2 FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd.
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4 ***************************************************************************
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8 * + New to FreeRTOS, *
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9 * + Wanting to learn FreeRTOS or multitasking in general quickly *
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10 * + Looking for basic training, *
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11 * + Wanting to improve your FreeRTOS skills and productivity *
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13 * then take a look at the FreeRTOS eBook *
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15 * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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16 * http://www.FreeRTOS.org/Documentation *
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18 * A pdf reference manual is also available. Both are usually delivered *
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19 * to your inbox within 20 minutes to two hours when purchased between 8am *
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20 * and 8pm GMT (although please allow up to 24 hours in case of *
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21 * exceptional circumstances). Thank you for your support! *
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23 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 ***NOTE*** The exception to the GPL is included to allow you to distribute
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31 a combined work that includes FreeRTOS without being obliged to provide the
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32 source code for proprietary components outside of the FreeRTOS kernel.
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33 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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34 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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35 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 http://www.FreeRTOS.org - Documentation, latest information, license and
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47 http://www.SafeRTOS.com - A version that is certified for use in safety
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50 http://www.OpenRTOS.com - Commercial support, development, porting,
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51 licensing and training services.
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55 * This demo application file demonstrates the use of queues to pass data
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56 * between co-routines.
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58 * N represents the number of 'fixed delay' co-routines that are created and
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59 * is set during initialisation.
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61 * N 'fixed delay' co-routines are created that just block for a fixed
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62 * period then post the number of an LED onto a queue. Each such co-routine
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63 * uses a different block period. A single 'flash' co-routine is also created
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64 * that blocks on the same queue, waiting for the number of the next LED it
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65 * should flash. Upon receiving a number it simply toggle the instructed LED
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66 * then blocks on the queue once more. In this manner each LED from LED 0 to
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67 * LED N-1 is caused to flash at a different rate.
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69 * The 'fixed delay' co-routines are created with co-routine priority 0. The
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70 * flash co-routine is created with co-routine priority 1. This means that
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71 * the queue should never contain more than a single item. This is because
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72 * posting to the queue will unblock the 'flash' co-routine, and as this has
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73 * a priority greater than the tasks posting to the queue it is guaranteed to
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74 * have emptied the queue and blocked once again before the queue can contain
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75 * any more date. An error is indicated if an attempt to post data to the
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76 * queue fails - indicating that the queue is already full.
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80 /* Scheduler includes. */
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81 #include "FreeRTOS.h"
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82 #include "croutine.h"
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85 /* Demo application includes. */
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86 #include "partest.h"
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87 #include "crflash.h"
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89 /* The queue should only need to be of length 1. See the description at the
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91 #define crfQUEUE_LENGTH 1
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93 #define crfFIXED_DELAY_PRIORITY 0
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94 #define crfFLASH_PRIORITY 1
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96 /* Only one flash co-routine is created so the index is not significant. */
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97 #define crfFLASH_INDEX 0
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99 /* Don't allow more than crfMAX_FLASH_TASKS 'fixed delay' co-routines to be
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101 #define crfMAX_FLASH_TASKS 8
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103 /* We don't want to block when posting to the queue. */
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104 #define crfPOSTING_BLOCK_TIME 0
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106 /* Added by MPi, this define is added in order to make the vParTestToggleLED()
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107 work. This basically differentiates the PDR09 from PDR00. 7-seg display LEDs connected
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108 to PDR09 (SEG1) are used by the prvFlashCoRoutine() and PDR00 (SEG2) are used by tasks. */
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109 #define PDR00_Offset 8
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112 * The 'fixed delay' co-routine as described at the top of the file.
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114 static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex );
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117 * The 'flash' co-routine as described at the top of the file.
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119 static void prvFlashCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex );
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121 /* The queue used to pass data between the 'fixed delay' co-routines and the
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122 'flash' co-routine. */
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123 static xQueueHandle xFlashQueue;
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125 /* This will be set to pdFALSE if we detect an error. */
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126 static unsigned portBASE_TYPE uxCoRoutineFlashStatus = pdPASS;
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128 /*-----------------------------------------------------------*/
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131 * See the header file for details.
