| /* | |
| FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd. | |
| FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT | |
| http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
| *************************************************************************** | |
| * * | |
| * FreeRTOS tutorial books are available in pdf and paperback. * | |
| * Complete, revised, and edited pdf reference manuals are also * | |
| * available. * | |
| * * | |
| * Purchasing FreeRTOS documentation will not only help you, by * | |
| * ensuring you get running as quickly as possible and with an * | |
| * in-depth knowledge of how to use FreeRTOS, it will also help * | |
| * the FreeRTOS project to continue with its mission of providing * | |
| * professional grade, cross platform, de facto standard solutions * | |
| * for microcontrollers - completely free of charge! * | |
| * * | |
| * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * | |
| * * | |
| * Thank you for using FreeRTOS, and thank you for your support! * | |
| * * | |
| *************************************************************************** | |
| 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. See the GNU General Public License for more | |
| details. You should have received a copy of the GNU General Public License | |
| and the FreeRTOS license exception along with FreeRTOS; if not it can be | |
| viewed here: http://www.freertos.org/a00114.html and also obtained by | |
| writing to Real Time Engineers Ltd., contact details for whom are available | |
| on the FreeRTOS WEB site. | |
| 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, and our new | |
| fully thread aware and reentrant UDP/IP stack. | |
| http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
| Integrity Systems, who sell the code with commercial support, | |
| indemnification and middleware, under the OpenRTOS brand. | |
| 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. | |
| */ | |
| /** | |
| * 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(); | |
| } | |
| /*-----------------------------------------------------------*/ | |