/* | |
FreeRTOS V8.2.3 - 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! | |
*/ | |
/****************************************************************************** | |
* 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 is used to select between the two. | |
* The simply blinky demo is implemented and described in main_blinky.c. The | |
* more comprehensive test and demo application is implemented and described in | |
* main_full.c. | |
* | |
* This file implements the code that is not demo specific, including the | |
* hardware setup and FreeRTOS hook functions. | |
* | |
******************************************************************************* | |
* NOTE: Windows will not be running the FreeRTOS demo threads continuously, so | |
* do not expect to get real time behaviour from the FreeRTOS Windows port, or | |
* this demo application. Also, the timing information in the FreeRTOS+Trace | |
* logs have no meaningful units. See the documentation page for the Windows | |
* port for further information: | |
* http://www.freertos.org/FreeRTOS-Windows-Simulator-Emulator-for-Visual-Studio-and-Eclipse-MingW.html | |
* | |
* This demo was created using Windows XP on a dual core laptop, and has since | |
* been maintained using Windows 7 on a quad core laptop. | |
* | |
******************************************************************************* | |
*/ | |
/* Standard includes. */ | |
#include <stdio.h> | |
#include <stdlib.h> | |
#include <conio.h> | |
/* FreeRTOS kernel includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* This project provides two demo applications. A simple blinky style demo | |
application, and a more comprehensive test and demo application. The | |
mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is used to select between the two. | |
If mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is 1 then the blinky demo will be built. | |
The blinky demo is implemented and described in main_blinky.c. | |
If mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is not 1 then the comprehensive test and | |
demo application will be built. The comprehensive test and demo application is | |
implemented and described in main_full.c. */ | |
#define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 1 | |
/* This demo uses heap_5.c, and these constants define the sizes of the regions | |
that make up the total heap. heap_5 is only used for test and example purposes | |
as this demo could easily create one large heap region instead of multiple | |
smaller heap regions - in which case heap_4.c would be the more appropriate | |
choice. See http://www.freertos.org/a00111.html for an explanation. */ | |
#define mainREGION_1_SIZE 7001 | |
#define mainREGION_2_SIZE 18105 | |
#define mainREGION_3_SIZE 2807 | |
/*-----------------------------------------------------------*/ | |
/* | |
* main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1. | |
* main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0. | |
*/ | |
extern void main_blinky( void ); | |
extern void main_full( void ); | |
/* | |
* Only the comprehensive demo uses application hook (callback) functions. See | |
* http://www.freertos.org/a00016.html for more information. | |
*/ | |
void vFullDemoTickHookFunction( void ); | |
void vFullDemoIdleFunction( void ); | |
/* | |
* This demo uses heap_5.c, so start by defining some heap regions. It is not | |
* necessary for this demo to use heap_5, as it could define one large heap | |
* region. Heap_5 is only used for test and example purposes. See | |
* http://www.freertos.org/a00111.html for an explanation. | |
*/ | |
static void prvInitialiseHeap( void ); | |
/* | |
* Prototypes for the standard FreeRTOS application hook (callback) functions | |
* implemented within this file. See http://www.freertos.org/a00016.html . | |
*/ | |
void vApplicationMallocFailedHook( void ); | |
void vApplicationIdleHook( void ); | |
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName ); | |
void vApplicationTickHook( void ); | |
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint16_t *pusIdleTaskStackSize ); | |
void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint16_t *pusTimerTaskStackSize ); | |
/* | |
* Writes trace data to a disk file when the trace recording is stopped. | |
* This function will simply overwrite any trace files that already exist. | |
*/ | |
static void prvSaveTraceFile( void ); | |
/*-----------------------------------------------------------*/ | |
/* When configSUPPORT_STATIC_ALLOCATION is set to 1 the application writer can | |
use a callback function to optionally provide the memory required by the idle | |
and timer tasks. This is the stack that will be used by the timer task. It is | |
declared here, as a global, so it can be checked by a test that is implemented | |
in a different file. */ | |
StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ]; | |
/* The user trace event posted to the trace recording on each tick interrupt. | |
Note: This project runs under Windows, and Windows will not be executing the | |
RTOS threads continuously. Therefore tick events will not appear with a regular | |
