/* FreeRTOS V8.2.0rc1 - Copyright (C) 2014 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. 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. Full license text is available on the following link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! *************************************************************************** * * * Having a problem? Start by reading the FAQ "My application does * * not run, what could be wrong?". Have you defined configASSERT()? * * * * http://www.FreeRTOS.org/FAQHelp.html * * * *************************************************************************** *************************************************************************** * * * FreeRTOS provides completely free yet professionally developed, * * robust, strictly quality controlled, supported, and cross * * platform software that is more than just the market leader, it * * is the industry's de facto standard. * * * * Help yourself get started quickly while simultaneously helping * * to support the FreeRTOS project by purchasing a FreeRTOS * * tutorial book, reference manual, or both: * * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** *************************************************************************** * * * Investing in training allows your team to be as productive as * * possible as early as possible, lowering your overall development * * cost, and enabling you to bring a more robust product to market * * earlier than would otherwise be possible. Richard Barry is both * * the architect and key author of FreeRTOS, and so also the world's * * leading authority on what is the world's most popular real time * * kernel for deeply embedded MCU designs. Obtaining your training * * from Richard ensures your team will gain directly from his in-depth * * product knowledge and years of usage experience. Contact Real Time * * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented * * by Richard Barry: http://www.FreeRTOS.org/contact * * *************************************************************************** *************************************************************************** * * * You are receiving this top quality software for free. Please play * * fair and reciprocate by reporting any suspected issues and * * participating in the community forum: * * http://www.FreeRTOS.org/support * * * * Thank you! * * * *************************************************************************** http://www.FreeRTOS.org - Documentation, books, training, latest versions, license and Real Time Engineers Ltd. contact details. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and mission critical applications that require provable dependability. 1 tab == 4 spaces! */ /* * This is a version of PollQ.c that uses the alternative (Alt) API. * * 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 TickType_t rather than uint32_t. */ #include /* Scheduler include files. */ #include "FreeRTOS.h" #include "task.h" #include "queue.h" /* Demo program include files. */ #include "AltPollQ.h" #define pollqSTACK_SIZE configMINIMAL_STACK_SIZE #define pollqQUEUE_SIZE ( 10 ) #define pollqPRODUCER_DELAY ( ( TickType_t ) 200 / portTICK_PERIOD_MS ) #define pollqCONSUMER_DELAY ( pollqPRODUCER_DELAY - ( TickType_t ) ( 20 / portTICK_PERIOD_MS ) ) #define pollqNO_DELAY ( ( TickType_t ) 0 ) #define pollqVALUES_TO_PRODUCE ( ( BaseType_t ) 3 ) #define pollqINITIAL_VALUE ( ( BaseType_t ) 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 BaseType_t xPollingConsumerCount = pollqINITIAL_VALUE, xPollingProducerCount = pollqINITIAL_VALUE; /*-----------------------------------------------------------*/ void vStartAltPolledQueueTasks( UBaseType_t uxPriority ) { static QueueHandle_t xPolledQueue; /* Create the queue used by the producer and consumer. */ xPolledQueue = xQueueCreate( pollqQUEUE_SIZE, ( UBaseType_t ) sizeof( uint16_t ) ); /* vQueueAddToRegistry() adds the queue to the queue registry, if one is in use. The queue registry is provided as a means for kernel aware debuggers to locate queues and has no purpose if a kernel aware debugger is not being used. The call to vQueueAddToRegistry() will be removed by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is defined to be less than 1. */ vQueueAddToRegistry( xPolledQueue, "AltPollQueue" ); /* Spawn the producer and consumer. */ xTaskCreate( vPolledQueueConsumer, "QConsNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( TaskHandle_t * ) NULL ); xTaskCreate( vPolledQueueProducer, "QProdNB", pollqSTACK_SIZE, ( void * ) &xPolledQueue, uxPriority, ( TaskHandle_t * ) NULL ); } /*-----------------------------------------------------------*/ static portTASK_FUNCTION( vPolledQueueProducer, pvParameters ) { uint16_t usValue = ( uint16_t ) 0; BaseType_t xError = pdFALSE, xLoop; #ifdef USE_STDIO void vPrintDisplayMessage( const char * const * ppcMessageToSend ); const char * const pcTaskStartMsg = "Alt polling queue producer task started.\r\n"; /* Queue a message for printing to say the task has started. */ vPrintDisplayMessage( &pcTaskStartMsg ); #endif for( ;; ) { for( xLoop = 0; xLoop < pollqVALUES_TO_PRODUCE; xLoop++ ) { /* Send an incrementing number on the queue without blocking. */ if( xQueueAltSendToBack( *( ( QueueHandle_t * ) pvParameters ), ( void * ) &usValue, pollqNO_DELAY ) != pdPASS ) { /* We should never find the queue full so if we get here there has been an error. */ xError = pdTRUE; } else { if( xError == pdFALSE ) { /* If an error has ever been recorded we stop incrementing the check variable. */ portENTER_CRITICAL(); xPollingProducerCount++; portEXIT_CRITICAL(); } /* Update the value we are going to post next time around. */ usValue++; } } /* Wait before we start posting again to ensure the consumer runs and empties the queue. */ vTaskDelay( pollqPRODUCER_DELAY ); } } /*lint !e818 Function prototype must conform to API. */ /*-----------------------------------------------------------*/ static portTASK_FUNCTION( vPolledQueueConsumer, pvParameters ) { uint16_t usData, usExpectedValue = ( uint16_t ) 0; BaseType_t xError = pdFALSE; #ifdef USE_STDIO void vPrintDisplayMessage( const char * const * ppcMessageToSend ); const char * const pcTaskStartMsg = "Alt blocking queue consumer task started.\r\n"; /* Queue a message for printing to say the task has started. */ vPrintDisplayMessage( &pcTaskStartMsg ); #endif for( ;; ) { /* Loop until the queue is empty. */ while( uxQueueMessagesWaiting( *( ( QueueHandle_t * ) pvParameters ) ) ) { if( xQueueAltReceive( *( ( QueueHandle_t * ) pvParameters ), &usData, pollqNO_DELAY ) == pdPASS ) { if( usData != usExpectedValue ) { /* This is not what we expected to receive so an error has occurred. */ xError = pdTRUE; /* Catch-up to the value we received so our next expected value should again be correct. */ usExpectedValue = usData; } else { if( xError == pdFALSE ) { /* Only increment the check variable if no errors have occurred. */ portENTER_CRITICAL(); xPollingConsumerCount++; portEXIT_CRITICAL(); } } /* Next time round we would expect the number to be one higher. */ usExpectedValue++; } } /* Now the queue is empty we block, allowing the producer to place more items in the queue. */ vTaskDelay( pollqCONSUMER_DELAY ); } } /*lint !e818 Function prototype must conform to API. */ /*-----------------------------------------------------------*/ /* This is called to check that all the created tasks are still running with no errors. */ BaseType_t xAreAltPollingQueuesStillRunning( void ) { BaseType_t 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; }