/* | |
* FreeRTOS Kernel V10.3.0 | |
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. | |
* | |
* Permission is hereby granted, free of charge, to any person obtaining a copy of | |
* this software and associated documentation files (the "Software"), to deal in | |
* the Software without restriction, including without limitation the rights to | |
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* the Software, and to permit persons to whom the Software is furnished to do so, | |
* subject to the following conditions: | |
* | |
* The above copyright notice and this permission notice shall be included in all | |
* copies or substantial portions of the Software. | |
* | |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS | |
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* | |
* http://www.FreeRTOS.org | |
* http://aws.amazon.com/freertos | |
* | |
* 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 | |
/* Added by MPi, this define is added in order to make the vParTestToggleLED() | |
work. This basically differentiates the PDR09 from PDR00. 7-seg display LEDs connected | |
to PDR09 (SEG1) are used by the prvFlashCoRoutine() and PDR00 (SEG2) are used by tasks. */ | |
#define PDR00_Offset 8 | |
/* | |
* 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 unsigned portBASE_TYPE uxCoRoutineFlashStatus = 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. */ | |
uxCoRoutineFlashStatus = 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. */ | |
uxCoRoutineFlashStatus = pdFAIL; | |
} | |
else | |
{ | |
/* We received the number of an LED to flash - flash it! */ | |
/* Added by MPi, PDR00_Offset is added in order to make the | |
vParTestToggleLED() work. */ | |
vParTestToggleLED( uxLEDToFlash + PDR00_Offset ); | |
} | |
} | |
/* 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 uxCoRoutineFlashStatus; | |
} | |