/* | |
FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd. | |
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT | |
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
*************************************************************************** | |
* * | |
* FreeRTOS tutorial books are available in pdf and paperback. * | |
* Complete, revised, and edited pdf reference manuals are also * | |
* available. * | |
* * | |
* Purchasing FreeRTOS documentation will not only help you, by * | |
* ensuring you get running as quickly as possible and with an * | |
* in-depth knowledge of how to use FreeRTOS, it will also help * | |
* the FreeRTOS project to continue with its mission of providing * | |
* professional grade, cross platform, de facto standard solutions * | |
* for microcontrollers - completely free of charge! * | |
* * | |
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< * | |
* * | |
* Thank you for using FreeRTOS, and thank you for your support! * | |
* * | |
*************************************************************************** | |
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. See the GNU General Public License for more | |
details. You should have received a copy of the GNU General Public License | |
and the FreeRTOS license exception along with FreeRTOS; if not it can be | |
viewed here: http://www.freertos.org/a00114.html and also obtained by | |
writing to Real Time Engineers Ltd., contact details for whom are available | |
on the FreeRTOS WEB site. | |
1 tab == 4 spaces! | |
*************************************************************************** | |
* * | |
* Having a problem? Start by reading the FAQ "My application does * | |
* not run, what could be wrong?" * | |
* * | |
* http://www.FreeRTOS.org/FAQHelp.html * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
license and Real Time Engineers Ltd. contact details. | |
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
including FreeRTOS+Trace - an indispensable productivity tool, and our new | |
fully thread aware and reentrant UDP/IP stack. | |
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
Integrity Systems, who sell the code with commercial support, | |
indemnification and middleware, under the OpenRTOS brand. | |
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. | |
*/ | |
/* | |
******************************************************************************* | |
* -NOTE- The Win32 port is a simulation (or is that emulation?) only! 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. This was tested using Windows XP on a dual core laptop. | |
* | |
* - READ THE WEB DOCUMENTATION FOR THIS PORT FOR MORE INFORMATION ON USING IT - | |
******************************************************************************* | |
* | |
* main() creates all the demo application tasks, then starts the scheduler. | |
* The web documentation provides more details of the standard demo application | |
* tasks, which provide no particular functionality but do provide a good | |
* example of how to use the FreeRTOS API. | |
* | |
* In addition to the standard demo tasks, the following tasks and tests are | |
* defined and/or created within this file: | |
* | |
* "Check" task - This only executes every five seconds but has a high priority | |
* to ensure it gets processor time. Its main function is to check that all the | |
* standard demo tasks are still operational. While no errors have been | |
* discovered the check task will print out "OK" and the current simulated tick | |
* time. If an error is discovered in the execution of a task then the check | |
* task will print out an appropriate error message. | |
* | |
*/ | |
/* Standard includes. */ | |
#include <stdio.h> | |
#include <stdlib.h> | |
/* Kernel includes. */ | |
#include <FreeRTOS.h> | |
#include "task.h" | |
#include "queue.h" | |
#include "timers.h" | |
#include "semphr.h" | |
/* Standard demo includes. */ | |
#include "BlockQ.h" | |
#include "integer.h" | |
#include "semtest.h" | |
#include "PollQ.h" | |
#include "GenQTest.h" | |
#include "QPeek.h" | |
#include "recmutex.h" | |
#include "flop.h" | |
#include "TimerDemo.h" | |
#include "countsem.h" | |
#include "death.h" | |
#include "dynamic.h" | |
#include "QueueSet.h" | |
/* Priorities at which the tasks are created. */ | |
#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 ) | |
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) | |
#define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 ) | |
#define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) | |
#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY ) | |
#define mainTIMER_TEST_PERIOD ( 50 ) | |
/* Task function prototypes. */ | |
static void prvCheckTask( void *pvParameters ); | |
/* A task that is created from the idle task to test the functionality of | |
eTaskStateGet(). */ | |
static void prvTestTask( void *pvParameters ); | |
/* The variable into which error messages are latched. */ | |
static char *pcStatusMessage = "OK"; | |
/* This semaphore is created purely to test using the vSemaphoreDelete() and | |
semaphore tracing API functions. It has no other purpose. */ | |
static xSemaphoreHandle xMutexToDelete = NULL; | |
/*-----------------------------------------------------------*/ | |
int main( void ) | |
{ | |
/* Start the check task as described at the top of this file. */ | |
xTaskCreate( prvCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* Create the standard demo tasks. */ | |
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); | |
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY ); | |
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY ); | |
vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY ); | |
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY ); | |
vStartQueuePeekTasks(); | |
vStartMathTasks( mainFLOP_TASK_PRIORITY ); | |
vStartRecursiveMutexTasks(); | |
vStartTimerDemoTask( mainTIMER_TEST_PERIOD ); | |
vStartCountingSemaphoreTasks(); | |
vStartDynamicPriorityTasks(); | |
vStartQueueSetTasks(); | |
/* The suicide tasks must be created last as they need to know how many | |
tasks were running prior to their creation. This then allows them to | |
ascertain whether or not the correct/expected number of tasks are running at | |
any given time. */ | |
vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY ); | |
/* Create the semaphore that will be deleted in the idle task hook. This | |
is done purely to test the use of vSemaphoreDelete(). */ | |
xMutexToDelete = xSemaphoreCreateMutex(); | |
/* Start the trace recording - the recording is written to a file if | |
configASSERT() is called. */ | |
vTraceStart(); | |
/* Start the scheduler itself. */ | |
vTaskStartScheduler(); | |
/* Should never get here unless there was not enough heap space to create | |
the idle and other system tasks. */ | |
return 0; | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvCheckTask( void *pvParameters ) | |
{ | |
portTickType xNextWakeTime; | |
const portTickType xCycleFrequency = 1000 / portTICK_RATE_MS; | |
/* Just to remove compiler warning. */ | |
( void ) pvParameters; | |
/* 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. */ | |
vTaskDelayUntil( &xNextWakeTime, xCycleFrequency ); | |
/* Check the standard demo tasks are running without error. */ | |
if( xAreTimerDemoTasksStillRunning( xCycleFrequency ) != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: TimerDemo"; | |
} | |
else if( xAreIntegerMathsTaskStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: IntMath"; | |
} | |
else if( xAreGenericQueueTasksStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: GenQueue"; | |
} | |
else if( xAreQueuePeekTasksStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: QueuePeek"; | |
} | |
else if( xAreBlockingQueuesStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: BlockQueue"; | |
} | |
else if( xAreSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: SemTest"; | |
} | |
else if( xArePollingQueuesStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: PollQueue"; | |
} | |
else if( xAreMathsTaskStillRunning() != pdPASS ) | |
{ | |
pcStatusMessage = "Error: Flop"; | |
} | |
else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: RecMutex"; | |
} | |
else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: CountSem"; | |
} | |
else if( xIsCreateTaskStillRunning() != pdTRUE ) | |
{ | |
pcStatusMessage = "Error: Death"; | |
} | |
else if( xAreDynamicPriorityTasksStillRunning() != pdPASS ) | |
{ | |
pcStatusMessage = "Error: Dynamic\r\n"; | |
} | |
else if( xAreQueueSetTasksStillRunning() != pdPASS ) | |
{ | |
pcStatusMessage = "Error: Queue set\r\n"; | |
} | |
/* This is the only task that uses stdout so its ok to call printf() | |
directly. */ | |
printf( "%s - %d\r\n", pcStatusMessage, xTaskGetTickCount() ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvTestTask( void *pvParameters ) | |
{ | |
const unsigned long ulMSToSleep = 5; | |
/* Just to remove compiler warnings. */ | |
( void ) pvParameters; | |
/* This task is just used to test the eTaskStateGet() function. It | |
does not have anything to do. */ | |
for( ;; ) | |
{ | |
/* Sleep to reduce CPU load, but don't sleep indefinitely in case there are | |
tasks waiting to be terminated by the idle task. */ | |
Sleep( ulMSToSleep ); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationIdleHook( void ) | |
{ | |
const unsigned long ulMSToSleep = 15; | |
xTaskHandle xIdleTaskHandle, xTimerTaskHandle, xTestTask; | |
signed char *pcTaskName; | |
const unsigned char ucConstQueueNumber = 0xaaU, ucConstTaskNumber = 0x55U; | |
void *pvAllocated; | |
/* These three functions are only meant for use by trace code, and not for | |
direct use from application code, hence their prototypes are not in queue.h. */ | |
extern void vQueueSetQueueNumber( xQueueHandle pxQueue, unsigned char ucQueueNumber ); | |
extern unsigned char ucQueueGetQueueNumber( xQueueHandle pxQueue ); | |
extern unsigned char ucQueueGetQueueType( xQueueHandle pxQueue ); | |
extern void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle ); | |
extern unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask ); | |
/* Sleep to reduce CPU load, but don't sleep indefinitely in case there are | |
tasks waiting to be terminated by the idle task. */ | |
Sleep( ulMSToSleep ); | |
/* Demonstrate the use of the xTimerGetTimerDaemonTaskHandle() and | |
xTaskGetIdleTaskHandle() functions. Also try using the function that sets | |
the task number. */ | |
xIdleTaskHandle = xTaskGetIdleTaskHandle(); | |
xTimerTaskHandle = xTimerGetTimerDaemonTaskHandle(); | |
vTaskSetTaskNumber( xIdleTaskHandle, ( unsigned long ) ucConstTaskNumber ); | |
configASSERT( uxTaskGetTaskNumber( xIdleTaskHandle ) == ucConstTaskNumber ); | |
/* This is the idle hook, so the current task handle should equal the | |
returned idle task handle. */ | |
if( xTaskGetCurrentTaskHandle() != xIdleTaskHandle ) | |
{ | |
pcStatusMessage = "Error: Returned idle task handle was incorrect"; | |
} | |
/* Check the timer task handle was returned correctly. */ | |
pcTaskName = pcTaskGetTaskName( xTimerTaskHandle ); | |
if( strcmp( pcTaskName, "Tmr Svc" ) != 0 ) | |
{ | |
pcStatusMessage = "Error: Returned timer task handle was incorrect"; | |
} | |
/* This task is running, make sure its state is returned as running. */ | |
if( eTaskStateGet( xIdleTaskHandle ) != eRunning ) | |
{ | |
pcStatusMessage = "Error: Returned idle task state was incorrect"; | |
} | |
/* If this task is running, then the timer task must be blocked. */ | |
if( eTaskStateGet( xTimerTaskHandle ) != eBlocked ) | |
{ | |
pcStatusMessage = "Error: Returned timer task state was incorrect"; | |
} | |
/* If xMutexToDelete has not already been deleted, then delete it now. | |
This is done purely to demonstrate the use of, and test, the | |
vSemaphoreDelete() macro. Care must be taken not to delete a semaphore | |
that has tasks blocked on it. */ | |
if( xMutexToDelete != NULL ) | |
{ | |
/* Before deleting the semaphore, test the function used to set its | |
number. This would normally only be done from trace software, rather | |
than application code. */ | |
vQueueSetQueueNumber( xMutexToDelete, ucConstQueueNumber ); | |
/* Before deleting the semaphore, test the functions used to get its | |
type and number. Again, these would normally only be done from trace | |
software, rather than application code. */ | |
configASSERT( ucQueueGetQueueNumber( xMutexToDelete ) == ucConstQueueNumber ); | |
configASSERT( ucQueueGetQueueType( xMutexToDelete ) == queueQUEUE_TYPE_MUTEX ); | |
vSemaphoreDelete( xMutexToDelete ); | |
xMutexToDelete = NULL; | |
/* Other tests that should only be performed once follow. The test task | |
is not created on each iteration because to do so would cause the death | |
task to report an error (too many tasks running). */ | |
/* Create a test task to use to test other eTaskStateGet() return values. */ | |
if( xTaskCreate( prvTestTask, "Test", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTestTask ) == pdPASS ) | |
{ | |
/* If this task is running, the test task must be in the ready state. */ | |
if( eTaskStateGet( xTestTask ) != eReady ) | |
{ | |
pcStatusMessage = "Error: Returned test task state was incorrect 1"; | |
} | |
/* Now suspend the test task and check its state is reported correctly. */ | |
vTaskSuspend( xTestTask ); | |
if( eTaskStateGet( xTestTask ) != eSuspended ) | |
{ | |
pcStatusMessage = "Error: Returned test task state was incorrect 2"; | |
} | |
/* Now delete the task and check its state is reported correctly. */ | |
vTaskDelete( xTestTask ); | |
if( eTaskStateGet( xTestTask ) != eDeleted ) | |
{ | |
pcStatusMessage = "Error: Returned test task state was incorrect 3"; | |
} | |
} | |
} | |
/* Exercise heap_4 a bit. The malloc failed hook will trap failed | |
allocations so there is no need to test here. */ | |
pvAllocated = pvPortMalloc( ( rand() % 100 ) + 1 ); | |
vPortFree( pvAllocated ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationMallocFailedHook( void ) | |
{ | |
vAssertCalled(); | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationStackOverflowHook( void ) | |
{ | |
/* Can be implemented if required, but not required in this | |
environment and running this demo. */ | |
} | |
/*-----------------------------------------------------------*/ | |
void vApplicationTickHook( void ) | |
{ | |
/* Call the periodic timer test, which tests the timer API functions that | |
can be called from an ISR. */ | |
vTimerPeriodicISRTests(); | |
/* Write to a queue that is in use as part of the queue set demo to | |
demonstrate using queue sets from an ISR. */ | |
vQueueSetAccessQueueSetFromISR(); | |
} | |
/*-----------------------------------------------------------*/ | |
void vAssertCalled( void ) | |
{ | |
taskDISABLE_INTERRUPTS(); | |
/* Stop the trace recording. */ | |
vTraceStop(); | |
vTracePortSave(); | |
for( ;; ); | |
} | |
/*-----------------------------------------------------------*/ | |