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First version under SVN is V4.0.1

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Richard Barry 2006-05-02 09:39:15 +00:00
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280
Demo/Common/Minimal/BlockQ.c Normal file
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/*
FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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 as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
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
along with FreeRTOS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
***************************************************************************
*/
/*
* Creates six tasks that operate on three queues as follows:
*
* The first two tasks send and receive an incrementing number to/from a queue.
* One task acts as a producer and the other as the consumer. The consumer is a
* higher priority than the producer and is set to block on queue reads. The queue
* only has space for one item - as soon as the producer posts a message on the
* queue the consumer will unblock, pre-empt the producer, and remove the item.
*
* The second two tasks work the other way around. Again the queue used only has
* enough space for one item. This time the consumer has a lower priority than the
* producer. The producer will try to post on the queue blocking when the queue is
* full. When the consumer wakes it will remove the item from the queue, causing
* the producer to unblock, pre-empt the consumer, and immediately re-fill the
* queue.
*
* The last two tasks use the same queue producer and consumer functions. This time the queue has
* enough space for lots of items and the tasks operate at the same priority. The
* producer will execute, placing items into the queue. The consumer will start
* executing when either the queue becomes full (causing the producer to block) or
* a context switch occurs (tasks of the same priority will time slice).
*
*/
#include <stdlib.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
/* Demo program include files. */
#include "BlockQ.h"
#define blckqSTACK_SIZE configMINIMAL_STACK_SIZE
#define blckqNUM_TASK_SETS ( 3 )
/* Structure used to pass parameters to the blocking queue tasks. */
typedef struct BLOCKING_QUEUE_PARAMETERS
{
xQueueHandle xQueue; /*< The queue to be used by the task. */
portTickType xBlockTime; /*< The block time to use on queue reads/writes. */
volatile portSHORT *psCheckVariable; /*< Incremented on each successful cycle to check the task is still running. */
} xBlockingQueueParameters;
/* Task function that creates an incrementing number and posts it on a queue. */
static portTASK_FUNCTION_PROTO( vBlockingQueueProducer, pvParameters );
/* Task function that removes the incrementing number from a queue and checks that
it is the expected number. */
static portTASK_FUNCTION_PROTO( vBlockingQueueConsumer, pvParameters );
/* Variables which are incremented each time an item is removed from a queue, and
found to be the expected value.
These are used to check that the tasks are still running. */
static volatile portSHORT sBlockingConsumerCount[ blckqNUM_TASK_SETS ] = { ( unsigned portSHORT ) 0, ( unsigned portSHORT ) 0, ( unsigned portSHORT ) 0 };
/* Variable which are incremented each time an item is posted on a queue. These
are used to check that the tasks are still running. */
static volatile portSHORT sBlockingProducerCount[ blckqNUM_TASK_SETS ] = { ( unsigned portSHORT ) 0, ( unsigned portSHORT ) 0, ( unsigned portSHORT ) 0 };
/*-----------------------------------------------------------*/
void vStartBlockingQueueTasks( unsigned portBASE_TYPE uxPriority )
{
xBlockingQueueParameters *pxQueueParameters1, *pxQueueParameters2;
xBlockingQueueParameters *pxQueueParameters3, *pxQueueParameters4;
xBlockingQueueParameters *pxQueueParameters5, *pxQueueParameters6;
const unsigned portBASE_TYPE uxQueueSize1 = 1, uxQueueSize5 = 5;
const portTickType xBlockTime = ( portTickType ) 1000 / portTICK_RATE_MS;
const portTickType xDontBlock = ( portTickType ) 0;
/* Create the first two tasks as described at the top of the file. */
/* First create the structure used to pass parameters to the consumer tasks. */
pxQueueParameters1 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
/* Create the queue used by the first two tasks to pass the incrementing number.
Pass a pointer to the queue in the parameter structure. */
pxQueueParameters1->xQueue = xQueueCreate( uxQueueSize1, ( unsigned portBASE_TYPE ) sizeof( unsigned portSHORT ) );
/* The consumer is created first so gets a block time as described above. */
pxQueueParameters1->xBlockTime = xBlockTime;
/* Pass in the variable that this task is going to increment so we can check it
is still running. */
pxQueueParameters1->psCheckVariable = &( sBlockingConsumerCount[ 0 ] );
/* Create the structure used to pass parameters to the producer task. */
pxQueueParameters2 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
/* Pass the queue to this task also, using the parameter structure. */
pxQueueParameters2->xQueue = pxQueueParameters1->xQueue;
/* The producer is not going to block - as soon as it posts the consumer will
wake and remove the item so the producer should always have room to post. */
pxQueueParameters2->xBlockTime = xDontBlock;
/* Pass in the variable that this task is going to increment so we can check
it is still running. */
pxQueueParameters2->psCheckVariable = &( sBlockingProducerCount[ 0 ] );
/* Note the producer has a lower priority than the consumer when the tasks are
spawned. */
xTaskCreate( vBlockingQueueConsumer, ( signed portCHAR * ) "QConsB1", blckqSTACK_SIZE, ( void * ) pxQueueParameters1, uxPriority, NULL );
xTaskCreate( vBlockingQueueProducer, ( signed portCHAR * ) "QProdB2", blckqSTACK_SIZE, ( void * ) pxQueueParameters2, tskIDLE_PRIORITY, NULL );
/* Create the second two tasks as described at the top of the file. This uses
the same mechanism but reverses the task priorities. */
pxQueueParameters3 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
pxQueueParameters3->xQueue = xQueueCreate( uxQueueSize1, ( unsigned portBASE_TYPE ) sizeof( unsigned portSHORT ) );
pxQueueParameters3->xBlockTime = xDontBlock;
pxQueueParameters3->psCheckVariable = &( sBlockingProducerCount[ 1 ] );
pxQueueParameters4 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
pxQueueParameters4->xQueue = pxQueueParameters3->xQueue;
pxQueueParameters4->xBlockTime = xBlockTime;
pxQueueParameters4->psCheckVariable = &( sBlockingConsumerCount[ 1 ] );
xTaskCreate( vBlockingQueueProducer, ( signed portCHAR * ) "QProdB3", blckqSTACK_SIZE, ( void * ) pxQueueParameters3, tskIDLE_PRIORITY, NULL );
xTaskCreate( vBlockingQueueConsumer, ( signed portCHAR * ) "QConsB4", blckqSTACK_SIZE, ( void * ) pxQueueParameters4, uxPriority, NULL );
/* Create the last two tasks as described above. The mechanism is again just
the same. This time both parameter structures are given a block time. */
pxQueueParameters5 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
