/* | |
FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
This file is part of the FreeRTOS distribution. | |
FreeRTOS is free software; you can redistribute it and/or modify it under | |
the terms of the GNU General Public License (version 2) as published by the | |
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. | |
*************************************************************************** | |
>>! NOTE: The modification to the GPL is included to allow you to !<< | |
>>! distribute a combined work that includes FreeRTOS without being !<< | |
>>! obliged to provide the source code for proprietary components !<< | |
>>! outside of the FreeRTOS kernel. !<< | |
*************************************************************************** | |
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY | |
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS | |
FOR A PARTICULAR PURPOSE. Full license text is available on the following | |
link: http://www.freertos.org/a00114.html | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that is more than just the market leader, it * | |
* is the industry's de facto standard. * | |
* * | |
* Help yourself get started quickly while simultaneously helping * | |
* to support the FreeRTOS project by purchasing a FreeRTOS * | |
* tutorial book, reference manual, or both: * | |
* http://www.FreeRTOS.org/Documentation * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading | |
the FAQ page "My application does not run, what could be wrong?". Have you | |
defined configASSERT()? | |
http://www.FreeRTOS.org/support - In return for receiving this top quality | |
embedded software for free we request you assist our global community by | |
participating in the support forum. | |
http://www.FreeRTOS.org/training - Investing in training allows your team to | |
be as productive as possible as early as possible. Now you can receive | |
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers | |
Ltd, and the world's leading authority on the world's leading RTOS. | |
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
compatible FAT file system, and our tiny thread aware UDP/IP stack. | |
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. | |
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. | |
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High | |
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS | |
licenses offer ticketed support, indemnification and commercial middleware. | |
http://www.SafeRTOS.com - High Integrity Systems also provide a safety | |
engineered and independently SIL3 certified version for use in safety and | |
mission critical applications that require provable dependability. | |
1 tab == 4 spaces! | |
*/ | |
/****************************************************************************** | |
* NOTE 1: Do not expect to get real time behaviour from the Win32 port or this | |
* demo application. It is provided as a convenient development and | |
* demonstration test bed only. Windows will not be running the FreeRTOS | |
* threads continuously, so the timing information in the FreeRTOS+Trace logs | |
* have no meaningful units. See the documentation page for the Windows | |
* simulator for further explanation: | |
* http://www.freertos.org/FreeRTOS-Windows-Simulator-Emulator-for-Visual-Studio-and-Eclipse-MingW.html | |
* - READ THE WEB DOCUMENTATION FOR THIS PORT FOR MORE INFORMATION ON USING IT - | |
* | |
* NOTE 2: This project provides two demo applications. A simple blinky style | |
* project, and a more comprehensive test and demo application. The | |
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select | |
* between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY | |
* in main.c. This file implements the simply blinky style version. | |
* | |
* NOTE 3: This file only contains the source code that is specific to the | |
* basic demo. Generic functions, such FreeRTOS hook functions, are defined | |
* in main.c. | |
****************************************************************************** | |
* | |
* main_blinky() creates one queue, one software timer, and two tasks. It then | |
* starts the scheduler. | |
* | |
* The Queue Send Task: | |
* The queue send task is implemented by the prvQueueSendTask() function in | |
* this file. It uses vTaskDelayUntil() to create a period task that sends the | |
* value 100 to the queue every 200 milliseconds (please read the notes above | |
* regarding the accuracy of timing under Windows). | |
* | |
* The Queue Send Software Timer: | |
* The timer is a one-shot timer that is reset by a key press. The timer's | |
* period is set to two seconds - if the timer expires then its callback | |
* function writes the value 200 to the queue. The callback function is | |
* implemented by prvQueueSendTimerCallback() within this file. | |
* | |
* The Queue Receive Task: | |
* The queue receive task is implemented by the prvQueueReceiveTask() function | |
* in this file. prvQueueReceiveTask() waits for data to arrive on the queue. | |
* When data is received, the task checks the value of the data, then outputs a | |
* message to indicate if the data came from the queue send task or the queue | |
* send software timer. As the queue send task writes to the queue every 200ms, | |
* the queue receive task will print a message indicating that it received data | |
* from the queue send task every 200ms. The queue receive task will print a | |
* message indicating that it received data from the queue send software timer | |
* 2 seconds after a key was last pressed. | |
*/ | |
/* Standard includes. */ | |
#include <stdio.h> | |
#include <conio.h> | |
/* Kernel includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#include "timers.h" | |
#include "semphr.h" | |
/* Priorities at which the tasks are created. */ | |
#define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
/* The rate at which data is sent to the queue. The times are converted from | |
milliseconds to ticks by the pdMS_TO_TICKS() macro where they are used. */ | |
#define mainTASK_SEND_FREQUENCY_MS 200 | |
#define mainTIMER_SEND_FREQUENCY_MS 2000 | |
/* The number of items the queue can hold. */ | |
#define mainQUEUE_LENGTH ( 2 ) | |
/* Values passed to the two tasks just to check the task parameter | |
