/* FreeRTOS V8.1.2 - 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, UBaseType_t uxIndex ); /* * The 'flash' co-routine as described at the top of the file. */ static void prvFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t 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 BaseType_t xCoRoutineFlashStatus = pdPASS; /*-----------------------------------------------------------*/ /* * See the header file for details. */ void vStartFlashCoRoutines( UBaseType_t uxNumberToCreate ) { UBaseType_t 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( UBaseType_t ) ); 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, UBaseType_t 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. */ BaseType_t 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, UBaseType_t 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. */ BaseType_t xResult; UBaseType_t 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(); } /*-----------------------------------------------------------*/ BaseType_t xAreFlashCoRoutinesStillRunning( void ) { /* Return pdPASS or pdFAIL depending on whether an error has been detected or not. */ return xCoRoutineFlashStatus; }