@ -26,81 +26,87 @@
*/
*/
/******************************************************************************
/******************************************************************************
* NOTE 1 : The Win32 port is a simulation ( or is that emulation ? ) only ! Do not
* NOTE 1 : Windows will not be running the FreeRTOS demo threads continuously , so
* expect to get real time behaviour from the Win32 port or this demo
* do not expect to get real time behaviour from the FreeRTOS Windows port , or
* application . It is provided as a convenient development and demonstration
* this demo application . Also , the timing information in the FreeRTOS + Trace
* test bed only . This was tested using Windows XP on a dual core laptop .
* logs have no meaningful units . See the documentation page for the Windows
*
* port for further information :
* Windows will not be running the FreeRTOS simulator threads continuously , so
* the timing information in the FreeRTOS + Trace logs have no meaningful units .
* See the documentation page for the Windows simulator for an explanation of
* the slow timing :
* http : //www.freertos.org/FreeRTOS-Windows-Simulator-Emulator-for-Visual-Studio-and-Eclipse-MingW.html
* 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
* NOTE 2 : This project provides two demo applications . A simple blinky style
* project , and a more comprehensive test and demo application . The
* project , and a more comprehensive test and demo application . The
* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main . c is used to select
* 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
* between the two . See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
* in main . c . This file implements the simply blinky style version .
* in main . c . This file implements the simply blinky version . Console output
* is used in place of the normal LED toggling .
*
*
* NOTE 3 : This file only contains the source code that is specific to the
* NOTE 3 : This file only contains the source code that is specific to the
* basic demo . Generic functions , such FreeRTOS hook functions , are defined
* basic demo . Generic functions , such FreeRTOS hook functions , are defined
* in main . c .
* in main . c .
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
*
*
* main_blinky ( ) creates one queue , two tasks . It then starts the
* main_blinky ( ) creates one queue , one software timer , and two tasks . It then
* s cheduler.
* s tarts the s cheduler.
*
*
* The Queue Send Task :
* The Queue Send Task :
* The queue send task is implemented by the prvQueueSendTask ( ) function in
* The queue send task is implemented by the prvQueueSendTask ( ) function in
* this file . prvQueueSendTask ( ) sits in a loop that causes it to repeatedly
* this file . It uses vTaskDelayUntil ( ) to create a periodic task that sends
* block for 200 ( simulated as far as the scheduler is concerned , but in
* the value 100 to the queue every 200 milliseconds ( please read the notes
* reality much longer - see notes above ) milliseconds , before sending the
* above regarding the accuracy of timing under Windows ) .
* value 100 to the queue that was created within main_blinky ( ) . Once the
*
* value is sent , the task loops back around to block for another 200
* The Queue Send Software Timer :
* ( simulated ) milliseconds .
* The timer is an auto - reload timer with a period of two seconds . The timer ' s
* 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 :
* The queue receive task is implemented by the prvQueueReceiveTask ( ) function
* The queue receive task is implemented by the prvQueueReceiveTask ( ) function
* in this file . prvQueueReceiveTask ( ) sits in a loop where it repeatedly
* in this file . prvQueueReceiveTask ( ) waits for data to arrive on the queue .
* blocks on attempts to read data from the queue that was created within
* When data is received , the task checks the value of the data , then outputs a
* main_blinky ( ) . When data is received , the task checks the value of the
* message to indicate if the data came from the queue send task or the queue
* data , and if the value equals the expected 100 , outputs a message . The
* send software timer .
* ' block time ' parameter passed to the queue receive function specifies that
*
* the task should be held in the Blocked state indefinitely to wait for data
* Expected Behaviour :
* to be available on the queue . The queue receive task will only leave the
* - The queue send task writes to the queue every 200 ms , so every 200 ms the
* Blocked state when the queue send task writes to the queue . As the queue
* queue receive task will output a message indicating that data was received
* send task writes to the queue every 200 ( simulated - see notes above )
* on the queue from the queue send task .
* milliseconds , the queue receive task leaves the Blocked state every 200
* - The queue send software timer has a period of two seconds , and is reset
* milliseconds , and therefore outputs a message every 200 milliseconds .
* each time a key is pressed . So if two seconds expire without a key being
* pressed then the queue receive task will output a message indicating that
* data was received on the queue from the queue send software timer .
*
* NOTE : Console input and output relies on Windows system calls , which can
* interfere with the execution of the FreeRTOS Windows port . This demo only
* uses Windows system call occasionally . Heavier use of Windows system calls
* can crash the port .
*/
*/
/* Standard includes. */ /* Standard includes. */
# include <stdio.h> # include <stdio.h>
# include <conio.h>
/* Kernel includes. */ /* Kernel includes. */
# include "FreeRTOS.h" # include "FreeRTOS.h"
# include "task.h" # include "task.h"
# include "timers.h"
# include "semphr.h" # include "semphr.h"
/* Priorities at which the tasks are created. */ /* Priorities at which the tasks are created. */
# define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 ) # define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
# define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 ) # define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
/* The rate at which data is sent to the queue. The 200ms value is converted
/* The rate at which data is sent to the queue. The times are converted from
to ticks using the portTICK_PERIOD_MS constant . */ milliseconds to ticks using the pdMS_TO_TICKS ( ) macro . */
# define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_PERIOD_MS ) # define mainTASK_SEND_FREQUENCY_MS pdMS_TO_TICKS( 200UL )
# define mainTIMER_SEND_FREQUENCY_MS pdMS_TO_TICKS( 2000UL )
/* The number of items the queue can hold. This is 1 as the receive task
/* The number of items the queue can hold at once. */
will remove items as they are added , meaning the send task should always find # define mainQUEUE_LENGTH ( 2 )
the queue empty . */
# define mainQUEUE_LENGTH ( 1 )
/* Values passed to the two tasks just to check the task parameter
/* The values sent to the queue receive task from the queue send task and the
functionalit y. */ queue send software timer respectivel y. */
# define main QUEUE_SEND_PARAMETER ( 0x1111 UL )# define main VALUE_SENT_FROM_TASK ( 100 UL )
# define main QUEUE_RECEIVE_PARAMETER ( 0x22 UL )# define main VALUE_SENT_FROM_TIMER ( 200 UL )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -110,17 +116,28 @@ functionality. */
static void prvQueueReceiveTask ( void * pvParameters ) ; static void prvQueueReceiveTask ( void * pvParameters ) ;
static void prvQueueSendTask ( 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. */ /* The queue used by both tasks. */
static QueueHandle_t xQueue = NULL ; static QueueHandle_t xQueue = NULL ;
/* A software timer that is started from the tick hook. */
static TimerHandle_t xTimer = NULL ;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/*** SEE THE COMMENTS AT THE TOP OF THIS FILE ***/
void main_blinky ( void ) void main_blinky ( void )
{ {
const TickType_t xTimerPeriod = mainTIMER_SEND_FREQUENCY_MS ;
/* Create the queue. */
/* Create the queue. */
xQueue = xQueueCreate ( mainQUEUE_LENGTH , sizeof ( unsigned long ) ) ;
xQueue = xQueueCreate ( mainQUEUE_LENGTH , sizeof ( u int32_t ) ) ;
if ( xQueue ! = NULL )
if ( xQueue ! = NULL )
{
{
@ -129,11 +146,23 @@ void main_blinky( void )
xTaskCreate ( prvQueueReceiveTask , /* The function that implements the task. */
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. */
" 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. */
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
NULL , /* The parameter passed to the task - not used in this simple case
mainQUEUE_RECEIVE_TASK_PRIORITY , /* The priority assigned to the task. */
mainQUEUE_RECEIVE_TASK_PRIORITY , /* The priority assigned to the task. */
NULL ) ; /* The task handle is not required, so NULL is passed. */
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 ) ;
xTaskCreate ( prvQueueSendTask , " TX " , configMINIMAL_STACK_SIZE , NULL , 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. */
pdTRUE , /* xAutoReload is set to pdTRUE. */
NULL , /* The timer's ID is not used. */
prvQueueSendTimerCallback ) ; /* The function executed when the timer expires. */
if ( xTimer ! = NULL )
{
xTimerStart ( xTimer , 0 ) ;
}
/* Start the tasks and timer running. */
/* Start the tasks and timer running. */
vTaskStartScheduler ( ) ;
vTaskStartScheduler ( ) ;
@ -151,65 +180,86 @@ void main_blinky( void )
static void prvQueueSendTask ( void * pvParameters ) static void prvQueueSendTask ( void * pvParameters )
{ {
TickType_t xNextWakeTime ; TickType_t xNextWakeTime ;
const unsigned long ulValueToSend = 100UL ; const TickType_t xBlockTime = mainTASK_SEND_FREQUENCY_MS ;
const TickType_t xBlockTime = pdMS_TO_TICKS ( mainQUEUE_SEND_FREQUENCY_MS ) ; const uint32_t ulValueToSend = mainVALUE_SENT_FROM_TASK ;
/* Remove compiler warning in the case that configASSERT() is not
/* Prevent the compiler warning about the unused parameter. */
defined . */
( void ) pvParameters ;
( 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. */
/* Initialise xNextWakeTime - this only needs to be done once. */
xNextWakeTime = xTaskGetTickCount ( ) ;
xNextWakeTime = xTaskGetTickCount ( ) ;
for ( ; ; )
for ( ; ; )
{
{
/* Place this task in the blocked state until it is time to run again.