interval within the trace recording. */ | |
traceLabel xTickTraceUserEvent; | |
static portBASE_TYPE xTraceRunning = pdTRUE; | |
/*-----------------------------------------------------------*/ | |
int main( void ) | |
{ | |
/* This demo uses heap_5.c, so start by defining some heap regions. heap_5 | |
is only used for test and example reasons. Heap_4 is more appropriate. See | |
http://www.freertos.org/a00111.html for an explanation. */ | |
prvInitialiseHeap(); | |
/* Initialise the trace recorder and create the label used to post user | |
events to the trace recording on each tick interrupt. Use of the trace | |
recorder is optional. See http://www.FreeRTOS.org/trace for more | |
information. */ | |
vTraceInitTraceData(); | |
xTickTraceUserEvent = xTraceOpenLabel( "tick" ); | |
/* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top | |
of this file. */ | |
#if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 ) | |
{ | |
main_blinky(); | |
} | |
#else | |
{ | |
/* Start the trace recording - the recording is written to a file if | |
configASSERT() is called. */ | |
printf( "\r\nTrace started.\r\nThe trace will be dumped to disk if a call to configASSERT() fails.\r\n" ); | |
printf( "Uncomment the call to kbhit() in this file to also dump trace with a key press.\r\n" ); | |
uiTraceStart(); | |
main_full(); | |
} | |
#endif | |
return 0; | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationMallocFailedHook( void ) | |
{ | |
/* vApplicationMallocFailedHook() will only be called if | |
configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook | |
function that will get called if a call to pvPortMalloc() fails. | |
pvPortMalloc() is called internally by the kernel whenever a task, queue, | |
timer or semaphore is created. It is also called by various parts of the | |
demo application. If heap_1.c, heap_2.c or heap_4.c is being used, then the | |
size of the heap available to pvPortMalloc() is defined by | |
configTOTAL_HEAP_SIZE in FreeRTOSConfig.h, and the xPortGetFreeHeapSize() | |
API function can be used to query the size of free heap space that remains | |
(although it does not provide information on how the remaining heap might be | |
fragmented). See http://www.freertos.org/a00111.html for more | |
information. */ | |
vAssertCalled( __LINE__, __FILE__ ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationIdleHook( void ) | |
{ | |
/* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set | |
to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle | |
task. It is essential that code added to this hook function never attempts | |
to block in any way (for example, call xQueueReceive() with a block time | |
specified, or call vTaskDelay()). If application tasks make use of the | |
vTaskDelete() API function to delete themselves then it is also important | |
that vApplicationIdleHook() is permitted to return to its calling function, | |
because it is the responsibility of the idle task to clean up memory | |
allocated by the kernel to any task that has since deleted itself. */ | |
/* Uncomment the following code to allow the trace to be stopped with any | |
key press. The code is commented out by default as the kbhit() function | |
interferes with the run time behaviour. */ | |
/* | |
if( _kbhit() != pdFALSE ) | |
{ | |
if( xTraceRunning == pdTRUE ) | |
{ | |
vTraceStop(); | |
prvSaveTraceFile(); | |
xTraceRunning = pdFALSE; | |
} | |
} | |
*/ | |
#if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY != 1 ) | |
{ | |
/* Call the idle task processing used by the full demo. The simple | |
blinky demo does not use the idle task hook. */ | |
vFullDemoIdleFunction(); | |
} | |
#endif | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName ) | |
{ | |
( void ) pcTaskName; | |
( void ) pxTask; | |
/* Run time stack overflow checking is performed if | |
configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook | |
function is called if a stack overflow is detected. This function is | |
provided as an example only as stack overflow checking does not function | |
when running the FreeRTOS Windows port. */ | |
vAssertCalled( __LINE__, __FILE__ ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationTickHook( void ) | |
{ | |
/* This function will be called by each tick interrupt if | |
configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h. User code can be | |
added here, but the tick hook is called from an interrupt context, so | |
code must not attempt to block, and only the interrupt safe FreeRTOS API | |
functions can be used (those that end in FromISR()). */ | |
#if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY != 1 ) | |
{ | |
vFullDemoTickHookFunction(); | |
} | |
#endif /* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY */ | |
/* Write a user event to the trace log. Note: This project runs under | |
Windows, and Windows will not be executing the RTOS threads continuously. | |
Therefore tick events will not appear with a regular interval within the the | |
trace recording. */ | |
