FreeRTOS/Demo/MB96350_Softune_Dice_Kit/SegmentToggleTasks.c - third_party/github/FreeRTOS/FreeRTOS-Kernel - Git at Google

 /*
     FreeRTOS V7.5.3 - Copyright (C) 2013 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!
 */

 /**
  * Defines the tasks and co-routines used to toggle the segments of the two
  * seven segment displays, as described at the top of main.c
  */


 #include <stdlib.h>

 /* Scheduler include files. */
 #include "FreeRTOS.h"
 #include "task.h"
 #include "croutine.h"

 /* Demo program include files. */
 #include "partest.h"

 /*-----------------------------------------------------------*/

 /* One task per segment of the left side display. */
 #define ledNUM_OF_LED_TASKS	( 7 )

 /* Each task toggles at a frequency that is a multiple of 333ms. */
 #define ledFLASH_RATE_BASE	( ( portTickType ) 333 )

 /* One co-routine per segment of the right hand display. */
 #define ledNUM_OF_LED_CO_ROUTINES	7

 /* All co-routines run at the same priority. */
 #define ledCO_ROUTINE_PRIORITY		0

 /*-----------------------------------------------------------*/

 /* The task that is created 7 times. */
 static void vLEDFlashTask( void *pvParameters );

 /* The co-routine that is created 7 times. */
 static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned short usIndex );

 /* This task is created once, but itself creates 7 co-routines. */
 static void vLEDCoRoutineControlTask( void *pvParameters );

 /* Handles to each of the 7 tasks.  Used so the tasks can be suspended
 and resumed. */
 static xTaskHandle xFlashTaskHandles[ ledNUM_OF_LED_TASKS ] = { 0 };

 /* Handle to the task in which the co-routines run.  Used so the
 co-routines can be suspended and resumed. */
 static xTaskHandle xCoroutineTask;

 /*-----------------------------------------------------------*/

 /**
  * Creates the tasks and co-routines used to toggle the segments of the two
  * seven segment displays, as described at the top of main.c
  */
 void vCreateFlashTasksAndCoRoutines( void )
 {
 signed short sLEDTask;

 	/* Create the tasks that flash segments on the first LED. */
 	for( sLEDTask = 0; sLEDTask < ledNUM_OF_LED_TASKS; ++sLEDTask )
 	{
 		/* Spawn the task. */
 		xTaskCreate( vLEDFlashTask, ( signed char * ) "LEDt", configMINIMAL_STACK_SIZE, ( void * ) sLEDTask, ( tskIDLE_PRIORITY + 1 ), &( xFlashTaskHandles[ sLEDTask ] ) );
 	}

 	/* Create the task in which the co-routines run.  The co-routines themselves
 	are created within the task. */
 	xTaskCreate( vLEDCoRoutineControlTask, ( signed char * ) "LEDc", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xCoroutineTask );
 }
 /*-----------------------------------------------------------*/

 void vSuspendFlashTasks( unsigned char ucIndex, short sSuspendTasks )
 {
 short sLEDTask;

 	if( ucIndex == configLEFT_DISPLAY )
 	{
 		/* Suspend or resume the tasks that are toggling the segments of the
 		left side display. */
 		for( sLEDTask = 0; sLEDTask < ledNUM_OF_LED_TASKS; ++sLEDTask )
 		{
 			if( xFlashTaskHandles[ sLEDTask ] != NULL )
 			{
 				if( sSuspendTasks == pdTRUE )
 				{
 					vTaskSuspend( xFlashTaskHandles[ sLEDTask ] );
 				}
 				else
 				{
 					vTaskResume( xFlashTaskHandles[ sLEDTask ] );
 				}
 			}
 		}
 	}
 	else
 	{
 		/* Suspend or resume the task in which the co-routines are running.  The
 		co-routines toggle the segments of the right side display. */
 		if( sSuspendTasks == pdTRUE )
 		{
 			vTaskSuspend( xCoroutineTask );
 		}
 		else
 		{
 			vTaskResume( xCoroutineTask );
 		}
 	}
 }
 /*-----------------------------------------------------------*/

 static void vLEDFlashTask( void * pvParameters )
 {
 portTickType xFlashRate, xLastFlashTime;
 unsigned short usLED;

 	/* The LED to flash is passed in as the task parameter. */
 	usLED = ( unsigned short ) pvParameters;

 	/* Calculate the rate at which this task is going to toggle its LED. */
 	xFlashRate = ledFLASH_RATE_BASE + ( ledFLASH_RATE_BASE * ( portTickType ) usLED );
 	xFlashRate /= portTICK_RATE_MS;

