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457 lines
18 KiB
C
457 lines
18 KiB
C
/*
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FreeRTOS V7.5.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that has become a de facto standard. *
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* *
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* Help yourself get started quickly and support the FreeRTOS *
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* project by purchasing a FreeRTOS tutorial book, reference *
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* manual, or both from: http://www.FreeRTOS.org/Documentation *
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* *
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* Thank you! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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>>! NOTE: The modification to the GPL is included to allow you to distribute
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>>! a combined work that includes FreeRTOS without being obliged to provide
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>>! the source code for proprietary components outside of the FreeRTOS
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>>! kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available from the following
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link: http://www.freertos.org/a00114.html
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1 tab == 4 spaces!
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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* not run, what could be wrong?" *
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* *
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* http://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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license and Real Time Engineers Ltd. contact details.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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/*
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*******************************************************************************
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* NOTE 1: The Win32 port is a simulation (or is that emulation?) only! Do not
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* expect to get real time behaviour from the Win32 port or this demo
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* application. It is provided as a convenient development and demonstration
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* test bed only. This was tested using Windows XP on a dual core laptop.
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*
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* In this example, one simulated millisecond will take approximately 40ms to
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* execute, and Windows will not be running the FreeRTOS simulator threads
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* continuously, so the timing information in the FreeRTOS+Trace logs have no
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* meaningful units. See the documentation page for the Windows simulator for
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* an explanation of the slow timing:
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* http://www.freertos.org/FreeRTOS-Windows-Simulator-Emulator-for-Visual-Studio-and-Eclipse-MingW.html
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* - READ THE WEB DOCUMENTATION FOR THIS PORT FOR MORE INFORMATION ON USING IT -
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*
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* NOTE 2: This project provides two demo applications. A simple blinky style
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* project, and a more comprehensive test and demo application. The
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* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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* between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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* in main.c. This file implements the comprehensive test and demo version.
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*
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* NOTE 3: This file only contains the source code that is specific to the
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* basic demo. Generic functions, such FreeRTOS hook functions, are defined in
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* main.c.
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*******************************************************************************
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*
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* main() creates all the demo application tasks, then starts the scheduler.
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* The web documentation provides more details of the standard demo application
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* tasks, which provide no particular functionality but do provide a good
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* example of how to use the FreeRTOS API.
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*
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* In addition to the standard demo tasks, the following tasks and tests are
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* defined and/or created within this file:
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*
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* "Check" task - This only executes every five seconds but has a high priority
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* to ensure it gets processor time. Its main function is to check that all the
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* standard demo tasks are still operational. While no errors have been
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* discovered the check task will print out "OK" and the current simulated tick
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* time. If an error is discovered in the execution of a task then the check
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* task will print out an appropriate error message.
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*
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*/
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/* Standard includes. */
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#include <stdio.h>
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#include <stdlib.h>
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/* Kernel includes. */
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#include <FreeRTOS.h>
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#include "task.h"
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#include "queue.h"
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#include "timers.h"
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#include "semphr.h"
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/* Standard demo includes. */
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#include "BlockQ.h"
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#include "integer.h"
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#include "semtest.h"
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#include "PollQ.h"
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#include "GenQTest.h"
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#include "QPeek.h"
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#include "recmutex.h"
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#include "flop.h"
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#include "TimerDemo.h"
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#include "countsem.h"
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#include "death.h"
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#include "dynamic.h"
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#include "QueueSet.h"
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#include "QueueOverwrite.h"
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/* Priorities at which the tasks are created. */
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#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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#define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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#define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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#define mainTIMER_TEST_PERIOD ( 50 )
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/* Task function prototypes. */
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static void prvCheckTask( void *pvParameters );
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/* A task that is created from the idle task to test the functionality of
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eTaskStateGet(). */
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static void prvTestTask( void *pvParameters );
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/*
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* Called from the idle task hook function to demonstrate a few utility
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* functions that are not demonstrated by any of the standard demo tasks.
