@ -51,13 +51,38 @@
licensing and training services .
*/
/* Standard includes. */
# include <stdio.h>
/* Kernel includes. */
# include <FreeRTOS.h>
# include "task.h"
# include "queue.h"
/* Task priorities. */
# define mainSTDOUT_TASK_PRIORITY tskIDLE_PRIORITY
/* Standard demo includes. */
# include "partest.h"
# include "BlockQ.h"
# include "death.h"
# include "integer.h"
//#include "blocktim.h"
# include "semtest.h"
# include "PollQ.h"
# include "GenQTest.h"
# include "QPeek.h"
# include "recmutex.h"
# include "flop.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 )
/* Stack sizes. */
# define mainSTDOUT_TASK_STACK_SIZE ( configMINIMAL_STACK_SIZE * 4 )
@ -67,9 +92,7 @@ static volatile unsigned long ul1 = 0, ul2 = 0;
static xQueueHandle xStdoutQueue = NULL ;
/* Task function prototypes. */
static void prvTask1 ( void * pvParameters ) ;
static void prvTask2 ( void * pvParameters ) ;
static void prvStdoutTask ( void * pvParameters ) ;
static void prvCheckTask ( void * pvParameters ) ;
/* Create a queue on which console output strings can be posted, then start the
task that processes the queue - printf ( ) ' ing each string that is received . */
@ -79,14 +102,25 @@ static void prvStartStdoutTask( void );
pointed to by pcTextToPrint for output to stdout in a thread safe manner . */
void vMainConsolePrint ( const char * pcTextToPrint , portTickType xTicksToWait ) ;
volatile unsigned long ulIdleCount = 0UL , ulT1Count = 0UL , ulT2Count = 0UL , ulTicks = 0UL ;
/*-----------------------------------------------------------*/
int main ( void )
{
prvStartStdoutTask ( ) ;
xTaskCreate ( prvTask1 , " t1 " , 100 , NULL , 0 , NULL ) ;
xTaskCreate ( prvTask2 , " t2 " , 100 , NULL , 0 , NULL ) ;
/* 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 ) ;
// vCreateBlockTimeTasks();
vStartSemaphoreTasks ( mainSEM_TEST_PRIORITY ) ;
vStartPolledQueueTasks ( mainQUEUE_POLL_PRIORITY ) ;
vStartIntegerMathTasks ( mainINTEGER_TASK_PRIORITY ) ;
vStartGenericQueueTasks ( mainGEN_QUEUE_TASK_PRIORITY ) ;
vStartQueuePeekTasks ( ) ;
vStartRecursiveMutexTasks ( ) ;
vStartMathTasks ( mainFLOP_TASK_PRIORITY ) ;
/* Start the scheduler itself. */
vTaskStartScheduler ( ) ;
/* Should never get here unless there was not enough heap space to create
@ -95,102 +129,97 @@ int main( void )
}
/*-----------------------------------------------------------*/
void vMainConsolePrint ( const char * pcTextToPrint , portTickType xTicksToWait )
{
if ( xStdoutQueue ! = NULL )
{
xQueueSend ( xStdoutQueue , & pcTextToPrint , xTicksToWait ) ;
}
}
/*-----------------------------------------------------------*/
static void prvStartStdoutTask ( void )
{
const unsigned long ulQueueLength = 20 ;
/* Create the queue on which starings for output will be stored. */
xStdoutQueue = xQueueCreate ( ulQueueLength , ( unsigned portBASE_TYPE ) sizeof ( char * ) ) ;
if ( xStdoutQueue ! = NULL )
{
/* Create the task that processes the stdout messages. */
xTaskCreate ( prvStdoutTask , " stdout task " , mainSTDOUT_TASK_STACK_SIZE , NULL , mainSTDOUT_TASK_PRIORITY , NULL ) ;
}
}
/*-----------------------------------------------------------*/
static void prvStdoutTask ( void * pvParameters )
{
char * pcString ;
/* Just to remove compiler warnings. */
( void ) pvParameters ;
for ( ; ; )
{
