257 lines
9.4 KiB
C
257 lines
9.4 KiB
C
/*
|
|
* FreeRTOS Kernel V10.4.3
|
|
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
|
* this software and associated documentation files (the "Software"), to deal in
|
|
* the Software without restriction, including without limitation the rights to
|
|
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
|
* the Software, and to permit persons to whom the Software is furnished to do so,
|
|
* subject to the following conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be included in all
|
|
* copies or substantial portions of the Software.
|
|
*
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
|
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
|
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
|
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
|
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
|
*
|
|
* https://www.FreeRTOS.org
|
|
* https://github.com/FreeRTOS
|
|
*
|
|
*/
|
|
|
|
/* FreeRTOS includes. */
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
#include "queue.h"
|
|
#include "timers.h"
|
|
#include "semphr.h"
|
|
|
|
/* Freescale includes. */
|
|
#include "fsl_device_registers.h"
|
|
#include "fsl_debug_console.h"
|
|
#include "pin_mux.h"
|
|
#include "clock_config.h"
|
|
#include "board.h"
|
|
|
|
/*******************************************************************************
|
|
* Definitions
|
|
******************************************************************************/
|
|
|
|
#define TASK_PRIO (configMAX_PRIORITIES - 1)
|
|
|
|
SemaphoreHandle_t xSemaphore_producer;
|
|
SemaphoreHandle_t xSemaphore_consumer;
|
|
|
|
/* Static memory size definitions */
|
|
#define PRODUCER_TASK_STACK_SIZE (configMINIMAL_STACK_SIZE + 166)
|
|
#define CONSUMER_TASK_STACK_SIZE (configMINIMAL_STACK_SIZE + 166)
|
|
|
|
/*******************************************************************************
|
|
* Prototypes
|
|
******************************************************************************/
|
|
static void producer_task(void *pvParameters);
|
|
static void consumer_task(void *pvParameters);
|
|
|
|
/*******************************************************************************
|
|
* Variables
|
|
******************************************************************************/
|
|
/* Statically allocated memory for producer_task stack */
|
|
static StackType_t ProducerTaskStack[PRODUCER_TASK_STACK_SIZE];
|
|
/* Statically allocated memory for producer_task task control block */
|
|
static StaticTask_t ProducerTaskTCB;
|
|
/* Statically allocated memory for consumer task stacks */
|
|
static StackType_t ConsumerTaskStack0[PRODUCER_TASK_STACK_SIZE];
|
|
static StackType_t ConsumerTaskStack1[PRODUCER_TASK_STACK_SIZE];
|
|
static StackType_t ConsumerTaskStack2[PRODUCER_TASK_STACK_SIZE];
|
|
/* Statically allocated memory for consumer_task task control block */
|
|
static StaticTask_t ConsumerTaskTCB0;
|
|
static StaticTask_t ConsumerTaskTCB1;
|
|
static StaticTask_t ConsumerTaskTCB2;
|
|
/* Statically allocated memory for producer semaphore structure */
|
|
static StaticSemaphore_t ProducerSemaphoreBuffer;
|
|
/* Statically allocated memory for consumer semaphore structure */
|
|
static StaticSemaphore_t ConsumerSemaphoreBuffer;
|
|
|
|
TaskHandle_t TaskHandle = 0;
|
|
/*******************************************************************************
|
|
* Code
|
|
******************************************************************************/
|
|
/*!
|
|
* @brief Main function
|
|
*/
|
|
int main(void)
|
|
{
|
|
/* Init board hardware. */
|
|
BOARD_ConfigMPU();
|
|
BOARD_InitBootPins();
|
|
BOARD_InitBootClocks();
|
|
BOARD_InitDebugConsole();
|
|
TaskHandle = xTaskCreateStatic(producer_task, "PRODUCER_TASK", PRODUCER_TASK_STACK_SIZE, NULL, TASK_PRIO,
|
|
&(ProducerTaskStack[0]), &ProducerTaskTCB);
|
|
if (TaskHandle != NULL)
|
|
{
|
|
PRINTF("Producer_task created.\r\n");
|
|
}
|
|
else
|
|
{
|
|
PRINTF("Failed to create producer task");
|
|
while (1)
|
|
;
|
|
}
|
|
/* Start scheduling. */
|
|
vTaskStartScheduler();
|
|
for (;;)
|
|
;
|
|
}
|
|
|
|
/*!
|
|
* @brief Task producer_task.
|
|
*/
|
|
static void producer_task(void *pvParameters)
|
|
{
|
|
xSemaphore_producer = xSemaphoreCreateBinaryStatic(&ProducerSemaphoreBuffer);
|
|
if (xSemaphore_producer == NULL)
|
|
{
|
|
PRINTF("xSemaphore_producer creation failed.\r\n");
|
|
vTaskSuspend(NULL);
|
|
}
|
|
|
|
xSemaphore_consumer = xSemaphoreCreateBinaryStatic(&ConsumerSemaphoreBuffer);
|
|
if (xSemaphore_consumer == NULL)
|
|
{
|
|
PRINTF("xSemaphore_consumer creation failed.\r\n");
|
|
vTaskSuspend(NULL);
|
|
}
|
|
|
|
TaskHandle = xTaskCreateStatic(consumer_task, "CONSUMER_TASK_0", CONSUMER_TASK_STACK_SIZE, (void *)0, TASK_PRIO,
|
|
&(ConsumerTaskStack0[0]), &ConsumerTaskTCB0);
|
|
if (TaskHandle != NULL)
|
|
{
|
|
PRINTF("Consumer_task 0 created.\r\n");
|
|
}
|
|
else
|
|
{
|
|
PRINTF("Failed to create consumer_task 0.\r\n");
|
|
vTaskSuspend(NULL);
|
|
}
|
|
|
|
TaskHandle = xTaskCreateStatic(consumer_task, "CONSUMER_TASK_1", CONSUMER_TASK_STACK_SIZE, (void *)1, TASK_PRIO,
|
|
&(ConsumerTaskStack1[0]), &ConsumerTaskTCB1);
|
|
if (TaskHandle != NULL)
|
|
{
|
|
PRINTF("Consumer_task 1 created.\r\n");
|
|
}
|
|
else
|
|
{
|
|
PRINTF("Failed to create consumer_task 1.\r\n");
|
|
vTaskSuspend(NULL);
|
|
}
|
|
|
|
TaskHandle = xTaskCreateStatic(consumer_task, "CONSUMER_TASK_2", CONSUMER_TASK_STACK_SIZE, (void *)2, TASK_PRIO,
|
|
&(ConsumerTaskStack2[0]), &ConsumerTaskTCB2);
|
|
if (TaskHandle != NULL)
|
|
{
|
|
PRINTF("Consumer_task 2 created.\r\n");
|
|
}
|
|
else
|
|
{
|
|
PRINTF("Failed to create consumer_task 2.\r\n");
|
|
vTaskSuspend(NULL);
|
|
}
|
|
|
|
while (1)
|
|
{
|
|
/* Producer is ready to provide item. */
|
|
xSemaphoreGive(xSemaphore_consumer);
|
|
/* Producer is waiting when consumer will be ready to accept item. */
|
|
if (xSemaphoreTake(xSemaphore_producer, portMAX_DELAY) == pdTRUE)
|
|
{
|
|
PRINTF("Producer released item.\r\n");
|
|
}
|
|
else
|
|
{
|
|
PRINTF("Producer is waiting for customer.\r\n");
|
|
}
|
|
}
|
|
}
|
|
|
|
/*!
|
|
* @brief Task consumer_task.
|
|
*/
|
|
static void consumer_task(void *pvParameters)
|
|
{
|
|
PRINTF("Consumer number: %d\r\n", pvParameters);
|
|
while (1)
|
|
{
|
|
/* Consumer is ready to accept. */
|
|
xSemaphoreGive(xSemaphore_producer);
|
|
/* Consumer is waiting when producer will be ready to produce item. */
|
|
if (xSemaphoreTake(xSemaphore_consumer, portMAX_DELAY) == pdTRUE)
|
|
{
|
|
PRINTF("Consumer %d accepted item.\r\n", pvParameters);
|
|
}
|
|
else
|
|
{
|
|
PRINTF("Consumer %d is waiting for producer.\r\n", pvParameters);
|
|
}
|
|
}
|
|
}
|
|
|
|
/* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
|
|
implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
|
|
used by the Idle task. */
|
|
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
|
|
StackType_t **ppxIdleTaskStackBuffer,
|
|
uint32_t *pulIdleTaskStackSize)
|
|
{
|
|
/* If the buffers to be provided to the Idle task are declared inside this
|
|
function then they must be declared static - otherwise they will be allocated on
|
|
the stack and so not exists after this function exits. */
|
|
static StaticTask_t xIdleTaskTCB;
|
|
static StackType_t uxIdleTaskStack[configMINIMAL_STACK_SIZE];
|
|
|
|
/* Pass out a pointer to the StaticTask_t structure in which the Idle task's
|
|
state will be stored. */
|
|
*ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
|
|
|
|
/* Pass out the array that will be used as the Idle task's stack. */
|
|
*ppxIdleTaskStackBuffer = uxIdleTaskStack;
|
|
|
|
/* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
|
|
Note that, as the array is necessarily of type StackType_t,
|
|
configMINIMAL_STACK_SIZE is specified in words, not bytes. */
|
|
*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
|
|
application must provide an implementation of vApplicationGetTimerTaskMemory()
|
|
to provide the memory that is used by the Timer service task. */
|
|
void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
|
|
StackType_t **ppxTimerTaskStackBuffer,
|
|
uint32_t *pulTimerTaskStackSize)
|
|
{
|
|
/* If the buffers to be provided to the Timer task are declared inside this
|
|
function then they must be declared static - otherwise they will be allocated on
|
|
the stack and so not exists after this function exits. */
|
|
static StaticTask_t xTimerTaskTCB;
|
|
static StackType_t uxTimerTaskStack[configTIMER_TASK_STACK_DEPTH];
|
|
|
|
/* Pass out a pointer to the StaticTask_t structure in which the Timer
|
|
task's state will be stored. */
|
|
*ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
|
|
|
|
/* Pass out the array that will be used as the Timer task's stack. */
|
|
*ppxTimerTaskStackBuffer = uxTimerTaskStack;
|
|
|
|
/* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
|
|
Note that, as the array is necessarily of type StackType_t,
|
|
configTIMER_TASK_STACK_DEPTH is specified in words, not bytes. */
|
|
*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
|
|
}
|