vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );\r
- vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );\r
- vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );\r
- vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );\r
- vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );\r
- vStartQueuePeekTasks();\r
- vStartMathTasks( mainFLOP_TASK_PRIORITY );\r
- vStartRecursiveMutexTasks();\r
-\r
- /* Start the scheduler itself. */\r
- vTaskStartScheduler();\r
-\r
- /* Should never get here unless there was not enough heap space to create \r
- the idle and other system tasks. */\r
- return 0;\r
+ /* Initialise the trace recorder and create the label used to post user\r
+ events to the trace recording on each tick interrupt. */\r
+ vTraceInitTraceData();\r
+ xTickTraceUserEvent = xTraceOpenLabel( "tick" );\r
+\r
+ /* Start the trace recording - the recording is written to a file if\r
+ configASSERT() is called. */\r
+ printf( "\r\nTrace started. Hit a key to dump trace file to disk (does not work from Eclipse console).\r\n" );\r
+ fflush( stdout );\r
+ uiTraceStart();\r
+\r
+ /* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top\r
+ of this file. */\r
+ #if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 )\r
+ {\r
+ main_blinky();\r
+ }\r
+ #else\r
+ {\r
+ main_full();\r
+ }\r
+ #endif\r
+\r
+ return 0;\r
}\r
/*-----------------------------------------------------------*/\r
\r
-static void prvCheckTask( void *pvParameters )\r
+void vApplicationMallocFailedHook( void )\r
{\r
-portTickType xNextWakeTime;\r
-const portTickType xCycleFrequency = 5000 / portTICK_RATE_MS;\r
-char *pcStatusMessage = "OK";\r
-\r
- /* Just to remove compiler warning. */\r
- ( void ) pvParameters;\r
+ /* vApplicationMallocFailedHook() will only be called if\r
+ configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook\r
+ function that will get called if a call to pvPortMalloc() fails.\r
+ pvPortMalloc() is called internally by the kernel whenever a task, queue,\r
+ timer or semaphore is created. It is also called by various parts of the\r
+ demo application. If heap_1.c or heap_2.c are used, then the size of the\r
+ heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in\r
+ FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used\r
+ to query the size of free heap space that remains (although it does not\r
+ provide information on how the remaining heap might be fragmented). */\r
+ vAssertCalled( __LINE__, __FILE__ );\r
+}\r
+/*-----------------------------------------------------------*/\r
\r
- /* Initialise xNextWakeTime - this only needs to be done once. */\r
- xNextWakeTime = xTaskGetTickCount();\r
+void vApplicationIdleHook( void )\r
+{\r
+ /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set\r
+ to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle\r
+ task. It is essential that code added to this hook function never attempts\r
+ to block in any way (for example, call xQueueReceive() with a block time\r
+ specified, or call vTaskDelay()). If the application makes use of the\r
+ vTaskDelete() API function (as this demo application does) then it is also\r
+ important that vApplicationIdleHook() is permitted to return to its calling\r
+ function, because it is the responsibility of the idle task to clean up\r
+ memory allocated by the kernel to any task that has since been deleted. */\r
\r
- for( ;; )\r
- {\r
- /* Place this task in the blocked state until it is time to run again. */\r
- vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );\r
-\r
- /* Check the standard demo tasks are running without error. */\r
- if( xAreIntegerMathsTaskStillRunning() != pdTRUE )\r
- {\r
- pcStatusMessage = "Error: IntMath";\r
- } \r
- else if( xAreGenericQueueTasksStillRunning() != pdTRUE )\r
- { \r
- pcStatusMessage = "Error: GenQueue";\r
- }\r
- else if( xAreQueuePeekTasksStillRunning() != pdTRUE )\r
- {\r
- pcStatusMessage = "Error: QueuePeek";\r
- }\r
- else if( xAreBlockingQueuesStillRunning() != pdTRUE )\r
- {\r
- pcStatusMessage = "Error: BlockQueue";\r
- }\r
- else if( xAreSemaphoreTasksStillRunning() != pdTRUE )\r
- {\r
- pcStatusMessage = "Error: SemTest";\r
- }\r
- else if( xArePollingQueuesStillRunning() != pdTRUE )\r
- {\r
- pcStatusMessage = "Error: PollQueue";\r
- }\r
- else if( xAreMathsTaskStillRunning() != pdPASS )\r
+ /* Uncomment the following code to allow the trace to be stopped with any \r
+ key press. The code is commented out by default as the kbhit() function\r
+ interferes with the run time behaviour. */\r
+ /* \r
+ if( _kbhit() != pdFALSE )\r
{\r
- pcStatusMessage = "Error: Flop";\r
- }\r
- else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )\r
- {\r
- pcStatusMessage = "Error: RecMutex";\r
+ if( xTraceRunning == pdTRUE )\r
+ {\r
+ vTraceStop();\r
+ prvSaveTraceFile();\r
+ xTraceRunning = pdFALSE;\r
+ }\r
}\r
+ */\r
\r
- /* This is the only task that uses stdout so its ok to call printf() \r
- directly. */\r
- printf( "%s - %d\r\n", pcStatusMessage, ( int ) xTaskGetTickCount() );\r
- fflush( stdout ); /* Required by Eclipse console. */\r
+ #if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY != 1 )\r
+ {\r
+ /* Call the idle task processing used by the full demo. The simple\r
+ blinky demo does not use the idle task hook. */\r
+ vFullDemoIdleFunction();\r
}\r
+ #endif\r
}\r
/*-----------------------------------------------------------*/\r
\r
-void vApplicationIdleHook( void )\r
+void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )\r
{\r
-const unsigned long ulMSToSleep = 5;\r
+ ( void ) pcTaskName;\r
+ ( void ) pxTask;\r
\r
- /* Sleep to reduce CPU load, but don't sleep indefinitely in case there are\r
- tasks waiting to be terminated by the idle task. */\r
- Sleep( ulMSToSleep );\r
+ /* Run time stack overflow checking is performed if\r
+ configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook\r
+ function is called if a stack overflow is detected. */\r
+ vAssertCalled( __LINE__, __FILE__ );\r
}\r
/*-----------------------------------------------------------*/\r
\r
-void vApplicationMallocFailedHook( void )\r
+void vApplicationTickHook( void )\r
{\r
- /* Can be implemented if required, but probably not required in this \r
- environment and running this demo. */\r
+ /* This function will be called by each tick interrupt if\r
+ configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h. User code can be\r
+ added here, but the tick hook is called from an interrupt context, so\r
+ code must not attempt to block, and only the interrupt safe FreeRTOS API\r
+ functions can be used (those that end in FromISR()). */\r
+\r
+ #if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY != 1 )\r
+ {\r
+ vFullDemoTickHookFunction();\r
+ }\r
+ #endif /* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY */\r
+\r
+ /* Write a user event to the trace log. \r
+ Note tick events will not appear in the trace recording with regular period\r
+ because this project runs in a Windows simulator, and does not therefore\r
+ exhibit deterministic behaviour. Windows will run the simulator in \r
+ bursts. */\r
+ vTraceUserEvent( xTickTraceUserEvent );\r
}\r
/*-----------------------------------------------------------*/\r
\r
-void vApplicationStackOverflowHook( void )\r
+void vAssertCalled( unsigned long ulLine, const char * const pcFileName )\r
{\r
- /* Can be implemented if required, but not required in this \r
- environment and running this demo. */\r
+static portBASE_TYPE xPrinted = pdFALSE;\r
+\r
+ /* Parameters are not used. */\r
+ ( void ) ulLine;\r
+ ( void ) pcFileName;\r
+\r
+ taskDISABLE_INTERRUPTS();\r
+ __asm volatile( "int $3" );\r
+\r
+ /* Stop the trace recording. */\r
+ if( xPrinted == pdFALSE )\r
+ {\r
+ xPrinted = pdTRUE;\r
+ if( xTraceRunning == pdTRUE )\r
+ {\r
+ vTraceStop();\r
+ prvSaveTraceFile();\r
+ }\r
+ }\r
+\r
+ taskENABLE_INTERRUPTS();\r
}\r
+/*-----------------------------------------------------------*/\r
\r
+static void prvSaveTraceFile( void )\r
+{\r
+FILE* pxOutputFile;\r
+\r
+ pxOutputFile = fopen( "Trace.dump", "wb");\r
+\r
+ if( pxOutputFile != NULL )\r
+ {\r
+ fwrite( RecorderDataPtr, sizeof( RecorderDataType ), 1, pxOutputFile );\r
+ fclose( pxOutputFile );\r
+ printf( "\r\nTrace output saved to Trace.dump\r\n" );\r
+ }\r
+ else\r
+ {\r
+ printf( "\r\nFailed to create trace dump file\r\n" );\r
+ }\r
+}\r
projects / freertos / blobdiff