You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
264 lines
10 KiB
C
264 lines
10 KiB
C
/*
|
|
FreeRTOS V7.0.2 - Copyright (C) 2011 Real Time Engineers Ltd.
|
|
|
|
|
|
***************************************************************************
|
|
* *
|
|
* 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 Richard Barry, contact details for whom are available on the
|
|
FreeRTOS WEB site.
|
|
|
|
1 tab == 4 spaces!
|
|
|
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
|
contact details.
|
|
|
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
|
critical systems.
|
|
|
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
|
licensing and training services.
|
|
*/
|
|
|
|
/*
|
|
* This is a version of PollQ.c that uses the alternative (Alt) API.
|
|
*
|
|
* Creates two tasks that communicate over a single queue. One task acts as a
|
|
* producer, the other a consumer.
|
|
*
|
|
* The producer loops for three iteration, posting an incrementing number onto the
|
|
* queue each cycle. It then delays for a fixed period before doing exactly the
|
|
* same again.
|
|
*
|
|
* The consumer loops emptying the queue. Each item removed from the queue is
|
|
* checked to ensure it contains the expected value. When the queue is empty it
|
|
* blocks for a fixed period, then does the same again.
|
|
*
|
|
* All queue access is performed without blocking. The consumer completely empties
|
|
* the queue each time it runs so the producer should never find the queue full.
|
|
*
|
|
* An error is flagged if the consumer obtains an unexpected value or the producer
|
|
* find the queue is full.
|
|
*/
|
|
|
|
/*
|
|
Changes from V2.0.0
|
|
|
|
+ Delay periods are now specified using variables and constants of
|
|
portTickType rather than unsigned portLONG.
|
|
*/
|
|
|
|
#include <stdlib.h>
|
|
|
|
/* Scheduler include files. */
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
#include "queue.h"
|
|
|
|
/* Demo program include files. */
|
|
#include "AltPollQ.h"
|
|
|
|
#define pollqSTACK_SIZE configMINIMAL_STACK_SIZE
|
|
#define pollqQUEUE_SIZE ( 10 )
|
|
#define pollqPRODUCER_DELAY ( ( portTickType ) 200 / portTICK_RATE_MS )
|
|
#define pollqCONSUMER_DELAY ( pollqPRODUCER_DELAY - ( portTickType ) ( 20 / portTICK_RATE_MS ) )
|
|
#define pollqNO_DELAY ( ( portTickType ) 0 )
|
|
#define pollqVALUES_TO_PRODUCE ( ( signed portBASE_TYPE ) 3 )
|
|
#define pollqINITIAL_VALUE ( ( signed portBASE_TYPE ) 0 )
|
|
|
|
/* The task that posts the incrementing number onto the queue. */
|
|
static portTASK_FUNCTION_PROTO( vPolledQueueProducer, pvParameters );
|
|
|
|
/* The task that empties the queue. */
|
|
static portTASK_FUNCTION_PROTO( vPolledQueueConsumer, pvParameters );
|
|
|
|
/* Variables that are used to check that the tasks are still running with no
|
|
errors. */
|
|
static volatile signed portBASE_TYPE xPollingConsumerCount = pollqINITIAL_VALUE, xPollingProducerCount = pollqINITIAL_VALUE;
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vStartAltPolledQueueTasks( unsigned portBASE_TYPE uxPriority )
|
|
{
|
|
static xQueueHandle xPolledQueue;
|
|
|
|
/* Create the queue used by the producer and consumer. */
|
|
xPolledQueue = xQueueCreate( pollqQUEUE_SIZE, ( unsigned portBASE_TYPE ) sizeof( unsigned portSHORT ) );
|
|
|
|
/* vQueueAddToRegistry() adds the queue to the queue registry, if one is
|
|
in use. The queue registry is provided as a means for kernel aware
|
|
debuggers to locate queues and has no purpose if a kernel aware debugger
|
|
is not being used. The call to vQueueAddToRegistry() will be removed
|
|
by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
|
|
defined to be less than 1. */
|
|
vQueueAddToRegistry( xPolledQueue, ( signed portCHAR * ) "AltPollQueue" );
|
|
|
|
|
|
/* Spawn the producer and consumer. */
|
|
xTaskCreate( vPolledQueueConsumer, ( signed portCHAR * ) "QConsNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL );
|
|
xTaskCreate( vPolledQueueProducer, ( signed portCHAR * ) "QProdNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static portTASK_FUNCTION( vPolledQueueProducer, pvParameters )
|
|
{
|
|
unsigned portSHORT usValue = ( unsigned portSHORT ) 0;
|
|
signed portBASE_TYPE xError = pdFALSE, xLoop;
|
|
|
|
#ifdef USE_STDIO
|
|
void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
|
|
|
|
const portCHAR * const pcTaskStartMsg = "Alt polling queue producer task started.\r\n";
|
|
|
|
/* Queue a message for printing to say the task has started. */
|
|
vPrintDisplayMessage( &pcTaskStartMsg );
|
|
#endif
|
|
|
|
for( ;; )
|
|
{
|
|
for( xLoop = 0; xLoop < pollqVALUES_TO_PRODUCE; xLoop++ )
|
|
{
|
|
/* Send an incrementing number on the queue without blocking. */
|
|
if( xQueueAltSendToBack( *( ( xQueueHandle * ) pvParameters ), ( void * ) &usValue, pollqNO_DELAY ) != pdPASS )
|
|
{
|
|
/* We should never find the queue full so if we get here there
|
|
has been an error. */
|
|
xError = pdTRUE;
|
|
}
|
|
else
|
|
{
|
|
if( xError == pdFALSE )
|
|
{
|
|
/* If an error has ever been recorded we stop incrementing the
|
|
check variable. */
|
|
portENTER_CRITICAL();
|
|
xPollingProducerCount++;
|
|
portEXIT_CRITICAL();
|
|
}
|
|
|
|
/* Update the value we are going to post next time around. */
|
|
usValue++;
|
|
}
|
|
}
|
|
|
|
/* Wait before we start posting again to ensure the consumer runs and
|
|
empties the queue. */
|
|
vTaskDelay( pollqPRODUCER_DELAY );
|
|
}
|
|
} /*lint !e818 Function prototype must conform to API. */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static portTASK_FUNCTION( vPolledQueueConsumer, pvParameters )
|
|
{
|
|
unsigned portSHORT usData, usExpectedValue = ( unsigned portSHORT ) 0;
|
|
signed portBASE_TYPE xError = pdFALSE;
|
|
|
|
#ifdef USE_STDIO
|
|
void vPrintDisplayMessage( const portCHAR * const * ppcMessageToSend );
|
|
|
|
const portCHAR * const pcTaskStartMsg = "Alt blocking queue consumer task started.\r\n";
|
|
|
|
/* Queue a message for printing to say the task has started. */
|
|
vPrintDisplayMessage( &pcTaskStartMsg );
|
|
#endif
|
|
|
|
for( ;; )
|
|
{
|
|
/* Loop until the queue is empty. */
|
|
while( uxQueueMessagesWaiting( *( ( xQueueHandle * ) pvParameters ) ) )
|
|
{
|
|
if( xQueueAltReceive( *( ( xQueueHandle * ) pvParameters ), &usData, pollqNO_DELAY ) == pdPASS )
|
|
{
|
|
if( usData != usExpectedValue )
|
|
{
|
|
/* This is not what we expected to receive so an error has
|
|
occurred. */
|
|
xError = pdTRUE;
|
|
|
|
/* Catch-up to the value we received so our next expected
|
|
value should again be correct. */
|
|
usExpectedValue = usData;
|
|
}
|
|
else
|
|
{
|
|
if( xError == pdFALSE )
|
|
{
|
|
/* Only increment the check variable if no errors have
|
|
occurred. */
|
|
portENTER_CRITICAL();
|
|
xPollingConsumerCount++;
|
|
portEXIT_CRITICAL();
|
|
}
|
|
}
|
|
|
|
/* Next time round we would expect the number to be one higher. */
|
|
usExpectedValue++;
|
|
}
|
|
}
|
|
|
|
/* Now the queue is empty we block, allowing the producer to place more
|
|
items in the queue. */
|
|
vTaskDelay( pollqCONSUMER_DELAY );
|
|
}
|
|
} /*lint !e818 Function prototype must conform to API. */
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* This is called to check that all the created tasks are still running with no errors. */
|
|
portBASE_TYPE xAreAltPollingQueuesStillRunning( void )
|
|
{
|
|
portBASE_TYPE xReturn;
|
|
|
|
/* Check both the consumer and producer poll count to check they have both
|
|
been changed since out last trip round. We do not need a critical section
|
|
around the check variables as this is called from a higher priority than
|
|
the other tasks that access the same variables. */
|
|
if( ( xPollingConsumerCount == pollqINITIAL_VALUE ) ||
|
|
( xPollingProducerCount == pollqINITIAL_VALUE )
|
|
)
|
|
{
|
|
xReturn = pdFALSE;
|
|
}
|
|
else
|
|
{
|
|
xReturn = pdTRUE;
|
|
}
|
|
|
|
/* Set the check variables back down so we know if they have been
|
|
incremented the next time around. */
|
|
xPollingConsumerCount = pollqINITIAL_VALUE;
|
|
xPollingProducerCount = pollqINITIAL_VALUE;
|
|
|
|
return xReturn;
|
|
}
|