pxQueueParameters5->xQueue = xQueueCreate( uxQueueSize5, ( unsigned portBASE_TYPE ) sizeof( unsigned portSHORT ) );
pxQueueParameters5->xBlockTime = xBlockTime;
pxQueueParameters5->psCheckVariable = &( sBlockingProducerCount[ 2 ] );
pxQueueParameters6 = ( xBlockingQueueParameters * ) pvPortMalloc( sizeof( xBlockingQueueParameters ) );
pxQueueParameters6->xQueue = pxQueueParameters5->xQueue;
pxQueueParameters6->xBlockTime = xBlockTime;
pxQueueParameters6->psCheckVariable = &( sBlockingConsumerCount[ 2 ] );
xTaskCreate( vBlockingQueueProducer, ( signed portCHAR * ) "QProdB5", blckqSTACK_SIZE, ( void * ) pxQueueParameters5, tskIDLE_PRIORITY, NULL );
xTaskCreate( vBlockingQueueConsumer, ( signed portCHAR * ) "QConsB6", blckqSTACK_SIZE, ( void * ) pxQueueParameters6, tskIDLE_PRIORITY, NULL );
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vBlockingQueueProducer, pvParameters )
{
unsigned portSHORT usValue = 0;
xBlockingQueueParameters *pxQueueParameters;
portSHORT sErrorEverOccurred = pdFALSE;
pxQueueParameters = ( xBlockingQueueParameters * ) pvParameters;
for( ;; )
{
if( xQueueSend( pxQueueParameters->xQueue, ( void * ) &usValue, pxQueueParameters->xBlockTime ) != pdPASS )
{
sErrorEverOccurred = pdTRUE;
}
else
{
/* We have successfully posted a message, so increment the variable
used to check we are still running. */
if( sErrorEverOccurred == pdFALSE )
{
( *pxQueueParameters->psCheckVariable )++;
}
/* Increment the variable we are going to post next time round. The
consumer will expect the numbers to follow in numerical order. */
++usValue;
}
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vBlockingQueueConsumer, pvParameters )
{
unsigned portSHORT usData, usExpectedValue = 0;
xBlockingQueueParameters *pxQueueParameters;
portSHORT sErrorEverOccurred = pdFALSE;
pxQueueParameters = ( xBlockingQueueParameters * ) pvParameters;
for( ;; )
{
if( xQueueReceive( pxQueueParameters->xQueue, &usData, pxQueueParameters->xBlockTime ) == pdPASS )
{
if( usData != usExpectedValue )
{
/* Catch-up. */
usExpectedValue = usData;
sErrorEverOccurred = pdTRUE;
}
else
{
/* We have successfully received a message, so increment the
variable used to check we are still running. */
if( sErrorEverOccurred == pdFALSE )
{
( *pxQueueParameters->psCheckVariable )++;
}
/* Increment the value we expect to remove from the queue next time
round. */
++usExpectedValue;
}
}
}
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */
portBASE_TYPE xAreBlockingQueuesStillRunning( void )
{
static portSHORT sLastBlockingConsumerCount[ blckqNUM_TASK_SETS ] = { ( unsigned portSHORT ) 0, ( unsigned portSHORT ) 0, ( unsigned portSHORT ) 0 };
static portSHORT sLastBlockingProducerCount[ blckqNUM_TASK_SETS ] = { ( unsigned portSHORT ) 0, ( unsigned portSHORT ) 0, ( unsigned portSHORT ) 0 };
portBASE_TYPE xReturn = pdPASS, xTasks;
/* 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.
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 ] )
{
xReturn = pdFALSE;
}
sLastBlockingConsumerCount[ xTasks ] = sBlockingConsumerCount[ xTasks ];
if( sBlockingProducerCount[ xTasks ] == sLastBlockingProducerCount[ xTasks ] )
{
xReturn = pdFALSE;
}
sLastBlockingProducerCount[ xTasks ] = sBlockingProducerCount[ xTasks ];
}
return xReturn;
}

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/*
FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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 as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
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
along with FreeRTOS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
***************************************************************************
*/
/*
* 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 portLONG.
*/
#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 pollqDELAY ( ( portTickType ) 200 / 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 portSHORT ) );
/* Spawn the producer and consumer. */
xTaskCreate( vPolledQueueConsumer, ( const signed portCHAR * const ) "QConsNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL );
xTaskCreate( vPolledQueueProducer, ( const signed portCHAR * const ) "QProdNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( xTaskHandle * ) NULL );
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vPolledQueueProducer, pvParameters )
{
unsigned portSHORT usValue = ( unsigned portSHORT ) 0;
signed portBASE_TYPE xError = pdFALSE, xLoop;
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( pollqDELAY );
}
} /*lint !e818 Function prototype must conform to API. */
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vPolledQueueConsumer, pvParameters )
{
unsigned portSHORT usData, usExpectedValue = ( unsigned portSHORT ) 0;
signed portBASE_TYPE xError = pdFALSE;
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( pollqDELAY );
}
} /*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;
}

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/*
FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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 as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
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
along with FreeRTOS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
***************************************************************************
*/
/*
* This version of comtest. 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 operate on an interrupt driven serial port. A
* loopback connector should be used so that everything that is transmitted is
* also received. The serial port does not use any flow control. On a
* standard 9way 'D' connector pins two and three should be connected together.
*
* The first task posts a sequence of characters to the Tx queue, toggling an
* LED on each successful post. At the end of the sequence it sleeps for a
* pseudo-random period before resending the same sequence.
*
* The UART Tx end interrupt is enabled whenever data is available in the Tx
* queue. The Tx end ISR removes a single character from the Tx queue and
* passes it to the UART for transmission.
*
* The second task blocks on the Rx queue waiting for a character to become
* available. When the UART Rx end interrupt receives a character it places
* it in the Rx queue, waking the second task. The second task checks that the
* characters removed from the Rx queue form the same sequence as those posted
* to the Tx queue, and toggles an LED for each correct character.
*
* The receiving task is spawned with a higher priority than the transmitting
* task. The receiver will therefore wake every time a character is
* transmitted so neither the Tx or Rx queue should ever hold more than a few
* characters.
*
*/
/*
Changes from V1.2.0:
+ Reduced the maximum time between successive transmissions. This provides
for a more rigorous test.
Changes from V2.0.0
+ Delay periods are now specified using variables and constants of
portTickType rather than unsigned portLONG.
Changes from V2.5.1
+ The constant comOFFSET_TIME added to the delay period to ensure a more
random delay period is used.
