2 FreeRTOS.org V4.3.0 - Copyright (C) 2003-2007 Richard Barry.
\r
4 This file is part of the FreeRTOS.org distribution.
\r
6 FreeRTOS.org is free software; you can redistribute it and/or modify
\r
7 it under the terms of the GNU General Public License as published by
\r
8 the Free Software Foundation; either version 2 of the License, or
\r
9 (at your option) any later version.
\r
11 FreeRTOS.org is distributed in the hope that it will be useful,
\r
12 but WITHOUT ANY WARRANTY; without even the implied warranty of
\r
13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
\r
14 GNU General Public License for more details.
\r
16 You should have received a copy of the GNU General Public License
\r
17 along with FreeRTOS.org; if not, write to the Free Software
\r
18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
\r
20 A special exception to the GPL can be applied should you wish to distribute
\r
21 a combined work that includes FreeRTOS.org, without being obliged to provide
\r
22 the source code for any proprietary components. See the licensing section
\r
23 of http://www.FreeRTOS.org for full details of how and when the exception
\r
26 ***************************************************************************
\r
27 See http://www.FreeRTOS.org for documentation, latest information, license
\r
28 and contact details. Please ensure to read the configuration and relevant
\r
29 port sections of the online documentation.
\r
31 Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
\r
32 with commercial development and support options.
\r
33 ***************************************************************************
\r
37 * This demo file demonstrates how to send data between an ISR and a
\r
38 * co-routine. A tick hook function is used to periodically pass data between
\r
39 * the RTOS tick and a set of 'hook' co-routines.
\r
41 * hookNUM_HOOK_CO_ROUTINES co-routines are created. Each co-routine blocks
\r
42 * to wait for a character to be received on a queue from the tick ISR, checks
\r
43 * to ensure the character received was that expected, then sends the number
\r
44 * back to the tick ISR on a different queue.
\r
46 * The tick ISR checks the numbers received back from the 'hook' co-routines
\r
47 * matches the number previously sent.
\r
49 * If at any time a queue function returns unexpectedly, or an incorrect value
\r
50 * is received either by the tick hook or a co-routine then an error is
\r
53 * This demo relies on each 'hook' co-routine to execute between each
\r
54 * hookTICK_CALLS_BEFORE_POST tick interrupts. This and the heavy use of
\r
55 * queues from within an interrupt may result in an error being detected on
\r
56 * slower targets simply due to timing.
\r
59 /* Scheduler includes. */
\r
60 #include "FreeRTOS.h"
\r
61 #include "croutine.h"
\r
64 /* Demo application includes. */
\r
67 /* The number of 'hook' co-routines that are to be created. */
\r
68 #define hookNUM_HOOK_CO_ROUTINES ( 4 )
\r
70 /* The number of times the tick hook should be called before a character is
\r
71 posted to the 'hook' co-routines. */
\r
72 #define hookTICK_CALLS_BEFORE_POST ( 250 )
\r
74 /* There should never be more than one item in any queue at any time. */
\r
75 #define hookHOOK_QUEUE_LENGTH ( 1 )
\r
77 /* Don't block when initially posting to the queue. */
\r
78 #define hookNO_BLOCK_TIME ( 0 )
\r
80 /* The priority relative to other co-routines (rather than tasks) that the
\r
81 'hook' co-routines should take. */
\r
82 #define mainHOOK_CR_PRIORITY ( 1 )
\r
83 /*-----------------------------------------------------------*/
\r
86 * The co-routine function itself.
\r
88 static void prvHookCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex );
\r
92 * The tick hook function. This receives a number from each 'hook' co-routine
\r
93 * then sends a number to each co-routine. An error is flagged if a send or
\r
94 * receive fails, or an unexpected number is received.
\r
96 void vApplicationTickHook( void );
\r
98 /*-----------------------------------------------------------*/
\r
100 /* Queues used to send data FROM a co-routine TO the tick hook function.
\r
101 The hook functions received (Rx's) on these queues. One queue per
\r
102 'hook' co-routine. */
\r
103 static xQueueHandle xHookRxQueues[ hookNUM_HOOK_CO_ROUTINES ];
\r
105 /* Queues used to send data FROM the tick hook TO a co-routine function.