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*/
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static void prvDemonstrateTaskStateAndHandleGetFunctions( void );
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/*-----------------------------------------------------------*/
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/* The variable into which error messages are latched. */
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static char *pcStatusMessage = "OK";
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/* This semaphore is created purely to test using the vSemaphoreDelete() and
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semaphore tracing API functions. It has no other purpose. */
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static xSemaphoreHandle xMutexToDelete = NULL;
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/*-----------------------------------------------------------*/
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int main_full( void )
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{
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/* Start the check task as described at the top of this file. */
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xTaskCreate( prvCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Create the standard demo tasks. */
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vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
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vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
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vStartQueuePeekTasks();
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vStartMathTasks( mainFLOP_TASK_PRIORITY );
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vStartRecursiveMutexTasks();
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vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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vStartCountingSemaphoreTasks();
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vStartDynamicPriorityTasks();
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vStartQueueSetTasks();
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vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
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/* The suicide tasks must be created last as they need to know how many
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tasks were running prior to their creation. This then allows them to
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ascertain whether or not the correct/expected number of tasks are running at
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any given time. */
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vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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/* Create the semaphore that will be deleted in the idle task hook. This
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is done purely to test the use of vSemaphoreDelete(). */
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xMutexToDelete = xSemaphoreCreateMutex();
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/* Start the scheduler itself. */
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vTaskStartScheduler();
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/* Should never get here unless there was not enough heap space to create
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the idle and other system tasks. */
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return 0;
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}
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/*-----------------------------------------------------------*/
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static void prvCheckTask( void *pvParameters )
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{
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portTickType xNextWakeTime;
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const portTickType xCycleFrequency = 1000 / portTICK_RATE_MS;
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/* Just to remove compiler warning. */
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( void ) pvParameters;
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/* Initialise xNextWakeTime - this only needs to be done once. */
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xNextWakeTime = xTaskGetTickCount();
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for( ;; )
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{
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/* Place this task in the blocked state until it is time to run again. */
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vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
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/* Check the standard demo tasks are running without error. */
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if( xAreTimerDemoTasksStillRunning( xCycleFrequency ) != pdTRUE )
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{
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pcStatusMessage = "Error: TimerDemo";
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}
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else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: IntMath";
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}
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else if( xAreGenericQueueTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: GenQueue";
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}
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else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: QueuePeek";
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}
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else if( xAreBlockingQueuesStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: BlockQueue";
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}
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else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: SemTest";
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}
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else if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: PollQueue";
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}
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else if( xAreMathsTaskStillRunning() != pdPASS )
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{
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pcStatusMessage = "Error: Flop";
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}
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else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: RecMutex";
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}
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else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: CountSem";
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}
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else if( xIsCreateTaskStillRunning() != pdTRUE )
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{
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pcStatusMessage = "Error: Death";
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}
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else if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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{
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pcStatusMessage = "Error: Dynamic\r\n";
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}
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else if( xAreQueueSetTasksStillRunning() != pdPASS )
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{
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pcStatusMessage = "Error: Queue set\r\n";
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}
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else if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
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{
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pcStatusMessage = "Error: Queue overwrite\r\n";
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}
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/* This is the only task that uses stdout so its ok to call printf()
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directly. */
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printf( "%s - %d\r\n", pcStatusMessage, xTaskGetTickCount() );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvTestTask( void *pvParameters )
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{
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const unsigned long ulMSToSleep = 5;
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/* Just to remove compiler warnings. */
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( void ) pvParameters;
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/* This task is just used to test the eTaskStateGet() function. It
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does not have anything to do. */
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for( ;; )
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{
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/* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
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tasks waiting to be terminated by the idle task. */
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Sleep( ulMSToSleep );
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}
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}
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/*-----------------------------------------------------------*/
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/* Called from vApplicationIdleHook(), which is defined in main.c. */
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void vFullDemoIdleFunction( void )
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{
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const unsigned long ulMSToSleep = 15;
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const unsigned char ucConstQueueNumber = 0xaaU;
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void *pvAllocated;
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/* These three functions are only meant for use by trace code, and not for
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direct use from application code, hence their prototypes are not in queue.h. */
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extern void vQueueSetQueueNumber( xQueueHandle pxQueue, unsigned char ucQueueNumber );
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extern unsigned char ucQueueGetQueueNumber( xQueueHandle pxQueue );
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extern unsigned char ucQueueGetQueueType( xQueueHandle pxQueue );
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extern void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle );
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extern unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask );
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/* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
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tasks waiting to be terminated by the idle task. */
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Sleep( ulMSToSleep );
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/* Demonstrate a few utility functions that are not demonstrated by any of
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the standard demo tasks. */
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prvDemonstrateTaskStateAndHandleGetFunctions();
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/* If xMutexToDelete has not already been deleted, then delete it now.
