/* FreeRTOS V9.0.0rc1 - Copyright (C) 2016 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. 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 on the following link: http://www.freertos.org/a00114.html *************************************************************************** * * * FreeRTOS provides completely free yet professionally developed, * * robust, strictly quality controlled, supported, and cross * * platform software that is more than just the market leader, it * * is the industry's de facto standard. * * * * Help yourself get started quickly while simultaneously helping * * to support the FreeRTOS project by purchasing a FreeRTOS * * tutorial book, reference manual, or both: * * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading the FAQ page "My application does not run, what could be wrong?". Have you defined configASSERT()? http://www.FreeRTOS.org/support - In return for receiving this top quality embedded software for free we request you assist our global community by participating in the support forum. http://www.FreeRTOS.org/training - Investing in training allows your team to be as productive as possible as early as possible. Now you can receive FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers Ltd, and the world's leading authority on the world's leading RTOS. 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.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and commercial 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 /* 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 ( ( TickType_t ) 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( CoRoutineHandle_t 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 TaskHandle_t 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 TaskHandle_t 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, "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, "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 ) { TickType_t 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 * ( TickType_t ) usLED ); xFlashRate /= portTICK_PERIOD_MS; /* We will turn the LED on and off again in the delay period, so each delay is only half the total period. */ xFlashRate /= ( TickType_t ) 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( CoRoutineHandle_t 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 TickType_t xFlashRates[ ledNUM_OF_LED_CO_ROUTINES ] = { 150 / portTICK_PERIOD_MS, 300 / portTICK_PERIOD_MS, 450 / portTICK_PERIOD_MS, 600 / portTICK_PERIOD_MS, 750 / portTICK_PERIOD_MS, 900 / portTICK_PERIOD_MS, 1050 / portTICK_PERIOD_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(); } /*-----------------------------------------------------------*/