text: /*
      FreeRTOS V8.2.3 - Copyright (C) 2015 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
  
      ***************************************************************************
       *                                                                       *
       *    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                              *
       *                                                                       *
      ***************************************************************************
  
      http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
      the FAQ page "My application does not run, what could be wrong?".  Have you
      defined configASSERT()?
  
      http://www.FreeRTOS.org/support - In return for receiving this top quality
      embedded software for free we request you assist our global community by
      participating in the support forum.
  
      http://www.FreeRTOS.org/training - Investing in training allows your team to
      be as productive as possible as early as possible.  Now you can receive
      FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
      Ltd, and the world's leading authority on the world's leading RTOS.
  
      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!
  */
  
  /******************************************************************************
   * NOTE 1:  This project provides two demo applications.  A simple blinky style
   * project, and a more comprehensive demo application that makes use of
   * FreeRTOS_CLI, FreeRTOS+UDP and FreeRTOS+FAT SL.  The
   * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
   * between the two.  See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
   * in main.c.  This file implements the simply blinky style version.
   *
   * NOTE 2:  This file only contains the source code that is specific to the
   * basic demo.  Generic functions, such FreeRTOS hook functions, and functions
   * required to configure the hardware, are defined in main.c.
   ******************************************************************************
   *
   * main_blinky() creates one queue, two tasks and one software timer.  It then
   * starts the scheduler.
   *
   * The Queue Send Task:
   * The queue send task is implemented by the prvQueueSendTask() function in
   * this file.  The task sits in a loop that sends a value to the queue every
   * 200 milliseconds.
   *
   * The Queue Receive Task:
   * The queue receive task is implemented by the prvQueueReceiveTask() function
   * in this file.  The task sits in a loop that blocks on the queue to wait for
   * data to arrive (it does not use any CPU time while it is in the Blocked
   * state), toggling an LED each time it receives the value sent by the queue
   * send task.  As the queue send task writes to the queue every 200 milliseconds
   * the LED will toggle every 200 milliseconds.
   */
  
  
  /* Kernel includes. */
  #include "FreeRTOS.h"
  #include "task.h"
  #include "queue.h"
  #include "timers.h"
  
  /* Demo application includes. */
  #include "partest.h"
  
  /* Priorities at which the tasks are created. */
  #define mainQUEUE_RECEIVE_TASK_PRIORITY		( tskIDLE_PRIORITY + 2 )
  #define	mainQUEUE_SEND_TASK_PRIORITY		( tskIDLE_PRIORITY + 1 )
  
  /* The rate at which data is sent to the queue.  The 200ms value is converted
  to ticks using the portTICK_PERIOD_MS constant. */
  #define mainQUEUE_SEND_FREQUENCY_MS			( 200 / portTICK_PERIOD_MS )
  
  /* The number of items the queue can hold.  This is 1 as the receive task
  will remove items as they are added, meaning the send task should always find
  the queue empty. */
  #define mainQUEUE_LENGTH					( 1 )
  
  /* The period of the blinky software timer.  The period is specified in ms and
  converted to ticks using the portTICK_PERIOD_MS constant. */
  #define mainBLINKY_TIMER_PERIOD				( 50 / portTICK_PERIOD_MS )
  
  /* A block time of zero simply means "don't block". */
  #define mainDONT_BLOCK						( 0 )
  
  /* The LEDs toggled by the timer callback and queue receive task respectively. */
  #define mainTIMER_LED						0
  #define mainTASK_LED						1
  
  /*-----------------------------------------------------------*/
  
  /*
   * The tasks as described in the comments at the top of this file.
   */
  static void prvQueueReceiveTask( void *pvParameters );
  static void prvQueueSendTask( void *pvParameters );
  
  /*
   * The callback function for the blinky software timer, as described at the top
   * of this file.
   */
  static void prvBlinkyTimerCallback( TimerHandle_t xTimer );
  
  /*
   * Called by main() to create the simply blinky style application if
   * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
   */
  void main_blinky( void );
  
  /*-----------------------------------------------------------*/
  
  void main_blinky( void )
  {
  TimerHandle_t xTimer;
  QueueHandle_t xQueue;
  