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This is done purely to demonstrate the use of, and test, the
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vSemaphoreDelete() macro. Care must be taken not to delete a semaphore
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that has tasks blocked on it. */
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if( xMutexToDelete != NULL )
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{
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/* Before deleting the semaphore, test the function used to set its
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number. This would normally only be done from trace software, rather
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than application code. */
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vQueueSetQueueNumber( xMutexToDelete, ucConstQueueNumber );
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/* Before deleting the semaphore, test the functions used to get its
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type and number. Again, these would normally only be done from trace
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software, rather than application code. */
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configASSERT( ucQueueGetQueueNumber( xMutexToDelete ) == ucConstQueueNumber );
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configASSERT( ucQueueGetQueueType( xMutexToDelete ) == queueQUEUE_TYPE_MUTEX );
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vSemaphoreDelete( xMutexToDelete );
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xMutexToDelete = NULL;
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}
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/* Exercise heap_4 a bit. The malloc failed hook will trap failed
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allocations so there is no need to test here. */
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pvAllocated = pvPortMalloc( ( rand() % 100 ) + 1 );
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vPortFree( pvAllocated );
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}
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/*-----------------------------------------------------------*/
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/* Called by vApplicationTickHook(), which is defined in main.c. */
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void vFullDemoTickHookFunction( void )
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{
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/* Call the periodic timer test, which tests the timer API functions that
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can be called from an ISR. */
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vTimerPeriodicISRTests();
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/* Call the periodic queue overwrite from ISR demo. */
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vQueueOverwritePeriodicISRDemo();
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/* Write to a queue that is in use as part of the queue set demo to
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demonstrate using queue sets from an ISR. */
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vQueueSetAccessQueueSetFromISR();
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}
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/*-----------------------------------------------------------*/
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static void prvDemonstrateTaskStateAndHandleGetFunctions( void )
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{
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xTaskHandle xIdleTaskHandle, xTimerTaskHandle;
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const unsigned char ucConstTaskNumber = 0x55U;
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signed char *pcTaskName;
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static portBASE_TYPE xPerformedOneShotTests = pdFALSE;
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xTaskHandle xTestTask;
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/* Demonstrate the use of the xTimerGetTimerDaemonTaskHandle() and
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xTaskGetIdleTaskHandle() functions. Also try using the function that sets
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the task number. */
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xIdleTaskHandle = xTaskGetIdleTaskHandle();
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xTimerTaskHandle = xTimerGetTimerDaemonTaskHandle();
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vTaskSetTaskNumber( xIdleTaskHandle, ( unsigned long ) ucConstTaskNumber );
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configASSERT( uxTaskGetTaskNumber( xIdleTaskHandle ) == ucConstTaskNumber );
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/* This is the idle hook, so the current task handle should equal the
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returned idle task handle. */
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if( xTaskGetCurrentTaskHandle() != xIdleTaskHandle )
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{
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pcStatusMessage = "Error: Returned idle task handle was incorrect";
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}
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/* Check the timer task handle was returned correctly. */
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pcTaskName = pcTaskGetTaskName( xTimerTaskHandle );
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if( strcmp( pcTaskName, "Tmr Svc" ) != 0 )
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{
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pcStatusMessage = "Error: Returned timer task handle was incorrect";
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}
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/* This task is running, make sure it's state is returned as running. */
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if( eTaskStateGet( xIdleTaskHandle ) != eRunning )
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{
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pcStatusMessage = "Error: Returned idle task state was incorrect";
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}
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/* If this task is running, then the timer task must be blocked. */
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if( eTaskStateGet( xTimerTaskHandle ) != eBlocked )
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{
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pcStatusMessage = "Error: Returned timer task state was incorrect";
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}
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/* Other tests that should only be performed once follow. The test task
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is not created on each iteration because to do so would cause the death
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task to report an error (too many tasks running). */
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if( xPerformedOneShotTests == pdFALSE )
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{
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/* Don't run this part of the test again. */
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xPerformedOneShotTests = pdTRUE;
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/* Create a test task to use to test other eTaskStateGet() return values. */
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if( xTaskCreate( prvTestTask, "Test", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTestTask ) == pdPASS )
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{
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/* If this task is running, the test task must be in the ready state. */
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if( eTaskStateGet( xTestTask ) != eReady )
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{
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pcStatusMessage = "Error: Returned test task state was incorrect 1";
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}
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/* Now suspend the test task and check its state is reported correctly. */
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vTaskSuspend( xTestTask );
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if( eTaskStateGet( xTestTask ) != eSuspended )
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{
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pcStatusMessage = "Error: Returned test task state was incorrect 2";
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}
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/* Now delete the task and check its state is reported correctly. */
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vTaskDelete( xTestTask );
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if( eTaskStateGet( xTestTask ) != eDeleted )
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{
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pcStatusMessage = "Error: Returned test task state was incorrect 3";
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}
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}
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}
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}
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/*-----------------------------------------------------------*/
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