| /* | |
| FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
| All rights reserved | |
| VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
| *************************************************************************** | |
| * * | |
| * FreeRTOS provides completely free yet professionally developed, * | |
| * robust, strictly quality controlled, supported, and cross * | |
| * platform software that has become a de facto standard. * | |
| * * | |
| * Help yourself get started quickly and support the FreeRTOS * | |
| * project by purchasing a FreeRTOS tutorial book, reference * | |
| * manual, or both from: http://www.FreeRTOS.org/Documentation * | |
| * * | |
| * Thank you! * | |
| * * | |
| *************************************************************************** | |
| 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 from 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?" * | |
| * * | |
| * http://www.FreeRTOS.org/FAQHelp.html * | |
| * * | |
| *************************************************************************** | |
| 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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
| Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS | |
| licenses offer ticketed support, indemnification and 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 demo application file demonstrates the use of queues to pass data | |
| * between co-routines. | |
| * | |
| * N represents the number of 'fixed delay' co-routines that are created and | |
| * is set during initialisation. | |
| * | |
| * N 'fixed delay' co-routines are created that just block for a fixed | |
| * period then post the number of an LED onto a queue. Each such co-routine | |
| * uses a different block period. A single 'flash' co-routine is also created | |
| * that blocks on the same queue, waiting for the number of the next LED it | |
| * should flash. Upon receiving a number it simply toggle the instructed LED | |
| * then blocks on the queue once more. In this manner each LED from LED 0 to | |
| * LED N-1 is caused to flash at a different rate. | |
| * | |
| * The 'fixed delay' co-routines are created with co-routine priority 0. The | |
| * flash co-routine is created with co-routine priority 1. This means that | |
| * the queue should never contain more than a single item. This is because | |
| * posting to the queue will unblock the 'flash' co-routine, and as this has | |
| * a priority greater than the tasks posting to the queue it is guaranteed to | |
| * have emptied the queue and blocked once again before the queue can contain | |
| * any more date. An error is indicated if an attempt to post data to the | |
| * queue fails - indicating that the queue is already full. | |
| * | |
| */ | |
| /* Scheduler includes. */ | |
| #include "FreeRTOS.h" | |
| #include "croutine.h" | |
| #include "queue.h" | |
| /* Demo application includes. */ | |
| #include "partest.h" | |
| #include "crflash.h" | |
| /* The queue should only need to be of length 1. See the description at the | |
| top of the file. */ | |
| #define crfQUEUE_LENGTH 1 | |
| #define crfFIXED_DELAY_PRIORITY 0 | |
| #define crfFLASH_PRIORITY 1 | |
| /* Only one flash co-routine is created so the index is not significant. */ | |
| #define crfFLASH_INDEX 0 | |
| /* Don't allow more than crfMAX_FLASH_TASKS 'fixed delay' co-routines to be | |
| created. */ | |
| #define crfMAX_FLASH_TASKS 8 | |
| /* We don't want to block when posting to the queue. */ | |
| #define crfPOSTING_BLOCK_TIME 0 | |
| /* | |
| * The 'fixed delay' co-routine as described at the top of the file. | |
| */ | |
| static void prvFixedDelayCoRoutine( CoRoutineHandle_t xHandle, unsigned portBASE_TYPE uxIndex ); | |
| /* | |
| * The 'flash' co-routine as described at the top of the file. | |
| */ | |
| static void prvFlashCoRoutine( CoRoutineHandle_t xHandle, unsigned portBASE_TYPE uxIndex ); | |
