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First version under SVN is V4.0.1
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Richard Barry
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237
Demo/Common/Minimal/crhook.c
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Demo/Common/Minimal/crhook.c
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/*
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FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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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
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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See http://www.FreeRTOS.org for documentation, latest information, license
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and contact details. Please ensure to read the configuration and relevant
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port sections of the online documentation.
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***************************************************************************
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*/
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/*
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* This demo file demonstrates how to send data between an ISR and a
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* co-routine. A tick hook function is used to periodically pass data between
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* the RTOS tick and a set of 'hook' co-routines.
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*
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* hookNUM_HOOK_CO_ROUTINES co-routines are created. Each co-routine blocks
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* to wait for a character to be received on a queue from the tick ISR, checks
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* to ensure the character received was that expected, then sends the number
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* back to the tick ISR on a different queue.
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*
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* The tick ISR checks the numbers received back from the 'hook' co-routines
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* matches the number previously sent.
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*
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* If at any time a queue function returns unexpectedly, or an incorrect value
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* is received either by the tick hook or a co-routine then an error is
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* latched.
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*
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* This demo relies on each 'hook' co-routine to execute between each
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* hookTICK_CALLS_BEFORE_POST tick interrupts. This and the heavy use of
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* queues from within an interrupt may result in an error being detected on
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* slower targets simply due to timing.
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*/
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "croutine.h"
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#include "queue.h"
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/* Demo application includes. */
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#include "crhook.h"
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/* The number of 'hook' co-routines that are to be created. */
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#define hookNUM_HOOK_CO_ROUTINES ( 4 )
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/* The number of times the tick hook should be called before a character is
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posted to the 'hook' co-routines. */
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#define hookTICK_CALLS_BEFORE_POST ( 250 )
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/* There should never be more than one item in any queue at any time. */
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#define hookHOOK_QUEUE_LENGTH ( 1 )
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/* Don't block when initially posting to the queue. */
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#define hookNO_BLOCK_TIME ( 0 )
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/* The priority relative to other co-routines (rather than tasks) that the
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'hook' co-routines should take. */
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#define mainHOOK_CR_PRIORITY ( 1 )
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/*-----------------------------------------------------------*/
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/*
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* The co-routine function itself.
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*/
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static void prvHookCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex );
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/*
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* The tick hook function. This receives a number from each 'hook' co-routine
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* then sends a number to each co-routine. An error is flagged if a send or
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* receive fails, or an unexpected number is received.
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*/
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void vApplicationTickHook( void );
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/*-----------------------------------------------------------*/
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/* Queues used to send data FROM a co-routine TO the tick hook function.
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The hook functions received (Rx's) on these queues. One queue per
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'hook' co-routine. */
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static xQueueHandle xHookRxQueues[ hookNUM_HOOK_CO_ROUTINES ];
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/* Queues used to send data FROM the tick hook TO a co-routine function.