vTraceUserEvent( xTickTraceUserEvent ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationDaemonTaskStartupHook( void ) | |
{ | |
/* This function will be called once only, when the daemon task starts to | |
execute (sometimes called the timer task). This is useful if the | |
application includes initialisation code that would benefit from executing | |
after the scheduler has been started. */ | |
} | |
/*-----------------------------------------------------------*/ | |
void vAssertCalled( unsigned long ulLine, const char * const pcFileName ) | |
{ | |
static portBASE_TYPE xPrinted = pdFALSE; | |
volatile uint32_t ulSetToNonZeroInDebuggerToContinue = 0; | |
/* Called if an assertion passed to configASSERT() fails. See | |
http://www.freertos.org/a00110.html#configASSERT for more information. */ | |
/* Parameters are not used. */ | |
( void ) ulLine; | |
( void ) pcFileName; | |
printf( "ASSERT! Line %d, file %s\r\n", ulLine, pcFileName ); | |
taskENTER_CRITICAL(); | |
{ | |
/* Stop the trace recording. */ | |
if( xPrinted == pdFALSE ) | |
{ | |
xPrinted = pdTRUE; | |
if( xTraceRunning == pdTRUE ) | |
{ | |
vTraceStop(); | |
prvSaveTraceFile(); | |
} | |
} | |
/* You can step out of this function to debug the assertion by using | |
the debugger to set ulSetToNonZeroInDebuggerToContinue to a non-zero | |
value. */ | |
while( ulSetToNonZeroInDebuggerToContinue == 0 ) | |
{ | |
__asm{ NOP }; | |
__asm{ NOP }; | |
} | |
} | |
taskEXIT_CRITICAL(); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSaveTraceFile( void ) | |
{ | |
FILE* pxOutputFile; | |
fopen_s( &pxOutputFile, "Trace.dump", "wb"); | |
if( pxOutputFile != NULL ) | |
{ | |
fwrite( RecorderDataPtr, sizeof( RecorderDataType ), 1, pxOutputFile ); | |
fclose( pxOutputFile ); | |
printf( "\r\nTrace output saved to Trace.dump\r\n" ); | |
} | |
else | |
{ | |
printf( "\r\nFailed to create trace dump file\r\n" ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvInitialiseHeap( void ) | |
{ | |
/* The Windows demo could create one large heap region, in which case it would | |
be appropriate to use heap_4. However, purely for demonstration purposes, | |
heap_5 is used instead, so start by defining some heap regions. No | |
initialisation is required when any other heap implementation is used. See | |
http://www.freertos.org/a00111.html for more information. | |
The xHeapRegions structure requires the regions to be defined in start address | |
order, so this just creates one big array, then populates the structure with | |
offsets into the array - with gaps in between and messy alignment just for test | |
purposes. */ | |
static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ]; | |
volatile uint32_t ulAdditionalOffset = 19; /* Just to prevent 'condition is always true' warnings in configASSERT(). */ | |
const HeapRegion_t xHeapRegions[] = | |
{ | |
/* Start address with dummy offsets Size */ | |
{ ucHeap + 1, mainREGION_1_SIZE }, | |
{ ucHeap + 15 + mainREGION_1_SIZE, mainREGION_2_SIZE }, | |
{ ucHeap + 19 + mainREGION_1_SIZE + mainREGION_2_SIZE, mainREGION_3_SIZE }, | |
{ NULL, 0 } | |
}; | |
/* Sanity check that the sizes and offsets defined actually fit into the | |
array. */ | |
configASSERT( ( ulAdditionalOffset + mainREGION_1_SIZE + mainREGION_2_SIZE + mainREGION_3_SIZE ) < configTOTAL_HEAP_SIZE ); | |
/* Prevent compiler warnings when configASSERT() is not defined. */ | |
( void ) ulAdditionalOffset; | |
vPortDefineHeapRegions( xHeapRegions ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint16_t *pusIdleTaskStackSize ) | |
{ | |
/* The buffers used by the idle task must be static so they are persistent, and | |
so exist after this function returns. */ | |
static StaticTask_t xIdleTaskTCB; | |
static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ]; | |
/* configUSE_STATIC_ALLOCATION is set to 1, so the application has the | |
opportunity to supply the buffers that will be used by the Idle task as its | |
stack and to hold its TCB. If these are set to NULL then the buffers will | |
be allocated dynamically, just as if xTaskCreate() had been called. */ | |
*ppxIdleTaskTCBBuffer = &xIdleTaskTCB; | |
*ppxIdleTaskStackBuffer = uxIdleTaskStack; | |
*pusIdleTaskStackSize = configMINIMAL_STACK_SIZE; /* In words. NOT in bytes! */ | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint16_t *pusTimerTaskStackSize ) | |
{ | |
/* The buffers used by the Timer/Daemon task must be static so they are | |
persistent, and so exist after this function returns. The stack buffer is | |
not declared here, but globally, as it is checked by a test in a different | |
file. */ | |
static StaticTask_t xTimerTaskTCB; | |
/* configUSE_STATIC_ALLOCATION is set to 1, so the application has the | |
opportunity to supply the buffers that will be used by the Timer/RTOS daemon | |
task as its stack and to hold its TCB. If these are set to NULL then the | |
buffers will be allocated dynamically, just as if xTaskCreate() had been | |
called. */ | |
*ppxTimerTaskTCBBuffer = &xTimerTaskTCB; | |
*ppxTimerTaskStackBuffer = uxTimerTaskStack; | |
*pusTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH; /* In words. NOT in bytes! */ | |
} | |