209 lines
7.2 KiB
C
209 lines
7.2 KiB
C
|
/*
|
||
|
|
* FreeRTOS Kernel V10.2.1
|
||
|
|
* Copyright (C) 2019 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!
|
||
|
|
*/
|
||
|
|
|
||
|
|
/*
|
||
|
|
* This demo application file demonstrates the use of queues to pass data
|
||
|
|
* between co-routines.
|
||
|
|
*
|
||
|
|
* N represents the number of 'fixed delay' co-routines that are created and
|
||
|
|
* is set during initialisation.
|
||
|
|
*
|
||
|
|
* N 'fixed delay' co-routines are created that just block for a fixed
|
||
|
|
* period then post the number of an LED onto a queue. Each such co-routine
|
||
|
|
* uses a different block period. A single 'flash' co-routine is also created
|
||
|
|
* that blocks on the same queue, waiting for the number of the next LED it
|
||
|
|
* should flash. Upon receiving a number it simply toggle the instructed LED
|
||
|
|
* then blocks on the queue once more. In this manner each LED from LED 0 to
|
||
|
|
* LED N-1 is caused to flash at a different rate.
|
||
|
|
*
|
||
|
|
* The 'fixed delay' co-routines are created with co-routine priority 0. The
|
||
|
|
* flash co-routine is created with co-routine priority 1. This means that
|
||
|
|
* the queue should never contain more than a single item. This is because
|
||
|
|
* posting to the queue will unblock the 'flash' co-routine, and as this has
|
||
|
|
* a priority greater than the tasks posting to the queue it is guaranteed to
|
||
|
|
* have emptied the queue and blocked once again before the queue can contain
|
||
|
|
* any more date. An error is indicated if an attempt to post data to the
|
||
|
|
* queue fails - indicating that the queue is already full.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
/* Scheduler includes. */
|
||
|
|
#include "FreeRTOS.h"
|
||
|
|
#include "croutine.h"
|
||
|
|
#include "queue.h"
|
||
|
|
|
||
|
|
/* Demo application includes. */
|
||
|
|
#include "partest.h"
|
||
|
|
#include "crflash.h"
|
||
|
|
|
||
|
|
/* The queue should only need to be of length 1. See the description at the
|
||
|
|
top of the file. */
|
||
|
|
#define crfQUEUE_LENGTH 1
|
||
|
|
|
||
|
|
#define crfFIXED_DELAY_PRIORITY 0
|
||
|
|
#define crfFLASH_PRIORITY 1
|
||
|
|
|
||
|
|
/* Only one flash co-routine is created so the index is not significant. */
|
||
|
|
#define crfFLASH_INDEX 0
|
||
|
|
|
||
|
|
/* Don't allow more than crfMAX_FLASH_TASKS 'fixed delay' co-routines to be
|
||
|
|
created. */
|
||
|
|
#define crfMAX_FLASH_TASKS 8
|
||
|
|
|
||
|
|
/* We don't want to block when posting to the queue. */
|
||
|
|
#define crfPOSTING_BLOCK_TIME 0
|
||
|
|
|
||
|
|
/*
|
||
|
|
* The 'fixed delay' co-routine as described at the top of the file.
|
||
|
|
*/
|
||
|
|
static void prvFixedDelayCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex );
|
||
|
|
|
||
|
|
/*
|
||
|
|
* The 'flash' co-routine as described at the top of the file.
|
||
|
|
*/
|
||
|
|
static void prvFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex );
|
||
|
|
|
||
|
|
/* The queue used to pass data between the 'fixed delay' co-routines and the
|
||
|
|
'flash' co-routine. */
|
||
|
|
static QueueHandle_t xFlashQueue;
|
||
|
|
|
||
|
|
/* This will be set to pdFALSE if we detect an error. */
|
||
|
|
static BaseType_t xCoRoutineFlashStatus = pdPASS;
|
||
|
|
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
|
||
|
|
/*
|
||
|
|
* See the header file for details.
|
||
|
|
*/
|
||
|
|
void vStartFlashCoRoutines( UBaseType_t uxNumberToCreate )
|
||
|
|
{
|
||
|
|
UBaseType_t uxIndex;
|
||
|
|
|
||
|
|
if( uxNumberToCreate > crfMAX_FLASH_TASKS )
|
||
|
|
{
|
||
|
|
uxNumberToCreate = crfMAX_FLASH_TASKS;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Create the queue used to pass data between the co-routines. */
|
||
|
|
xFlashQueue = xQueueCreate( crfQUEUE_LENGTH, sizeof( UBaseType_t ) );
|
||
|
|
|
||
|
|
if( xFlashQueue )
|
||
|
|
{
|
||
|
|
/* Create uxNumberToCreate 'fixed delay' co-routines. */
|
||
|
|
for( uxIndex = 0; uxIndex < uxNumberToCreate; uxIndex++ )
|
||
|
|
{
|
||
|
|
xCoRoutineCreate( prvFixedDelayCoRoutine, crfFIXED_DELAY_PRIORITY, uxIndex );
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Create the 'flash' co-routine. */
|
||
|
|
xCoRoutineCreate( prvFlashCoRoutine, crfFLASH_PRIORITY, crfFLASH_INDEX );
|
||
|
|
}
|
||
|
|
}
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
|
||
|
|
static void prvFixedDelayCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
||
|
|
{
|
||
|
|
/* