mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-04-19 21:11:57 -04:00
Get main_full.c working in the RM48 demo.
This commit is contained in:
Richard Barry
parent
05c17e7e6d
commit
1112439c58
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@ -91,7 +91,7 @@
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#define configTOTAL_HEAP_SIZE ( ( size_t ) 32768 )
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#define configMAX_TASK_NAME_LEN ( 16 )
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#define configIDLE_SHOULD_YIELD 1
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#define configGENERATE_RUN_TIME_STATS 1
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#define configGENERATE_RUN_TIME_STATS 0
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#define configUSE_MALLOC_FAILED_HOOK 1
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#define configCHECK_FOR_STACK_OVERFLOW 2
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@ -102,7 +102,7 @@
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/* Mutexes */
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#define configUSE_MUTEXES 1
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#define configUSE_RECURSIVE_MUTEXES 0
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#define configUSE_RECURSIVE_MUTEXES 1
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/* Semaphores */
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#define configUSE_COUNTING_SEMAPHORES 1
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@ -116,7 +116,7 @@
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/* Set the following definitions to 1 to include the API function, or zero to exclude the API function. */
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#define INCLUDE_vTaskPrioritySet 1
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#define INCLUDE_uxTaskPriorityGet 1
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#define INCLUDE_vTaskDelete 0
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#define INCLUDE_vTaskDelete 1
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#define INCLUDE_vTaskCleanUpResources 0
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#define INCLUDE_vTaskSuspend 1
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#define INCLUDE_xTaskResumeFromISR 0
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321
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/BlockQ.c
Normal file
321
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/BlockQ.c
Normal file
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@ -0,0 +1,321 @@
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/*
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FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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||||
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||||
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||||
***************************************************************************
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||||
* *
|
||||
* 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!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
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/*
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* Creates six tasks that operate on three queues as follows:
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*
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* The first two tasks send and receive an incrementing number to/from a queue.
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* One task acts as a producer and the other as the consumer. The consumer is a
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* higher priority than the producer and is set to block on queue reads. The queue
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* only has space for one item - as soon as the producer posts a message on the
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* queue the consumer will unblock, pre-empt the producer, and remove the item.
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*
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* The second two tasks work the other way around. Again the queue used only has
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* enough space for one item. This time the consumer has a lower priority than the
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* producer. The producer will try to post on the queue blocking when the queue is
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* full. When the consumer wakes it will remove the item from the queue, causing
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* the producer to unblock, pre-empt the consumer, and immediately re-fill the
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* queue.
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*
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* The last two tasks use the same queue producer and consumer functions. This time the queue has
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* enough space for lots of items and the tasks operate at the same priority. The
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* producer will execute, placing items into the queue. The consumer will start
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* executing when either the queue becomes full (causing the producer to block) or
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* a context switch occurs (tasks of the same priority will time slice).
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*
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*/
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/*
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Changes from V4.1.1
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+ The second set of tasks were created the wrong way around. This has been
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corrected.
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*/
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#include <stdlib.h>
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/* Scheduler include files. */
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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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/* Demo program include files. */
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#include "BlockQ.h"
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#define blckqSTACK_SIZE configMINIMAL_STACK_SIZE
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#define blckqNUM_TASK_SETS ( 3 )
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/* Structure used to pass parameters to the blocking queue tasks. */
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typedef struct BLOCKING_QUEUE_PARAMETERS
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{
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xQueueHandle xQueue; /*< The queue to be used by the task. */
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portTickType xBlockTime; /*< The block time to use on queue reads/writes. */
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volatile short *psCheckVariable; /*< Incremented on each successful cycle to check the task is still running. */
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} xBlockingQueueParameters;
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/* Task function that creates an incrementing number and posts it on a queue. */
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static portTASK_FUNCTION_PROTO( vBlockingQueueProducer, pvParameters );
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/* Task function that removes the incrementing number from a queue and checks that
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it is the expected number. */
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static portTASK_FUNCTION_PROTO( vBlockingQueueConsumer, pvParameters );
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/* Variables which are incremented each time an item is removed from a queue, and
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found to be the expected value.
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These are used to check that the tasks are still running. */
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static volatile short sBlockingConsumerCount[ blckqNUM_TASK_SETS ] = { ( unsigned short ) 0, ( unsigned short ) 0, ( unsigned short ) 0 };
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/* Variable which are incremented each time an item is posted on a queue. These
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are used to check that the tasks are still running. */
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static volatile short sBlockingProducerCount[ blckqNUM_TASK_SETS ] = { ( unsigned short ) 0, ( unsigned short ) 0, ( unsigned short ) 0 };
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/*-----------------------------------------------------------*/
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void vStartBlockingQueueTasks( unsigned portBASE_TYPE uxPriority )
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{
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xBlockingQueueParameters *pxQueueParameters1, *pxQueueParameters2;
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xBlockingQueueParameters *pxQueueParameters3, *pxQueueParameters4;
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xBlockingQueueParameters *pxQueueParameters5, *pxQueueParameters6;
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const unsigned portBASE_TYPE uxQueueSize1 = 1, uxQueueSize5 = 5;
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const portTickType xBlockTime = ( portTickType ) 1000 / portTICK_RATE_MS;
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const portTickType xDontBlock = ( portTickType ) 0;
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/* Create the first two tasks as described at the top of the file. */
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/* First create the structure used to pass parameters to the consumer tasks. */
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pxQueueParameters1 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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/* Create the queue used by the first two tasks to pass the incrementing number.
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Pass a pointer to the queue in the parameter structure. */
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pxQueueParameters1->xQueue = xQueueCreate( uxQueueSize1, ( unsigned portBASE_TYPE ) sizeof( unsigned short ) );
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/* The consumer is created first so gets a block time as described above. */
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pxQueueParameters1->xBlockTime = xBlockTime;
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/* Pass in the variable that this task is going to increment so we can check it
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is still running. */
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pxQueueParameters1->psCheckVariable = &( sBlockingConsumerCount[ 0 ] );
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/* Create the structure used to pass parameters to the producer task. */
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pxQueueParameters2 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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/* Pass the queue to this task also, using the parameter structure. */
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pxQueueParameters2->xQueue = pxQueueParameters1->xQueue;
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/* The producer is not going to block - as soon as it posts the consumer will
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wake and remove the item so the producer should always have room to post. */
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pxQueueParameters2->xBlockTime = xDontBlock;
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/* Pass in the variable that this task is going to increment so we can check
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it is still running. */
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pxQueueParameters2->psCheckVariable = &( sBlockingProducerCount[ 0 ] );
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/* Note the producer has a lower priority than the consumer when the tasks are
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spawned. */
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xTaskCreate( vBlockingQueueConsumer, ( signed char * ) "QConsB1", blckqSTACK_SIZE, ( void * ) pxQueueParameters1, uxPriority, NULL );
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xTaskCreate( vBlockingQueueProducer, ( signed char * ) "QProdB2", blckqSTACK_SIZE, ( void * ) pxQueueParameters2, tskIDLE_PRIORITY, NULL );
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/* Create the second two tasks as described at the top of the file. This uses
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the same mechanism but reverses the task priorities. */
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pxQueueParameters3 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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pxQueueParameters3->xQueue = xQueueCreate( uxQueueSize1, ( unsigned portBASE_TYPE ) sizeof( unsigned short ) );
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pxQueueParameters3->xBlockTime = xDontBlock;
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pxQueueParameters3->psCheckVariable = &( sBlockingProducerCount[ 1 ] );
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pxQueueParameters4 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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pxQueueParameters4->xQueue = pxQueueParameters3->xQueue;
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pxQueueParameters4->xBlockTime = xBlockTime;
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pxQueueParameters4->psCheckVariable = &( sBlockingConsumerCount[ 1 ] );
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xTaskCreate( vBlockingQueueConsumer, ( signed char * ) "QConsB3", blckqSTACK_SIZE, ( void * ) pxQueueParameters3, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vBlockingQueueProducer, ( signed char * ) "QProdB4", blckqSTACK_SIZE, ( void * ) pxQueueParameters4, uxPriority, NULL );
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/* Create the last two tasks as described above. The mechanism is again just
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the same. This time both parameter structures are given a block time. */
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pxQueueParameters5 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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pxQueueParameters5->xQueue = xQueueCreate( uxQueueSize5, ( unsigned portBASE_TYPE ) sizeof( unsigned short ) );
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pxQueueParameters5->xBlockTime = xBlockTime;
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pxQueueParameters5->psCheckVariable = &( sBlockingProducerCount[ 2 ] );
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pxQueueParameters6 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
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pxQueueParameters6->xQueue = pxQueueParameters5->xQueue;
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pxQueueParameters6->xBlockTime = xBlockTime;
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pxQueueParameters6->psCheckVariable = &( sBlockingConsumerCount[ 2 ] );
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xTaskCreate( vBlockingQueueProducer, ( signed char * ) "QProdB5", blckqSTACK_SIZE, ( void * ) pxQueueParameters5, tskIDLE_PRIORITY, NULL );
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xTaskCreate( vBlockingQueueConsumer, ( signed char * ) "QConsB6", blckqSTACK_SIZE, ( void * ) pxQueueParameters6, tskIDLE_PRIORITY, NULL );
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}
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/*-----------------------------------------------------------*/
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static portTASK_FUNCTION( vBlockingQueueProducer, pvParameters )
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{
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unsigned short usValue = 0;
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xBlockingQueueParameters *pxQueueParameters;
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short sErrorEverOccurred = pdFALSE;
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pxQueueParameters = ( xBlockingQueueParameters * ) pvParameters;
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for( ;; )
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{
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if( xQueueSend( pxQueueParameters->xQueue, ( void * ) &usValue, pxQueueParameters->xBlockTime ) != pdPASS )
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{
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sErrorEverOccurred = pdTRUE;
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}
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else
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{
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/* We have successfully posted a message, so increment the variable
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used to check we are still running. */
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if( sErrorEverOccurred == pdFALSE )
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{
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( *pxQueueParameters->psCheckVariable )++;
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}
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/* Increment the variable we are going to post next time round. The
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consumer will expect the numbers to follow in numerical order. */
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++usValue;
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}
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}
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}
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/*-----------------------------------------------------------*/
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static portTASK_FUNCTION( vBlockingQueueConsumer, pvParameters )
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{
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unsigned short usData, usExpectedValue = 0;
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xBlockingQueueParameters *pxQueueParameters;
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short sErrorEverOccurred = pdFALSE;
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pxQueueParameters = ( xBlockingQueueParameters * ) pvParameters;
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for( ;; )
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{
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if( xQueueReceive( pxQueueParameters->xQueue, &usData, pxQueueParameters->xBlockTime ) == pdPASS )
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{
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if( usData != usExpectedValue )
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{
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/* Catch-up. */
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usExpectedValue = usData;
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sErrorEverOccurred = pdTRUE;
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}
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else
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{
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/* We have successfully received a message, so increment the
|
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variable used to check we are still running. */
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if( sErrorEverOccurred == pdFALSE )
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{
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( *pxQueueParameters->psCheckVariable )++;
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}
|
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|
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/* Increment the value we expect to remove from the queue next time
|
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round. */
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++usExpectedValue;
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}
|
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}
|
||||
}
|
||||
}
|
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/*-----------------------------------------------------------*/
|
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|
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/* This is called to check that all the created tasks are still running. */
|
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portBASE_TYPE xAreBlockingQueuesStillRunning( void )
|
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{
|
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static short sLastBlockingConsumerCount[ blckqNUM_TASK_SETS ] = { ( unsigned short ) 0, ( unsigned short ) 0, ( unsigned short ) 0 };
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static short sLastBlockingProducerCount[ blckqNUM_TASK_SETS ] = { ( unsigned short ) 0, ( unsigned short ) 0, ( unsigned short ) 0 };
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portBASE_TYPE xReturn = pdPASS, xTasks;
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/* Not too worried about mutual exclusion on these variables as they are 16
|
||||
bits and we are only reading them. We also only care to see if they have
|
||||
changed or not.
|
||||
|
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Loop through each check variable to and return pdFALSE if any are found not
|
||||
to have changed since the last call. */
|
||||
|
||||
for( xTasks = 0; xTasks < blckqNUM_TASK_SETS; xTasks++ )
|
||||
{
|
||||
if( sBlockingConsumerCount[ xTasks ] == sLastBlockingConsumerCount[ xTasks ] )
|
||||
{
|
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xReturn = pdFALSE;
|
||||
}
|
||||
sLastBlockingConsumerCount[ xTasks ] = sBlockingConsumerCount[ xTasks ];
|
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|
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|
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if( sBlockingProducerCount[ xTasks ] == sLastBlockingProducerCount[ xTasks ] )
|
||||
{
|
||||
xReturn = pdFALSE;
|
||||
}
|
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sLastBlockingProducerCount[ xTasks ] = sBlockingProducerCount[ xTasks ];
|
||||
}
|
||||
|
||||
return xReturn;
|
||||
}
|
||||
|
||||
75
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/BlockQ.h
Normal file
75
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/BlockQ.h
Normal file
|
|
@ -0,0 +1,75 @@
|
|||
/*
|
||||
FreeRTOS V7.2.0 - Copyright (C) 2012 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!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
#ifndef BLOCK_Q_H
|
||||
#define BLOCK_Q_H
|
||||
|
||||
void vStartBlockingQueueTasks( unsigned portBASE_TYPE uxPriority );
|
||||
portBASE_TYPE xAreBlockingQueuesStillRunning( void );
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
|
@ -1,5 +1,5 @@
|
|||
/*
|
||||
FreeRTOS V7.0.2 - Copyright (C) 2011 Real Time Engineers Ltd.
|
||||
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
***************************************************************************
|
||||
|
|
@ -41,14 +41,27 @@
|
|||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||
contact details.
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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.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.
|
||||
http://www.FreeRTOS.org - Documentation, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
|
||||
|
|
|
|||
259
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/PollQ.c
Normal file
259
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/PollQ.c
Normal file
|
|
@ -0,0 +1,259 @@
|
|||
/*
|
||||
FreeRTOS V7.2.0 - Copyright (C) 2012 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!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
/*
|
||||
* This version of PollQ. c is for use on systems that have limited stack
|
||||
* space and no display facilities. The complete version can be found in
|
||||
* the Demo/Common/Full directory.
|
||||
*
|
||||
* 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 long.
|
||||
*/
|
||||
|
||||
#include <stdlib.h>
|
||||
|
||||
/* Scheduler include files. */
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "queue.h"
|
||||
|
||||
/* Demo program include files. */
|
||||
#include "PollQ.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 vStartPolledQueueTasks( 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 short ) );
|
||||
|
||||
/* 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 char * ) "Poll_Test_Queue" );
|
||||
|
||||
/* Spawn the producer and consumer. */
|
||||
xTaskCreate( vPolledQueueConsumer, ( signed char * ) "QConsNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL );
|
||||
xTaskCreate( vPolledQueueProducer, ( signed char * ) "QProdNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static portTASK_FUNCTION( vPolledQueueProducer, pvParameters )
|
||||
{
|
||||
unsigned short usValue = ( unsigned short ) 0;
|
||||
signed portBASE_TYPE xError = pdFALSE, xLoop;
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
for( xLoop = 0; xLoop < pollqVALUES_TO_PRODUCE; xLoop++ )
|
||||
{
|
||||
/* Send an incrementing number on the queue without blocking. */
|
||||
if( xQueueSend( *( ( 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 short usData, usExpectedValue = ( unsigned short ) 0;
|
||||
signed portBASE_TYPE xError = pdFALSE;
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
/* Loop until the queue is empty. */
|
||||
while( uxQueueMessagesWaiting( *( ( xQueueHandle * ) pvParameters ) ) )
|
||||
{
|
||||
if( xQueueReceive( *( ( 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 xArePollingQueuesStillRunning( 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;
|
||||
}
|
||||
75
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/PollQ.h
Normal file
75
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/PollQ.h
Normal file
|
|
@ -0,0 +1,75 @@
|
|||
/*
|
||||
FreeRTOS V7.2.0 - Copyright (C) 2012 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!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
#ifndef POLLED_Q_H
|
||||
#define POLLED_Q_H
|
||||
|
||||
void vStartPolledQueueTasks( unsigned portBASE_TYPE uxPriority );
|
||||
portBASE_TYPE xArePollingQueuesStillRunning( void );
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
506
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/blocktim.c
Normal file
506
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/blocktim.c
Normal file
|
|
@ -0,0 +1,506 @@
|
|||
/*
|
||||
FreeRTOS V7.2.0 - Copyright (C) 2012 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!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
/*
|
||||
* This file contains some test scenarios that ensure tasks do not exit queue
|
||||
* send or receive functions prematurely. A description of the tests is
|
||||
* included within the code.
|
||||
*/
|
||||
|
||||
/* Kernel includes. */
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "queue.h"
|
||||
|
||||
/* Demo includes. */
|
||||
#include "blocktim.h"
|
||||
|
||||
/* Task priorities. Allow these to be overridden. */
|
||||
#ifndef bktPRIMARY_PRIORITY
|
||||
#define bktPRIMARY_PRIORITY ( configMAX_PRIORITIES - 3 )
|
||||
#endif
|
||||
|
||||
#ifndef bktSECONDARY_PRIORITY
|
||||
#define bktSECONDARY_PRIORITY ( configMAX_PRIORITIES - 4 )
|
||||
#endif
|
||||
|
||||
/* Task behaviour. */
|
||||
#define bktQUEUE_LENGTH ( 5 )
|
||||
#define bktSHORT_WAIT ( ( ( portTickType ) 20 ) / portTICK_RATE_MS )
|
||||
#define bktPRIMARY_BLOCK_TIME ( 10 )
|
||||
#define bktALLOWABLE_MARGIN ( 15 )
|
||||
#define bktTIME_TO_BLOCK ( 175 )
|
||||
#define bktDONT_BLOCK ( ( portTickType ) 0 )
|
||||
#define bktRUN_INDICATOR ( ( unsigned portBASE_TYPE ) 0x55 )
|
||||
|
||||
/* The queue on which the tasks block. */
|
||||
static xQueueHandle xTestQueue;
|
||||
|
||||
/* Handle to the secondary task is required by the primary task for calls
|
||||
to vTaskSuspend/Resume(). */
|
||||
static xTaskHandle xSecondary;
|
||||
|
||||
/* Used to ensure that tasks are still executing without error. */
|
||||
static volatile portBASE_TYPE xPrimaryCycles = 0, xSecondaryCycles = 0;
|
||||
static volatile portBASE_TYPE xErrorOccurred = pdFALSE;
|
||||
|
||||
/* Provides a simple mechanism for the primary task to know when the
|
||||
secondary task has executed. */
|
||||
static volatile unsigned portBASE_TYPE xRunIndicator;
|
||||
|
||||
/* The two test tasks. Their behaviour is commented within the files. */
|
||||
static void vPrimaryBlockTimeTestTask( void *pvParameters );
|
||||
static void vSecondaryBlockTimeTestTask( void *pvParameters );
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vCreateBlockTimeTasks( void )
|
||||
{
|
||||
/* Create the queue on which the two tasks block. */
|
||||
xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( portBASE_TYPE ) );
|
||||
|
||||
/* 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( xTestQueue, ( signed char * ) "Block_Time_Queue" );
|
||||
|
||||
/* Create the two test tasks. */
|
||||
xTaskCreate( vPrimaryBlockTimeTestTask, ( signed char * )"BTest1", configMINIMAL_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL );
|
||||
xTaskCreate( vSecondaryBlockTimeTestTask, ( signed char * )"BTest2", configMINIMAL_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void vPrimaryBlockTimeTestTask( void *pvParameters )
|
||||
{
|
||||
portBASE_TYPE xItem, xData;
|
||||
portTickType xTimeWhenBlocking;
|
||||
portTickType xTimeToBlock, xBlockedTime;
|
||||
|
||||
( void ) pvParameters;
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
/*********************************************************************
|
||||
Test 1
|
||||
|
||||
Simple block time wakeup test on queue receives. */
|
||||
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
|
||||
{
|
||||
/* The queue is empty. Attempt to read from the queue using a block
|
||||
time. When we wake, ensure the delta in time is as expected. */
|
||||
xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
|
||||
|
||||
xTimeWhenBlocking = xTaskGetTickCount();
|
||||
|
||||
/* We should unblock after xTimeToBlock having not received
|
||||
anything on the queue. */
|
||||
if( xQueueReceive( xTestQueue, &xData, xTimeToBlock ) != errQUEUE_EMPTY )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* How long were we blocked for? */
|
||||
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
|
||||
|
||||
if( xBlockedTime < xTimeToBlock )
|
||||
{
|
||||
/* Should not have blocked for less than we requested. */
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
|
||||
{
|
||||
/* Should not have blocked for longer than we requested,
|
||||
although we would not necessarily run as soon as we were
|
||||
unblocked so a margin is allowed. */
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
}
|
||||
|
||||
/*********************************************************************
|
||||
Test 2
|
||||
|
||||
Simple block time wakeup test on queue sends.
|
||||
|
||||
First fill the queue. It should be empty so all sends should pass. */
|
||||
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
|
||||
{
|
||||
if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
#if configUSE_PREEMPTION == 0
|
||||
taskYIELD();
|
||||
#endif
|
||||
}
|
||||
|
||||
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
|
||||
{
|
||||
/* The queue is full. Attempt to write to the queue using a block
|
||||
time. When we wake, ensure the delta in time is as expected. */
|
||||
xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
|
||||
|
||||
xTimeWhenBlocking = xTaskGetTickCount();
|
||||
|
||||
/* We should unblock after xTimeToBlock having not received
|
||||
anything on the queue. */
|
||||
if( xQueueSend( xTestQueue, &xItem, xTimeToBlock ) != errQUEUE_FULL )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* How long were we blocked for? */
|
||||
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
|
||||
|
||||
if( xBlockedTime < xTimeToBlock )
|
||||
{
|
||||
/* Should not have blocked for less than we requested. */
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
|
||||
{
|
||||
/* Should not have blocked for longer than we requested,
|
||||
although we would not necessarily run as soon as we were
|
||||
unblocked so a margin is allowed. */
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
}
|
||||
|
||||
/*********************************************************************
|
||||
Test 3
|
||||
|
||||
Wake the other task, it will block attempting to post to the queue.
|
||||
When we read from the queue the other task will wake, but before it
|
||||
can run we will post to the queue again. When the other task runs it
|
||||
will find the queue still full, even though it was woken. It should
|
||||
recognise that its block time has not expired and return to block for
|
||||
the remains of its block time.
|
||||
|
||||
Wake the other task so it blocks attempting to post to the already
|
||||
full queue. */
|
||||
xRunIndicator = 0;
|
||||
vTaskResume( xSecondary );
|
||||
|
||||
/* We need to wait a little to ensure the other task executes. */
|
||||
while( xRunIndicator != bktRUN_INDICATOR )
|
||||
{
|
||||
/* The other task has not yet executed. */
|
||||
vTaskDelay( bktSHORT_WAIT );
|
||||
}
|
||||
/* Make sure the other task is blocked on the queue. */
|
||||
vTaskDelay( bktSHORT_WAIT );
|
||||
xRunIndicator = 0;
|
||||
|
||||
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
|
||||
{
|
||||
/* Now when we make space on the queue the other task should wake
|
||||
but not execute as this task has higher priority. */
|
||||
if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* Now fill the queue again before the other task gets a chance to
|
||||
execute. If the other task had executed we would find the queue
|
||||
full ourselves, and the other task have set xRunIndicator. */
|
||||
if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
if( xRunIndicator == bktRUN_INDICATOR )
|
||||
{
|
||||
/* The other task should not have executed. */
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* Raise the priority of the other task so it executes and blocks
|
||||
on the queue again. */
|
||||
vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
|
||||
|
||||
/* The other task should now have re-blocked without exiting the
|
||||
queue function. */
|
||||
if( xRunIndicator == bktRUN_INDICATOR )
|
||||
{
|
||||
/* The other task should not have executed outside of the
|
||||
queue function. */
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* Set the priority back down. */
|
||||
vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
|
||||
}
|
||||
|
||||
/* Let the other task timeout. When it unblockes it will check that it
|
||||
unblocked at the correct time, then suspend itself. */
|
||||
while( xRunIndicator != bktRUN_INDICATOR )
|
||||
{
|
||||
vTaskDelay( bktSHORT_WAIT );
|
||||
}
|
||||
vTaskDelay( bktSHORT_WAIT );
|
||||
xRunIndicator = 0;
|
||||
|
||||
|
||||
/*********************************************************************
|
||||
Test 4
|
||||
|
||||
As per test 3 - but with the send and receive the other way around.
|
||||
The other task blocks attempting to read from the queue.
|
||||
|
||||
Empty the queue. We should find that it is full. */
|
||||
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
|
||||
{
|
||||
if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
}
|
||||
|
||||
/* Wake the other task so it blocks attempting to read from the
|
||||
already empty queue. */
|
||||
vTaskResume( xSecondary );
|
||||
|
||||
/* We need to wait a little to ensure the other task executes. */
|
||||
while( xRunIndicator != bktRUN_INDICATOR )
|
||||
{
|
||||
vTaskDelay( bktSHORT_WAIT );
|
||||
}
|
||||
vTaskDelay( bktSHORT_WAIT );
|
||||
xRunIndicator = 0;
|
||||
|
||||
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
|
||||
{
|
||||
/* Now when we place an item on the queue the other task should
|
||||
wake but not execute as this task has higher priority. */
|
||||
if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* Now empty the queue again before the other task gets a chance to
|
||||
execute. If the other task had executed we would find the queue
|
||||
empty ourselves, and the other task would be suspended. */
|
||||
if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
if( xRunIndicator == bktRUN_INDICATOR )
|
||||
{
|
||||
/* The other task should not have executed. */
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* Raise the priority of the other task so it executes and blocks
|
||||
on the queue again. */
|
||||
vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
|
||||
|
||||
/* The other task should now have re-blocked without exiting the
|
||||
queue function. */
|
||||
if( xRunIndicator == bktRUN_INDICATOR )
|
||||
{
|
||||
/* The other task should not have executed outside of the
|
||||
queue function. */
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
|
||||
}
|
||||
|
||||
/* Let the other task timeout. When it unblockes it will check that it
|
||||
unblocked at the correct time, then suspend itself. */
|
||||
while( xRunIndicator != bktRUN_INDICATOR )
|
||||
{
|
||||
vTaskDelay( bktSHORT_WAIT );
|
||||
}
|
||||
vTaskDelay( bktSHORT_WAIT );
|
||||
|
||||
xPrimaryCycles++;
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void vSecondaryBlockTimeTestTask( void *pvParameters )
|
||||
{
|
||||
portTickType xTimeWhenBlocking, xBlockedTime;
|
||||
portBASE_TYPE xData;
|
||||
|
||||
( void ) pvParameters;
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
/*********************************************************************
|
||||
Test 1 and 2
|
||||
|
||||
This task does does not participate in these tests. */
|
||||
vTaskSuspend( NULL );
|
||||
|
||||
/*********************************************************************
|
||||
Test 3
|
||||
|
||||
The first thing we do is attempt to read from the queue. It should be
|
||||
full so we block. Note the time before we block so we can check the
|
||||
wake time is as per that expected. */
|
||||
xTimeWhenBlocking = xTaskGetTickCount();
|
||||
|
||||
/* We should unblock after bktTIME_TO_BLOCK having not sent
|
||||
anything to the queue. */
|
||||
xData = 0;
|
||||
xRunIndicator = bktRUN_INDICATOR;
|
||||
if( xQueueSend( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_FULL )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* How long were we inside the send function? */
|
||||
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
|
||||
|
||||
/* We should not have blocked for less time than bktTIME_TO_BLOCK. */
|
||||
if( xBlockedTime < bktTIME_TO_BLOCK )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* We should of not blocked for much longer than bktALLOWABLE_MARGIN
|
||||
either. A margin is permitted as we would not necessarily run as
|
||||
soon as we unblocked. */
|
||||
if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* Suspend ready for test 3. */
|
||||
xRunIndicator = bktRUN_INDICATOR;
|
||||
vTaskSuspend( NULL );
|
||||
|
||||
/*********************************************************************
|
||||
Test 4
|
||||
|
||||
As per test three, but with the send and receive reversed. */
|
||||
xTimeWhenBlocking = xTaskGetTickCount();
|
||||
|
||||
/* We should unblock after bktTIME_TO_BLOCK having not received
|
||||
anything on the queue. */
|
||||
xRunIndicator = bktRUN_INDICATOR;
|
||||
if( xQueueReceive( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_EMPTY )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
|
||||
|
||||
/* We should not have blocked for less time than bktTIME_TO_BLOCK. */
|
||||
if( xBlockedTime < bktTIME_TO_BLOCK )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* We should of not blocked for much longer than bktALLOWABLE_MARGIN
|
||||
either. A margin is permitted as we would not necessarily run as soon
|
||||
as we unblocked. */
|
||||
if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
xRunIndicator = bktRUN_INDICATOR;
|
||||
|
||||
xSecondaryCycles++;
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
portBASE_TYPE xAreBlockTimeTestTasksStillRunning( void )
|
||||
{
|
||||
static portBASE_TYPE xLastPrimaryCycleCount = 0, xLastSecondaryCycleCount = 0;
|
||||
portBASE_TYPE xReturn = pdPASS;
|
||||
|
||||
/* Have both tasks performed at least one cycle since this function was
|
||||
last called? */
|
||||
if( xPrimaryCycles == xLastPrimaryCycleCount )
|
||||
{
|
||||
xReturn = pdFAIL;
|
||||
}
|
||||
|
||||
if( xSecondaryCycles == xLastSecondaryCycleCount )
|
||||
{
|
||||
xReturn = pdFAIL;
|
||||
}
|
||||
|
||||
if( xErrorOccurred == pdTRUE )
|
||||
{
|
||||
xReturn = pdFAIL;
|
||||
}
|
||||
|
||||
xLastSecondaryCycleCount = xSecondaryCycles;
|
||||
xLastPrimaryCycleCount = xPrimaryCycles;
|
||||
|
||||
return xReturn;
|
||||
}
|
||||
75
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/blocktim.h
Normal file
75
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/blocktim.h
Normal file
|
|
@ -0,0 +1,75 @@
|
|||
/*
|
||||
FreeRTOS V7.2.0 - Copyright (C) 2012 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!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
#ifndef BLOCK_TIME_TEST_H
|
||||
#define BLOCK_TIME_TEST_H
|
||||
|
||||
void vCreateBlockTimeTasks( void );
|
||||
portBASE_TYPE xAreBlockTimeTestTasksStillRunning( void );
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
|
@ -1,5 +1,5 @@
|
|||
/*
|
||||
FreeRTOS V7.0.2 - Copyright (C) 2011 Real Time Engineers Ltd.
|
||||
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
***************************************************************************
|
||||
|
|
@ -41,14 +41,27 @@
|
|||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||
contact details.
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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.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.
|
||||
http://www.FreeRTOS.org - Documentation, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
|
||||
|
|
@ -157,8 +170,8 @@ void vStartCountingSemaphoreTasks( void )
|
|||
if( ( xParameters[ 0 ].xSemaphore != NULL ) || ( xParameters[ 1 ].xSemaphore != NULL ) )
|
||||
{
|
||||
/* Create the demo tasks, passing in the semaphore to use as the parameter. */
|
||||
xTaskCreate( prvCountingSemaphoreTask, ( signed portCHAR * ) "CNT1...", configMINIMAL_STACK_SIZE, ( void * ) &( xParameters[ 0 ] ), tskIDLE_PRIORITY, NULL );
|
||||
xTaskCreate( prvCountingSemaphoreTask, ( signed portCHAR * ) "CNT2...", configMINIMAL_STACK_SIZE, ( void * ) &( xParameters[ 1 ] ), tskIDLE_PRIORITY, NULL );
|
||||
xTaskCreate( prvCountingSemaphoreTask, ( signed portCHAR * ) "CNT1", configMINIMAL_STACK_SIZE, ( void * ) &( xParameters[ 0 ] ), tskIDLE_PRIORITY, NULL );
|
||||
xTaskCreate( prvCountingSemaphoreTask, ( signed portCHAR * ) "CNT2", configMINIMAL_STACK_SIZE, ( void * ) &( xParameters[ 1 ] ), tskIDLE_PRIORITY, NULL );
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
|
|
|||
268
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/death.c
Normal file
268
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/death.c
Normal file
|
|
@ -0,0 +1,268 @@
|
|||
/*
|
||||
FreeRTOS V7.2.0 - Copyright (C) 2012 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!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
/**
|
||||
* Create a single persistent task which periodically dynamically creates another
|
||||
* two tasks. The original task is called the creator task, the two tasks it
|
||||
* creates are called suicidal tasks.
|
||||
*
|
||||
* One of the created suicidal tasks kill one other suicidal task before killing
|
||||
* itself - leaving just the original task remaining.
|
||||
*
|
||||
* The creator task must be spawned after all of the other demo application tasks
|
||||
* as it keeps a check on the number of tasks under the scheduler control. The
|
||||
* number of tasks it expects to see running should never be greater than the
|
||||
* number of tasks that were in existence when the creator task was spawned, plus
|
||||
* one set of four suicidal tasks. If this number is exceeded an error is flagged.
|
||||
*
|
||||
* \page DeathC death.c
|
||||
* \ingroup DemoFiles
|
||||
* <HR>
|
||||
*/
|
||||
|
||||
/*
|
||||
Changes from V3.0.0
|
||||
+ CreationCount sizes changed from unsigned portBASE_TYPE to
|
||||
unsigned short to minimize the risk of overflowing.
|
||||
|
||||
+ Reset of usLastCreationCount added
|
||||
|
||||
Changes from V3.1.0
|
||||
+ Changed the dummy calculation to use variables of type long, rather than
|
||||
float. This allows the file to be used with ports that do not support
|
||||
floating point.
|
||||
|
||||
*/
|
||||
|
||||
#include <stdlib.h>
|
||||
|
||||
/* Scheduler include files. */
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
/* Demo program include files. */
|
||||
#include "death.h"
|
||||
|
||||
#define deathSTACK_SIZE ( configMINIMAL_STACK_SIZE + 60 )
|
||||
|
||||
/* The task originally created which is responsible for periodically dynamically
|
||||
creating another four tasks. */
|
||||
static portTASK_FUNCTION_PROTO( vCreateTasks, pvParameters );
|
||||
|
||||
/* The task function of the dynamically created tasks. */
|
||||
static portTASK_FUNCTION_PROTO( vSuicidalTask, pvParameters );
|
||||
|
||||
/* A variable which is incremented every time the dynamic tasks are created. This
|
||||
is used to check that the task is still running. */
|
||||
static volatile unsigned short usCreationCount = 0;
|
||||
|
||||
/* Used to store the number of tasks that were originally running so the creator
|
||||
task can tell if any of the suicidal tasks have failed to die.
|
||||
*/
|
||||
static volatile unsigned portBASE_TYPE uxTasksRunningAtStart = 0;
|
||||
|
||||
/* Tasks are deleted by the idle task. Under heavy load the idle task might
|
||||
not get much processing time, so it would be legitimate for several tasks to
|
||||
remain undeleted for a short period. */
|
||||
static const unsigned portBASE_TYPE uxMaxNumberOfExtraTasksRunning = 3;
|
||||
|
||||
/* Used to store a handle to the task that should be killed by a suicidal task,
|
||||
before it kills itself. */
|
||||
xTaskHandle xCreatedTask;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vCreateSuicidalTasks( unsigned portBASE_TYPE uxPriority )
|
||||
{
|
||||
unsigned portBASE_TYPE *puxPriority;
|
||||
|
||||
/* Create the Creator tasks - passing in as a parameter the priority at which
|
||||
the suicidal tasks should be created. */
|
||||
puxPriority = ( unsigned portBASE_TYPE * ) pvPortMalloc( sizeof( unsigned portBASE_TYPE ) );
|
||||
*puxPriority = uxPriority;
|
||||
|
||||
xTaskCreate( vCreateTasks, ( signed char * ) "CREATOR", deathSTACK_SIZE, ( void * ) puxPriority, uxPriority, NULL );
|
||||
|
||||
/* Record the number of tasks that are running now so we know if any of the
|
||||
suicidal tasks have failed to be killed. */
|
||||
uxTasksRunningAtStart = ( unsigned portBASE_TYPE ) uxTaskGetNumberOfTasks();
|
||||
|
||||
/* FreeRTOS.org versions before V3.0 started the idle-task as the very
|
||||
first task. The idle task was then already included in uxTasksRunningAtStart.
|
||||
From FreeRTOS V3.0 on, the idle task is started when the scheduler is
|
||||
started. Therefore the idle task is not yet accounted for. We correct
|
||||
this by increasing uxTasksRunningAtStart by 1. */
|
||||
uxTasksRunningAtStart++;
|
||||
|
||||
/* From FreeRTOS version 7.0.0 can optionally create a timer service task.
|
||||
If this is done, then uxTasksRunningAtStart needs incrementing again as that
|
||||
too is created when the scheduler is started. */
|
||||
#if configUSE_TIMERS == 1
|
||||
uxTasksRunningAtStart++;
|
||||
#endif
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static portTASK_FUNCTION( vSuicidalTask, pvParameters )
|
||||
{
|
||||
volatile long l1, l2;
|
||||
xTaskHandle xTaskToKill;
|
||||
const portTickType xDelay = ( portTickType ) 200 / portTICK_RATE_MS;
|
||||
|
||||
if( pvParameters != NULL )
|
||||
{
|
||||
/* This task is periodically created four times. Two created tasks are
|
||||
passed a handle to the other task so it can kill it before killing itself.
|
||||
The other task is passed in null. */
|
||||
xTaskToKill = *( xTaskHandle* )pvParameters;
|
||||
}
|
||||
else
|
||||
{
|
||||
xTaskToKill = NULL;
|
||||
}
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
/* Do something random just to use some stack and registers. */
|
||||
l1 = 2;
|
||||
l2 = 89;
|
||||
l2 *= l1;
|
||||
vTaskDelay( xDelay );
|
||||
|
||||
if( xTaskToKill != NULL )
|
||||
{
|
||||
/* Make sure the other task has a go before we delete it. */
|
||||
vTaskDelay( ( portTickType ) 0 );
|
||||
|
||||
/* Kill the other task that was created by vCreateTasks(). */
|
||||
vTaskDelete( xTaskToKill );
|
||||
|
||||
/* Kill ourselves. */
|
||||
vTaskDelete( NULL );
|
||||
}
|
||||
}
|
||||
}/*lint !e818 !e550 Function prototype must be as per standard for task functions. */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static portTASK_FUNCTION( vCreateTasks, pvParameters )
|
||||
{
|
||||
const portTickType xDelay = ( portTickType ) 1000 / portTICK_RATE_MS;
|
||||
unsigned portBASE_TYPE uxPriority;
|
||||
|
||||
uxPriority = *( unsigned portBASE_TYPE * ) pvParameters;
|
||||
vPortFree( pvParameters );
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
/* Just loop round, delaying then creating the four suicidal tasks. */
|
||||
vTaskDelay( xDelay );
|
||||
|
||||
xCreatedTask = NULL;
|
||||
|
||||
xTaskCreate( vSuicidalTask, ( signed char * ) "SUICID1", configMINIMAL_STACK_SIZE, NULL, uxPriority, &xCreatedTask );
|
||||
xTaskCreate( vSuicidalTask, ( signed char * ) "SUICID2", configMINIMAL_STACK_SIZE, &xCreatedTask, uxPriority, NULL );
|
||||
|
||||
++usCreationCount;
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* This is called to check that the creator task is still running and that there
|
||||
are not any more than four extra tasks. */
|
||||
portBASE_TYPE xIsCreateTaskStillRunning( void )
|
||||
{
|
||||
static unsigned short usLastCreationCount = 0xfff;
|
||||
portBASE_TYPE xReturn = pdTRUE;
|
||||
static unsigned portBASE_TYPE uxTasksRunningNow;
|
||||
|
||||
if( usLastCreationCount == usCreationCount )
|
||||
{
|
||||
xReturn = pdFALSE;
|
||||
}
|
||||
else
|
||||
{
|
||||
usLastCreationCount = usCreationCount;
|
||||
}
|
||||
|
||||
uxTasksRunningNow = ( unsigned portBASE_TYPE ) uxTaskGetNumberOfTasks();
|
||||
|
||||
if( uxTasksRunningNow < uxTasksRunningAtStart )
|
||||
{
|
||||
xReturn = pdFALSE;
|
||||
}
|
||||
else if( ( uxTasksRunningNow - uxTasksRunningAtStart ) > uxMaxNumberOfExtraTasksRunning )
|
||||
{
|
||||
xReturn = pdFALSE;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Everything is okay. */
|
||||
}
|
||||
|
||||
return xReturn;
|
||||
}
|
||||
|
||||
|
||||
75
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/death.h
Normal file
75
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/death.h
Normal file
|
|
@ -0,0 +1,75 @@
|
|||
/*
|
||||
FreeRTOS V7.2.0 - Copyright (C) 2012 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!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
#ifndef SUICIDE_TASK_H
|
||||
#define SUICIDE_TASK_H
|
||||
|
||||
void vCreateSuicidalTasks( unsigned portBASE_TYPE uxPriority );
|
||||
portBASE_TYPE xIsCreateTaskStillRunning( void );
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
|
@ -1,5 +1,5 @@
|
|||
/*
|
||||
FreeRTOS V7.0.2 - Copyright (C) 2011 Real Time Engineers Ltd.
|
||||
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
***************************************************************************
|
||||
|
|
@ -41,14 +41,27 @@
|
|||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||
contact details.
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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.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.
|
||||
http://www.FreeRTOS.org - Documentation, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
/*
|
||||
|
|
|
|||
225
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/integer.c
Normal file
225
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/integer.c
Normal file
|
|
@ -0,0 +1,225 @@
|
|||
/*
|
||||
FreeRTOS V7.2.0 - Copyright (C) 2012 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!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
/*
|
||||
* This version of integer. c is for use on systems that have limited stack
|
||||
* space and no display facilities. The complete version can be found in
|
||||
* the Demo/Common/Full directory.
|
||||
*
|
||||
* As with the full version, the tasks created in this file are a good test
|
||||
* of the scheduler context switch mechanism. The processor has to access
|
||||
* 32bit variables in two or four chunks (depending on the processor). The low
|
||||
* priority of these tasks means there is a high probability that a context
|
||||
* switch will occur mid calculation. See flop. c documentation for
|
||||
* more information.
|
||||
*
|
||||
*/
|
||||
|
||||
/*
|
||||
Changes from V1.2.1
|
||||
|
||||
+ The constants used in the calculations are larger to ensure the
|
||||
optimiser does not truncate them to 16 bits.
|
||||
|
||||
Changes from V1.2.3
|
||||
|
||||
+ uxTaskCheck is now just used as a boolean. Instead of incrementing
|
||||
the variable each cycle of the task, the variable is simply set to
|
||||
true. sAreIntegerMathsTaskStillRunning() sets it back to false and
|
||||
expects it to have been set back to true by the time it is called
|
||||
again.
|
||||
+ A division has been included in the calculation.
|
||||
*/
|
||||
|
||||
#include <stdlib.h>
|
||||
|
||||
/* Scheduler include files. */
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
/* Demo program include files. */
|
||||
#include "integer.h"
|
||||
|
||||
/* The constants used in the calculation. */
|
||||
#define intgCONST1 ( ( long ) 123 )
|
||||
#define intgCONST2 ( ( long ) 234567 )
|
||||
#define intgCONST3 ( ( long ) -3 )
|
||||
#define intgCONST4 ( ( long ) 7 )
|
||||
#define intgEXPECTED_ANSWER ( ( ( intgCONST1 + intgCONST2 ) * intgCONST3 ) / intgCONST4 )
|
||||
|
||||
#define intgSTACK_SIZE configMINIMAL_STACK_SIZE
|
||||
|
||||
/* As this is the minimal version, we will only create one task. */
|
||||
#define intgNUMBER_OF_TASKS ( 1 )
|
||||
|
||||
/* The task function. Repeatedly performs a 32 bit calculation, checking the
|
||||
result against the expected result. If the result is incorrect then the
|
||||
context switch must have caused some corruption. */
|
||||
static portTASK_FUNCTION_PROTO( vCompeteingIntMathTask, pvParameters );
|
||||
|
||||
/* Variables that are set to true within the calculation task to indicate
|
||||
that the task is still executing. The check task sets the variable back to
|
||||
false, flagging an error if the variable is still false the next time it
|
||||
is called. */
|
||||
static volatile signed portBASE_TYPE xTaskCheck[ intgNUMBER_OF_TASKS ] = { ( signed portBASE_TYPE ) pdFALSE };
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vStartIntegerMathTasks( unsigned portBASE_TYPE uxPriority )
|
||||
{
|
||||
short sTask;
|
||||
|
||||
for( sTask = 0; sTask < intgNUMBER_OF_TASKS; sTask++ )
|
||||
{
|
||||
xTaskCreate( vCompeteingIntMathTask, ( signed char * ) "IntMath", intgSTACK_SIZE, ( void * ) &( xTaskCheck[ sTask ] ), uxPriority, ( xTaskHandle * ) NULL );
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static portTASK_FUNCTION( vCompeteingIntMathTask, pvParameters )
|
||||
{
|
||||
/* These variables are all effectively set to constants so they are volatile to
|
||||
ensure the compiler does not just get rid of them. */
|
||||
volatile long lValue;
|
||||
short sError = pdFALSE;
|
||||
volatile signed portBASE_TYPE *pxTaskHasExecuted;
|
||||
|
||||
/* Set a pointer to the variable we are going to set to true each
|
||||
iteration. This is also a good test of the parameter passing mechanism
|
||||
within each port. */
|
||||
pxTaskHasExecuted = ( volatile signed portBASE_TYPE * ) pvParameters;
|
||||
|
||||
/* Keep performing a calculation and checking the result against a constant. */
|
||||
for( ;; )
|
||||
{
|
||||
/* Perform the calculation. This will store partial value in
|
||||
registers, resulting in a good test of the context switch mechanism. */
|
||||
lValue = intgCONST1;
|
||||
lValue += intgCONST2;
|
||||
|
||||
/* Yield in case cooperative scheduling is being used. */
|
||||
#if configUSE_PREEMPTION == 0
|
||||
{
|
||||
taskYIELD();
|
||||
}
|
||||
#endif
|
||||
|
||||
/* Finish off the calculation. */
|
||||
lValue *= intgCONST3;
|
||||
lValue /= intgCONST4;
|
||||
|
||||
/* If the calculation is found to be incorrect we stop setting the
|
||||
TaskHasExecuted variable so the check task can see an error has
|
||||
occurred. */
|
||||
if( lValue != intgEXPECTED_ANSWER ) /*lint !e774 volatile used to prevent this being optimised out. */
|
||||
{
|
||||
sError = pdTRUE;
|
||||
}
|
||||
|
||||
if( sError == pdFALSE )
|
||||
{
|
||||
/* We have not encountered any errors, so set the flag that show
|
||||
we are still executing. This will be periodically cleared by
|
||||
the check task. */
|
||||
portENTER_CRITICAL();
|
||||
*pxTaskHasExecuted = pdTRUE;
|
||||
portEXIT_CRITICAL();
|
||||
}
|
||||
|
||||
/* Yield in case cooperative scheduling is being used. */
|
||||
#if configUSE_PREEMPTION == 0
|
||||
{
|
||||
taskYIELD();
|
||||
}
|
||||
#endif
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* This is called to check that all the created tasks are still running. */
|
||||
portBASE_TYPE xAreIntegerMathsTaskStillRunning( void )
|
||||
{
|
||||
portBASE_TYPE xReturn = pdTRUE;
|
||||
short sTask;
|
||||
|
||||
/* Check the maths tasks are still running by ensuring their check variables
|
||||
are still being set to true. */
|
||||
for( sTask = 0; sTask < intgNUMBER_OF_TASKS; sTask++ )
|
||||
{
|
||||
if( xTaskCheck[ sTask ] == pdFALSE )
|
||||
{
|
||||
/* The check has not incremented so an error exists. */
|
||||
xReturn = pdFALSE;
|
||||
}
|
||||
|
||||
/* Reset the check variable so we can tell if it has been set by
|
||||
the next time around. */
|
||||
xTaskCheck[ sTask ] = pdFALSE;
|
||||
}
|
||||
|
||||
return xReturn;
|
||||
}
|
||||
|
||||
75
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/integer.h
Normal file
75
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/integer.h
Normal file
|
|
@ -0,0 +1,75 @@
|
|||
/*
|
||||
FreeRTOS V7.2.0 - Copyright (C) 2012 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!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
#ifndef INTEGER_TASKS_H
|
||||
#define INTEGER_TASKS_H
|
||||
|
||||
void vStartIntegerMathTasks( unsigned portBASE_TYPE uxPriority );
|
||||
portBASE_TYPE xAreIntegerMathsTaskStillRunning( void );
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
408
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/recmutex.c
Normal file
408
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/recmutex.c
Normal file
|
|
@ -0,0 +1,408 @@
|
|||
/*
|
||||
FreeRTOS V7.2.0 - Copyright (C) 2012 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!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
/*
|
||||
The tasks defined on this page demonstrate the use of recursive mutexes.
|
||||
|
||||
For recursive mutex functionality the created mutex should be created using
|
||||
xSemaphoreCreateRecursiveMutex(), then be manipulated
|
||||
using the xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() API
|
||||
functions.
|
||||
|
||||
This demo creates three tasks all of which access the same recursive mutex:
|
||||
|
||||
prvRecursiveMutexControllingTask() has the highest priority so executes
|
||||
first and grabs the mutex. It then performs some recursive accesses -
|
||||
between each of which it sleeps for a short period to let the lower
|
||||
priority tasks execute. When it has completed its demo functionality
|
||||
it gives the mutex back before suspending itself.
|
||||
|
||||
prvRecursiveMutexBlockingTask() attempts to access the mutex by performing
|
||||
a blocking 'take'. The blocking task has a lower priority than the
|
||||
controlling task so by the time it executes the mutex has already been
|
||||
taken by the controlling task, causing the blocking task to block. It
|
||||
does not unblock until the controlling task has given the mutex back,
|
||||
and it does not actually run until the controlling task has suspended
|
||||
itself (due to the relative priorities). When it eventually does obtain
|
||||
the mutex all it does is give the mutex back prior to also suspending
|
||||
itself. At this point both the controlling task and the blocking task are
|
||||
suspended.
|
||||
|
||||
prvRecursiveMutexPollingTask() runs at the idle priority. It spins round
|
||||
a tight loop attempting to obtain the mutex with a non-blocking call. As
|
||||
the lowest priority task it will not successfully obtain the mutex until
|
||||
both the controlling and blocking tasks are suspended. Once it eventually
|
||||
does obtain the mutex it first unsuspends both the controlling task and
|
||||
blocking task prior to giving the mutex back - resulting in the polling
|
||||
task temporarily inheriting the controlling tasks priority.
|
||||
*/
|
||||
|
||||
/* Scheduler include files. */
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "semphr.h"
|
||||
|
||||
/* Demo app include files. */
|
||||
#include "recmutex.h"
|
||||
|
||||
/* Priorities assigned to the three tasks. */
|
||||
#define recmuCONTROLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
|
||||
#define recmuBLOCKING_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
|
||||
#define recmuPOLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 0 )
|
||||
|
||||
/* The recursive call depth. */
|
||||
#define recmuMAX_COUNT ( 10 )
|
||||
|
||||
/* Misc. */
|
||||
#define recmuSHORT_DELAY ( 20 / portTICK_RATE_MS )
|
||||
#define recmuNO_DELAY ( ( portTickType ) 0 )
|
||||
#define recmuTWO_TICK_DELAY ( ( portTickType ) 2 )
|
||||
|
||||
/* The three tasks as described at the top of this file. */
|
||||
static void prvRecursiveMutexControllingTask( void *pvParameters );
|
||||
static void prvRecursiveMutexBlockingTask( void *pvParameters );
|
||||
static void prvRecursiveMutexPollingTask( void *pvParameters );
|
||||
|
||||
/* The mutex used by the demo. */
|
||||
static xSemaphoreHandle xMutex;
|
||||
|
||||
/* Variables used to detect and latch errors. */
|
||||
static volatile portBASE_TYPE xErrorOccurred = pdFALSE, xControllingIsSuspended = pdFALSE, xBlockingIsSuspended = pdFALSE;
|
||||
static volatile unsigned portBASE_TYPE uxControllingCycles = 0, uxBlockingCycles = 0, uxPollingCycles = 0;
|
||||
|
||||
/* Handles of the two higher priority tasks, required so they can be resumed
|
||||
(unsuspended). */
|
||||
static xTaskHandle xControllingTaskHandle, xBlockingTaskHandle;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vStartRecursiveMutexTasks( void )
|
||||
{
|
||||
/* Just creates the mutex and the three tasks. */
|
||||
|
||||
xMutex = xSemaphoreCreateRecursiveMutex();
|
||||
|
||||
/* vQueueAddToRegistry() adds the mutex to the registry, if one is
|
||||
in use. The registry is provided as a means for kernel aware
|
||||
debuggers to locate mutex 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( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Recursive_Mutex" );
|
||||
|
||||
|
||||
if( xMutex != NULL )
|
||||
{
|
||||
xTaskCreate( prvRecursiveMutexControllingTask, ( signed portCHAR * ) "Rec1", configMINIMAL_STACK_SIZE, NULL, recmuCONTROLLING_TASK_PRIORITY, &xControllingTaskHandle );
|
||||
xTaskCreate( prvRecursiveMutexBlockingTask, ( signed portCHAR * ) "Rec2", configMINIMAL_STACK_SIZE, NULL, recmuBLOCKING_TASK_PRIORITY, &xBlockingTaskHandle );
|
||||
xTaskCreate( prvRecursiveMutexPollingTask, ( signed portCHAR * ) "Rec3", configMINIMAL_STACK_SIZE, NULL, recmuPOLLING_TASK_PRIORITY, NULL );
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvRecursiveMutexControllingTask( void *pvParameters )
|
||||
{
|
||||
unsigned portBASE_TYPE ux;
|
||||
|
||||
/* Just to remove compiler warning. */
|
||||
( void ) pvParameters;
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
/* Should not be able to 'give' the mutex, as we have not yet 'taken'
|
||||
it. The first time through, the mutex will not have been used yet,
|
||||
subsequent times through, at this point the mutex will be held by the
|
||||
polling task. */
|
||||
if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
for( ux = 0; ux < recmuMAX_COUNT; ux++ )
|
||||
{
|
||||
/* We should now be able to take the mutex as many times as
|
||||
we like.
|
||||
|
||||
The first time through the mutex will be immediately available, on
|
||||
subsequent times through the mutex will be held by the polling task
|
||||
at this point and this Take will cause the polling task to inherit
|
||||
the priority of this task. In this case the block time must be
|
||||
long enough to ensure the polling task will execute again before the
|
||||
block time expires. If the block time does expire then the error
|
||||
flag will be set here. */
|
||||
if( xSemaphoreTakeRecursive( xMutex, recmuTWO_TICK_DELAY ) != pdPASS )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* Ensure the other task attempting to access the mutex (and the
|
||||
other demo tasks) are able to execute to ensure they either block
|
||||
(where a block time is specified) or return an error (where no
|
||||
block time is specified) as the mutex is held by this task. */
|
||||
vTaskDelay( recmuSHORT_DELAY );
|
||||
}
|
||||
|
||||
/* For each time we took the mutex, give it back. */
|
||||
for( ux = 0; ux < recmuMAX_COUNT; ux++ )
|
||||
{
|
||||
/* Ensure the other task attempting to access the mutex (and the
|
||||
other demo tasks) are able to execute. */
|
||||
vTaskDelay( recmuSHORT_DELAY );
|
||||
|
||||
/* We should now be able to give the mutex as many times as we
|
||||
took it. When the mutex is available again the Blocking task
|
||||
should be unblocked but not run because it has a lower priority
|
||||
than this task. The polling task should also not run at this point
|
||||
as it too has a lower priority than this task. */
|
||||
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
}
|
||||
|
||||
/* Having given it back the same number of times as it was taken, we
|
||||
should no longer be the mutex owner, so the next give sh ould fail. */
|
||||
if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* Keep count of the number of cycles this task has performed so a
|
||||
stall can be detected. */
|
||||
uxControllingCycles++;
|
||||
|
||||
/* Suspend ourselves to the blocking task can execute. */
|
||||
xControllingIsSuspended = pdTRUE;
|
||||
vTaskSuspend( NULL );
|
||||
xControllingIsSuspended = pdFALSE;
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvRecursiveMutexBlockingTask( void *pvParameters )
|
||||
{
|
||||
/* Just to remove compiler warning. */
|
||||
( void ) pvParameters;
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
/* This task will run while the controlling task is blocked, and the
|
||||
controlling task will block only once it has the mutex - therefore
|
||||
this call should block until the controlling task has given up the
|
||||
mutex, and not actually execute past this call until the controlling
|
||||
task is suspended. */
|
||||
if( xSemaphoreTakeRecursive( xMutex, portMAX_DELAY ) == pdPASS )
|
||||
{
|
||||
if( xControllingIsSuspended != pdTRUE )
|
||||
{
|
||||
/* Did not expect to execute until the controlling task was
|
||||
suspended. */
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Give the mutex back before suspending ourselves to allow
|
||||
the polling task to obtain the mutex. */
|
||||
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
xBlockingIsSuspended = pdTRUE;
|
||||
vTaskSuspend( NULL );
|
||||
xBlockingIsSuspended = pdFALSE;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
/* We should not leave the xSemaphoreTakeRecursive() function
|
||||
until the mutex was obtained. */
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* The controlling and blocking tasks should be in lock step. */
|
||||
if( uxControllingCycles != ( uxBlockingCycles + 1 ) )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* Keep count of the number of cycles this task has performed so a
|
||||
stall can be detected. */
|
||||
uxBlockingCycles++;
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvRecursiveMutexPollingTask( void *pvParameters )
|
||||
{
|
||||
/* Just to remove compiler warning. */
|
||||
( void ) pvParameters;
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
/* Keep attempting to obtain the mutex. We should only obtain it when
|
||||
the blocking task has suspended itself, which in turn should only
|
||||
happen when the controlling task is also suspended. */
|
||||
if( xSemaphoreTakeRecursive( xMutex, recmuNO_DELAY ) == pdPASS )
|
||||
{
|
||||
/* Is the blocking task suspended? */
|
||||
if( ( xBlockingIsSuspended != pdTRUE ) || ( xControllingIsSuspended != pdTRUE ) )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Keep count of the number of cycles this task has performed
|
||||
so a stall can be detected. */
|
||||
uxPollingCycles++;
|
||||
|
||||
/* We can resume the other tasks here even though they have a
|
||||
higher priority than the polling task. When they execute they
|
||||
will attempt to obtain the mutex but fail because the polling
|
||||
task is still the mutex holder. The polling task (this task)
|
||||
will then inherit the higher priority. The Blocking task will
|
||||
block indefinitely when it attempts to obtain the mutex, the
|
||||
Controlling task will only block for a fixed period and an
|
||||
error will be latched if the polling task has not returned the
|
||||
mutex by the time this fixed period has expired. */
|
||||
vTaskResume( xBlockingTaskHandle );
|
||||
vTaskResume( xControllingTaskHandle );
|
||||
|
||||
/* The other two tasks should now have executed and no longer
|
||||
be suspended. */
|
||||
if( ( xBlockingIsSuspended == pdTRUE ) || ( xControllingIsSuspended == pdTRUE ) )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
|
||||
/* Release the mutex, disinheriting the higher priority again. */
|
||||
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#if configUSE_PREEMPTION == 0
|
||||
{
|
||||
taskYIELD();
|
||||
}
|
||||
#endif
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* This is called to check that all the created tasks are still running. */
|
||||
portBASE_TYPE xAreRecursiveMutexTasksStillRunning( void )
|
||||
{
|
||||
portBASE_TYPE xReturn;
|
||||
static unsigned portBASE_TYPE uxLastControllingCycles = 0, uxLastBlockingCycles = 0, uxLastPollingCycles = 0;
|
||||
|
||||
/* Is the controlling task still cycling? */
|
||||
if( uxLastControllingCycles == uxControllingCycles )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
uxLastControllingCycles = uxControllingCycles;
|
||||
}
|
||||
|
||||
/* Is the blocking task still cycling? */
|
||||
if( uxLastBlockingCycles == uxBlockingCycles )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
uxLastBlockingCycles = uxBlockingCycles;
|
||||
}
|
||||
|
||||
/* Is the polling task still cycling? */
|
||||
if( uxLastPollingCycles == uxPollingCycles )
|
||||
{
|
||||
xErrorOccurred = pdTRUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
uxLastPollingCycles = uxPollingCycles;
|
||||
}
|
||||
|
||||
if( xErrorOccurred == pdTRUE )
|
||||
{
|
||||
xReturn = pdFAIL;
|
||||
}
|
||||
else
|
||||
{
|
||||
xReturn = pdTRUE;
|
||||
}
|
||||
|
||||
return xReturn;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
74
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/recmutex.h
Normal file
74
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/recmutex.h
Normal file
|
|
@ -0,0 +1,74 @@
|
|||
/*
|
||||
FreeRTOS V7.2.0 - Copyright (C) 2012 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!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
#ifndef RECURSIVE_MUTEX_TEST_H
|
||||
#define RECURSIVE_MUTEX_TEST_H
|
||||
|
||||
void vStartRecursiveMutexTasks( void );
|
||||
portBASE_TYPE xAreRecursiveMutexTasksStillRunning( void );
|
||||
|
||||
#endif
|
||||
|
||||
297
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/semtest.c
Normal file
297
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/semtest.c
Normal file
|
|
@ -0,0 +1,297 @@
|
|||
/*
|
||||
FreeRTOS V7.2.0 - Copyright (C) 2012 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!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
/*
|
||||
* Creates two sets of two tasks. The tasks within a set share a variable, access
|
||||
* to which is guarded by a semaphore.
|
||||
*
|
||||
* Each task starts by attempting to obtain the semaphore. On obtaining a
|
||||
* semaphore a task checks to ensure that the guarded variable has an expected
|
||||
* value. It then clears the variable to zero before counting it back up to the
|
||||
* expected value in increments of 1. After each increment the variable is checked
|
||||
* to ensure it contains the value to which it was just set. When the starting
|
||||
* value is again reached the task releases the semaphore giving the other task in
|
||||
* the set a chance to do exactly the same thing. The starting value is high
|
||||
* enough to ensure that a tick is likely to occur during the incrementing loop.
|
||||
*
|
||||
* An error is flagged if at any time during the process a shared variable is
|
||||
* found to have a value other than that expected. Such an occurrence would
|
||||
* suggest an error in the mutual exclusion mechanism by which access to the
|
||||
* variable is restricted.
|
||||
*
|
||||
* The first set of two tasks poll their semaphore. The second set use blocking
|
||||
* calls.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
#include <stdlib.h>
|
||||
|
||||
/* Scheduler include files. */
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "semphr.h"
|
||||
|
||||
/* Demo app include files. */
|
||||
#include "semtest.h"
|
||||
|
||||
/* The value to which the shared variables are counted. */
|
||||
#define semtstBLOCKING_EXPECTED_VALUE ( ( unsigned long ) 0xfff )
|
||||
#define semtstNON_BLOCKING_EXPECTED_VALUE ( ( unsigned long ) 0xff )
|
||||
|
||||
#define semtstSTACK_SIZE configMINIMAL_STACK_SIZE
|
||||
|
||||
#define semtstNUM_TASKS ( 4 )
|
||||
|
||||
#define semtstDELAY_FACTOR ( ( portTickType ) 10 )
|
||||
|
||||
/* The task function as described at the top of the file. */
|
||||
static portTASK_FUNCTION_PROTO( prvSemaphoreTest, pvParameters );
|
||||
|
||||
/* Structure used to pass parameters to each task. */
|
||||
typedef struct SEMAPHORE_PARAMETERS
|
||||
{
|
||||
xSemaphoreHandle xSemaphore;
|
||||
volatile unsigned long *pulSharedVariable;
|
||||
portTickType xBlockTime;
|
||||
} xSemaphoreParameters;
|
||||
|
||||
/* Variables used to check that all the tasks are still running without errors. */
|
||||
static volatile short sCheckVariables[ semtstNUM_TASKS ] = { 0 };
|
||||
static volatile short sNextCheckVariable = 0;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vStartSemaphoreTasks( unsigned portBASE_TYPE uxPriority )
|
||||
{
|
||||
xSemaphoreParameters *pxFirstSemaphoreParameters, *pxSecondSemaphoreParameters;
|
||||
const portTickType xBlockTime = ( portTickType ) 100;
|
||||
|
||||
/* Create the structure used to pass parameters to the first two tasks. */
|
||||
pxFirstSemaphoreParameters = ( xSemaphoreParameters * ) pvPortMalloc( sizeof( xSemaphoreParameters ) );
|
||||
|
||||
if( pxFirstSemaphoreParameters != NULL )
|
||||
{
|
||||
/* Create the semaphore used by the first two tasks. */
|
||||
vSemaphoreCreateBinary( pxFirstSemaphoreParameters->xSemaphore );
|
||||
|
||||
if( pxFirstSemaphoreParameters->xSemaphore != NULL )
|
||||
{
|
||||
/* Create the variable which is to be shared by the first two tasks. */
|
||||
pxFirstSemaphoreParameters->pulSharedVariable = ( unsigned long * ) pvPortMalloc( sizeof( unsigned long ) );
|
||||
|
||||
/* Initialise the share variable to the value the tasks expect. */
|
||||
*( pxFirstSemaphoreParameters->pulSharedVariable ) = semtstNON_BLOCKING_EXPECTED_VALUE;
|
||||
|
||||
/* The first two tasks do not block on semaphore calls. */
|
||||
pxFirstSemaphoreParameters->xBlockTime = ( portTickType ) 0;
|
||||
|
||||
/* Spawn the first two tasks. As they poll they operate at the idle priority. */
|
||||
xTaskCreate( prvSemaphoreTest, ( signed char * ) "PolSEM1", semtstSTACK_SIZE, ( void * ) pxFirstSemaphoreParameters, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
|
||||
xTaskCreate( prvSemaphoreTest, ( signed char * ) "PolSEM2", semtstSTACK_SIZE, ( void * ) pxFirstSemaphoreParameters, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
|
||||
}
|
||||
}
|
||||
|
||||
/* Do exactly the same to create the second set of tasks, only this time
|
||||
provide a block time for the semaphore calls. */
|
||||
pxSecondSemaphoreParameters = ( xSemaphoreParameters * ) pvPortMalloc( sizeof( xSemaphoreParameters ) );
|
||||
if( pxSecondSemaphoreParameters != NULL )
|
||||
{
|
||||
vSemaphoreCreateBinary( pxSecondSemaphoreParameters->xSemaphore );
|
||||
|
||||
if( pxSecondSemaphoreParameters->xSemaphore != NULL )
|
||||
{
|
||||
pxSecondSemaphoreParameters->pulSharedVariable = ( unsigned long * ) pvPortMalloc( sizeof( unsigned long ) );
|
||||
*( pxSecondSemaphoreParameters->pulSharedVariable ) = semtstBLOCKING_EXPECTED_VALUE;
|
||||
pxSecondSemaphoreParameters->xBlockTime = xBlockTime / portTICK_RATE_MS;
|
||||
|
||||
xTaskCreate( prvSemaphoreTest, ( signed char * ) "BlkSEM1", semtstSTACK_SIZE, ( void * ) pxSecondSemaphoreParameters, uxPriority, ( xTaskHandle * ) NULL );
|
||||
xTaskCreate( prvSemaphoreTest, ( signed char * ) "BlkSEM2", semtstSTACK_SIZE, ( void * ) pxSecondSemaphoreParameters, uxPriority, ( xTaskHandle * ) NULL );
|
||||
}
|
||||
}
|
||||
|
||||
/* vQueueAddToRegistry() adds the semaphore to the registry, if one is
|
||||
in use. The registry is provided as a means for kernel aware
|
||||
debuggers to locate semaphores 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( ( xQueueHandle ) pxFirstSemaphoreParameters->xSemaphore, ( signed char * ) "Counting_Sem_1" );
|
||||
vQueueAddToRegistry( ( xQueueHandle ) pxSecondSemaphoreParameters->xSemaphore, ( signed char * ) "Counting_Sem_2" );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static portTASK_FUNCTION( prvSemaphoreTest, pvParameters )
|
||||
{
|
||||
xSemaphoreParameters *pxParameters;
|
||||
volatile unsigned long *pulSharedVariable, ulExpectedValue;
|
||||
unsigned long ulCounter;
|
||||
short sError = pdFALSE, sCheckVariableToUse;
|
||||
|
||||
/* See which check variable to use. sNextCheckVariable is not semaphore
|
||||
protected! */
|
||||
portENTER_CRITICAL();
|
||||
sCheckVariableToUse = sNextCheckVariable;
|
||||
sNextCheckVariable++;
|
||||
portEXIT_CRITICAL();
|
||||
|
||||
/* A structure is passed in as the parameter. This contains the shared
|
||||
variable being guarded. */
|
||||
pxParameters = ( xSemaphoreParameters * ) pvParameters;
|
||||
pulSharedVariable = pxParameters->pulSharedVariable;
|
||||
|
||||
/* If we are blocking we use a much higher count to ensure loads of context
|
||||
switches occur during the count. */
|
||||
if( pxParameters->xBlockTime > ( portTickType ) 0 )
|
||||
{
|
||||
ulExpectedValue = semtstBLOCKING_EXPECTED_VALUE;
|
||||
}
|
||||
else
|
||||
{
|
||||
ulExpectedValue = semtstNON_BLOCKING_EXPECTED_VALUE;
|
||||
}
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
/* Try to obtain the semaphore. */
|
||||
if( xSemaphoreTake( pxParameters->xSemaphore, pxParameters->xBlockTime ) == pdPASS )
|
||||
{
|
||||
/* We have the semaphore and so expect any other tasks using the
|
||||
shared variable to have left it in the state we expect to find
|
||||
it. */
|
||||
if( *pulSharedVariable != ulExpectedValue )
|
||||
{
|
||||
sError = pdTRUE;
|
||||
}
|
||||
|
||||
/* Clear the variable, then count it back up to the expected value
|
||||
before releasing the semaphore. Would expect a context switch or
|
||||
two during this time. */
|
||||
for( ulCounter = ( unsigned long ) 0; ulCounter <= ulExpectedValue; ulCounter++ )
|
||||
{
|
||||
*pulSharedVariable = ulCounter;
|
||||
if( *pulSharedVariable != ulCounter )
|
||||
{
|
||||
sError = pdTRUE;
|
||||
}
|
||||
}
|
||||
|
||||
/* Release the semaphore, and if no errors have occurred increment the check
|
||||
variable. */
|
||||
if( xSemaphoreGive( pxParameters->xSemaphore ) == pdFALSE )
|
||||
{
|
||||
sError = pdTRUE;
|
||||
}
|
||||
|
||||
if( sError == pdFALSE )
|
||||
{
|
||||
if( sCheckVariableToUse < semtstNUM_TASKS )
|
||||
{
|
||||
( sCheckVariables[ sCheckVariableToUse ] )++;
|
||||
}
|
||||
}
|
||||
|
||||
/* If we have a block time then we are running at a priority higher
|
||||
than the idle priority. This task takes a long time to complete
|
||||
a cycle (deliberately so to test the guarding) so will be starving
|
||||
out lower priority tasks. Block for some time to allow give lower
|
||||
priority tasks some processor time. */
|
||||
vTaskDelay( pxParameters->xBlockTime * semtstDELAY_FACTOR );
|
||||
}
|
||||
else
|
||||
{
|
||||
if( pxParameters->xBlockTime == ( portTickType ) 0 )
|
||||
{
|
||||
/* We have not got the semaphore yet, so no point using the
|
||||
processor. We are not blocking when attempting to obtain the
|
||||
semaphore. */
|
||||
taskYIELD();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* This is called to check that all the created tasks are still running. */
|
||||
portBASE_TYPE xAreSemaphoreTasksStillRunning( void )
|
||||
{
|
||||
static short sLastCheckVariables[ semtstNUM_TASKS ] = { 0 };
|
||||
portBASE_TYPE xTask, xReturn = pdTRUE;
|
||||
|
||||
for( xTask = 0; xTask < semtstNUM_TASKS; xTask++ )
|
||||
{
|
||||
if( sLastCheckVariables[ xTask ] == sCheckVariables[ xTask ] )
|
||||
{
|
||||
xReturn = pdFALSE;
|
||||
}
|
||||
|
||||
sLastCheckVariables[ xTask ] = sCheckVariables[ xTask ];
|
||||
}
|
||||
|
||||
return xReturn;
|
||||
}
|
||||
|
||||
|
||||
74
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/semtest.h
Normal file
74
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/demo/semtest.h
Normal file
|
|
@ -0,0 +1,74 @@
|
|||
/*
|
||||
FreeRTOS V7.2.0 - Copyright (C) 2012 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!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
#ifndef SEMAPHORE_TEST_H
|
||||
#define SEMAPHORE_TEST_H
|
||||
|
||||
void vStartSemaphoreTasks( unsigned portBASE_TYPE uxPriority );
|
||||
portBASE_TYPE xAreSemaphoreTasksStillRunning( void );
|
||||
|
||||
#endif
|
||||
|
||||
|
|
@ -89,9 +89,12 @@
|
|||
function. */
|
||||
#include "partest.h"
|
||||
|
||||
/* Library includes. */
|
||||
#include "het.h"
|
||||
|
||||
/* Set mainCREATE_SIMPLE_BLINKY_DEMO_ONLY to one to run the simple blinky demo,
|
||||
or 0 to run the more comprehensive test and demo application. */
|
||||
#define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 1
|
||||
#define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY 0
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
|
|
|
|||
351
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/main_full.c
Normal file
351
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/main_full.c
Normal file
|
|
@ -0,0 +1,351 @@
|
|||
/*
|
||||
FreeRTOS V7.2.0 - Copyright (C) 2012 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!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* 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, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
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.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
/******************************************************************************
|
||||
* NOTE 1: This project provides two demo applications. A simple blinky style
|
||||
* project, and a more comprehensive test and demo application. The
|
||||
* 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
|
||||
* in main.c. This file implements the comprehensive test and demo version.
|
||||
*
|
||||
* NOTE 2: This file only contains the source code that is specific to the
|
||||
* full demo. Generic functions, such FreeRTOS hook functions, and functions
|
||||
* required to configure the hardware, are defined in main.c.
|
||||
******************************************************************************
|
||||
*
|
||||
* main_full() creates all the demo application tasks and a software timer, 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" timer - The check software timer period is initially set to three
|
||||
* seconds. The callback function associated with the check software timer
|
||||
* checks that all the standard demo tasks are not only still executing, but
|
||||
* are executing without reporting any errors. If the check software timer
|
||||
* discovers that a task has either stalled, or reported an error, then it
|
||||
* changes its own execution period from the initial three seconds, to just
|
||||
* 200ms. The check software timer callback function also toggles the green
|
||||
* LED each time it is called. This provides a visual indication of the system
|
||||
* status: If the green LED toggles every three seconds, then no issues have
|
||||
* been discovered. If the green LED toggles every 200ms, then an issue has
|
||||
* been discovered with at least one task.
|
||||
*
|
||||
* See the documentation page for this demo on the FreeRTOS.org web site for
|
||||
* full information, including hardware setup requirements.
|
||||
*/
|
||||
|
||||
/* Standard includes. */
|
||||
#include <stdio.h>
|
||||
|
||||
/* Kernel includes. */
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "timers.h"
|
||||
#include "semphr.h"
|
||||
|
||||
/* Standard demo application includes. */
|
||||
#include "integer.h"
|
||||
#include "PollQ.h"
|
||||
#include "semtest.h"
|
||||
#include "dynamic.h"
|
||||
#include "BlockQ.h"
|
||||
#include "blocktim.h"
|
||||
#include "countsem.h"
|
||||
#include "GenQTest.h"
|
||||
#include "recmutex.h"
|
||||
#include "death.h"
|
||||
#include "partest.h"
|
||||
|
||||
/* Priorities for the demo application tasks. */
|
||||
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2UL )
|
||||
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
|
||||
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
|
||||
#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
|
||||
#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
|
||||
#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
|
||||
|
||||
/* A block time of zero simply means "don't block". */
|
||||
#define mainDONT_BLOCK ( 0UL )
|
||||
|
||||
/* The period after which the check timer will expire, converted to ticks. */
|
||||
#define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
|
||||
|
||||
/* The period after which the LED timer will expire, converted to ticks. */
|
||||
#define mainLED_TIMER_PERIOD_MS ( 75UL / portTICK_RATE_MS )
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* The check timer callback function, as described at the top of this file.
|
||||
*/
|
||||
static void prvCheckTimerCallback( xTimerHandle xTimer );
|
||||
|
||||
/*
|
||||
* The LED timer callback function, as described at the top of this file.
|
||||
*/
|
||||
static void prvLEDTimerCallback( xTimerHandle xTimer );
|
||||
|
||||
/*
|
||||
* The reg test tasks, as described at the top of this file.