/* This task would not have been created if the queue had not been created
successfully too . Also , because of the FreeRTOSConfig . h settings using
portMAX_DELAY in this case means wait forever , so when this function returns
we know there is a string to print . */
xQueueReceive ( xStdoutQueue , & pcString , portMAX_DELAY ) ;
printf ( " %s " , pcString ) ;
//fflush( stdout );
}
}
/*-----------------------------------------------------------*/
static void prvTask1 ( void * pvParameters )
static void prvCheckTask ( void * pvParameters )
{
const char * pcTask1Message = " Task 1 running \r \n " ;
const portTickType xTicksToDelay = 1000 / portTICK_RATE_MS ;
portTickType xNextWakeTime ;
const portTickType xCycleFrequency = 5000 / portTICK_RATE_MS ;
char * pcStatusMessage = " OK " ;
long lCycleCount = 0 ;
/* Just to remove compiler warnings. */
/* Just to remove compiler warning. */
( void ) pvParameters ;
for ( ; ; )
{
// ul1++;
vMainConsolePrint ( pcTask1Message , 0 ) ;
vTaskDelay ( xTicksToDelay ) ;
ulT1Count + + ;
}
}
/*-----------------------------------------------------------*/
static void prvTask2 ( void * pvParameters )
{
const char * pcTask2Message = " Task 2 running \r \n " ;
const portTickType xTicksToDelay = 500 / portTICK_RATE_MS ;
/* Just to remove compiler warnings. */
( void ) pvParameters ;
/* Initialise xNextWakeTime - this only needs to be done once. */
xNextWakeTime = xTaskGetTickCount ( ) ;
for ( ; ; )
{
// ul2++;
vMainConsolePrint ( pcTask2Message , 0 ) ;
vTaskDelay ( xTicksToDelay ) ;
ulT2Count + + ;
// taskYIELD();
/* 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 ( 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( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
// {
// pcStatusMessage = "Error: BlockTime";
// }
else if ( xAreSemaphoreTasksStillRunning ( ) ! = pdTRUE )
{
pcStatusMessage = " Error: SemTest " ;
}
else if ( xArePollingQueuesStillRunning ( ) ! = pdTRUE )
{
pcStatusMessage = " Error: PollQueue " ;
}
else if ( xAreRecursiveMutexTasksStillRunning ( ) ! = pdTRUE )
{
pcStatusMessage = " Error: RecMutex " ;
}
else if ( xAreMathsTaskStillRunning ( ) ! = pdPASS )
{
pcStatusMessage = " Error: Flop " ;
}
/* This is the only task that uses stdout so its ok to call printf()
directly . */
printf ( " %s - %d \r \n " , pcStatusMessage , xTaskGetTickCount ( ) ) ;
}
}
/*-----------------------------------------------------------*/
void vApplicationIdleHook ( )
void vApplicationIdleHook ( void )
{
const unsigned long ulMSToSleep = 5 ;
/* Sleep to reduce CPU load, but don't sleep indefinitely if not using
preemption as as nothing will cause a task switch . */
# if configUSE_PREEMPTION != 0
# if ( configUSE_PREEMPTION != 0 )
{
SleepEx ( INFINITE , TRUE ) ;
}
# else
{
const unsigned long ulMSToSleep = 5 ;
SleepEx ( ulMSToSleep , TRUE ) ;
}
# endif
}
/*-----------------------------------------------------------*/
ulIdleCount + + ;
void vApplicationMallocFailedHook ( void )
{
/* Can be implemented if required, but probably not required in this
environment and running this demo . */
}
/*-----------------------------------------------------------*/
void vApplicationStackOverflowHook ( void )
{
/* Can be implemented if required, but not required in this
environment and running this demo . */
}
Richard Barry
14 years ago