2 FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 ***************************************************************************
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29 * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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30 * and even write all or part of your application on your behalf. *
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31 * See http://www.OpenRTOS.com for details of the services we provide to *
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32 * expedite your project. *
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34 ***************************************************************************
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35 ***************************************************************************
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37 Please ensure to read the configuration and relevant port sections of the
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38 online documentation.
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40 http://www.FreeRTOS.org - Documentation, latest information, license and
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43 http://www.SafeRTOS.com - A version that is certified for use in safety
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46 http://www.OpenRTOS.com - Commercial support, development, porting,
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47 licensing and training services.
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51 * This demo file demonstrates how to send data between an ISR and a
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52 * co-routine. A tick hook function is used to periodically pass data between
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53 * the RTOS tick and a set of 'hook' co-routines.
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55 * hookNUM_HOOK_CO_ROUTINES co-routines are created. Each co-routine blocks
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56 * to wait for a character to be received on a queue from the tick ISR, checks
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57 * to ensure the character received was that expected, then sends the number
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58 * back to the tick ISR on a different queue.
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60 * The tick ISR checks the numbers received back from the 'hook' co-routines
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61 * matches the number previously sent.
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63 * If at any time a queue function returns unexpectedly, or an incorrect value
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64 * is received either by the tick hook or a co-routine then an error is
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67 * This demo relies on each 'hook' co-routine to execute between each
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68 * hookTICK_CALLS_BEFORE_POST tick interrupts. This and the heavy use of
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69 * queues from within an interrupt may result in an error being detected on
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70 * slower targets simply due to timing.
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73 /* Scheduler includes. */
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74 #include "FreeRTOS.h"
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75 #include "croutine.h"
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78 /* Demo application includes. */
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81 /* The number of 'hook' co-routines that are to be created. */
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82 #define hookNUM_HOOK_CO_ROUTINES ( 4 )
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84 /* The number of times the tick hook should be called before a character is
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85 posted to the 'hook' co-routines. */
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86 #define hookTICK_CALLS_BEFORE_POST ( 500 )
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88 /* There should never be more than one item in any queue at any time. */
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89 #define hookHOOK_QUEUE_LENGTH ( 1 )
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91 /* Don't block when initially posting to the queue. */
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92 #define hookNO_BLOCK_TIME ( 0 )
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94 /* The priority relative to other co-routines (rather than tasks) that the
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95 'hook' co-routines should take. */
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96 #define mainHOOK_CR_PRIORITY ( 1 )
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97 /*-----------------------------------------------------------*/
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100 * The co-routine function itself.
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102 static void prvHookCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex );
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106 * The tick hook function. This receives a number from each 'hook' co-routine
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107 * then sends a number to each co-routine. An error is flagged if a send or
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108 * receive fails, or an unexpected number is received.
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110 void vApplicationTickHook( void );
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112 /*-----------------------------------------------------------*/
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114 /* Queues used to send data FROM a co-routine TO the tick hook function.
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115 The hook functions received (Rx's) on these queues. One queue per
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116 'hook' co-routine. */
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117 static xQueueHandle xHookRxQueues[ hookNUM_HOOK_CO_ROUTINES ];
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119 /* Queues used to send data FROM the tick hook TO a co-routine function.