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133 void vStartFlashCoRoutines( unsigned portBASE_TYPE uxNumberToCreate )
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135 unsigned portBASE_TYPE uxIndex;
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137 if( uxNumberToCreate > crfMAX_FLASH_TASKS )
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139 uxNumberToCreate = crfMAX_FLASH_TASKS;
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142 /* Create the queue used to pass data between the co-routines. */
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143 xFlashQueue = xQueueCreate( crfQUEUE_LENGTH, sizeof( unsigned portBASE_TYPE ) );
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147 /* Create uxNumberToCreate 'fixed delay' co-routines. */
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148 for( uxIndex = 0; uxIndex < uxNumberToCreate; uxIndex++ )
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150 xCoRoutineCreate( prvFixedDelayCoRoutine, crfFIXED_DELAY_PRIORITY, uxIndex );
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153 /* Create the 'flash' co-routine. */
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154 xCoRoutineCreate( prvFlashCoRoutine, crfFLASH_PRIORITY, crfFLASH_INDEX );
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157 /*-----------------------------------------------------------*/
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159 static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
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161 /* Even though this is a co-routine the xResult variable does not need to be
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162 static as we do not need it to maintain its state between blocks. */
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163 signed portBASE_TYPE xResult;
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164 /* The uxIndex parameter of the co-routine function is used as an index into
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165 the xFlashRates array to obtain the delay period to use. */
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166 static const portTickType xFlashRates[ crfMAX_FLASH_TASKS ] = { 150 / portTICK_RATE_MS,
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167 200 / portTICK_RATE_MS,
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168 250 / portTICK_RATE_MS,
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169 300 / portTICK_RATE_MS,
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170 350 / portTICK_RATE_MS,
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171 400 / portTICK_RATE_MS,
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172 450 / portTICK_RATE_MS,
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173 500 / portTICK_RATE_MS };
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175 /* Co-routines MUST start with a call to crSTART. */
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176 crSTART( xHandle );
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180 /* Post our uxIndex value onto the queue. This is used as the LED to
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182 crQUEUE_SEND( xHandle, xFlashQueue, ( void * ) &uxIndex, crfPOSTING_BLOCK_TIME, &xResult );
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184 if( xResult != pdPASS )
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186 /* For the reasons stated at the top of the file we should always
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187 find that we can post to the queue. If we could not then an error
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189 uxCoRoutineFlashStatus = pdFAIL;
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192 crDELAY( xHandle, xFlashRates[ uxIndex ] );
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195 /* Co-routines MUST end with a call to crEND. */
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198 /*-----------------------------------------------------------*/
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200 static void prvFlashCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
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202 /* Even though this is a co-routine the variable do not need to be
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203 static as we do not need it to maintain their state between blocks. */
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204 signed portBASE_TYPE xResult;
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205 unsigned portBASE_TYPE uxLEDToFlash;
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207 /* Co-routines MUST start with a call to crSTART. */
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208 crSTART( xHandle );
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213 /* Block to wait for the number of the LED to flash. */
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214 crQUEUE_RECEIVE( xHandle, xFlashQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
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216 if( xResult != pdPASS )
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218 /* We would not expect to wake unless we received something. */
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219 uxCoRoutineFlashStatus = pdFAIL;
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223 /* We received the number of an LED to flash - flash it! */
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224 /* Added by MPi, PDR00_Offset is added in order to make the
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225 vParTestToggleLED() work. */
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226 vParTestToggleLED( uxLEDToFlash + PDR00_Offset );
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230 /* Co-routines MUST end with a call to crEND. */
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233 /*-----------------------------------------------------------*/
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235 portBASE_TYPE xAreFlashCoRoutinesStillRunning( void )
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237 /* Return pdPASS or pdFAIL depending on whether an error has been detected
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239 return uxCoRoutineFlashStatus;
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