*/
/* Scheduler include files. */
#include <stdlib.h>
#include "FreeRTOS.h"
#include "task.h"
/* Demo program include files. */
#include "serial.h"
#include "comtest.h"
#include "partest.h"
#define comSTACK_SIZE configMINIMAL_STACK_SIZE
#define comTX_LED_OFFSET ( 0 )
#define comRX_LED_OFFSET ( 1 )
#define comTOTAL_PERMISSIBLE_ERRORS ( 2 )
/* The Tx task will transmit the sequence of characters at a pseudo random
interval. This is the maximum and minimum block time between sends. */
#define comTX_MAX_BLOCK_TIME ( ( portTickType ) 0x96 )
#define comTX_MIN_BLOCK_TIME ( ( portTickType ) 0x32 )
#define comOFFSET_TIME ( ( portTickType ) 3 )
/* We should find that each character can be queued for Tx immediately and we
don't have to block to send. */
#define comNO_BLOCK ( ( portTickType ) 0 )
/* The Rx task will block on the Rx queue for a long period. */
#define comRX_BLOCK_TIME ( ( portTickType ) 0xffff )
/* The sequence transmitted is from comFIRST_BYTE to and including comLAST_BYTE. */
#define comFIRST_BYTE ( 'A' )
#define comLAST_BYTE ( 'X' )
#define comBUFFER_LEN ( ( unsigned portBASE_TYPE ) ( comLAST_BYTE - comFIRST_BYTE ) + ( unsigned portBASE_TYPE ) 1 )
#define comINITIAL_RX_COUNT_VALUE ( 0 )
/* Handle to the com port used by both tasks. */
static xComPortHandle xPort = NULL;
/* The transmit task as described at the top of the file. */
static portTASK_FUNCTION_PROTO( vComTxTask, pvParameters );
/* The receive task as described at the top of the file. */
static portTASK_FUNCTION_PROTO( vComRxTask, pvParameters );
/* The LED that should be toggled by the Rx and Tx tasks. The Rx task will
toggle LED ( uxBaseLED + comRX_LED_OFFSET). The Tx task will toggle LED
( uxBaseLED + comTX_LED_OFFSET ). */
static unsigned portBASE_TYPE uxBaseLED = 0;
/* Check variable used to ensure no error have occurred. The Rx task will
increment this variable after every successfully received sequence. If at any
time the sequence is incorrect the the variable will stop being incremented. */
static volatile unsigned portBASE_TYPE uxRxLoops = comINITIAL_RX_COUNT_VALUE;
/*-----------------------------------------------------------*/
void vAltStartComTestTasks( unsigned portBASE_TYPE uxPriority, unsigned portLONG ulBaudRate, unsigned portBASE_TYPE uxLED )
{
/* Initialise the com port then spawn the Rx and Tx tasks. */
uxBaseLED = uxLED;
xSerialPortInitMinimal( ulBaudRate, comBUFFER_LEN );
/* The Tx task is spawned with a lower priority than the Rx task. */
xTaskCreate( vComTxTask, ( const signed portCHAR * const ) "COMTx", comSTACK_SIZE, NULL, uxPriority - 1, ( xTaskHandle * ) NULL );
xTaskCreate( vComRxTask, ( const signed portCHAR * const ) "COMRx", comSTACK_SIZE, NULL, uxPriority, ( xTaskHandle * ) NULL );
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vComTxTask, pvParameters )
{
signed portCHAR cByteToSend;
portTickType xTimeToWait;
/* Just to stop compiler warnings. */
( void ) pvParameters;
for( ;; )
{
/* Simply transmit a sequence of characters from comFIRST_BYTE to
comLAST_BYTE. */
for( cByteToSend = comFIRST_BYTE; cByteToSend <= comLAST_BYTE; cByteToSend++ )
{
if( xSerialPutChar( xPort, cByteToSend, comNO_BLOCK ) == pdPASS )
{
vParTestToggleLED( uxBaseLED + comTX_LED_OFFSET );
}
}
/* Turn the LED off while we are not doing anything. */
vParTestSetLED( uxBaseLED + comTX_LED_OFFSET, pdFALSE );
/* We have posted all the characters in the string - wait before
re-sending. Wait a pseudo-random time as this will provide a better
test. */
xTimeToWait = xTaskGetTickCount() + comOFFSET_TIME;
/* Make sure we don't wait too long... */
xTimeToWait %= comTX_MAX_BLOCK_TIME;
/* ...but we do want to wait. */
if( xTimeToWait < comTX_MIN_BLOCK_TIME )
{
xTimeToWait = comTX_MIN_BLOCK_TIME;
}
vTaskDelay( xTimeToWait );
}
} /*lint !e715 !e818 pvParameters is required for a task function even if it is not referenced. */
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vComRxTask, pvParameters )
{
signed portCHAR cExpectedByte, cByteRxed;
portBASE_TYPE xResyncRequired = pdFALSE, xErrorOccurred = pdFALSE;
/* Just to stop compiler warnings. */
( void ) pvParameters;
for( ;; )
{
/* We expect to receive the characters from comFIRST_BYTE to
comLAST_BYTE in an incrementing order. Loop to receive each byte. */
for( cExpectedByte = comFIRST_BYTE; cExpectedByte <= comLAST_BYTE; cExpectedByte++ )
{
/* Block on the queue that contains received bytes until a byte is
available. */
if( xSerialGetChar( xPort, &cByteRxed, comRX_BLOCK_TIME ) )
{
/* Was this the byte we were expecting? If so, toggle the LED,
otherwise we are out on sync and should break out of the loop
until the expected character sequence is about to restart. */
if( cByteRxed == cExpectedByte )
{
vParTestToggleLED( uxBaseLED + comRX_LED_OFFSET );
}
else
{
xResyncRequired = pdTRUE;
break; /*lint !e960 Non-switch break allowed. */
}
}
}
/* Turn the LED off while we are not doing anything. */
vParTestSetLED( uxBaseLED + comRX_LED_OFFSET, pdFALSE );
/* Did we break out of the loop because the characters were received in
an unexpected order? If so wait here until the character sequence is
about to restart. */
if( xResyncRequired == pdTRUE )
{
while( cByteRxed != comLAST_BYTE )
{
/* Block until the next char is available. */
xSerialGetChar( xPort, &cByteRxed, comRX_BLOCK_TIME );
}
/* Note that an error occurred which caused us to have to resync.
We use this to stop incrementing the loop counter so
sAreComTestTasksStillRunning() will return false - indicating an
error. */
xErrorOccurred++;
/* We have now resynced with the Tx task and can continue. */
xResyncRequired = pdFALSE;
}
else
{
if( xErrorOccurred < comTOTAL_PERMISSIBLE_ERRORS )
{
/* Increment the count of successful loops. As error
occurring (i.e. an unexpected character being received) will
prevent this counter being incremented for the rest of the
execution. Don't worry about mutual exclusion on this
variable - it doesn't really matter as we just want it
to change. */
uxRxLoops++;
}
}
}
} /*lint !e715 !e818 pvParameters is required for a task function even if it is not referenced. */
/*-----------------------------------------------------------*/
portBASE_TYPE xAreComTestTasksStillRunning( void )
{
portBASE_TYPE xReturn;
/* If the count of successful reception loops has not changed than at
some time an error occurred (i.e. a character was received out of sequence)
and we will return false. */
if( uxRxLoops == comINITIAL_RX_COUNT_VALUE )
{
xReturn = pdFALSE;
}
else
{
xReturn = pdTRUE;
}
/* Reset the count of successful Rx loops. When this function is called
again we expect this to have been incremented. */
uxRxLoops = comINITIAL_RX_COUNT_VALUE;
return xReturn;
}

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/*
FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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 as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
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
along with FreeRTOS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
***************************************************************************
*/
/*
* This demo application file demonstrates the use of queues to pass data
* between co-routines.
*
* N represents the number of 'fixed delay' co-routines that are created and
* is set during initialisation.
*
* N 'fixed delay' co-routines are created that just block for a fixed
* period then post the number of an LED onto a queue. Each such co-routine
* uses a different block period. A single 'flash' co-routine is also created
* that blocks on the same queue, waiting for the number of the next LED it
* should flash. Upon receiving a number it simply toggle the instructed LED
* then blocks on the queue once more. In this manner each LED from LED 0 to
* LED N-1 is caused to flash at a different rate.
*
* The 'fixed delay' co-routines are created with co-routine priority 0. The
* flash co-routine is created with co-routine priority 1. This means that
* the queue should never contain more than a single item. This is because
* posting to the queue will unblock the 'flash' co-routine, and as this has
* a priority greater than the tasks posting to the queue it is guaranteed to
* have emptied the queue and blocked once again before the queue can contain
* any more date. An error is indicated if an attempt to post data to the
* queue fails - indicating that the queue is already full.
*
*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "croutine.h"
#include "queue.h"
/* Demo application includes. */
#include "partest.h"
#include "crflash.h"
/* The queue should only need to be of length 1. See the description at the
top of the file. */
#define crfQUEUE_LENGTH 1
#define crfFIXED_DELAY_PRIORITY 0
#define crfFLASH_PRIORITY 1
/* Only one flash co-routine is created so the index is not significant. */
#define crfFLASH_INDEX 0
/* Don't allow more than crfMAX_FLASH_TASKS 'fixed delay' co-routines to be
created. */
#define crfMAX_FLASH_TASKS 8
/* We don't want to block when posting to the queue. */
#define crfPOSTING_BLOCK_TIME 0
/*
* The 'fixed delay' co-routine as described at the top of the file.