|
||||
*/
|
||||
extern void vRegTestTask1( void *pvParameters );
|
||||
extern void vRegTestTask2( void *pvParameters );
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Variables that are incremented on each iteration of the reg test tasks -
|
||||
provided the tasks have not reported any errors. The check task inspects these
|
||||
variables to ensure they are still incrementing as expected. If a variable
|
||||
stops incrementing then it is likely that its associate task has stalled. */
|
||||
volatile unsigned long ulRegTest1Counter = 0, ulRegTest2Counter = 0;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void main_full( void )
|
||||
{
|
||||
xTimerHandle xTimer = NULL;
|
||||
|
||||
/* Start all the standard demo/test tasks. These have not particular
|
||||
functionality, but do demonstrate how to use the FreeRTOS API, and test the
|
||||
kernel port. */
|
||||
vStartIntegerMathTasks( tskIDLE_PRIORITY );
|
||||
vStartDynamicPriorityTasks();
|
||||
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
|
||||
vCreateBlockTimeTasks();
|
||||
vStartCountingSemaphoreTasks();
|
||||
vStartGenericQueueTasks( tskIDLE_PRIORITY );
|
||||
vStartRecursiveMutexTasks();
|
||||
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
|
||||
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
|
||||
|
||||
/* Create the register test tasks, as described at the top of this file. */
|
||||
xTaskCreate(vRegTestTask1, ( const signed char * ) "Reg1...", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
|
||||
xTaskCreate(vRegTestTask2, ( const signed char * ) "Reg2...", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
|
||||
|
||||
/* Create the software timer that performs the 'check' functionality,
|
||||
as described at the top of this file. */
|
||||
xTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
|
||||
( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
|
||||
pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
|
||||
( void * ) 0, /* The ID is not used, so can be set to anything. */
|
||||
prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
|
||||
);
|
||||
|
||||
if( xTimer != NULL )
|
||||
{
|
||||
xTimerStart( xTimer, mainDONT_BLOCK );
|
||||
}
|
||||
|
||||
/* Create the software timer that performs the 'LED toggle' functionality,
|
||||
as described at the top of this file. */
|
||||
xTimer = xTimerCreate( ( const signed char * ) "LEDTimer", /* A text name, purely to help debugging. */
|
||||
( mainLED_TIMER_PERIOD_MS ), /* The timer period, in this case 75ms. */
|
||||
pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
|
||||
( void * ) 0, /* The ID is not used, so can be set to anything. */
|
||||
prvLEDTimerCallback /* The callback function that toggles the white LEDs. */
|
||||
);
|
||||
|
||||
if( xTimer != NULL )
|
||||
{
|
||||
xTimerStart( xTimer, mainDONT_BLOCK );
|
||||
}
|
||||
|
||||
/* The set of tasks created by the following function call have to be
|
||||
created last as they keep account of the number of tasks they expect to see
|
||||
running. */
|
||||
vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
|
||||
|
||||
/* Start the scheduler. */
|
||||
vTaskStartScheduler();
|
||||
|
||||
/* If all is well, the scheduler will now be running, and the following line
|
||||
will never be reached. If the following line does execute, then there was
|
||||
insufficient FreeRTOS heap memory available for the idle and/or timer tasks
|
||||
to be created. See the memory management section on the FreeRTOS web site
|
||||
for more details. */
|
||||
for( ;; );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvCheckTimerCallback( xTimerHandle xTimer )
|
||||
{
|
||||
static long lChangeToRedLEDsAlready = pdFALSE;
|
||||
static unsigned long ulLastRegTest1Counter = 0, ulLastRegTest2Counter = 0;
|
||||
unsigned long ulErrorFound = pdFALSE;
|
||||
/* LEDs are defaulted to use the Green LEDs. The Red LEDs are used if an error
|
||||
is found. */
|
||||
static unsigned long ulLED1 = 8, ulLED2 = 11;
|
||||
const unsigned long ulRedLED1 = 6, ulRedLED2 = 9;
|
||||
|
||||
/* Check all the demo tasks (other than the flash tasks) to ensure
|
||||
they are all still running, and that none have detected an error. */
|
||||
|
||||
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
|
||||
{
|
||||
ulErrorFound = pdTRUE;
|
||||
}
|
||||
|
||||
if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
|
||||
{
|
||||
ulErrorFound = pdTRUE;
|
||||
}
|
||||
|
||||
if( xAreBlockingQueuesStillRunning() != pdTRUE )
|
||||
{
|
||||
ulErrorFound = pdTRUE;
|
||||
}
|
||||
|
||||
if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
|
||||
{
|
||||
ulErrorFound = pdTRUE;
|
||||
}
|
||||
|
||||
if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
|
||||
{
|
||||
ulErrorFound = pdTRUE;
|
||||
}
|
||||
|
||||
if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
|
||||
{
|
||||
ulErrorFound = pdTRUE;
|
||||
}
|
||||
|
||||
if( xIsCreateTaskStillRunning() != pdTRUE )
|
||||
{
|
||||
ulErrorFound = pdTRUE;
|
||||
}
|
||||
|
||||
if( xArePollingQueuesStillRunning() != pdTRUE )
|
||||
{
|
||||
ulErrorFound = pdTRUE;
|
||||
}
|
||||
|
||||
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
|
||||
{
|
||||
ulErrorFound = pdTRUE;
|
||||
}
|
||||
|
||||
/* Check the reg test tasks are still cycling. They will stop
|
||||
incrementing their loop counters if they encounter an error. */
|
||||
if( ulRegTest1Counter == ulLastRegTest1Counter )
|
||||
{
|
||||
ulErrorFound = pdTRUE;
|
||||
}
|
||||
|
||||
if( ulRegTest2Counter == ulLastRegTest2Counter )
|
||||
{
|
||||
ulErrorFound = pdTRUE;
|
||||
}
|
||||
|
||||
ulLastRegTest1Counter = ulRegTest1Counter;
|
||||
ulLastRegTest2Counter = ulRegTest2Counter;
|
||||
|
||||
/* Toggle the check LEDs to give an indication of the system status. If
|
||||
the green LEDs are toggling, then no errors have been detected. If the red
|
||||
LEDs are toggling, then an error has been reported in at least one task. */
|
||||
vParTestToggleLED( ulLED1 );
|
||||
vParTestToggleLED( ulLED2 );
|
||||
|
||||
/* Have any errors been latch in ulErrorFound? If so, ensure the gree LEDs
|
||||
are off, then switch to using the red LEDs. */
|
||||
if( ulErrorFound != pdFALSE )
|
||||
{
|
||||
if( lChangeToRedLEDsAlready == pdFALSE )
|
||||
{
|
||||
lChangeToRedLEDsAlready = pdTRUE;
|
||||
|
||||
/* An error has been found. Switch to use the red LEDs. */
|
||||
vParTestSetLED( ulLED1, pdFALSE );
|
||||
vParTestSetLED( ulLED2, pdFALSE );
|
||||
ulLED1 = ulRedLED1;
|
||||
ulLED2 = ulRedLED2;
|
||||
}
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvLEDTimerCallback( xTimerHandle xTimer )
|
||||
{
|
||||
const unsigned long ulNumWhiteLEDs = 6;
|
||||
static unsigned long ulLit1 = 2, ulLit2 = 1;
|
||||
|
||||
vParTestSetLED( ulLit2, pdFALSE );
|
||||
|
||||
ulLit2 = ulLit1;
|
||||
ulLit1++;
|
||||
|
||||
if( ulLit1 >= ulNumWhiteLEDs )
|
||||
{
|
||||
ulLit1 = 0;
|
||||
}
|
||||
|
||||
vParTestSetLED( ulLit1, pdTRUE );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
224
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/reg_test.asm
Normal file
224
FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/reg_test.asm
Normal file
|
|
@ -0,0 +1,224 @@
|
|||
;/*
|
||||
; FreeRTOS V7.2.0 - Copyright (C) 2012 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!
|
||||
;
|
||||
; ***************************************************************************
|
||||
; * *
|
||||
; * 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, training, latest information,
|
||||
; license and contact details.
|
||||
;
|
||||
; http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
; including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
;
|
||||
; 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.OpenRTOS.com. High Integrity Systems also
|
||||
; provide a safety engineered and independently SIL3 certified version under
|
||||
; the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
;*/
|
||||
|
||||
;-------------------------------------------------
|
||||
;
|
||||
.def vRegTestTask1
|
||||
.ref ulRegTest1Counter
|
||||
.text
|
||||
.arm
|
||||
|
||||
vRegTestTask1:
|
||||
; Fill each general purpose register with a known value.
|
||||
mov r0, #0xFF
|
||||
mov r1, #0x11
|
||||
mov r2, #0x22
|
||||
mov r3, #0x33
|
||||
mov r4, #0x44
|
||||
mov r5, #0x55
|
||||
mov r6, #0x66
|
||||
mov r7, #0x77
|
||||
mov r8, #0x88
|
||||
mov r9, #0x99
|
||||
mov r10, #0xAA
|
||||
mov r11, #0xBB
|
||||
mov r12, #0xCC
|
||||
mov r14, #0xEE
|
||||
|
||||
vRegTestLoop1:
|
||||
|
||||
; Force yeild
|
||||
swi #0
|
||||
|
||||
; Test each general purpose register to check that it still contains the
|
||||
; expected known value, jumping to vRegTestError1 if any register contains
|
||||
; an unexpected value.
|
||||
cmp r0, #0xFF
|
||||
bne vRegTestError1
|
||||
cmp r1, #0x11
|
||||
bne vRegTestError1
|
||||
cmp r2, #0x22
|
||||
bne vRegTestError1
|
||||
cmp r3, #0x33
|
||||
bne vRegTestError1
|
||||
cmp r4, #0x44
|
||||
bne vRegTestError1
|
||||
cmp r5, #0x55
|
||||
bne vRegTestError1
|
||||
cmp r6, #0x66
|
||||
bne vRegTestError1
|
||||
cmp r7, #0x77
|
||||
bne vRegTestError1
|
||||
cmp r8, #0x88
|
||||
bne vRegTestError1
|
||||
cmp r9, #0x99
|
||||
bne vRegTestError1
|
||||
cmp r10, #0xAA
|
||||
bne vRegTestError1
|
||||
cmp r11, #0xBB
|
||||
bne vRegTestError1
|
||||
cmp r12, #0xCC
|
||||
bne vRegTestError1
|
||||
cmp r14, #0xEE
|
||||
bne vRegTestError1
|
||||
|
||||
; This task is still running without jumping to vRegTestError1, so increment
|
||||
; the loop counter so the check task knows the task is running error free.
|
||||
stmfd sp!, { r0-r1 }
|
||||
ldr r0, Count1Const
|
||||
ldr r1, [r0]
|
||||
add r1, r1, #1
|
||||
str r1, [r0]
|
||||
ldmfd sp!, { r0-r1 }
|
||||
|
||||
; Loop again, performing the same tests.
|
||||
b vRegTestLoop1
|
||||
|
||||
Count1Const .word ulRegTest1Counter
|
||||
|
||||
vRegTestError1:
|
||||
b vRegTestError1
|
||||
|
||||
|
||||
;-------------------------------------------------
|
||||
;
|
||||
.def vRegTestTask2
|
||||
.ref ulRegTest2Counter
|
||||
.text
|
||||
.arm
|
||||
;
|
||||
vRegTestTask2:
|
||||
; Fill each general purpose register with a known value.
|
||||
mov r0, #0xFF000000
|
||||
mov r1, #0x11000000
|
||||
mov r2, #0x22000000
|
||||
mov r3, #0x33000000
|
||||
mov r4, #0x44000000
|
||||
mov r5, #0x55000000
|
||||
mov r6, #0x66000000
|
||||
mov r7, #0x77000000
|
||||
mov r8, #0x88000000
|
||||
mov r9, #0x99000000
|
||||
mov r10, #0xAA000000
|
||||
mov r11, #0xBB000000
|
||||
mov r12, #0xCC000000
|
||||
mov r14, #0xEE000000
|
||||
|
||||
vRegTestLoop2:
|
||||
|
||||
; Test each general purpose register to check that it still contains the
|
||||
; expected known value, jumping to vRegTestError2 if any register contains
|
||||
; an unexpected value.
|
||||
cmp r0, #0xFF000000
|
||||
bne vRegTestError2
|
||||
cmp r1, #0x11000000
|
||||
bne vRegTestError2
|
||||
cmp r2, #0x22000000
|
||||
bne vRegTestError2
|
||||
cmp r3, #0x33000000
|
||||
bne vRegTestError2
|
||||
cmp r4, #0x44000000
|
||||
bne vRegTestError2
|
||||
cmp r5, #0x55000000
|
||||
bne vRegTestError2
|
||||
cmp r6, #0x66000000
|
||||
bne vRegTestError2
|
||||
cmp r7, #0x77000000
|
||||
bne vRegTestError2
|
||||
cmp r8, #0x88000000
|
||||
bne vRegTestError2
|
||||
cmp r9, #0x99000000
|
||||
bne vRegTestError2
|
||||
cmp r10, #0xAA000000
|
||||
bne vRegTestError2
|
||||
cmp r11, #0xBB000000
|
||||
bne vRegTestError2
|
||||
cmp r12, #0xCC000000
|
||||
bne vRegTestError2
|
||||
cmp r14, #0xEE000000
|
||||
bne vRegTestError2
|
||||
|
||||
; This task is still running without jumping to vRegTestError2, so increment
|
||||
; the loop counter so the check task knows the task is running error free.
|
||||
stmfd sp!, { r0-r1 }
|
||||
ldr r0, Count2Const
|
||||
ldr r1, [r0]
|
||||
add r1, r1, #1
|
||||
str r1, [r0]
|
||||
ldmfd sp!, { r0-r1 }
|
||||
|
||||
; Loop again, performing the same tests.
|
||||
b vRegTestLoop2
|
||||
|
||||
Count2Const .word ulRegTest2Counter
|
||||
|
||||
vRegTestError2:
|
||||
b vRegTestError2
|
||||
|
||||
;-------------------------------------------------
|
||||
|
||||
|
||||
|
||||
|
|
@ -15,14 +15,14 @@
|
|||
;-------------------------------------------------------------------------------
|
||||
; interrupt vectors
|
||||
|
||||
b _c_int00
|
||||
b #-8
|
||||
b vPortYieldProcessor
|
||||
b #-8
|
||||
b #-8
|
||||
b #-8
|
||||
ldr pc,[pc,#-0x1b0]
|
||||
ldr pc,[pc,#-0x1b0]
|
||||
b _c_int00 ; reset
|
||||
b #-8 ; undefined instruction
|
||||
b vPortYieldProcessor ; software interrupt
|
||||
b #-8 ; Abort (prefetch)
|
||||
b #-8 ; Abort (data)
|
||||
b #-8 ; Reserved
|
||||
ldr pc,[pc,#-0x1b0] ; IRQ
|
||||
ldr pc,[pc,#-0x1b0] ; FIQ
|
||||
|
||||
|
||||
;-------------------------------------------------------------------------------
|
||||
|
|
|
|||
Loading…
Reference in a new issue