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/*
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
***************************************************************************
* *
* 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 Richard Barry, 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, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
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.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
*/
/**
* 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();
}
/*-----------------------------------------------------------*/
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