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The hood function transmits (Tx's) on these queues. One queue per
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'hook' co-routine. */
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static xQueueHandle xHookTxQueues[ hookNUM_HOOK_CO_ROUTINES ];
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/* Set to true if an error is detected at any time. */
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static portBASE_TYPE xCoRoutineErrorDetected = pdFALSE;
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/*-----------------------------------------------------------*/
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void vStartHookCoRoutines( void )
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{
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unsigned portBASE_TYPE uxIndex, uxValueToPost = 0;
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for( uxIndex = 0; uxIndex < hookNUM_HOOK_CO_ROUTINES; uxIndex++ )
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{
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/* Create a queue to transmit to and receive from each 'hook'
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co-routine. */
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xHookRxQueues[ uxIndex ] = xQueueCreate( hookHOOK_QUEUE_LENGTH, sizeof( unsigned portBASE_TYPE ) );
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xHookTxQueues[ uxIndex ] = xQueueCreate( hookHOOK_QUEUE_LENGTH, sizeof( unsigned portBASE_TYPE ) );
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/* To start things off the tick hook function expects the queue it
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uses to receive data to contain a value. */
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xQueueSend( xHookRxQueues[ uxIndex ], &uxValueToPost, hookNO_BLOCK_TIME );
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/* Create the 'hook' co-routine itself. */
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xCoRoutineCreate( prvHookCoRoutine, mainHOOK_CR_PRIORITY, uxIndex );
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}
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}
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/*-----------------------------------------------------------*/
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static unsigned portBASE_TYPE uxCallCounter = 0, uxNumberToPost = 0;
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void vApplicationTickHook( void )
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{
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unsigned portBASE_TYPE uxReceivedNumber;
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signed portBASE_TYPE xIndex, xCoRoutineWoken;
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/* Is it time to talk to the 'hook' co-routines again? */
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uxCallCounter++;
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if( uxCallCounter >= hookTICK_CALLS_BEFORE_POST )
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{
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uxCallCounter = 0;
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for( xIndex = 0; xIndex < hookNUM_HOOK_CO_ROUTINES; xIndex++ )
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{
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xCoRoutineWoken = pdFALSE;
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if( crQUEUE_RECEIVE_FROM_ISR( xHookRxQueues[ xIndex ], &uxReceivedNumber, &xCoRoutineWoken ) != pdPASS )
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{
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/* There is no reason why we would not expect the queue to
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contain a value. */
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xCoRoutineErrorDetected = pdTRUE;
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}
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else
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{
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/* Each queue used to receive data from the 'hook' co-routines
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should contain the number we last posted to the same co-routine. */
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if( uxReceivedNumber != uxNumberToPost )
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{
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xCoRoutineErrorDetected = pdTRUE;
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}
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/* Nothing should be blocked waiting to post to the queue. */
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if( xCoRoutineWoken != pdFALSE )
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{
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xCoRoutineErrorDetected = pdTRUE;
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}
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}
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}
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/* Start the next cycle by posting the next number onto each Tx queue. */
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uxNumberToPost++;
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for( xIndex = 0; xIndex < hookNUM_HOOK_CO_ROUTINES; xIndex++ )
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{
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if( crQUEUE_SEND_FROM_ISR( xHookTxQueues[ xIndex ], &uxNumberToPost, pdFALSE ) != pdTRUE )
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{
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/* Posting to the queue should have woken the co-routine that
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was blocked on the queue. */
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xCoRoutineErrorDetected = pdTRUE;
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}
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}
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}
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}
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/*-----------------------------------------------------------*/
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static void prvHookCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
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{
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static unsigned portBASE_TYPE uxReceivedValue[ hookNUM_HOOK_CO_ROUTINES ];
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portBASE_TYPE xResult;
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/* Each co-routine 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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/* Wait to receive a value from the tick hook. */
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xResult = pdFAIL;
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crQUEUE_RECEIVE( xHandle, xHookTxQueues[ uxIndex ], &( uxReceivedValue[ uxIndex ] ), portMAX_DELAY, &xResult );
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/* There is no reason why we should not have received something on
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the queue. */
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if( xResult != pdPASS )
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{
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xCoRoutineErrorDetected = pdTRUE;
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}
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/* Send the same number back to the idle hook so it can verify it. */
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xResult = pdFAIL;
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crQUEUE_SEND( xHandle, xHookRxQueues[ uxIndex ], &( uxReceivedValue[ uxIndex ] ), hookNO_BLOCK_TIME, &xResult );
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if( xResult != pdPASS )
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{
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/* There is no reason why we should not have been able to post to
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the queue. */
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xCoRoutineErrorDetected = pdTRUE;
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}
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}
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/* Each co-routine MUST end with a call to crEND(). */
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crEND();
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}
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/*-----------------------------------------------------------*/
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portBASE_TYPE xAreHookCoRoutinesStillRunning( void )
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{
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if( xCoRoutineErrorDetected )
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{
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return pdFALSE;
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}
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else
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{
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return pdTRUE;
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}
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}
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