/* 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
The block time is specified in ticks , pdMS_TO_TICKS ( ) was used to
to ms . While in the Blocked state this task will not consume any CPU
convert a time specified in milliseconds into a time specified in ticks .
. */
While in the Blocked state this task will not consume any CPU time. */
vTaskDelayUntil ( & xNextWakeTime , xBlockTime ) ;
vTaskDelayUntil ( & xNextWakeTime , xBlockTime ) ;
/* Send to the queue - causing the queue receive task to unblock and
/* Send to the queue - causing the queue receive task to unblock and
toggle the LED . 0 is used as the block time so the send ing operation
write to the console . 0 is used as the block time so the send operation
will not block - it shouldn ' t need to block as the queue should always
will not block - it shouldn ' t need to block as the queue should always
be empty at this point in the code . */
have at least one space at this point in the code . */
xQueueSend ( xQueue , & ulValueToSend , 0U ) ;
xQueueSend ( xQueue , & ulValueToSend , 0U ) ;
}
}
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvQueueSendTimerCallback ( TimerHandle_t xTimerHandle )
{
const uint32_t ulValueToSend = mainVALUE_SENT_FROM_TIMER ;
/* This is the software timer callback function. The software timer has a
period of two seconds and is reset each time a key is pressed . This
callback function will execute if the timer expires , which will only happen
if a key is not pressed for two seconds . */
/* 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 ) static void prvQueueReceiveTask ( void * pvParameters )
{ {
unsigned long ulReceivedValue ; u int32_t ulReceivedValue ;
/* Remove compiler warning in the case that configASSERT() is not
/* Prevent the compiler warning about the unused parameter. */
defined . */
( void ) pvParameters ;
( void ) pvParameters ;
/* Check the task parameter is as expected. */
configASSERT ( ( ( unsigned long ) pvParameters ) = = mainQUEUE_RECEIVE_PARAMETER ) ;
for ( ; ; )
for ( ; ; )
{
{
/* Wait until something arrives in the queue - this task will block
/* Wait until something arrives in the queue - this task will block
indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
FreeRTOSConfig . h . */
FreeRTOSConfig . h . It will not use any CPU time while it is in the
Blocked state . */
xQueueReceive ( xQueue , & ulReceivedValue , portMAX_DELAY ) ;
xQueueReceive ( xQueue , & ulReceivedValue , portMAX_DELAY ) ;
/* To get here something must have been received from the queue, but
/* To get here something must have been received from the queue, but
is it the expected value ? If it is , toggle the LED . */
is it an expected value ? Normally calling printf ( ) from a task is not
if ( ulReceivedValue = = 100UL )
a good idea . Here there is lots of stack space and only one task is
using console IO so it is ok . However , note the comments at the top of
this file about the risks of making Windows system calls ( such as
console output ) from a FreeRTOS task . */
if ( ulReceivedValue = = mainVALUE_SENT_FROM_TASK )
{
{
/* Normally calling printf() from a task is not a good idea. Here
printf ( " Message received from task \r \n " ) ;
there is lots of stack space and only one task is using console IO
}
so it is ok . */
else if ( ulReceivedValue = = mainVALUE_SENT_FROM_TIMER )
printf ( " Message received \r \n " ) ;
{
fflush ( stdout ) ;
printf ( " Message received from software timer \r \n " ) ;
ulReceivedValue = 0U ;
}
}
else
{
printf ( " Unexpected message \r \n " ) ;
}
fflush ( stdout ) ;
}
}
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
Richard Barry
7 years ago