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411
FreeRTOS/Demo/WIN32-MSVC/DemosModifiedForLowTickRate/recmutex.c Normal file
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/*
FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and thank you for your support! *
* *
***************************************************************************
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
>>>NOTE<<< The modification to the GPL is included to allow you to
distribute a combined work that includes FreeRTOS without being obliged to
provide the source code for proprietary components outside of the FreeRTOS
kernel. FreeRTOS is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
more details. You should have received a copy of the GNU General Public
License and the FreeRTOS license exception along with FreeRTOS; if not it
can be viewed here: http://www.freertos.org/a00114.html and also obtained
by writing to Richard Barry, contact details for whom are available on the
FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
*/
/*
The tasks defined on this page demonstrate the use of recursive mutexes.
For recursive mutex functionality the created mutex should be created using
xSemaphoreCreateRecursiveMutex(), then be manipulated
using the xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() API
functions.
This demo creates three tasks all of which access the same recursive mutex:
prvRecursiveMutexControllingTask() has the highest priority so executes
first and grabs the mutex. It then performs some recursive accesses -
between each of which it sleeps for a short period to let the lower
priority tasks execute. When it has completed its demo functionality
it gives the mutex back before suspending itself.
prvRecursiveMutexBlockingTask() attempts to access the mutex by performing
a blocking 'take'. The blocking task has a lower priority than the
controlling task so by the time it executes the mutex has already been
taken by the controlling task, causing the blocking task to block. It
does not unblock until the controlling task has given the mutex back,
and it does not actually run until the controlling task has suspended
itself (due to the relative priorities). When it eventually does obtain
the mutex all it does is give the mutex back prior to also suspending
itself. At this point both the controlling task and the blocking task are
suspended.
prvRecursiveMutexPollingTask() runs at the idle priority. It spins round
a tight loop attempting to obtain the mutex with a non-blocking call. As
the lowest priority task it will not successfully obtain the mutex until
both the controlling and blocking tasks are suspended. Once it eventually
does obtain the mutex it first unsuspends both the controlling task and
blocking task prior to giving the mutex back - resulting in the polling
task temporarily inheriting the controlling tasks priority.
*/
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
/* Demo app include files. */
#include "recmutex.h"
/* Priorities assigned to the three tasks. */
#define recmuCONTROLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define recmuBLOCKING_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define recmuPOLLING_TASK_PRIORITY ( tskIDLE_PRIORITY + 0 )
/* In this version the tick period is very long, so the short delay cannot be
for too many ticks, or the check task will execute and find that the recmutex
tasks have not completed their functionality and then signal an error. The
delay does however have to be long enough to allow the lower priority tasks
a chance of executing - this is basically achieved by reducing the number
of times the loop that takes/gives the recursive mutex executes. */
#define recmuMAX_COUNT ( 2 )
#define recmuSHORT_DELAY ( 20 )
#define recmuNO_DELAY ( ( portTickType ) 0 )
#define recmuFIVE_TICK_DELAY ( ( portTickType ) 5 )
/* The three tasks as described at the top of this file. */
static void prvRecursiveMutexControllingTask( void *pvParameters );
static void prvRecursiveMutexBlockingTask( void *pvParameters );
static void prvRecursiveMutexPollingTask( void *pvParameters );
/* The mutex used by the demo. */
static xSemaphoreHandle xMutex;
/* Variables used to detect and latch errors. */
static volatile portBASE_TYPE xErrorOccurred = pdFALSE, xControllingIsSuspended = pdFALSE, xBlockingIsSuspended = pdFALSE;
static volatile unsigned portBASE_TYPE uxControllingCycles = 0, uxBlockingCycles = 0, uxPollingCycles = 0;
/* Handles of the two higher priority tasks, required so they can be resumed
(unsuspended). */
static xTaskHandle xControllingTaskHandle, xBlockingTaskHandle;
/*-----------------------------------------------------------*/
void vStartRecursiveMutexTasks( void )
{
/* Just creates the mutex and the three tasks. */
xMutex = xSemaphoreCreateRecursiveMutex();
/* vQueueAddToRegistry() adds the mutex to the registry, if one is
in use. The registry is provided as a means for kernel aware
debuggers to locate mutex and has no purpose if a kernel aware debugger
is not being used. The call to vQueueAddToRegistry() will be removed
by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
defined to be less than 1. */
vQueueAddToRegistry( ( xQueueHandle ) xMutex, ( signed portCHAR * ) "Recursive_Mutex" );
if( xMutex != NULL )
{
xTaskCreate( prvRecursiveMutexControllingTask, ( signed portCHAR * ) "Rec1Ctrl", configMINIMAL_STACK_SIZE, NULL, recmuCONTROLLING_TASK_PRIORITY, &xControllingTaskHandle );
xTaskCreate( prvRecursiveMutexBlockingTask, ( signed portCHAR * ) "Rec2Blck", configMINIMAL_STACK_SIZE, NULL, recmuBLOCKING_TASK_PRIORITY, &xBlockingTaskHandle );
xTaskCreate( prvRecursiveMutexPollingTask, ( signed portCHAR * ) "Rec3Poll", configMINIMAL_STACK_SIZE, NULL, recmuPOLLING_TASK_PRIORITY, NULL );
}
}
/*-----------------------------------------------------------*/
static void prvRecursiveMutexControllingTask( void *pvParameters )
{
unsigned portBASE_TYPE ux;
/* Just to remove compiler warning. */
( void ) pvParameters;
for( ;; )
{
/* Should not be able to 'give' the mutex, as we have not yet 'taken'
it. The first time through, the mutex will not have been used yet,
subsequent times through, at this point the mutex will be held by the
polling task. */
if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )
{
xErrorOccurred = pdTRUE;
}
for( ux = 0; ux < recmuMAX_COUNT; ux++ )
{
/* We should now be able to take the mutex as many times as
we like.
The first time through the mutex will be immediately available, on
subsequent times through the mutex will be held by the polling task
at this point and this Take will cause the polling task to inherit
the priority of this task. In this case the block time must be
long enough to ensure the polling task will execute again before the
block time expires. If the block time does expire then the error
flag will be set here. */
if( xSemaphoreTakeRecursive( xMutex, recmuFIVE_TICK_DELAY ) != pdPASS )
{
xErrorOccurred = pdTRUE;
}
/* Ensure the other task attempting to access the mutex (and the
other demo tasks) are able to execute to ensure they either block
(where a block time is specified) or return an error (where no
block time is specified) as the mutex is held by this task. */
vTaskDelay( recmuSHORT_DELAY );
}
/* For each time we took the mutex, give it back. */
for( ux = 0; ux < recmuMAX_COUNT; ux++ )
{
/* Ensure the other task attempting to access the mutex (and the
other demo tasks) are able to execute. */
vTaskDelay( recmuSHORT_DELAY );
/* We should now be able to give the mutex as many times as we
took it. When the mutex is available again the Blocking task
should be unblocked but not run because it has a lower priority
than this task. The polling task should also not run at this point
as it too has a lower priority than this task. */
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
{
xErrorOccurred = pdTRUE;
}
}
/* Having given it back the same number of times as it was taken, we
should no longer be the mutex owner, so the next give should fail. */
if( xSemaphoreGiveRecursive( xMutex ) == pdPASS )
{
xErrorOccurred = pdTRUE;
}
/* Keep count of the number of cycles this task has performed so a
stall can be detected. */
uxControllingCycles++;
/* Suspend ourselves so the blocking task can execute. */
xControllingIsSuspended = pdTRUE;
vTaskSuspend( NULL );
xControllingIsSuspended = pdFALSE;
}
}
/*-----------------------------------------------------------*/
static void prvRecursiveMutexBlockingTask( void *pvParameters )
{
/* Just to remove compiler warning. */
( void ) pvParameters;
for( ;; )
{
/* This task will run while the controlling task is blocked, and the
controlling task will block only once it has the mutex - therefore
this call should block until the controlling task has given up the
mutex, and not actually execute past this call until the controlling
task is suspended. */
if( xSemaphoreTakeRecursive( xMutex, portMAX_DELAY ) == pdPASS )
{
if( xControllingIsSuspended != pdTRUE )
{
/* Did not expect to execute until the controlling task was
suspended. */
xErrorOccurred = pdTRUE;
}
else
{
/* Give the mutex back before suspending ourselves to allow
the polling task to obtain the mutex. */
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
{
xErrorOccurred = pdTRUE;
}
xBlockingIsSuspended = pdTRUE;
vTaskSuspend( NULL );
xBlockingIsSuspended = pdFALSE;
}
}
else
{
/* We should not leave the xSemaphoreTakeRecursive() function
until the mutex was obtained. */
xErrorOccurred = pdTRUE;
}
/* The controlling and blocking tasks should be in lock step. */
if( uxControllingCycles != ( uxBlockingCycles + 1 ) )
{
xErrorOccurred = pdTRUE;
}
/* Keep count of the number of cycles this task has performed so a
stall can be detected. */
uxBlockingCycles++;
}
}
/*-----------------------------------------------------------*/
static void prvRecursiveMutexPollingTask( void *pvParameters )
{
/* Just to remove compiler warning. */
( void ) pvParameters;
for( ;; )
{
/* Keep attempting to obtain the mutex. We should only obtain it when
the blocking task has suspended itself, which in turn should only
happen when the controlling task is also suspended. */
if( xSemaphoreTakeRecursive( xMutex, recmuNO_DELAY ) == pdPASS )
{
/* Is the blocking task suspended? */
if( ( xBlockingIsSuspended != pdTRUE ) || ( xControllingIsSuspended != pdTRUE ) )
{
xErrorOccurred = pdTRUE;
}
else
{
/* Keep count of the number of cycles this task has performed
so a stall can be detected. */
uxPollingCycles++;
/* We can resume the other tasks here even though they have a
higher priority than the polling task. When they execute they
will attempt to obtain the mutex but fail because the polling
task is still the mutex holder. The polling task (this task)
will then inherit the higher priority. The Blocking task will
block indefinitely when it attempts to obtain the mutex, the
Controlling task will only block for a fixed period and an
error will be latched if the polling task has not returned the
mutex by the time this fixed period has expired. */
vTaskResume( xBlockingTaskHandle );
vTaskResume( xControllingTaskHandle );
/* The other two tasks should now have executed and no longer
be suspended. */
if( ( xBlockingIsSuspended == pdTRUE ) || ( xControllingIsSuspended == pdTRUE ) )
{
xErrorOccurred = pdTRUE;
}
/* Release the mutex, disinheriting the higher priority again. */
if( xSemaphoreGiveRecursive( xMutex ) != pdPASS )
{
xErrorOccurred = pdTRUE;
}
}
}
#if configUSE_PREEMPTION == 0
{
taskYIELD();
}
#endif
}
}
/*-----------------------------------------------------------*/
/* This is called to check that all the created tasks are still running. */
portBASE_TYPE xAreRecursiveMutexTasksStillRunning( void )
{
portBASE_TYPE xReturn;
static unsigned portBASE_TYPE uxLastControllingCycles = 0, uxLastBlockingCycles = 0, uxLastPollingCycles = 0;
/* Is the controlling task still cycling? */
if( uxLastControllingCycles == uxControllingCycles )
{
xErrorOccurred = pdTRUE;
}
else
{
uxLastControllingCycles = uxControllingCycles;
}
/* Is the blocking task still cycling? */
if( uxLastBlockingCycles == uxBlockingCycles )
{
xErrorOccurred = pdTRUE;
}
else
{
uxLastBlockingCycles = uxBlockingCycles;
}
/* Is the polling task still cycling? */
if( uxLastPollingCycles == uxPollingCycles )
{
xErrorOccurred = pdTRUE;
}
else
{
uxLastPollingCycles = uxPollingCycles;
}
if( xErrorOccurred == pdTRUE )
{
xReturn = pdFAIL;
}
else
{
xReturn = pdTRUE;
}
return xReturn;
}

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/*
FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and thank you for your support! *
* *
***************************************************************************
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
>>>NOTE<<< The modification to the GPL is included to allow you to
distribute a combined work that includes FreeRTOS without being obliged to
provide the source code for proprietary components outside of the FreeRTOS
kernel. FreeRTOS is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
more details. You should have received a copy of the GNU General Public
License and the FreeRTOS license exception along with FreeRTOS; if not it
can be viewed here: http://www.freertos.org/a00114.html and also obtained
by writing to Richard Barry, contact details for whom are available on the
FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*----------------------------------------------------------*/
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 1
#define configUSE_TICK_HOOK 1
#define configTICK_RATE_HZ ( 1000 ) /* In this non-real time simulated environment the tick frequency has to be at least a multiple of the Win32 tick frequency, and therefore very slow. */
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 50 ) /* In this simulated case, the stack only has to hold one small structure as the real stack is part of the win32 thread. */
#define configTOTAL_HEAP_SIZE ( ( size_t ) 0 ) /* This parameter has no effect when heap_3.c is included in the project. */
#define configMAX_TASK_NAME_LEN ( 12 )
#define configUSE_TRACE_FACILITY 1
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
#define configUSE_CO_ROUTINES 0
#define configUSE_MUTEXES 1
#define configGENERATE_RUN_TIME_STATS 0
#define configCHECK_FOR_STACK_OVERFLOW 0
#define configUSE_RECURSIVE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 0
#define configUSE_MALLOC_FAILED_HOOK 1
#define configUSE_APPLICATION_TASK_TAG 0
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_ALTERNATIVE_API 1
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY 2
#define configTIMER_QUEUE_LENGTH 20
#define configTIMER_TASK_STACK_DEPTH ( configMINIMAL_STACK_SIZE * 2 )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 7 )
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTimerGetTimerDaemonTaskHandle 1
#define INCLUDE_xTaskGetIdleTaskHandle 1
#define INCLUDE_pcTaskGetTaskName 1
extern void vAssertCalled( void );
#define configASSERT( x ) if( ( x ) == 0 ) vAssertCalled()
#endif /* FREERTOS_CONFIG_H */

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Microsoft Visual Studio Solution File, Format Version 11.00
# Visual C++ Express 2010
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "WIN32", "WIN32.vcxproj", "{C686325E-3261-42F7-AEB1-DDE5280E1CEB}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Win32 = Debug|Win32
Release|Win32 = Release|Win32
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{C686325E-3261-42F7-AEB1-DDE5280E1CEB}.Debug|Win32.ActiveCfg = Debug|Win32
{C686325E-3261-42F7-AEB1-DDE5280E1CEB}.Debug|Win32.Build.0 = Debug|Win32
{C686325E-3261-42F7-AEB1-DDE5280E1CEB}.Release|Win32.ActiveCfg = Release|Win32
{C686325E-3261-42F7-AEB1-DDE5280E1CEB}.Release|Win32.Build.0 = Release|Win32
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
EndGlobal

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/*
FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and thank you for your support! *
* *
***************************************************************************
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
>>>NOTE<<< The modification to the GPL is included to allow you to
distribute a combined work that includes FreeRTOS without being obliged to
provide the source code for proprietary components outside of the FreeRTOS
kernel. FreeRTOS is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
more details. You should have received a copy of the GNU General Public
License and the FreeRTOS license exception along with FreeRTOS; if not it
can be viewed here: http://www.freertos.org/a00114.html and also obtained
by writing to Richard Barry, contact details for whom are available on the
FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
*/
/*
*******************************************************************************
* -NOTE- The Win32 port is a simulation (or is that emulation?) only! Do not
* expect to get real time behaviour from the Win32 port or this demo
* application. It is provided as a convenient development and demonstration
* test bed only. This was tested using Windows XP on a dual core laptop.
*
* - READ THE WEB DOCUMENTATION FOR THIS PORT FOR MORE INFORMATION ON USING IT -
*******************************************************************************
*
* main() creates all the demo application tasks, then starts the scheduler.
* The web documentation provides more details of the standard demo application
* tasks, which provide no particular functionality but do provide a good
* example of how to use the FreeRTOS API.
*
* In addition to the standard demo tasks, the following tasks and tests are
* defined and/or created within this file:
*
* "Check" task - This only executes every five seconds but has a high priority
* to ensure it gets processor time. Its main function is to check that all the
* standard demo tasks are still operational. While no errors have been
* discovered the check task will print out "OK" and the current simulated tick
* time. If an error is discovered in the execution of a task then the check
* task will print out an appropriate error message.
*
*/
/* Standard includes. */
#include <stdio.h>
/* Kernel includes. */
#include <FreeRTOS.h>
#include "task.h"
#include "queue.h"
#include "timers.h"
#include "semphr.h"
/* Standard demo includes. */
#include "BlockQ.h"
#include "integer.h"
#include "semtest.h"
#include "PollQ.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"
#include "flop.h"
#include "TimerDemo.h"
#include "countsem.h"
#include "death.h"
#include "dynamic.h"
/* Priorities at which the tasks are created. */
#define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
#define mainFLASH_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
#define mainuIP_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )
#define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
#define mainTIMER_TEST_PERIOD ( 50 )
/* Task function prototypes. */
static void prvCheckTask( void *pvParameters );
/* The variable into which error messages are latched. */
static char *pcStatusMessage = "OK";
/* This semaphore is created purely to test using the vSemaphoreDelete() and
semaphore tracing API functions. It has no other purpose. */
static xSemaphoreHandle xMutexToDelete = NULL;
/*-----------------------------------------------------------*/
int main( void )
{
/* Start the check task as described at the top of this file. */
xTaskCreate( prvCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Create the standard demo tasks. */
vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
vStartQueuePeekTasks();
vStartMathTasks( mainFLOP_TASK_PRIORITY );
vStartRecursiveMutexTasks();
vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
vStartCountingSemaphoreTasks();
vStartDynamicPriorityTasks();
/* The suicide tasks must be created last as they need to know how many
tasks were running prior to their creation. This then allows them to
ascertain whether or not the correct/expected number of tasks are running at
any given time. */
vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
/* Create the semaphore that will be deleted in the idle task hook. This
is done purely to test the use of vSemaphoreDelete(). */
xMutexToDelete = xSemaphoreCreateMutex();
/* Start the scheduler itself. */
vTaskStartScheduler();
/* Should never get here unless there was not enough heap space to create
the idle and other system tasks. */
return 0;
}
/*-----------------------------------------------------------*/
static void prvCheckTask( void *pvParameters )
{
portTickType xNextWakeTime;
const portTickType xCycleFrequency = 1000 / portTICK_RATE_MS;
/* Just to remove compiler warning. */
( void ) pvParameters;
/* Initialise xNextWakeTime - this only needs to be done once. */
xNextWakeTime = xTaskGetTickCount();
for( ;; )
{
/* Place this task in the blocked state until it is time to run again. */
vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
/* Check the standard demo tasks are running without error. */
if( xAreTimerDemoTasksStillRunning( xCycleFrequency ) != pdTRUE )
{
pcStatusMessage = "Error: TimerDemo";
}
else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
pcStatusMessage = "Error: IntMath";
}
else if( xAreGenericQueueTasksStillRunning() != pdTRUE )
{
pcStatusMessage = "Error: GenQueue";
}
else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
{
pcStatusMessage = "Error: QueuePeek";
}
else if( xAreBlockingQueuesStillRunning() != pdTRUE )
{
pcStatusMessage = "Error: BlockQueue";
}
else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
pcStatusMessage = "Error: SemTest";
}
else if( xArePollingQueuesStillRunning() != pdTRUE )
{
pcStatusMessage = "Error: PollQueue";
}
else if( xAreMathsTaskStillRunning() != pdPASS )
{
pcStatusMessage = "Error: Flop";
}
else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
{
pcStatusMessage = "Error: RecMutex";
}
else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
{
pcStatusMessage = "Error: CountSem";
}
else if( xIsCreateTaskStillRunning() != pdTRUE )
{
pcStatusMessage = "Error: Death";
}
else if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
{
pcStatusMessage = "Error: Dynamic\r\n";
}
/* This is the only task that uses stdout so its ok to call printf()
directly. */
printf( "%s - %d\r\n", pcStatusMessage, xTaskGetTickCount() );
}
}
/*-----------------------------------------------------------*/
void vApplicationIdleHook( void )
{
const unsigned long ulMSToSleep = 5;
xTaskHandle xIdleTaskHandle, xTimerTaskHandle;
signed char *pcTaskName;
const unsigned char ucConstQueueNumber = 0xaaU, ucConstTaskNumber = 0x55U;
/* These three functions are only meant for use by trace code, and not for
direct use from application code, hence their prototypes are not in queue.h. */
extern void vQueueSetQueueNumber( xQueueHandle pxQueue, unsigned char ucQueueNumber );
extern unsigned char ucQueueGetQueueNumber( xQueueHandle pxQueue );
extern unsigned char ucQueueGetQueueType( xQueueHandle pxQueue );
extern void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle );
extern unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask );
/* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
tasks waiting to be terminated by the idle task. */
Sleep( ulMSToSleep );
/* Demonstrate the use of the xTimerGetTimerDaemonTaskHandle() and
xTaskGetIdleTaskHandle() functions. Also try using the function that sets
the task number. */
xIdleTaskHandle = xTaskGetIdleTaskHandle();
xTimerTaskHandle = xTimerGetTimerDaemonTaskHandle();
vTaskSetTaskNumber( xIdleTaskHandle, ( unsigned long ) ucConstTaskNumber );
configASSERT( uxTaskGetTaskNumber( xIdleTaskHandle ) == ucConstTaskNumber );
/* This is the idle hook, so the current task handle should equal the
returned idle task handle. */
if( xTaskGetCurrentTaskHandle() != xIdleTaskHandle )
{
pcStatusMessage = "Error: Returned idle task handle was incorrect";
}
/* Check the timer task handle was returned correctly. */
pcTaskName = pcTaskGetTaskName( xTimerTaskHandle );
if( strcmp( pcTaskName, "Tmr Svc" ) != 0 )
{
pcStatusMessage = "Error: Returned timer task handle was incorrect";
}
/* If xMutexToDelete has not already been deleted, then delete it now.
This is done purely to demonstrate the use of, and test, the
vSemaphoreDelete() macro. Care must be taken not to delete a semaphore
that has tasks blocked on it. */
if( xMutexToDelete != NULL )
{
/* Before deleting the semaphore, test the function used to set its
number. This would normally only be done from trace software, rather
than application code. */
vQueueSetQueueNumber( xMutexToDelete, ucConstQueueNumber );
/* Before deleting the semaphore, test the functions used to get its
type and number. Again, these would normally only be done from trace
software, rather than application code. */
configASSERT( ucQueueGetQueueNumber( xMutexToDelete ) == ucConstQueueNumber );
configASSERT( ucQueueGetQueueType( xMutexToDelete ) == queueQUEUE_TYPE_MUTEX );
vSemaphoreDelete( xMutexToDelete );
xMutexToDelete = NULL;
}
}
/*-----------------------------------------------------------*/
void vApplicationMallocFailedHook( void )
{
/* Can be implemented if required, but probably not required in this
environment and running this demo. */
}
/*-----------------------------------------------------------*/
void vApplicationStackOverflowHook( void )
{
/* Can be implemented if required, but not required in this
environment and running this demo. */
}
/*-----------------------------------------------------------*/
void vApplicationTickHook( void )
{
/* Call the periodic timer test, which tests the timer API functions that
can be called from an ISR. */
vTimerPeriodicISRTests();
}
/*-----------------------------------------------------------*/
void vAssertCalled( void )
{
taskDISABLE_INTERRUPTS();
for( ;; );
}