*/
static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex );
/*
* The 'flash' co-routine as described at the top of the file.
*/
static void prvFlashCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex );
/* The queue used to pass data between the 'fixed delay' co-routines and the
'flash' co-routine. */
static xQueueHandle xFlashQueue;
/* This will be set to pdFALSE if we detect an error. */
static unsigned portBASE_TYPE uxCoRoutineFlashStatus = pdPASS;
/*-----------------------------------------------------------*/
/*
* See the header file for details.
*/
void vStartFlashCoRoutines( unsigned portBASE_TYPE uxNumberToCreate )
{
unsigned portBASE_TYPE uxIndex;
if( uxNumberToCreate > crfMAX_FLASH_TASKS )
{
uxNumberToCreate = crfMAX_FLASH_TASKS;
}
/* Create the queue used to pass data between the co-routines. */
xFlashQueue = xQueueCreate( crfQUEUE_LENGTH, sizeof( unsigned portBASE_TYPE ) );
if( xFlashQueue )
{
/* Create uxNumberToCreate 'fixed delay' co-routines. */
for( uxIndex = 0; uxIndex < uxNumberToCreate; uxIndex++ )
{
xCoRoutineCreate( prvFixedDelayCoRoutine, crfFIXED_DELAY_PRIORITY, uxIndex );
}
/* Create the 'flash' co-routine. */
xCoRoutineCreate( prvFlashCoRoutine, crfFLASH_PRIORITY, crfFLASH_INDEX );
}
}
/*-----------------------------------------------------------*/
static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
{
/* Even though this is a co-routine the xResult variable does not need to be
static as we do not need it to maintain its state between blocks. */
portBASE_TYPE xResult;
/* The uxIndex parameter of the co-routine function is used as an index into
the xFlashRates array to obtain the delay period to use. */
static const portTickType xFlashRates[ crfMAX_FLASH_TASKS ] = { 150 / portTICK_RATE_MS,
200 / portTICK_RATE_MS,
250 / portTICK_RATE_MS,
300 / portTICK_RATE_MS,
350 / portTICK_RATE_MS,
400 / portTICK_RATE_MS,
450 / portTICK_RATE_MS,
500 / portTICK_RATE_MS };
/* Co-routines MUST start with a call to crSTART. */
crSTART( xHandle );
for( ;; )
{
/* Post our uxIndex value onto the queue. This is used as the LED to
flash. */
crQUEUE_SEND( xHandle, xFlashQueue, ( void * ) &uxIndex, crfPOSTING_BLOCK_TIME, &xResult );
if( xResult != pdPASS )
{
/* For the reasons stated at the top of the file we should always
find that we can post to the queue. If we could not then an error
has occurred. */
uxCoRoutineFlashStatus = pdFAIL;
}
crDELAY( xHandle, xFlashRates[ uxIndex ] );
}
/* Co-routines MUST end with a call to crEND. */
crEND();
}
/*-----------------------------------------------------------*/
static void prvFlashCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
{
/* Even though this is a co-routine the variable do not need to be
static as we do not need it to maintain their state between blocks. */
portBASE_TYPE xResult;
unsigned portBASE_TYPE uxLEDToFlash;
/* Co-routines MUST start with a call to crSTART. */
crSTART( xHandle );
for( ;; )
{
/* Block to wait for the number of the LED to flash. */
crQUEUE_RECEIVE( xHandle, xFlashQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
if( xResult != pdPASS )
{
/* We would not expect to wake unless we received something. */
uxCoRoutineFlashStatus = pdFAIL;
}
else
{
/* We received the number of an LED to flash - flash it! */
vParTestToggleLED( uxLEDToFlash );
}
}
/* Co-routines MUST end with a call to crEND. */
crEND();
}
/*-----------------------------------------------------------*/
portBASE_TYPE xAreFlashCoRoutinesStillRunning( void )
{
/* Return pdPASS or pdFAIL depending on whether an error has been detected
or not. */
return uxCoRoutineFlashStatus;
}

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/*
FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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 as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
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
along with FreeRTOS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
***************************************************************************
*/
/*
* This demo file demonstrates how to send data between an ISR and a
* co-routine. A tick hook function is used to periodically pass data between
* the RTOS tick and a set of 'hook' co-routines.
*
* hookNUM_HOOK_CO_ROUTINES co-routines are created. Each co-routine blocks
* to wait for a character to be received on a queue from the tick ISR, checks
* to ensure the character received was that expected, then sends the number
* back to the tick ISR on a different queue.
*
* The tick ISR checks the numbers received back from the 'hook' co-routines
* matches the number previously sent.
*
* If at any time a queue function returns unexpectedly, or an incorrect value
* is received either by the tick hook or a co-routine then an error is
* latched.
*
* This demo relies on each 'hook' co-routine to execute between each
* hookTICK_CALLS_BEFORE_POST tick interrupts. This and the heavy use of
* queues from within an interrupt may result in an error being detected on
* slower targets simply due to timing.
*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "croutine.h"
#include "queue.h"
/* Demo application includes. */
#include "crhook.h"
/* The number of 'hook' co-routines that are to be created. */
#define hookNUM_HOOK_CO_ROUTINES ( 4 )
/* The number of times the tick hook should be called before a character is
posted to the 'hook' co-routines. */
#define hookTICK_CALLS_BEFORE_POST ( 250 )
/* There should never be more than one item in any queue at any time. */
#define hookHOOK_QUEUE_LENGTH ( 1 )
/* Don't block when initially posting to the queue. */
#define hookNO_BLOCK_TIME ( 0 )
/* The priority relative to other co-routines (rather than tasks) that the
'hook' co-routines should take. */
#define mainHOOK_CR_PRIORITY ( 1 )
/*-----------------------------------------------------------*/
/*
* The co-routine function itself.
*/
static void prvHookCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex );
/*
* The tick hook function. This receives a number from each 'hook' co-routine
* then sends a number to each co-routine. An error is flagged if a send or
* receive fails, or an unexpected number is received.
*/
void vApplicationTickHook( void );
/*-----------------------------------------------------------*/
/* Queues used to send data FROM a co-routine TO the tick hook function.
The hook functions received (Rx's) on these queues. One queue per
'hook' co-routine. */
static xQueueHandle xHookRxQueues[ hookNUM_HOOK_CO_ROUTINES ];
/* Queues used to send data FROM the tick hook TO a co-routine function.
