mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-08-19 17:48:33 -04:00
Changes to the FreeRTOS code:
+ Introduced xTaskCreateStatic() to allow tasks to be created without any dynamic memory allocation. + When a task notification is used to unblock a task from an ISR, but the xHigherPriorityTaskWoken parameter is not used, then pend a context switch to occur during the next tick interrupt. Demo application changes: + Updated TaskNotify.c to test the case where a task is unblocked by an ISR, but does not use its xHigherPriorityTaskWoken parameter. + Updated the Win32 MSVC project to test statically allocated tasks being created and deleted. + Introduced StaticAllocation.c standard demo task.
This commit is contained in:
Richard Barry
parent
7d6609f8db
commit
ea95020ffd
15 changed files with 839 additions and 115 deletions
310
FreeRTOS/Demo/Common/Minimal/StaticAllocation.c
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310
FreeRTOS/Demo/Common/Minimal/StaticAllocation.c
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@ -0,0 +1,310 @@
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/*
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FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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***************************************************************************
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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***************************************************************************
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available on the following
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link: http://www.freertos.org/a00114.html
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that is more than just the market leader, it *
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* is the industry's de facto standard. *
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* *
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* Help yourself get started quickly while simultaneously helping *
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* to support the FreeRTOS project by purchasing a FreeRTOS *
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* tutorial book, reference manual, or both: *
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* http://www.FreeRTOS.org/Documentation *
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* *
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***************************************************************************
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http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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the FAQ page "My application does not run, what could be wrong?". Have you
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defined configASSERT()?
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http://www.FreeRTOS.org/support - In return for receiving this top quality
|
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embedded software for free we request you assist our global community by
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participating in the support forum.
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http://www.FreeRTOS.org/training - Investing in training allows your team to
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be as productive as possible as early as possible. Now you can receive
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FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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Ltd, and the world's leading authority on the world's leading RTOS.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
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http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
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Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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/*
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* Demonstrates how to create FreeRTOS objects using pre-allocated memory,
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* rather than the normal dynamically allocated memory. Currently only tasks
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* are being allocated statically.
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*
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* Two buffers are required by a task - one that is used by the task as its
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* stack, and one that holds the task's control block (TCB).
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* prvStaticallyAllocatedTaskCreator() creates and deletes tasks with all
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* possible combinations of statically allocated and dynamically allocated
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* stacks and TCBs.
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*/
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Demo program include files. */
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#include "StaticAllocation.h"
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#define staticTASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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/*
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* A task that is created multiple times, using both statically and dynamically
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* allocated stack and TCB.
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*/
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static void prvStaticallyAllocatedTask( void *pvParameters );
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/*
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* The task that creates and deletes the prvStaticallyAllocatedTask() task,
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* using various priorities, and sometimes with statically and sometimes
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* dynamically allocated stack and TCB.
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*/
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static void prvStaticallyAllocatedTaskCreator( void *pvParameters );
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/*
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* Utility function to create pseudo random numbers.
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*/
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static UBaseType_t prvRand( void );
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/*
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* The task that creates and deletes other tasks has to delay occasionally to
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* ensure lower priority tasks are not starved of processing time. A pseudo
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* random delay time is used just to add a little bit of randomisation into the
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* execution pattern. prvGetNextDelayTime() generates the pseudo random delay.
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*/
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static TickType_t prvGetNextDelayTime( void );
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/*-----------------------------------------------------------*/
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/* DummyTCB_t is a publicly accessible structure that has the same size and
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alignment requirements as the real TCB structure. It is provided as a mechanism
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for applications to know the size of the TCB (which is dependent on the
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architecture and configuration file settings) without breaking the strict data
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hiding policy by exposing the real TCB. This DummyTCB_t variable is passed into
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the xTaskCreateStatic() function, and will hold the task's TCB. */
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static DummyTCB_t xTCBBuffer;
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/* This is the stack that will be used by the task. The alignment requirements
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for the stack depend on the architecture, and the method of forcing an alignment
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is dependent on the compiler, but any bad alignment is corrected inside the
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FreeRTOS code. */
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static StackType_t uxStackBuffer[ configMINIMAL_STACK_SIZE ];
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/* Used by the pseudo random number generating function. */
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static uint32_t ulNextRand = 0;
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/* Used so a check task can ensure this test is still executing, and not
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stalled. */
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static volatile UBaseType_t uxCycleCounter = 0;
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/*-----------------------------------------------------------*/
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void vStartStaticallyAllocatedTasks( void )
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{
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/* Create a single task, which then repeatedly creates and deletes the
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task implemented by prvStaticallyAllocatedTask() at various different
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priorities, and both with and without statically allocated TCB and stack. */
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xTaskCreate( prvStaticallyAllocatedTaskCreator, "StatCreate", configMINIMAL_STACK_SIZE, NULL, staticTASK_PRIORITY, NULL );
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/* Pseudo seed the random number generator. */
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ulNextRand = ( uint32_t ) prvRand;
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}
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/*-----------------------------------------------------------*/
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static void prvStaticallyAllocatedTaskCreator( void *pvParameters )
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{
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TaskHandle_t xCreatedTask;
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BaseType_t xReturned;
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/* Avoid compiler warnings. */
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( void ) pvParameters;
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for( ;; )
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{
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/* Create the task. xTaskCreateStatic() has two more parameters than
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the usual xTaskCreate() function. The first new parameter is a pointer to
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the pre-allocated stack. The second new parameter is a pointer to the
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DummyTCB_t structure that will hold the task's TCB. If either pointer is
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passed as NULL then the respective object will be allocated dynamically as
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if xTaskCreate() had been called. */
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xReturned = xTaskCreateStatic(
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prvStaticallyAllocatedTask, /* Function that implements the task. */
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"Static", /* Human readable name for the task. */
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configMINIMAL_STACK_SIZE, /* Task's stack size, in words (not bytes!). */
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NULL, /* Parameter to pass into the task. */
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tskIDLE_PRIORITY, /* The priority of the task. */
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&xCreatedTask, /* Handle of the task being created. */
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&( uxStackBuffer[ 0 ] ), /* The buffer to use as the task's stack. */
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&xTCBBuffer ); /* The variable that will hold that task's TCB. */
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/* Check the task was created correctly, then delete the task. */
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configASSERT( xReturned == pdPASS );
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( void ) xReturned; /* In case configASSERT() is not defined. */
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vTaskDelete( xCreatedTask );
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/* Ensure lower priority tasks get CPU time. */
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vTaskDelay( prvGetNextDelayTime() );
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/* Create and delete the task a few times again - testing both static and
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dynamic allocation for the stack and TCB. */
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xReturned = xTaskCreateStatic(
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prvStaticallyAllocatedTask, /* Function that implements the task. */
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"Static", /* Human readable name for the task. */
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configMINIMAL_STACK_SIZE, /* Task's stack size, in words (not bytes!). */
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NULL, /* Parameter to pass into the task. */
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staticTASK_PRIORITY + 1, /* The priority of the task. */
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&xCreatedTask, /* Handle of the task being created. */
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NULL, /* This time, dynamically allocate the stack. */
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&xTCBBuffer ); /* The variable that will hold that task's TCB. */
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configASSERT( xReturned == pdPASS );
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( void ) xReturned; /* In case configASSERT() is not defined. */
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vTaskDelete( xCreatedTask );
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/* Just to show the check task that this task is still executing. */
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uxCycleCounter++;
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/* Ensure lower priority tasks get CPU time. */
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vTaskDelay( prvGetNextDelayTime() );
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xReturned = xTaskCreateStatic(
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prvStaticallyAllocatedTask, /* Function that implements the task. */
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"Static", /* Human readable name for the task. */
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configMINIMAL_STACK_SIZE, /* Task's stack size, in words (not bytes!). */
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NULL, /* Parameter to pass into the task. */
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staticTASK_PRIORITY - 1, /* The priority of the task. */
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&xCreatedTask, /* Handle of the task being created. */
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&( uxStackBuffer[ 0 ] ), /* The buffer to use as the task's stack. */
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NULL ); /* This time dynamically allocate the TCB. */
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configASSERT( xReturned == pdPASS );
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( void ) xReturned; /* In case configASSERT() is not defined. */
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vTaskDelete( xCreatedTask );
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/* Ensure lower priority tasks get CPU time. */
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vTaskDelay( prvGetNextDelayTime() );
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xReturned = xTaskCreateStatic(
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prvStaticallyAllocatedTask, /* Function that implements the task. */
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"Static", /* Human readable name for the task. */
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configMINIMAL_STACK_SIZE, /* Task's stack size, in words (not bytes!). */
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NULL, /* Parameter to pass into the task. */
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staticTASK_PRIORITY, /* The priority of the task. */
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&xCreatedTask, /* Handle of the task being created. */
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NULL, /* This time dynamically allocate the stack and TCB. */
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NULL ); /* This time dynamically allocate the stack and TCB. */
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configASSERT( xReturned == pdPASS );
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( void ) xReturned; /* In case configASSERT() is not defined. */
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vTaskDelete( xCreatedTask );
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/* Ensure lower priority tasks get CPU time. */
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vTaskDelay( prvGetNextDelayTime() );
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/* Just to show the check task that this task is still executing. */
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uxCycleCounter++;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvStaticallyAllocatedTask( void *pvParameters )
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{
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( void ) pvParameters;
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/* The created task doesn't do anything - just waits to get deleted. */
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vTaskSuspend( NULL );
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}
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/*-----------------------------------------------------------*/
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static UBaseType_t prvRand( void )
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{
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const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL;
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/* Utility function to generate a pseudo random number. */
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ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;
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return( ( ulNextRand >> 16UL ) & 0x7fffUL );
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}
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/*-----------------------------------------------------------*/
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static TickType_t prvGetNextDelayTime( void )
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{
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TickType_t xNextDelay;
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const TickType_t xMaxDelay = pdMS_TO_TICKS( ( TickType_t ) 150 );
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const TickType_t xMinDelay = pdMS_TO_TICKS( ( TickType_t ) 75 );
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const TickType_t xTinyDelay = pdMS_TO_TICKS( ( TickType_t ) 2 );
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/* Generate the next delay time. This is kept within a narrow band so as
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not to disturb the timing of other tests - but does add in some pseudo
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randomisation into the tests. */
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do
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{
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xNextDelay = prvRand() % xMaxDelay;
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/* Just in case this loop is executed lots of times. */
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vTaskDelay( xTinyDelay );
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} while ( xNextDelay < xMinDelay );
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return xNextDelay;
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}
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/*-----------------------------------------------------------*/
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BaseType_t xAreStaticAllocationTasksStillRunning( void )
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{
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static UBaseType_t uxLastCycleCounter = 0;
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BaseType_t xReturn;
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if( uxCycleCounter == uxLastCycleCounter )
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{
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xReturn = pdFAIL;
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}
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else
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{
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xReturn = pdPASS;
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uxLastCycleCounter = uxCycleCounter;
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}
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return xReturn;
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}
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@ -425,6 +425,7 @@ static void prvNotifiedTask( void *pvParameters )
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{
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const TickType_t xMaxPeriod = pdMS_TO_TICKS( 90 ), xMinPeriod = pdMS_TO_TICKS( 10 ), xDontBlock = 0;
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TickType_t xPeriod;
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const uint32_t ulCyclesToRaisePriority = 50UL;
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/* Remove compiler warnings about unused parameters. */
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( void ) pvParameters;
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@ -482,9 +483,28 @@ TickType_t xPeriod;
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the function call. */
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ulTimerNotificationsReceived += ulTaskNotifyTake( pdTRUE, xPeriod );
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/* Wait for the next notification again, clearing all notifications if
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one is received, but this time blocking indefinitely. */
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ulTimerNotificationsReceived += ulTaskNotifyTake( pdTRUE, portMAX_DELAY );
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/* Occasionally raise the priority of the task being notified to test
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the path where the task is notified from an ISR and becomes the highest
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priority ready state task, but the pxHigherPriorityTaskWoken parameter
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is NULL (which it is in the tick hook that sends notifications to this
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task. */
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if( ( ulNotifyCycleCount % ulCyclesToRaisePriority ) == 0 )
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{
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vTaskPrioritySet( xTaskToNotify, configMAX_PRIORITIES - 1 );
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/* Wait for the next notification again, clearing all notifications if
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one is received, but this time blocking indefinitely. */
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ulTimerNotificationsReceived += ulTaskNotifyTake( pdTRUE, portMAX_DELAY );
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/* Reset the priority. */
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vTaskPrioritySet( xTaskToNotify, notifyTASK_PRIORITY );
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}
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else
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{
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/* Wait for the next notification again, clearing all notifications if
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one is received, but this time blocking indefinitely. */
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ulTimerNotificationsReceived += ulTaskNotifyTake( pdTRUE, portMAX_DELAY );
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}
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/* Incremented to show the task is still running. */
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ulNotifyCycleCount++;
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@ -114,9 +114,11 @@ task can tell if any of the suicidal tasks have failed to die.
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*/
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static volatile UBaseType_t uxTasksRunningAtStart = 0;
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/* Tasks are deleted by the idle task. Under heavy load the idle task might
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not get much processing time, so it would be legitimate for several tasks to
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remain undeleted for a short period. */
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/* When a task deletes itself, it stack and TCB are cleaned up by the Idle task.
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Under heavy load the idle task might not get much processing time, so it would
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be legitimate for several tasks to remain undeleted for a short period. There
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may also be a few other unexpected tasks if, for example, the tasks that test
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static allocation are also being used. */
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static const UBaseType_t uxMaxNumberOfExtraTasksRunning = 3;
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/* Used to store a handle to the task that should be killed by a suicidal task,
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@ -151,7 +153,9 @@ UBaseType_t *puxPriority;
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If this is done, then uxTasksRunningAtStart needs incrementing again as that
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too is created when the scheduler is started. */
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#if configUSE_TIMERS == 1
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{
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uxTasksRunningAtStart++;
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}
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#endif
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}
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/*-----------------------------------------------------------*/
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@ -125,7 +125,7 @@ be overridden by a definition in FreeRTOSConfig.h. */
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/* Misc. */
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#define recmuSHORT_DELAY ( pdMS_TO_TICKS( 20 ) )
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#define recmuNO_DELAY ( ( TickType_t ) 0 )
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#define recmuEIGHT_TICK_DELAY ( ( TickType_t ) 8 )
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#define recmu15ms_DELAY ( pdMS_TO_TICKS( 15 ) )
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/* The three tasks as described at the top of this file. */
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static void prvRecursiveMutexControllingTask( void *pvParameters );
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@ -199,7 +199,7 @@ UBaseType_t ux;
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long enough to ensure the polling task will execute again before the
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block time expires. If the block time does expire then the error
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flag will be set here. */
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if( xSemaphoreTakeRecursive( xMutex, recmuEIGHT_TICK_DELAY ) != pdPASS )
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if( xSemaphoreTakeRecursive( xMutex, recmu15ms_DELAY ) != pdPASS )
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{
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xErrorOccurred = pdTRUE;
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}
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