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Richard Barry
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/*
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FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/**
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* Defines the tasks and co-routines used to toggle the segments of the two
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* seven segment displays, as described at the top of main.c
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*/
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#include <stdlib.h>
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "croutine.h"
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/* Demo program include files. */
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#include "partest.h"
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/*-----------------------------------------------------------*/
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/* One task per segment of the left side display. */
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#define ledNUM_OF_LED_TASKS ( 7 )
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/* Each task toggles at a frequency that is a multiple of 333ms. */
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#define ledFLASH_RATE_BASE ( ( portTickType ) 333 )
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/* One co-routine per segment of the right hand display. */
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#define ledNUM_OF_LED_CO_ROUTINES 7
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/* All co-routines run at the same priority. */
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#define ledCO_ROUTINE_PRIORITY 0
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/*-----------------------------------------------------------*/
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/* The task that is created 7 times. */
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static void vLEDFlashTask( void *pvParameters );
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/* The co-routine that is created 7 times. */
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static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned short usIndex );
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/* This task is created once, but itself creates 7 co-routines. */
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static void vLEDCoRoutineControlTask( void *pvParameters );
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/* Handles to each of the 7 tasks. Used so the tasks can be suspended
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and resumed. */
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static xTaskHandle xFlashTaskHandles[ ledNUM_OF_LED_TASKS ] = { 0 };
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/* Handle to the task in which the co-routines run. Used so the
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co-routines can be suspended and resumed. */
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static xTaskHandle xCoroutineTask;
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/*-----------------------------------------------------------*/
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/**
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* Creates the tasks and co-routines used to toggle the segments of the two
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* seven segment displays, as described at the top of main.c
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*/
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void vCreateFlashTasksAndCoRoutines( void )
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{
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signed short sLEDTask;
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/* Create the tasks that flash segments on the first LED. */
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for( sLEDTask = 0; sLEDTask < ledNUM_OF_LED_TASKS; ++sLEDTask )
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{
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/* Spawn the task. */
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xTaskCreate( vLEDFlashTask, ( signed char * ) "LEDt", configMINIMAL_STACK_SIZE, ( void * ) sLEDTask, ( tskIDLE_PRIORITY + 1 ), &( xFlashTaskHandles[ sLEDTask ] ) );
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}
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/* Create the task in which the co-routines run. The co-routines themselves
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are created within the task. */
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xTaskCreate( vLEDCoRoutineControlTask, ( signed char * ) "LEDc", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xCoroutineTask );
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}
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/*-----------------------------------------------------------*/
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void vSuspendFlashTasks( unsigned char ucIndex, short sSuspendTasks )
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{
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short sLEDTask;
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if( ucIndex == configLEFT_DISPLAY )
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{
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/* Suspend or resume the tasks that are toggling the segments of the
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left side display. */
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for( sLEDTask = 0; sLEDTask < ledNUM_OF_LED_TASKS; ++sLEDTask )
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{
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if( xFlashTaskHandles[ sLEDTask ] != NULL )
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{
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if( sSuspendTasks == pdTRUE )
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{
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vTaskSuspend( xFlashTaskHandles[ sLEDTask ] );
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}
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else
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{
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vTaskResume( xFlashTaskHandles[ sLEDTask ] );
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}
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}
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}
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}
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else
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{
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/* Suspend or resume the task in which the co-routines are running. The
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co-routines toggle the segments of the right side display. */
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if( sSuspendTasks == pdTRUE )
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{
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vTaskSuspend( xCoroutineTask );
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}
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else
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{
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vTaskResume( xCoroutineTask );
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}
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}
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}
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/*-----------------------------------------------------------*/
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static void vLEDFlashTask( void * pvParameters )
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{
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portTickType xFlashRate, xLastFlashTime;
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unsigned short usLED;
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/* The LED to flash is passed in as the task parameter. */
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usLED = ( unsigned short ) pvParameters;
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/* Calculate the rate at which this task is going to toggle its LED. */
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xFlashRate = ledFLASH_RATE_BASE + ( ledFLASH_RATE_BASE * ( portTickType ) usLED );
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xFlashRate /= portTICK_RATE_MS;
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/* We will turn the LED on and off again in the delay period, so each
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delay is only half the total period. */
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xFlashRate /= ( portTickType ) 2;
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/* We need to initialise xLastFlashTime prior to the first call to
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vTaskDelayUntil(). */
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xLastFlashTime = xTaskGetTickCount();
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for(;;)
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{
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/* Delay for half the flash period then turn the LED on. */
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vTaskDelayUntil( &xLastFlashTime, xFlashRate );
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vParTestToggleLED( usLED );
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/* Delay for half the flash period then turn the LED off. */
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vTaskDelayUntil( &xLastFlashTime, xFlashRate );
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vParTestToggleLED( usLED );
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}
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}
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/*-----------------------------------------------------------*/
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static void vLEDCoRoutineControlTask( void *pvParameters )
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{
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unsigned short usCoroutine;
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( void ) pvParameters;
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/* Create the co-routines - one of each segment of the right side display. */
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for( usCoroutine = 0; usCoroutine < ledNUM_OF_LED_CO_ROUTINES; usCoroutine++ )
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{
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xCoRoutineCreate( prvFixedDelayCoRoutine, ledCO_ROUTINE_PRIORITY, usCoroutine );
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}
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/* This task has nothing else to do except scheduler the co-routines it just
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created. */
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for( ;; )
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{
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vCoRoutineSchedule();
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}
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}
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/*-----------------------------------------------------------*/
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static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned short usIndex )
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{
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/* The usIndex parameter of the co-routine function is used as an index into
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the xFlashRates array to obtain the delay period to use. */
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static const portTickType xFlashRates[ ledNUM_OF_LED_CO_ROUTINES ] = { 150 / portTICK_RATE_MS,
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300 / portTICK_RATE_MS,
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450 / portTICK_RATE_MS,
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600 / portTICK_RATE_MS,
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750 / portTICK_RATE_MS,
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900 / portTICK_RATE_MS,
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1050 / portTICK_RATE_MS };
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/* Co-routines MUST start with a call to crSTART. */
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crSTART( xHandle );
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for( ;; )
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{
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/* Toggle the LED. An offset of 8 is used to skip over the segments of
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the left side display which use the low numbers. */
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vParTestToggleLED( usIndex + 8 );
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/* Delay until it is time to toggle the segment that this co-routine is
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controlling again. */
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crDELAY( xHandle, xFlashRates[ usIndex ] );
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}
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/* Co-routines MUST end with a call to crEND. */
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crEND();
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}
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/*-----------------------------------------------------------*/
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