\r
106 The hood function transmits (Tx's) on these queues. One queue per
\r
107 'hook' co-routine. */
\r
108 static xQueueHandle xHookTxQueues[ hookNUM_HOOK_CO_ROUTINES ];
\r
110 /* Set to true if an error is detected at any time. */
\r
111 static portBASE_TYPE xCoRoutineErrorDetected = pdFALSE;
\r
113 /*-----------------------------------------------------------*/
\r
115 void vStartHookCoRoutines( void )
\r
117 unsigned portBASE_TYPE uxIndex, uxValueToPost = 0;
\r
119 for( uxIndex = 0; uxIndex < hookNUM_HOOK_CO_ROUTINES; uxIndex++ )
\r
121 /* Create a queue to transmit to and receive from each 'hook'
\r
123 xHookRxQueues[ uxIndex ] = xQueueCreate( hookHOOK_QUEUE_LENGTH, sizeof( unsigned portBASE_TYPE ) );
\r
124 xHookTxQueues[ uxIndex ] = xQueueCreate( hookHOOK_QUEUE_LENGTH, sizeof( unsigned portBASE_TYPE ) );
\r
126 /* To start things off the tick hook function expects the queue it
\r
127 uses to receive data to contain a value. */
\r
128 xQueueSend( xHookRxQueues[ uxIndex ], &uxValueToPost, hookNO_BLOCK_TIME );
\r
130 /* Create the 'hook' co-routine itself. */
\r
131 xCoRoutineCreate( prvHookCoRoutine, mainHOOK_CR_PRIORITY, uxIndex );
\r
134 /*-----------------------------------------------------------*/
\r
136 static unsigned portBASE_TYPE uxCallCounter = 0, uxNumberToPost = 0;
\r
137 void vApplicationTickHook( void )
\r
139 unsigned portBASE_TYPE uxReceivedNumber;
\r
140 signed portBASE_TYPE xIndex, xCoRoutineWoken;
\r
142 /* Is it time to talk to the 'hook' co-routines again? */
\r
144 if( uxCallCounter >= hookTICK_CALLS_BEFORE_POST )
\r
148 for( xIndex = 0; xIndex < hookNUM_HOOK_CO_ROUTINES; xIndex++ )
\r
150 xCoRoutineWoken = pdFALSE;
\r
151 if( crQUEUE_RECEIVE_FROM_ISR( xHookRxQueues[ xIndex ], &uxReceivedNumber, &xCoRoutineWoken ) != pdPASS )
\r
153 /* There is no reason why we would not expect the queue to
\r
154 contain a value. */
\r
155 xCoRoutineErrorDetected = pdTRUE;
\r
159 /* Each queue used to receive data from the 'hook' co-routines
\r
160 should contain the number we last posted to the same co-routine. */
\r
161 if( uxReceivedNumber != uxNumberToPost )
\r
163 xCoRoutineErrorDetected = pdTRUE;
\r
166 /* Nothing should be blocked waiting to post to the queue. */
\r
167 if( xCoRoutineWoken != pdFALSE )
\r
169 xCoRoutineErrorDetected = pdTRUE;
\r
174 /* Start the next cycle by posting the next number onto each Tx queue. */
\r
177 for( xIndex = 0; xIndex < hookNUM_HOOK_CO_ROUTINES; xIndex++ )
\r
179 if( crQUEUE_SEND_FROM_ISR( xHookTxQueues[ xIndex ], &uxNumberToPost, pdFALSE ) != pdTRUE )
\r
181 /* Posting to the queue should have woken the co-routine that
\r
182 was blocked on the queue. */
\r
183 xCoRoutineErrorDetected = pdTRUE;
\r
188 /*-----------------------------------------------------------*/
\r
190 static void prvHookCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
\r
192 static unsigned portBASE_TYPE uxReceivedValue[ hookNUM_HOOK_CO_ROUTINES ];
\r
193 portBASE_TYPE xResult;
\r
195 /* Each co-routine MUST start with a call to crSTART(); */
\r
196 crSTART( xHandle );
\r
200 /* Wait to receive a value from the tick hook. */
\r
202 crQUEUE_RECEIVE( xHandle, xHookTxQueues[ uxIndex ], &( uxReceivedValue[ uxIndex ] ), portMAX_DELAY, &xResult );
\r
204 /* There is no reason why we should not have received something on
\r
206 if( xResult != pdPASS )
\r
208 xCoRoutineErrorDetected = pdTRUE;
\r
211 /* Send the same number back to the idle hook so it can verify it. */
\r
213 crQUEUE_SEND( xHandle, xHookRxQueues[ uxIndex ], &( uxReceivedValue[ uxIndex ] ), hookNO_BLOCK_TIME, &xResult );
\r
214 if( xResult != pdPASS )
\r
216 /* There is no reason why we should not have been able to post to
\r
218 xCoRoutineErrorDetected = pdTRUE;
\r
222 /* Each co-routine MUST end with a call to crEND(). */
\r
225 /*-----------------------------------------------------------*/
\r
227 portBASE_TYPE xAreHookCoRoutinesStillRunning( void )
\r
229 if( xCoRoutineErrorDetected )
\r