 	/* We will turn the LED on and off again in the delay period, so each
 	delay is only half the total period. */
 	xFlashRate /= ( portTickType ) 2;

 	/* We need to initialise xLastFlashTime prior to the first call to
 	vTaskDelayUntil(). */
 	xLastFlashTime = xTaskGetTickCount();

 	for(;;)
 	{
 		/* Delay for half the flash period then turn the LED on. */
 		vTaskDelayUntil( &xLastFlashTime, xFlashRate );
 		vParTestToggleLED( usLED );

 		/* Delay for half the flash period then turn the LED off. */
 		vTaskDelayUntil( &xLastFlashTime, xFlashRate );
 		vParTestToggleLED( usLED );
 	}
 }
 /*-----------------------------------------------------------*/

 static void vLEDCoRoutineControlTask( void *pvParameters )
 {
 unsigned short usCoroutine;

 	( void ) pvParameters;

 	/* Create the co-routines - one of each segment of the right side display. */
 	for( usCoroutine = 0; usCoroutine < ledNUM_OF_LED_CO_ROUTINES; usCoroutine++ )
 	{
 		xCoRoutineCreate( prvFixedDelayCoRoutine, ledCO_ROUTINE_PRIORITY, usCoroutine );
 	}

 	/* This task has nothing else to do except scheduler the co-routines it just
 	created. */
 	for( ;; )
 	{
 		vCoRoutineSchedule();
 	}
 }
 /*-----------------------------------------------------------*/

 static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned short usIndex )
 {
 /* The usIndex parameter of the co-routine function is used as an index into
 the xFlashRates array to obtain the delay period to use. */
 static const portTickType xFlashRates[ ledNUM_OF_LED_CO_ROUTINES ] = { 150 / portTICK_RATE_MS,
 																300 / portTICK_RATE_MS,
 																450 / portTICK_RATE_MS,
 																600 / portTICK_RATE_MS,
 																750 / portTICK_RATE_MS,
 																900 / portTICK_RATE_MS,
 																1050 / portTICK_RATE_MS };

 	/* Co-routines MUST start with a call to crSTART. */
 	crSTART( xHandle );

 	for( ;; )
 	{
 		/* Toggle the LED.  An offset of 8 is used to skip over the segments of
 		the left side display which use the low numbers. */
 		vParTestToggleLED( usIndex + 8 );

 		/* Delay until it is time to toggle the segment that this co-routine is
 		controlling again. */
 		crDELAY( xHandle, xFlashRates[ usIndex ] );
 	}

 	/* Co-routines MUST end with a call to crEND. */
 	crEND();
 }
 /*-----------------------------------------------------------*/
	/*
	FreeRTOS V7.5.3 - Copyright (C) 2013 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!
	*/

	/**
	* Defines the tasks and co-routines used to toggle the segments of the two
	* seven segment displays, as described at the top of main.c
	*/


	#include <stdlib.h>

	/* Scheduler include files. */
	#include "FreeRTOS.h"
	#include "task.h"
	#include "croutine.h"

	/* Demo program include files. */
	#include "partest.h"

	/-----------------------------------------------------------/

	/* One task per segment of the left side display. */
	#define ledNUM_OF_LED_TASKS ( 7 )

	/* Each task toggles at a frequency that is a multiple of 333ms. */
	#define ledFLASH_RATE_BASE ( ( portTickType ) 333 )

	/* One co-routine per segment of the right hand display. */
	#define ledNUM_OF_LED_CO_ROUTINES 7

	/* All co-routines run at the same priority. */
	#define ledCO_ROUTINE_PRIORITY 0

	/-----------------------------------------------------------/

	/* The task that is created 7 times. */
	static void vLEDFlashTask( void *pvParameters );

	/* The co-routine that is created 7 times. */
	static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned short usIndex );

	/* This task is created once, but itself creates 7 co-routines. */
	static void vLEDCoRoutineControlTask( void *pvParameters );

	/* Handles to each of the 7 tasks. Used so the tasks can be suspended
	and resumed. */
	static xTaskHandle xFlashTaskHandles[ ledNUM_OF_LED_TASKS ] = { 0 };

	/* Handle to the task in which the co-routines run. Used so the
	co-routines can be suspended and resumed. */
	static xTaskHandle xCoroutineTask;

	/-----------------------------------------------------------/

	/**
	* Creates the tasks and co-routines used to toggle the segments of the two
	* seven segment displays, as described at the top of main.c
	*/
	void vCreateFlashTasksAndCoRoutines( void )
	{
	signed short sLEDTask;

	/* Create the tasks that flash segments on the first LED. */
	for( sLEDTask = 0; sLEDTask < ledNUM_OF_LED_TASKS; ++sLEDTask )
	{
	/* Spawn the task. */
	xTaskCreate( vLEDFlashTask, ( signed char * ) "LEDt", configMINIMAL_STACK_SIZE, ( void * ) sLEDTask, ( tskIDLE_PRIORITY + 1 ), &( xFlashTaskHandles[ sLEDTask ] ) );
	}

	/* Create the task in which the co-routines run. The co-routines themselves
	are created within the task. */
	xTaskCreate( vLEDCoRoutineControlTask, ( signed char * ) "LEDc", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xCoroutineTask );
	}
	/-----------------------------------------------------------/

	void vSuspendFlashTasks( unsigned char ucIndex, short sSuspendTasks )
	{
	short sLEDTask;

	if( ucIndex == configLEFT_DISPLAY )
	{
	/* Suspend or resume the tasks that are toggling the segments of the
	left side display. */
	for( sLEDTask = 0; sLEDTask < ledNUM_OF_LED_TASKS; ++sLEDTask )
	{
	if( xFlashTaskHandles[ sLEDTask ] != NULL )
	{
	if( sSuspendTasks == pdTRUE )
	{
	vTaskSuspend( xFlashTaskHandles[ sLEDTask ] );
	}
	else
	{
	vTaskResume( xFlashTaskHandles[ sLEDTask ] );
	}
	}
	}
	}
	else
	{
	/* Suspend or resume the task in which the co-routines are running. The
	co-routines toggle the segments of the right side display. */
	if( sSuspendTasks == pdTRUE )
	{
	vTaskSuspend( xCoroutineTask );
	}
	else
	{
	vTaskResume( xCoroutineTask );
	}
	}
	}
	/-----------------------------------------------------------/

	static void vLEDFlashTask( void * pvParameters )
	{
	portTickType xFlashRate, xLastFlashTime;
	unsigned short usLED;

	/* The LED to flash is passed in as the task parameter. */
	usLED = ( unsigned short ) pvParameters;

	/* Calculate the rate at which this task is going to toggle its LED. */
	xFlashRate = ledFLASH_RATE_BASE + ( ledFLASH_RATE_BASE * ( portTickType ) usLED );
	xFlashRate /= portTICK_RATE_MS;

	/* We will turn the LED on and off again in the delay period, so each
	delay is only half the total period. */
	xFlashRate /= ( portTickType ) 2;

	/* We need to initialise xLastFlashTime prior to the first call to
	vTaskDelayUntil(). */
	xLastFlashTime = xTaskGetTickCount();

	for(;;)
	{
	/* Delay for half the flash period then turn the LED on. */
	vTaskDelayUntil( &xLastFlashTime, xFlashRate );
	vParTestToggleLED( usLED );

	/* Delay for half the flash period then turn the LED off. */
	vTaskDelayUntil( &xLastFlashTime, xFlashRate );
	vParTestToggleLED( usLED );
	}
	}
	/-----------------------------------------------------------/

	static void vLEDCoRoutineControlTask( void *pvParameters )
	{
	unsigned short usCoroutine;

	( void ) pvParameters;

	/* Create the co-routines - one of each segment of the right side display. */
	for( usCoroutine = 0; usCoroutine < ledNUM_OF_LED_CO_ROUTINES; usCoroutine++ )
	{
	xCoRoutineCreate( prvFixedDelayCoRoutine, ledCO_ROUTINE_PRIORITY, usCoroutine );
	}

	/* This task has nothing else to do except scheduler the co-routines it just
	created. */
	for( ;; )
	{
	vCoRoutineSchedule();
	}
	}
	/-----------------------------------------------------------/

	static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned short usIndex )
	{
	/* The usIndex parameter of the co-routine function is used as an index into
	the xFlashRates array to obtain the delay period to use. */
	static const portTickType xFlashRates[ ledNUM_OF_LED_CO_ROUTINES ] = { 150 / portTICK_RATE_MS,
	300 / portTICK_RATE_MS,
	450 / portTICK_RATE_MS,
	600 / portTICK_RATE_MS,
	750 / portTICK_RATE_MS,
	900 / portTICK_RATE_MS,
	1050 / portTICK_RATE_MS };

	/* Co-routines MUST start with a call to crSTART. */
	crSTART( xHandle );

	for( ;; )
	{
	/* Toggle the LED. An offset of 8 is used to skip over the segments of
	the left side display which use the low numbers. */
	vParTestToggleLED( usIndex + 8 );

	/* Delay until it is time to toggle the segment that this co-routine is
	controlling again. */
	crDELAY( xHandle, xFlashRates[ usIndex ] );
	}

	/* Co-routines MUST end with a call to crEND. */
	crEND();
	}
	/-----------------------------------------------------------/