FreeRTOS with POSIX - 01

Table of contents

File main.c

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>

#include <FreeRTOS.h>
#include <task.h>
#include <timers.h>

#include <debug.h>

void vTask1( void * );
void vTask2( void * );

int main( void )
{
  xTaskCreate( vTask1, "Task 1", 1000, NULL, 1, NULL );
  xTaskCreate( vTask2, "Task 2", 1000, NULL, 1, NULL );
  vTaskStartScheduler();
  return 0;
}

const TickType_t xDelay500ms = 500 / portTICK_PERIOD_MS;
const TickType_t xDelay100ms = pdMS_TO_TICKS( 100UL );

void vTask1( void * /* parameter */ )
{
  while( 1 ) {
    printf( "%u ticks Task 1\n", xTaskGetTickCount() );
    vTaskDelay( xDelay100ms );

    if( xTaskGetTickCount() > 2000 ) exit(0);
  }
}

void vTask2( void * /* parameter */ )
{
  while( 1 ) {
    printf( "%u ticks Task 2 ---\n", xTaskGetTickCount() );
    vTaskDelay( xDelay500ms );
  }
}

Possible output

Running as PID: 2349454
Timer Resolution for Run TimeStats is 100 ticks per second.
0 ticks Task 1
0 ticks Task 2 ---
100 ticks Task 1
200 ticks Task 1
300 ticks Task 1
400 ticks Task 1
500 ticks Task 2 ---
500 ticks Task 1
600 ticks Task 1
700 ticks Task 1
800 ticks Task 1
900 ticks Task 1
1000 ticks Task 2 ---
1000 ticks Task 1
1100 ticks Task 1
1200 ticks Task 1
1300 ticks Task 1
1400 ticks Task 1
1500 ticks Task 2 ---
1500 ticks Task 1
1600 ticks Task 1
1700 ticks Task 1
1800 ticks Task 1
1900 ticks Task 1
2000 ticks Task 2 ---
2000 ticks Task 1

References

• link

File debug.h

void vAssertCalled( unsigned long ulLine, const char *const pcFileName )
{
  taskENTER_CRITICAL();
  {
    printf( "[ASSERT] %s:%lu\n", pcFileName, ulLine );
    fflush( stdout );
  }
  taskEXIT_CRITICAL();
  exit( -1 );
}

void vApplicationIdleHook( void )
{
  // printf("Idle\n");
}

File FreeRTOSConfig.h

#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.
 *
 * See http://www.freertos.org/a00110.html.
 *----------------------------------------------------------*/

#define configUSE_PREEMPTION					1
#define configUSE_IDLE_HOOK						1
#define configUSE_TICK_HOOK						0
#define configTICK_RATE_HZ				( ( portTickType ) 1000 )
#define configMINIMAL_STACK_SIZE		( ( unsigned portSHORT ) 64 ) /* This can be made smaller if required. */
#define configTOTAL_HEAP_SIZE			( ( size_t ) ( 64 * 1024 ) )
#define configMAX_TASK_NAME_LEN			( 16 )
#define configUSE_TRACE_FACILITY    	0
#define configUSE_16_BIT_TICKS      	0
#define configIDLE_SHOULD_YIELD			1
#define configUSE_MUTEXES				1
#define configCHECK_FOR_STACK_OVERFLOW	0 /* Do not use this option on the PC port. */
#define configUSE_RECURSIVE_MUTEXES		1
#define configQUEUE_REGISTRY_SIZE				20
#define configUSE_MALLOC_FAILED_HOOK			0
#define configUSE_APPLICATION_TASK_TAG			1
#define configUSE_COUNTING_SEMAPHORES			1
#define configUSE_ALTERNATIVE_API				0
//#define configMAX_SYSCALL_INTERRUPT_PRIORITY	1

#define configUSE_QUEUE_SETS					1
#define configUSE_TASK_NOTIFICATIONS			1

/* Software timer related configuration options. */
#define configUSE_TIMERS						1
#define configTIMER_TASK_PRIORITY				( configMAX_PRIORITIES - 1 )
#define configTIMER_QUEUE_LENGTH				20
#define configTIMER_TASK_STACK_DEPTH			( configMINIMAL_STACK_SIZE * 2 )

#define configMAX_PRIORITIES		( 10 )

#define configGENERATE_RUN_TIME_STATS		1

/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function.  In most cases the linker will remove unused
functions anyway. */
#define INCLUDE_vTaskPrioritySet				1
#define INCLUDE_uxTaskPriorityGet				1
#define INCLUDE_vTaskDelete						1
#define INCLUDE_vTaskSuspend					1
#define INCLUDE_vTaskDelayUntil					1
#define INCLUDE_vTaskDelay						1
#define INCLUDE_uxTaskGetStackHighWaterMark 	0 /* Do not use this option on the PC port. */
#define INCLUDE_xTaskGetSchedulerState			1
#define INCLUDE_xTimerGetTimerDaemonTaskHandle	1
#define INCLUDE_xTaskGetIdleTaskHandle			1
#define INCLUDE_pcTaskGetTaskName				1
#define INCLUDE_eTaskGetState					1
#define INCLUDE_xSemaphoreGetMutexHolder		1
#define INCLUDE_xTimerPendFunctionCall			1
#define INCLUDE_xTaskAbortDelay					1
#define INCLUDE_xTaskGetHandle					1

/* It is a good idea to define configASSERT() while developing.  configASSERT()
uses the same semantics as the standard C assert() macro. */
extern void vAssertCalled( unsigned long ulLine, const char * const pcFileName );
#define configASSERT( x ) if( ( x ) == 0 ) vAssertCalled( __LINE__, __FILE__ )

#endif /* FREERTOS_CONFIG_H */