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+/*
+ * FreeRTOS Kernel V10.3.1
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/******************************************************************************
+ *
+ * main_blinky() creates one queue, and two tasks. It then starts the
+ * scheduler.
+ *
+ * The Queue Send Task:
+ * The queue send task is implemented by the prvQueueSendTask() function in
+ * this file. prvQueueSendTask() sits in a loop that causes it to repeatedly
+ * block for 200 milliseconds, before sending the value 100 to the queue that
+ * was created within main_blinky(). Once the value is sent, the task loops
+ * back around to block for another 200 milliseconds...and so on.
+ *
+ * The Queue Receive Task:
+ * The queue receive task is implemented by the prvQueueReceiveTask() function
+ * in this file. prvQueueReceiveTask() sits in a loop where it repeatedly
+ * blocks on attempts to read data from the queue that was created within
+ * main_blinky(). When data is received, the task checks the value of the
+ * data, and if the value equals the expected 100, toggles an LED. The 'block
+ * time' parameter passed to the queue receive function specifies that the
+ * task should be held in the Blocked state indefinitely to wait for data to
+ * be available on the queue. The queue receive task will only leave the
+ * Blocked state when the queue send task writes to the queue. As the queue
+ * send task writes to the queue every 200 milliseconds, the queue receive
+ * task leaves the Blocked state every 200 milliseconds, and therefore toggles
+ * the LED every 200 milliseconds.
+ */
+
+#include <ioavr.h>
+
+/* Scheduler include files. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "semphr.h"
+
+/* Priorities at which the tasks are created. */
+#define mainQUEUE_RECEIVE_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
+#define mainQUEUE_SEND_TASK_PRIORITY ( tskIDLE_PRIORITY + 1 )
+
+/* The rate at which data is sent to the queue. The 200ms value is converted
+to ticks using the portTICK_PERIOD_MS constant. */
+#define mainQUEUE_SEND_FREQUENCY_MS ( 200 / portTICK_PERIOD_MS )
+
+/* The number of items the queue can hold. This is 1 as the receive task
+will remove items as they are added, meaning the send task should always find
+the queue empty. */
+#define mainQUEUE_LENGTH ( 1 )
+
+/*-----------------------------------------------------------*/
+
+/*
+ * The tasks as described in the comments at the top of this file.
+ */
+static void prvQueueReceiveTask( void *pvParameters );
+static void prvQueueSendTask( void *pvParameters );
+
+/*-----------------------------------------------------------*/
+
+/* The queue used by both tasks. */
+static QueueHandle_t xQueue = NULL;
+
+void main_blinky( void )
+{
+ /* Create the queue. */
+ xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( uint32_t ) );
+
+ if( xQueue != NULL )
+ {
+ /* Start the two tasks as described in the comments at the top of this
+ file. */
+ xTaskCreate( prvQueueReceiveTask, /* The function that implements the task. */
+ "Rx", /* The text name assigned to the task - for debug only as it is not used by the kernel. */
+ configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */
+ NULL, /* The parameter passed to the task - not used in this case. */
+ mainQUEUE_RECEIVE_TASK_PRIORITY, /* The priority assigned to the task. */
+ NULL ); /* The task handle is not required, so NULL is passed. */
+
+ xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, mainQUEUE_SEND_TASK_PRIORITY, NULL );
+
+ /* Start the tasks and timer running. */
+ vTaskStartScheduler();
+ }
+
+ /* If all is well, the scheduler will now be running, and the following
+ line will never be reached. If the following line does execute, then
+ there was either insufficient FreeRTOS heap memory available for the idle
+ and/or timer tasks to be created, or vTaskStartScheduler() was called from
+ User mode. See the memory management section on the FreeRTOS web site for
+ more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The
+ mode from which main() is called is set in the C start up code and must be
+ a privileged mode (not user mode). */
+ for( ;; );
+}
+
+void init_blinky( void )
+{
+ /* Set PF5 as output. */
+ PORTF.DIRSET = PIN5_bm;
+}
+
+static void prvQueueSendTask( void *pvParameters )
+{
+TickType_t xNextWakeTime;
+const unsigned long ulValueToSend = 100UL;
+
+ /* Remove compiler warning about unused parameter. */
+ ( void ) pvParameters;
+
+ /* Initialise xNextWakeTime - this only needs to be done once. */
+ xNextWakeTime = xTaskGetTickCount();
+
+ for( ;; )
+ {
+ /* Place this task in the blocked state until it is time to run again. */
+ vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );
+
+ /* Send to the queue - causing the queue receive task to unblock and
+ toggle the LED. 0 is used as the block time so the sending operation
+ will not block - it shouldn't need to block as the queue should always
+ be empty at this point in the code. */
+ xQueueSend( xQueue, &ulValueToSend, 0U );
+ }
+}
+/*-----------------------------------------------------------*/
+
+static void prvQueueReceiveTask( void *pvParameters )
+{
+unsigned long ulReceivedValue;
+const unsigned long ulExpectedValue = 100UL;
+
+ /* Remove compiler warning about unused parameter. */
+ ( void ) pvParameters;
+
+ for( ;; )
+ {
+ /* Wait until something arrives in the queue - this task will block
+ indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
+ FreeRTOSConfig.h. */
+ xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
+
+ /* To get here something must have been received from the queue, but
+ is it the expected value? If it is, toggle the LED. */
+ if( ulReceivedValue == ulExpectedValue )
+ {
+ /* Toggle LED on pin PF5. */
+ PORTF.OUTTGL |= PIN5_bm;
+ ulReceivedValue = 0U;
+ }
+ }
+}
+