| /* The queue used to pass data between the 'fixed delay' co-routines and the | |
| 'flash' co-routine. */ | |
| static QueueHandle_t xFlashQueue; | |
| /* This will be set to pdFALSE if we detect an error. */ | |
| static portBASE_TYPE xCoRoutineFlashStatus = pdPASS; | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * See the header file for details. | |
| */ | |
| void vStartFlashCoRoutines( unsigned portBASE_TYPE uxNumberToCreate ) | |
| { | |
| unsigned portBASE_TYPE uxIndex; | |
| if( uxNumberToCreate > crfMAX_FLASH_TASKS ) | |
| { | |
| uxNumberToCreate = crfMAX_FLASH_TASKS; | |
| } | |
| /* Create the queue used to pass data between the co-routines. */ | |
| xFlashQueue = xQueueCreate( crfQUEUE_LENGTH, sizeof( unsigned portBASE_TYPE ) ); | |
| if( xFlashQueue ) | |
| { | |
| /* Create uxNumberToCreate 'fixed delay' co-routines. */ | |
| for( uxIndex = 0; uxIndex < uxNumberToCreate; uxIndex++ ) | |
| { | |
| xCoRoutineCreate( prvFixedDelayCoRoutine, crfFIXED_DELAY_PRIORITY, uxIndex ); | |
| } | |
| /* Create the 'flash' co-routine. */ | |
| xCoRoutineCreate( prvFlashCoRoutine, crfFLASH_PRIORITY, crfFLASH_INDEX ); | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static void prvFixedDelayCoRoutine( CoRoutineHandle_t xHandle, unsigned portBASE_TYPE uxIndex ) | |
| { | |
| /* Even though this is a co-routine the xResult variable does not need to be | |
| static as we do not need it to maintain its state between blocks. */ | |
| signed portBASE_TYPE xResult; | |
| /* The uxIndex parameter of the co-routine function is used as an index into | |
| the xFlashRates array to obtain the delay period to use. */ | |
| static const TickType_t xFlashRates[ crfMAX_FLASH_TASKS ] = { 150 / portTICK_PERIOD_MS, | |
| 200 / portTICK_PERIOD_MS, | |
| 250 / portTICK_PERIOD_MS, | |
| 300 / portTICK_PERIOD_MS, | |
| 350 / portTICK_PERIOD_MS, | |
| 400 / portTICK_PERIOD_MS, | |
| 450 / portTICK_PERIOD_MS, | |
| 500 / portTICK_PERIOD_MS }; | |
| /* Co-routines MUST start with a call to crSTART. */ | |
| crSTART( xHandle ); | |
| for( ;; ) | |
| { | |
| /* Post our uxIndex value onto the queue. This is used as the LED to | |
| flash. */ | |
| crQUEUE_SEND( xHandle, xFlashQueue, ( void * ) &uxIndex, crfPOSTING_BLOCK_TIME, &xResult ); | |
| if( xResult != pdPASS ) | |
| { | |
| /* For the reasons stated at the top of the file we should always | |
| find that we can post to the queue. If we could not then an error | |
| has occurred. */ | |
| xCoRoutineFlashStatus = pdFAIL; | |
| } | |
| crDELAY( xHandle, xFlashRates[ uxIndex ] ); | |
| } | |
| /* Co-routines MUST end with a call to crEND. */ | |
| crEND(); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static void prvFlashCoRoutine( CoRoutineHandle_t xHandle, unsigned portBASE_TYPE uxIndex ) | |
| { | |
| /* Even though this is a co-routine the variable do not need to be | |
| static as we do not need it to maintain their state between blocks. */ | |
| signed portBASE_TYPE xResult; | |
| unsigned portBASE_TYPE uxLEDToFlash; | |
| /* Co-routines MUST start with a call to crSTART. */ | |
| crSTART( xHandle ); | |
| ( void ) uxIndex; | |
| for( ;; ) | |
| { | |
| /* Block to wait for the number of the LED to flash. */ | |
| crQUEUE_RECEIVE( xHandle, xFlashQueue, &uxLEDToFlash, portMAX_DELAY, &xResult ); | |
| if( xResult != pdPASS ) | |
| { | |
| /* We would not expect to wake unless we received something. */ | |
| xCoRoutineFlashStatus = pdFAIL; | |
| } | |
| else | |
| { | |
| /* We received the number of an LED to flash - flash it! */ | |
| vParTestToggleLED( uxLEDToFlash ); | |
| } | |
| } | |
| /* Co-routines MUST end with a call to crEND. */ | |
| crEND(); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| portBASE_TYPE xAreFlashCoRoutinesStillRunning( void ) | |
| { | |
| /* Return pdPASS or pdFAIL depending on whether an error has been detected | |
| or not. */ | |
| return xCoRoutineFlashStatus; | |
| } | |