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120 The hood function transmits (Tx's) on these queues. One queue per
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121 'hook' co-routine. */
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122 static xQueueHandle xHookTxQueues[ hookNUM_HOOK_CO_ROUTINES ];
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124 /* Set to true if an error is detected at any time. */
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125 static portBASE_TYPE xCoRoutineErrorDetected = pdFALSE;
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127 /*-----------------------------------------------------------*/
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129 void vStartHookCoRoutines( void )
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131 unsigned portBASE_TYPE uxIndex, uxValueToPost = 0;
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133 for( uxIndex = 0; uxIndex < hookNUM_HOOK_CO_ROUTINES; uxIndex++ )
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135 /* Create a queue to transmit to and receive from each 'hook'
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137 xHookRxQueues[ uxIndex ] = xQueueCreate( hookHOOK_QUEUE_LENGTH, sizeof( unsigned portBASE_TYPE ) );
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138 xHookTxQueues[ uxIndex ] = xQueueCreate( hookHOOK_QUEUE_LENGTH, sizeof( unsigned portBASE_TYPE ) );
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140 /* To start things off the tick hook function expects the queue it
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141 uses to receive data to contain a value. */
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142 xQueueSend( xHookRxQueues[ uxIndex ], &uxValueToPost, hookNO_BLOCK_TIME );
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144 /* Create the 'hook' co-routine itself. */
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145 xCoRoutineCreate( prvHookCoRoutine, mainHOOK_CR_PRIORITY, uxIndex );
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148 /*-----------------------------------------------------------*/
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150 static unsigned portBASE_TYPE uxCallCounter = 0, uxNumberToPost = 0;
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151 void vApplicationTickHook( void )
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153 unsigned portBASE_TYPE uxReceivedNumber;
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154 signed portBASE_TYPE xIndex, xCoRoutineWoken;
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156 /* Is it time to talk to the 'hook' co-routines again? */
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158 if( uxCallCounter >= hookTICK_CALLS_BEFORE_POST )
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162 for( xIndex = 0; xIndex < hookNUM_HOOK_CO_ROUTINES; xIndex++ )
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164 xCoRoutineWoken = pdFALSE;
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165 if( crQUEUE_RECEIVE_FROM_ISR( xHookRxQueues[ xIndex ], &uxReceivedNumber, &xCoRoutineWoken ) != pdPASS )
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167 /* There is no reason why we would not expect the queue to
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168 contain a value. */
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169 xCoRoutineErrorDetected = pdTRUE;
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173 /* Each queue used to receive data from the 'hook' co-routines
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174 should contain the number we last posted to the same co-routine. */
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175 if( uxReceivedNumber != uxNumberToPost )
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177 xCoRoutineErrorDetected = pdTRUE;
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180 /* Nothing should be blocked waiting to post to the queue. */
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181 if( xCoRoutineWoken != pdFALSE )
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183 xCoRoutineErrorDetected = pdTRUE;
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188 /* Start the next cycle by posting the next number onto each Tx queue. */
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191 for( xIndex = 0; xIndex < hookNUM_HOOK_CO_ROUTINES; xIndex++ )
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193 if( crQUEUE_SEND_FROM_ISR( xHookTxQueues[ xIndex ], &uxNumberToPost, pdFALSE ) != pdTRUE )
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195 /* Posting to the queue should have woken the co-routine that
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196 was blocked on the queue. */
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197 xCoRoutineErrorDetected = pdTRUE;
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202 /*-----------------------------------------------------------*/
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204 static void prvHookCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
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206 static unsigned portBASE_TYPE uxReceivedValue[ hookNUM_HOOK_CO_ROUTINES ];
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207 portBASE_TYPE xResult;
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209 /* Each co-routine MUST start with a call to crSTART(); */
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210 crSTART( xHandle );
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214 /* Wait to receive a value from the tick hook. */
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216 crQUEUE_RECEIVE( xHandle, xHookTxQueues[ uxIndex ], &( uxReceivedValue[ uxIndex ] ), portMAX_DELAY, &xResult );
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218 /* There is no reason why we should not have received something on
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220 if( xResult != pdPASS )
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222 xCoRoutineErrorDetected = pdTRUE;
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225 /* Send the same number back to the idle hook so it can verify it. */
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227 crQUEUE_SEND( xHandle, xHookRxQueues[ uxIndex ], &( uxReceivedValue[ uxIndex ] ), hookNO_BLOCK_TIME, &xResult );
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228 if( xResult != pdPASS )
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230 /* There is no reason why we should not have been able to post to
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232 xCoRoutineErrorDetected = pdTRUE;
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236 /* Each co-routine MUST end with a call to crEND(). */
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239 /*-----------------------------------------------------------*/
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241 portBASE_TYPE xAreHookCoRoutinesStillRunning( void )
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243 if( xCoRoutineErrorDetected )
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