functionality. */ | |
#define mainQUEUE_SEND_PARAMETER ( 0x1111UL ) | |
#define mainQUEUE_RECEIVE_PARAMETER ( 0x22UL ) | |
/* The values sent to the queue receive task from the queue send task and the | |
queue send software timer respectively. */ | |
#define mainVALUE_SENT_FROM_TASK ( 100UL ) | |
#define mainVALUE_SENT_FROM_TIMER ( 200UL ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* The tasks as described in the comments at the top of this file. | |
*/ | |
static void prvQueueReceiveTask( void *pvParameters ); | |
static void prvQueueSendTask( void *pvParameters ); | |
/* | |
* The callback function executed when the software timer expires. | |
*/ | |
static void prvQueueSendTimerCallback( TimerHandle_t xTimerHandle ); | |
/*-----------------------------------------------------------*/ | |
/* The queue used by both tasks. */ | |
static QueueHandle_t xQueue = NULL; | |
/* A software timer that is started from the tick hook. */ | |
static TimerHandle_t xTimer = NULL; | |
/*-----------------------------------------------------------*/ | |
void main_blinky( void ) | |
{ | |
const TickType_t xTimerPeriod = pdMS_TO_TICKS( mainTIMER_SEND_FREQUENCY_MS ); | |
/* Create the queue. */ | |
xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) ); | |
if( xQueue != NULL ) | |
{ | |
/* Start the two tasks as described in the comments at the top of this | |
file. */ | |
xTaskCreate( prvQueueReceiveTask, /* The function that implements the task. */ | |
"Rx", /* The text name assigned to the task - for debug only as it is not used by the kernel. */ | |
configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */ | |
( void * ) mainQUEUE_RECEIVE_PARAMETER, /* The parameter passed to the task - just to check the functionality. */ | |
mainQUEUE_RECEIVE_TASK_PRIORITY, /* The priority assigned to the task. */ | |
NULL ); /* The task handle is not required, so NULL is passed. */ | |
xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, ( void * ) mainQUEUE_SEND_PARAMETER, mainQUEUE_SEND_TASK_PRIORITY, NULL ); | |
/* Create the software timer, but don't start it yet. */ | |
xTimer = xTimerCreate( "Timer", /* The text name assigned to the software timer - for debug only as it is not used by the kernel. */ | |
xTimerPeriod, /* The period of the software timer in ticks. */ | |
pdFALSE, /* xAutoReload is set to pdFALSE, so this is a one shot timer. */ | |
NULL, /* The timer's ID is not used. */ | |
prvQueueSendTimerCallback );/* The function executed when the timer expires. */ | |
/* Start the tasks and timer running. */ | |
vTaskStartScheduler(); | |
} | |
/* If all is well, the scheduler will now be running, and the following | |
line will never be reached. If the following line does execute, then | |
there was insufficient FreeRTOS heap memory available for the idle and/or | |
timer tasks to be created. See the memory management section on the | |
FreeRTOS web site for more details. */ | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvQueueSendTask( void *pvParameters ) | |
{ | |
TickType_t xNextWakeTime; | |
const TickType_t xBlockTime = pdMS_TO_TICKS( mainTASK_SEND_FREQUENCY_MS ); | |
const uint32_t ulValueToSend = mainVALUE_SENT_FROM_TASK; | |
/* Remove compiler warning in the case that configASSERT() is not | |
defined. */ | |
( void ) pvParameters; | |
/* Check the task parameter is as expected. */ | |
configASSERT( ( ( unsigned long ) pvParameters ) == mainQUEUE_SEND_PARAMETER ); | |
/* Initialise xNextWakeTime - this only needs to be done once. */ | |
xNextWakeTime = xTaskGetTickCount(); | |
for( ;; ) | |
{ | |
/* Place this task in the blocked state until it is time to run again. | |
The block time is specified in ticks, the constant used converts ticks | |
to ms. While in the Blocked state this task will not consume any CPU | |
time. */ | |
vTaskDelayUntil( &xNextWakeTime, xBlockTime ); | |
/* Send to the queue - causing the queue receive task to unblock and | |
toggle the LED. 0 is used as the block time so the sending operation | |
will not block - it shouldn't need to block as the queue should always | |
have at least one space at this point in the code. */ | |
xQueueSend( xQueue, &ulValueToSend, 0U ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvQueueSendTimerCallback( TimerHandle_t xTimerHandle ) | |
{ | |
const uint32_t ulValueToSend = mainVALUE_SENT_FROM_TIMER; | |
/* Avoid compiler warnings resulting from the unused parameter. */ | |
( void ) xTimerHandle; | |
/* Send to the queue - causing the queue receive task to unblock and | |
write out a message. This function is called from the timer/daemon task, so | |
must not block. Hence the block time is set to 0. */ | |
xQueueSend( xQueue, &ulValueToSend, 0U ); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvQueueReceiveTask( void *pvParameters ) | |
{ | |
unsigned long ulReceivedValue; | |
/* Remove compiler warning in the case that configASSERT() is not | |
defined. */ | |
( void ) pvParameters; | |
/* Check the task parameter is as expected. */ | |
configASSERT( ( ( unsigned long ) pvParameters ) == mainQUEUE_RECEIVE_PARAMETER ); | |
for( ;; ) | |
{ | |
/* Wait until something arrives in the queue - this task will block | |
indefinitely provided INCLUDE_vTaskSuspend is set to 1 in | |
FreeRTOSConfig.h. */ | |
xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY ); | |
/* To get here something must have been received from the queue, but | |
is it the expected value? Normally calling printf() from a task is not | |
a good idea. Here there is lots of stack space and only one task is | |
using console IO so it is ok. */ | |
if( ulReceivedValue == mainVALUE_SENT_FROM_TASK ) | |
{ | |
printf( "Message received from task\r\n" ); | |
} | |
else if( ulReceivedValue == mainVALUE_SENT_FROM_TIMER ) | |
{ | |
printf( "Message received from software timer\r\n" ); | |
} | |
else | |
{ | |
printf( "Unexpected message\r\n" ); | |
} | |
/* Reset the timer if a key has been pressed. The timer will write | |
mainVALUE_SENT_FROM_TIMER to the queue when it expires. */ | |
if( _kbhit() != 0 ) | |
{ | |
/* Remove the key from the input buffer. */ | |
( void ) _getch(); | |
/* Reset the software timer. */ | |
xTimerReset( xTimer, portMAX_DELAY ); | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |