FreeRTOS with POSIX - 01

C FreeRTOS xTaskGetTickCount POSIX

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) {
  // Perform any hardware setup necessary.
  // prvSetupHardware();

  xTaskCreate(vTask1, "Task 1", 1000, NULL, 1, NULL);
  xTaskCreate(vTask2, "Task 2", 1000, NULL, 1, NULL);

  // Start the created tasks running.
  vTaskStartScheduler();

  // Execution will only reach here if there was insufficient heap to start the scheduler.
  for (;;) {
  }
  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("%lu ticks Task 1\n", xTaskGetTickCount());
    vTaskDelay(xDelay100ms);

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

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

Possible output

File output/prog.txt not found!

References

• link
• FreeRTOS Labs: FreeRTOS+POSIX

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 );

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 */

CFLAGS+= -Wall
CFLAGS+= -Wextra
CFLAGS+= -Wformat
CFLAGS+= -Wmissing-braces
CFLAGS+= -Wno-cast-align
CFLAGS+= -Wparentheses
CFLAGS+= -Wshadow
CFLAGS+= -Wno-sign-compare
CFLAGS+= -Wswitch
CFLAGS+= -Wuninitialized
CFLAGS+= -Wunknown-pragmas
CFLAGS+= -Wunused-function
CFLAGS+= -Wunused-label
CFLAGS+= -Wunused-parameter
CFLAGS+= -Wunused-value
CFLAGS+= -Wunused-variable
CFLAGS+= -Wmissing-prototypes

CFLAGS+= -I ./

#FREERTOS_DIR=../FreeRTOS/Source
FREERTOS_DIR=../FreeRTOS-Kernel

CFLAGS+= -I$(FREERTOS_DIR)/include/
CFLAGS+= -I$(FREERTOS_DIR)/portable/ThirdParty/GCC/Posix/
#CFLAGS+= -I $(FREERTOS_DIR)/portable/GCC/POSIX/