The hood function transmits (Tx's) on these queues. One queue per
'hook' co-routine. */
static xQueueHandle xHookTxQueues[ hookNUM_HOOK_CO_ROUTINES ];
/* Set to true if an error is detected at any time. */
static portBASE_TYPE xCoRoutineErrorDetected = pdFALSE;
/*-----------------------------------------------------------*/
void vStartHookCoRoutines( void )
{
unsigned portBASE_TYPE uxIndex, uxValueToPost = 0;
for( uxIndex = 0; uxIndex < hookNUM_HOOK_CO_ROUTINES; uxIndex++ )
{
/* Create a queue to transmit to and receive from each 'hook'
co-routine. */
xHookRxQueues[ uxIndex ] = xQueueCreate( hookHOOK_QUEUE_LENGTH, sizeof( unsigned portBASE_TYPE ) );
xHookTxQueues[ uxIndex ] = xQueueCreate( hookHOOK_QUEUE_LENGTH, sizeof( unsigned portBASE_TYPE ) );
/* To start things off the tick hook function expects the queue it
uses to receive data to contain a value. */
xQueueSend( xHookRxQueues[ uxIndex ], &uxValueToPost, hookNO_BLOCK_TIME );
/* Create the 'hook' co-routine itself. */
xCoRoutineCreate( prvHookCoRoutine, mainHOOK_CR_PRIORITY, uxIndex );
}
}
/*-----------------------------------------------------------*/
static unsigned portBASE_TYPE uxCallCounter = 0, uxNumberToPost = 0;
void vApplicationTickHook( void )
{
unsigned portBASE_TYPE uxReceivedNumber;
signed portBASE_TYPE xIndex, xCoRoutineWoken;
/* Is it time to talk to the 'hook' co-routines again? */
uxCallCounter++;
if( uxCallCounter >= hookTICK_CALLS_BEFORE_POST )
{
uxCallCounter = 0;
for( xIndex = 0; xIndex < hookNUM_HOOK_CO_ROUTINES; xIndex++ )
{
xCoRoutineWoken = pdFALSE;
if( crQUEUE_RECEIVE_FROM_ISR( xHookRxQueues[ xIndex ], &uxReceivedNumber, &xCoRoutineWoken ) != pdPASS )
{
/* There is no reason why we would not expect the queue to
contain a value. */
xCoRoutineErrorDetected = pdTRUE;
}
else
{
/* Each queue used to receive data from the 'hook' co-routines
should contain the number we last posted to the same co-routine. */
if( uxReceivedNumber != uxNumberToPost )
{
xCoRoutineErrorDetected = pdTRUE;
}
/* Nothing should be blocked waiting to post to the queue. */
if( xCoRoutineWoken != pdFALSE )
{
xCoRoutineErrorDetected = pdTRUE;
}
}
}
/* Start the next cycle by posting the next number onto each Tx queue. */
uxNumberToPost++;
for( xIndex = 0; xIndex < hookNUM_HOOK_CO_ROUTINES; xIndex++ )
{
if( crQUEUE_SEND_FROM_ISR( xHookTxQueues[ xIndex ], &uxNumberToPost, pdFALSE ) != pdTRUE )
{
/* Posting to the queue should have woken the co-routine that
was blocked on the queue. */
xCoRoutineErrorDetected = pdTRUE;
}
}
}
}
/*-----------------------------------------------------------*/
static void prvHookCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
{
static unsigned portBASE_TYPE uxReceivedValue[ hookNUM_HOOK_CO_ROUTINES ];
portBASE_TYPE xResult;
/* Each co-routine MUST start with a call to crSTART(); */
crSTART( xHandle );
for( ;; )
{
/* Wait to receive a value from the tick hook. */
xResult = pdFAIL;
crQUEUE_RECEIVE( xHandle, xHookTxQueues[ uxIndex ], &( uxReceivedValue[ uxIndex ] ), portMAX_DELAY, &xResult );
/* There is no reason why we should not have received something on
the queue. */
if( xResult != pdPASS )
{
xCoRoutineErrorDetected = pdTRUE;
}
/* Send the same number back to the idle hook so it can verify it. */
xResult = pdFAIL;
crQUEUE_SEND( xHandle, xHookRxQueues[ uxIndex ], &( uxReceivedValue[ uxIndex ] ), hookNO_BLOCK_TIME, &xResult );
if( xResult != pdPASS )
{
/* There is no reason why we should not have been able to post to
the queue. */
xCoRoutineErrorDetected = pdTRUE;
}
}
/* Each co-routine MUST end with a call to crEND(). */
crEND();
}
/*-----------------------------------------------------------*/
portBASE_TYPE xAreHookCoRoutinesStillRunning( void )
{
if( xCoRoutineErrorDetected )
{
return pdFALSE;
}
else
{
return pdTRUE;
}
}

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/*
FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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 as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
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
along with FreeRTOS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
***************************************************************************
*/
/**
* Create a single persistent task which periodically dynamically creates another
* four tasks. The original task is called the creator task, the four tasks it
* creates are called suicidal tasks.
*
* Two of the created suicidal tasks kill one other suicidal task before killing
* themselves - 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 portSHORT 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 + 24 )
/* 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 portSHORT 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 = 4;
/* Used to store a handle to the tasks that should be killed by a suicidal task,
before it kills itself. */
xTaskHandle xCreatedTask1, xCreatedTask2;
/*-----------------------------------------------------------*/
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, "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 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++;
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vSuicidalTask, pvParameters )
{
volatile portLONG 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 );
xTaskCreate( vSuicidalTask, "SUICID1", deathSTACK_SIZE, NULL, uxPriority, &xCreatedTask1 );
xTaskCreate( vSuicidalTask, "SUICID2", deathSTACK_SIZE, &xCreatedTask1, uxPriority, NULL );
xTaskCreate( vSuicidalTask, "SUICID1", deathSTACK_SIZE, NULL, uxPriority, &xCreatedTask2 );
xTaskCreate( vSuicidalTask, "SUICID2", deathSTACK_SIZE, &xCreatedTask2, 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 portSHORT usLastCreationCount = -1;
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;
}

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/*
FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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 as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
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
along with FreeRTOS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
***************************************************************************
*/
/*
* The first test creates three tasks - two counter tasks (one continuous count
* and one limited count) and one controller. A "count" variable is shared
* between all three tasks. The two counter tasks should never be in a "ready"
* state at the same time. The controller task runs at the same priority as
* the continuous count task, and at a lower priority than the limited count
* task.
*
* One counter task loops indefinitely, incrementing the shared count variable
* on each iteration. To ensure it has exclusive access to the variable it
* raises it's priority above that of the controller task before each
* increment, lowering it again to it's original priority before starting the
* next iteration.
*
* The other counter task increments the shared count variable on each
* iteration of it's loop until the count has reached a limit of 0xff - at
* which point it suspends itself. It will not start a new loop until the
* controller task has made it "ready" again by calling vTaskResume ().
* This second counter task operates at a higher priority than controller
* task so does not need to worry about mutual exclusion of the counter
* variable.
*
* The controller task is in two sections. The first section controls and
* monitors the continuous count task. When this section is operational the
* limited count task is suspended. Likewise, the second section controls
* and monitors the limited count task. When this section is operational the
* continuous count task is suspended.
*
* In the first section the controller task first takes a copy of the shared
* count variable. To ensure mutual exclusion on the count variable it
* suspends the continuous count task, resuming it again when the copy has been
* taken. The controller task then sleeps for a fixed period - during which
* the continuous count task will execute and increment the shared variable.
* When the controller task wakes it checks that the continuous count task
* has executed by comparing the copy of the shared variable with its current
* value. This time, to ensure mutual exclusion, the scheduler itself is
* suspended with a call to vTaskSuspendAll (). This is for demonstration
* purposes only and is not a recommended technique due to its inefficiency.
*
* After a fixed number of iterations the controller task suspends the
* continuous count task, and moves on to its second section.
*
* At the start of the second section the shared variable is cleared to zero.
* The limited count task is then woken from it's suspension by a call to
* vTaskResume (). As this counter task operates at a higher priority than
* the controller task the controller task should not run again until the
* shared variable has been counted up to the limited value causing the counter
* task to suspend itself. The next line after vTaskResume () is therefore
* a check on the shared variable to ensure everything is as expected.
*
*
* The second test consists of a couple of very simple tasks that post onto a
* queue while the scheduler is suspended. This test was added to test parts
* of the scheduler not exercised by the first test.
*
*/
#include <stdlib.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
/* Demo app include files. */
#include "dynamic.h"
/* Function that implements the "limited count" task as described above. */
static portTASK_FUNCTION_PROTO( vLimitedIncrementTask, pvParameters );
/* Function that implements the "continuous count" task as described above. */
static portTASK_FUNCTION_PROTO( vContinuousIncrementTask, pvParameters );
/* Function that implements the controller task as described above. */
static portTASK_FUNCTION_PROTO( vCounterControlTask, pvParameters );
static portTASK_FUNCTION_PROTO( vQueueReceiveWhenSuspendedTask, pvParameters );
static portTASK_FUNCTION_PROTO( vQueueSendWhenSuspendedTask, pvParameters );
/* Demo task specific constants. */
#define priSTACK_SIZE ( ( unsigned portSHORT ) 128 )
#define priSLEEP_TIME ( ( portTickType ) 50 )
#define priLOOPS ( 5 )
#define priMAX_COUNT ( ( unsigned portLONG ) 0xff )
#define priNO_BLOCK ( ( portTickType ) 0 )
#define priSUSPENDED_QUEUE_LENGTH ( 1 )
/*-----------------------------------------------------------*/
/* Handles to the two counter tasks. These could be passed in as parameters
to the controller task to prevent them having to be file scope. */
static xTaskHandle xContinousIncrementHandle, xLimitedIncrementHandle;
/* The shared counter variable. This is passed in as a parameter to the two
counter variables for demonstration purposes. */
static unsigned portLONG ulCounter;
/* Variables used to check that the tasks are still operating without error.
Each complete iteration of the controller task increments this variable
provided no errors have been found. The variable maintaining the same value
is therefore indication of an error. */
static unsigned portSHORT usCheckVariable = ( unsigned portSHORT ) 0;
static portBASE_TYPE xSuspendedQueueSendError = pdFALSE;
static portBASE_TYPE xSuspendedQueueReceiveError = pdFALSE;
/* Queue used by the second test. */
xQueueHandle xSuspendedTestQueue;
/*-----------------------------------------------------------*/
/*
* Start the three tasks as described at the top of the file.
* Note that the limited count task is given a higher priority.
*/
void vStartDynamicPriorityTasks( void )
{
xSuspendedTestQueue = xQueueCreate( priSUSPENDED_QUEUE_LENGTH, sizeof( unsigned portLONG ) );
xTaskCreate( vContinuousIncrementTask, ( signed portCHAR * ) "CNT_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY, &xContinousIncrementHandle );
xTaskCreate( vLimitedIncrementTask, ( signed portCHAR * ) "LIM_INC", priSTACK_SIZE, ( void * ) &ulCounter, tskIDLE_PRIORITY + 1, &xLimitedIncrementHandle );
xTaskCreate( vCounterControlTask, ( signed portCHAR * ) "C_CTRL", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
xTaskCreate( vQueueSendWhenSuspendedTask, ( signed portCHAR * ) "SUSP_TX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
xTaskCreate( vQueueReceiveWhenSuspendedTask, ( signed portCHAR * ) "SUSP_RX", priSTACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
}
/*-----------------------------------------------------------*/
/*
* Just loops around incrementing the shared variable until the limit has been
* reached. Once the limit has been reached it suspends itself.
*/
static portTASK_FUNCTION( vLimitedIncrementTask, pvParameters )
{
unsigned portLONG *pulCounter;
/* Take a pointer to the shared variable from the parameters passed into
the task. */
pulCounter = ( unsigned portLONG * ) pvParameters;
/* This will run before the control task, so the first thing it does is
suspend - the control task will resume it when ready. */
vTaskSuspend( NULL );
for( ;; )
{
/* Just count up to a value then suspend. */
( *pulCounter )++;
if( *pulCounter >= priMAX_COUNT )
{
vTaskSuspend( NULL );
}
}
}
/*-----------------------------------------------------------*/
/*
* Just keep counting the shared variable up. The control task will suspend
* this task when it wants.
*/
static portTASK_FUNCTION( vContinuousIncrementTask, pvParameters )
{
unsigned portLONG *pulCounter;
unsigned portBASE_TYPE uxOurPriority;
/* Take a pointer to the shared variable from the parameters passed into
the task. */
pulCounter = ( unsigned portLONG * ) pvParameters;
/* Query our priority so we can raise it when exclusive access to the
shared variable is required. */
uxOurPriority = uxTaskPriorityGet( NULL );
for( ;; )
{
/* Raise our priority above the controller task to ensure a context
switch does not occur while we are accessing this variable. */
vTaskPrioritySet( NULL, uxOurPriority + 1 );
( *pulCounter )++;
vTaskPrioritySet( NULL, uxOurPriority );
}
}
/*-----------------------------------------------------------*/
/*
* Controller task as described above.
*/
static portTASK_FUNCTION( vCounterControlTask, pvParameters )
{
unsigned portLONG ulLastCounter;
portSHORT sLoops;
portSHORT sError = pdFALSE;
/* Just to stop warning messages. */
( void ) pvParameters;
for( ;; )
{
/* Start with the counter at zero. */
ulCounter = ( unsigned portLONG ) 0;
/* First section : */
/* Check the continuous count task is running. */
for( sLoops = 0; sLoops < priLOOPS; sLoops++ )
{
/* Suspend the continuous count task so we can take a mirror of the
shared variable without risk of corruption. */
vTaskSuspend( xContinousIncrementHandle );
ulLastCounter = ulCounter;
vTaskResume( xContinousIncrementHandle );
/* Now delay to ensure the other task has processor time. */
vTaskDelay( priSLEEP_TIME );
/* Check the shared variable again. This time to ensure mutual
exclusion the whole scheduler will be locked. This is just for
demo purposes! */
vTaskSuspendAll();
{
if( ulLastCounter == ulCounter )
{
/* The shared variable has not changed. There is a problem
with the continuous count task so flag an error. */
sError = pdTRUE;
}
}
xTaskResumeAll();
}
/* Second section: */
/* Suspend the continuous counter task so it stops accessing the shared variable. */
vTaskSuspend( xContinousIncrementHandle );
/* Reset the variable. */
ulCounter = ( unsigned portLONG ) 0;
/* Resume the limited count task which has a higher priority than us.
We should therefore not return from this call until the limited count
task has suspended itself with a known value in the counter variable. */
vTaskResume( xLimitedIncrementHandle );
/* Does the counter variable have the expected value? */
if( ulCounter != priMAX_COUNT )
{
sError = pdTRUE;
}
if( sError == pdFALSE )
{
/* If no errors have occurred then increment the check variable. */
portENTER_CRITICAL();
usCheckVariable++;
portEXIT_CRITICAL();
}
/* Resume the continuous count task and do it all again. */
vTaskResume( xContinousIncrementHandle );
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vQueueSendWhenSuspendedTask, pvParameters )
{
static unsigned portLONG ulValueToSend = ( unsigned portLONG ) 0;
/* Just to stop warning messages. */
( void ) pvParameters;
for( ;; )
{
vTaskSuspendAll();
{
/* We must not block while the scheduler is suspended! */
if( xQueueSend( xSuspendedTestQueue, ( void * ) &ulValueToSend, priNO_BLOCK ) != pdTRUE )
{
xSuspendedQueueSendError = pdTRUE;
}
}
xTaskResumeAll();
vTaskDelay( priSLEEP_TIME );
++ulValueToSend;
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vQueueReceiveWhenSuspendedTask, pvParameters )
{
static unsigned portLONG ulExpectedValue = ( unsigned portLONG ) 0, ulReceivedValue;
portBASE_TYPE xGotValue;
/* Just to stop warning messages. */
( void ) pvParameters;
for( ;; )
{
do
{
/* Suspending the scheduler here is fairly pointless and
undesirable for a normal application. It is done here purely
to test the scheduler. The inner xTaskResumeAll() should
never return pdTRUE as the scheduler is still locked by the
outer call. */
vTaskSuspendAll();
{
vTaskSuspendAll();
{
xGotValue = xQueueReceive( xSuspendedTestQueue, ( void * ) &ulReceivedValue, priNO_BLOCK );
}
if( xTaskResumeAll() )
{
xSuspendedQueueReceiveError = pdTRUE;
}
}
xTaskResumeAll();
} while( xGotValue == pdFALSE );
if( ulReceivedValue != ulExpectedValue )
{
xSuspendedQueueReceiveError = pdTRUE;
}
++ulExpectedValue;
}
}
/*-----------------------------------------------------------*/
/* Called to check that all the created tasks are still running without error. */
portBASE_TYPE xAreDynamicPriorityTasksStillRunning( void )
{
/* Keep a history of the check variables so we know if it has been incremented
since the last call. */
static unsigned portSHORT usLastTaskCheck = ( unsigned portSHORT ) 0;
portBASE_TYPE xReturn = pdTRUE;
/* Check the tasks are still running by ensuring the check variable
is still incrementing. */
if( usCheckVariable == usLastTaskCheck )
{
/* The check has not incremented so an error exists. */
xReturn = pdFALSE;
}
if( xSuspendedQueueSendError == pdTRUE )
{
xReturn = pdFALSE;
}
if( xSuspendedQueueReceiveError == pdTRUE )
{
xReturn = pdFALSE;
}
usLastTaskCheck = usCheckVariable;
return xReturn;
}

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/*
FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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 as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
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
along with FreeRTOS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
***************************************************************************
*/
/**
* This version of flash .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.
*
* Three tasks are created, each of which flash an LED at a different rate. The first
* LED flashes every 200ms, the second every 400ms, the third every 600ms.
*
* The LED flash tasks provide instant visual feedback. They show that the scheduler
* is still operational.
*
* The PC port uses the standard parallel port for outputs, the Flashlite 186 port
* uses IO port F and the AVR port port B.
*
*/
/*
Changes from V2.0.0
+ Delay periods are now specified using variables and constants of
portTickType rather than unsigned portLONG.
Changes from V2.5.5
+ Calls to vTaskDelay() have been replaced with vTaskDelayUntil().
*/
#include <stdlib.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo program include files. */
#include "partest.h"
#include "flash.h"
#define ledSTACK_SIZE configMINIMAL_STACK_SIZE
#define ledNUMBER_OF_LEDS ( 3 )
#define ledFLASH_RATE_BASE ( ( portTickType ) 333 )
/* Variable used by the created tasks to calculate the LED number to use, and
the rate at which they should flash the LED. */
static volatile unsigned portBASE_TYPE uxFlashTaskNumber = 0;
/* The task that is created three times. */
static portTASK_FUNCTION_PROTO( vLEDFlashTask, pvParameters );
/*-----------------------------------------------------------*/
void vStartLEDFlashTasks( unsigned portBASE_TYPE uxPriority )
{
signed portBASE_TYPE xLEDTask;
/* Create the three tasks. */
for( xLEDTask = 0; xLEDTask < ledNUMBER_OF_LEDS; ++xLEDTask )
{
/* Spawn the task. */
xTaskCreate( vLEDFlashTask, ( const signed portCHAR * const ) "LEDx", ledSTACK_SIZE, NULL, uxPriority, ( xTaskHandle * ) NULL );
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vLEDFlashTask, pvParameters )
{
portTickType xFlashRate, xLastFlashTime;
unsigned portBASE_TYPE uxLED;
/* The parameters are not used. */
( void ) pvParameters;
/* Calculate the LED and flash rate. */
portENTER_CRITICAL();
{
/* See which of the eight LED's we should use. */
uxLED = uxFlashTaskNumber;
/* Update so the next task uses the next LED. */
uxFlashTaskNumber++;
}
portEXIT_CRITICAL();
xFlashRate = ledFLASH_RATE_BASE + ( ledFLASH_RATE_BASE * ( portTickType ) uxLED );
xFlashRate /= portTICK_RATE_MS;
/* We will turn the LED on and off again in the delay period, so each
delay is only half the total period. */
xFlashRate /= ( portTickType ) 2;
/* We need to initialise xLastFlashTime prior to the first call to
vTaskDelayUntil(). */
xLastFlashTime = xTaskGetTickCount();
for(;;)
{
/* Delay for half the flash period then turn the LED on. */
vTaskDelayUntil( &xLastFlashTime, xFlashRate );
vParTestToggleLED( uxLED );
/* Delay for half the flash period then turn the LED off. */
vTaskDelayUntil( &xLastFlashTime, xFlashRate );
vParTestToggleLED( uxLED );
}
} /*lint !e715 !e818 !e830 Function definition must be standard for task creation. */

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/*
FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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 as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
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
along with FreeRTOS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
***************************************************************************
*/
/*
* Creates eight tasks, each of which loops continuously performing an (emulated)
* floating point calculation.
*
* All the tasks run at the idle priority and never block or yield. This causes
* all eight tasks to time slice with the idle task. Running at the idle priority
* means that these tasks will get pre-empted any time another task is ready to run
* or a time slice occurs. More often than not the pre-emption will occur mid
* calculation, creating a good test of the schedulers context switch mechanism - a
* calculation producing an unexpected result could be a symptom of a corruption in
* the context of a task.
*/
#include <stdlib.h>
#include <math.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo program include files. */
#include "flop.h"
#define mathSTACK_SIZE configMINIMAL_STACK_SIZE
#define mathNUMBER_OF_TASKS ( 8 )
/* Four tasks, each of which performs a different floating point calculation.