  	/* Create the queue. */
  	xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );
  
  	if( xQueue != NULL )
  	{
  		/* Start the two tasks as described in the comments at the top of this
  		file. */
  		xTaskCreate( prvQueueReceiveTask,				/* The function that implements the task. */
  					"Rx", 								/* The text name assigned to the task - for debug only as it is not used by the kernel. */
  					configMINIMAL_STACK_SIZE, 			/* The size of the stack to allocate to the task. */
  					( void * ) xQueue, 					/* Pass the queue into the task using the task parameter. */
  					mainQUEUE_RECEIVE_TASK_PRIORITY, 	/* The priority assigned to the task. */
  					NULL );								/* The task handle is not required, so NULL is passed. */
  
  		xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, ( void * ) xQueue, mainQUEUE_SEND_TASK_PRIORITY, NULL );
  
  		/* Create the blinky software timer as described at the top of this
  		file. */
  		xTimer = xTimerCreate(	"Blinky",					/* A text name, purely to help debugging. */
  								( mainBLINKY_TIMER_PERIOD ),/* The timer period. */
  								pdTRUE,						/* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
  								( void * ) 0,				/* The ID is not used, so can be set to anything. */
  								prvBlinkyTimerCallback );	/* The callback function that inspects the status of all the other tasks. */
  
  		configASSERT( xTimer );
  
  		if( xTimer != NULL )
  		{
  			xTimerStart( xTimer, mainDONT_BLOCK );
  		}
  
  		/* Start the tasks and timer running. */
  		vTaskStartScheduler();
  	}
  
  	/* If all is well, the scheduler will now be running, and the following
  	line will never be reached.  If the following line does execute, then
  	there was insufficient FreeRTOS heap memory available for the idle and/or
  	timer tasks	to be created.  See the memory management section on the
  	FreeRTOS web site for more details. */
  	for( ;; );
  }
  /*-----------------------------------------------------------*/
  
  static void prvQueueSendTask( void *pvParameters )
  {
  TickType_t xNextWakeTime;
  const unsigned long ulValueToSend = 100UL;
  QueueHandle_t xQueue;
  
  	/* The handle of the queue is passed in using the task's parameter. */
  	xQueue = ( QueueHandle_t ) 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.
  		The block time is specified in ticks, the constant used converts ticks
  		to ms.  While in the Blocked state this task will not consume any CPU
  		time. */
  		vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
  
  		/* Send to the queue - causing the queue receive task to unblock and
  		toggle the LED.  0 is used as the block time so the sending operation
  		will not block - it shouldn't need to block as the queue should always
  		be empty at this point in the code. */
  		xQueueSend( xQueue, &ulValueToSend, mainDONT_BLOCK );
  	}
  }
  /*-----------------------------------------------------------*/
  
  static void prvQueueReceiveTask( void *pvParameters )
  {
  unsigned long ulReceivedValue;
  QueueHandle_t xQueue;
  
  	/* The queue is passed in as the task's parameter. */
  	xQueue = ( QueueHandle_t ) pvParameters;
  
  	for( ;; )
  	{
  		/* Wait until something arrives in the queue - this task will block
  		indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
  		FreeRTOSConfig.h. */
  		xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
  
  		/*  To get here something must have been received from the queue, but
  		is it the expected value?  If it is, toggle the LED. */
  		if( ulReceivedValue == 100UL )
  		{
  			vParTestToggleLED( mainTASK_LED );
  			ulReceivedValue = 0U;
  		}
  	}
  }
  /*-----------------------------------------------------------*/
  
  static void prvBlinkyTimerCallback( TimerHandle_t xTimer )
  {
  	/* Avoid compiler warnings. */
  	( void ) xTimer;
  
  	/* This function is called when the blinky software time expires.  All the
  	function does is toggle the LED.  LED mainTIMER_LED should therefore toggle
  	with the period set by mainBLINKY_TIMER_PERIOD. */
  	vParTestToggleLED( mainTIMER_LED );
  }
  /*-----------------------------------------------------------*/
  
  