Each of the four is created twice. */
static portTASK_FUNCTION_PROTO( vCompetingMathTask1, pvParameters );
static portTASK_FUNCTION_PROTO( vCompetingMathTask2, pvParameters );
static portTASK_FUNCTION_PROTO( vCompetingMathTask3, pvParameters );
static portTASK_FUNCTION_PROTO( vCompetingMathTask4, pvParameters );
/* These variables are used to check that all the tasks are still running. If a
task gets a calculation wrong it will
stop incrementing its check variable. */
static volatile unsigned portSHORT usTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };
/*-----------------------------------------------------------*/
void vStartMathTasks( unsigned portBASE_TYPE uxPriority )
{
xTaskCreate( vCompetingMathTask1, ( signed portCHAR * ) "Math1", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 0 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask2, ( signed portCHAR * ) "Math2", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 1 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask3, ( signed portCHAR * ) "Math3", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 2 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask4, ( signed portCHAR * ) "Math4", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 3 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask1, ( signed portCHAR * ) "Math5", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 4 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask2, ( signed portCHAR * ) "Math6", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 5 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask3, ( signed portCHAR * ) "Math7", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 6 ] ), uxPriority, NULL );
xTaskCreate( vCompetingMathTask4, ( signed portCHAR * ) "Math8", mathSTACK_SIZE, ( void * ) &( usTaskCheck[ 7 ] ), uxPriority, NULL );
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask1, pvParameters )
{
volatile portDOUBLE d1, d2, d3, d4;
volatile unsigned portSHORT *pusTaskCheckVariable;
volatile portDOUBLE dAnswer;
portSHORT sError = pdFALSE;
d1 = 123.4567;
d2 = 2345.6789;
d3 = -918.222;
dAnswer = ( d1 + d2 ) * d3;
/* The variable this task increments to show it is still running is passed in
as the parameter. */
pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
/* Keep performing a calculation and checking the result against a constant. */
for(;;)
{
d1 = 123.4567;
d2 = 2345.6789;
d3 = -918.222;
d4 = ( d1 + d2 ) * d3;
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* If the calculation does not match the expected constant, stop the
increment of the check variable. */
if( fabs( d4 - dAnswer ) > 0.001 )
{
sError = pdTRUE;
}
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
variable so we know this task is still running okay. */
( *pusTaskCheckVariable )++;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask2, pvParameters )
{
volatile portDOUBLE d1, d2, d3, d4;
volatile unsigned portSHORT *pusTaskCheckVariable;
volatile portDOUBLE dAnswer;
portSHORT sError = pdFALSE;
d1 = -389.38;
d2 = 32498.2;
d3 = -2.0001;
dAnswer = ( d1 / d2 ) * d3;
/* The variable this task increments to show it is still running is passed in
as the parameter. */
pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
/* Keep performing a calculation and checking the result against a constant. */
for( ;; )
{
d1 = -389.38;
d2 = 32498.2;
d3 = -2.0001;
d4 = ( d1 / d2 ) * d3;
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
/* If the calculation does not match the expected constant, stop the
increment of the check variable. */
if( fabs( d4 - dAnswer ) > 0.001 )
{
sError = pdTRUE;
}
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
variable so we know
this task is still running okay. */
( *pusTaskCheckVariable )++;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask3, pvParameters )
{
volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
volatile unsigned portSHORT *pusTaskCheckVariable;
const size_t xArraySize = 10;
size_t xPosition;
portSHORT sError = pdFALSE;
/* The variable this task increments to show it is still running is passed in
as the parameter. */
pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
/* Keep filling an array, keeping a running total of the values placed in the
array. Then run through the array adding up all the values. If the two totals
do not match, stop the check variable from incrementing. */
for( ;; )
{
dTotal1 = 0.0;
dTotal2 = 0.0;
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
pdArray[ xPosition ] = ( portDOUBLE ) xPosition + 5.5;
dTotal1 += ( portDOUBLE ) xPosition + 5.5;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
dTotal2 += pdArray[ xPosition ];
}
dDifference = dTotal1 - dTotal2;
if( fabs( dDifference ) > 0.001 )
{
sError = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
variable so we know this task is still running okay. */
( *pusTaskCheckVariable )++;
}
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( vCompetingMathTask4, pvParameters )
{
volatile portDOUBLE *pdArray, dTotal1, dTotal2, dDifference;
volatile unsigned portSHORT *pusTaskCheckVariable;
const size_t xArraySize = 10;
size_t xPosition;
portSHORT sError = pdFALSE;
/* The variable this task increments to show it is still running is passed in
as the parameter. */
pusTaskCheckVariable = ( unsigned portSHORT * ) pvParameters;
pdArray = ( portDOUBLE * ) pvPortMalloc( xArraySize * sizeof( portDOUBLE ) );
/* Keep filling an array, keeping a running total of the values placed in the
array. Then run through the array adding up all the values. If the two totals
do not match, stop the check variable from incrementing. */
for( ;; )
{
dTotal1 = 0.0;
dTotal2 = 0.0;
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
pdArray[ xPosition ] = ( portDOUBLE ) xPosition * 12.123;
dTotal1 += ( portDOUBLE ) xPosition * 12.123;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
for( xPosition = 0; xPosition < xArraySize; xPosition++ )
{
dTotal2 += pdArray[ xPosition ];
}
dDifference = dTotal1 - dTotal2;
if( fabs( dDifference ) > 0.001 )
{
sError = pdTRUE;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
if( sError == pdFALSE )
{
/* If the calculation has always been correct, increment the check
variable so we know this task is still running okay. */
( *pusTaskCheckVariable )++;
}
}
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */
portBASE_TYPE xAreMathsTaskStillRunning( void )
{
/* Keep a history of the check variables so we know if they have been incremented
since the last call. */
static unsigned portSHORT usLastTaskCheck[ mathNUMBER_OF_TASKS ] = { ( unsigned portSHORT ) 0 };
portBASE_TYPE xReturn = pdTRUE, xTask;
/* Check the maths tasks are still running by ensuring their check variables
are still incrementing. */
for( xTask = 0; xTask < mathNUMBER_OF_TASKS; xTask++ )
{
if( usTaskCheck[ xTask ] == usLastTaskCheck[ xTask ] )
{
/* The check has not incremented so an error exists. */
xReturn = pdFALSE;
}
usLastTaskCheck[ xTask ] = usTaskCheck[ xTask ];
}
return xReturn;
}

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/*
FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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 as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
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
along with FreeRTOS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
***************************************************************************
*/
/*
* 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 ( ( portLONG ) 123 )
#define intgCONST2 ( ( portLONG ) 234567 )
#define intgCONST3 ( ( portLONG ) -3 )
#define intgCONST4 ( ( portLONG ) 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 )
{
portSHORT sTask;
for( sTask = 0; sTask < intgNUMBER_OF_TASKS; sTask++ )
{
xTaskCreate( vCompeteingIntMathTask, ( const signed portCHAR * const ) "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 portLONG lValue;
portSHORT 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;
portSHORT 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;
}

254
Demo/Common/Minimal/semtest.c Normal file
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@ -0,0 +1,254 @@
/*
FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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 as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
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
along with FreeRTOS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
***************************************************************************
*/
/*
* 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 portLONG ) 0xfff )
#define semtstNON_BLOCKING_EXPECTED_VALUE ( ( unsigned portLONG ) 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 portLONG *pulSharedVariable;
portTickType xBlockTime;
} xSemaphoreParameters;
/* Variables used to check that all the tasks are still running without errors. */
static volatile portSHORT sCheckVariables[ semtstNUM_TASKS ] = { 0 };
static volatile portSHORT 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 portLONG * ) pvPortMalloc( sizeof( unsigned portLONG ) );
/* 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 portCHAR * ) "PolSEM1", semtstSTACK_SIZE, ( void * ) pxFirstSemaphoreParameters, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
xTaskCreate( prvSemaphoreTest, ( signed portCHAR * ) "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 portLONG * ) pvPortMalloc( sizeof( unsigned portLONG ) );
*( pxSecondSemaphoreParameters->pulSharedVariable ) = semtstBLOCKING_EXPECTED_VALUE;
pxSecondSemaphoreParameters->xBlockTime = xBlockTime / portTICK_RATE_MS;
xTaskCreate( prvSemaphoreTest, ( signed portCHAR * ) "BlkSEM1", semtstSTACK_SIZE, ( void * ) pxSecondSemaphoreParameters, uxPriority, ( xTaskHandle * ) NULL );
xTaskCreate( prvSemaphoreTest, ( signed portCHAR * ) "BlkSEM2", semtstSTACK_SIZE, ( void * ) pxSecondSemaphoreParameters, uxPriority, ( xTaskHandle * ) NULL );
}
}
}
/*-----------------------------------------------------------*/
static portTASK_FUNCTION( prvSemaphoreTest, pvParameters )
{
xSemaphoreParameters *pxParameters;
volatile unsigned portLONG *pulSharedVariable, ulExpectedValue;
unsigned portLONG ulCounter;
portSHORT 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 portLONG ) 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 portSHORT 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;
}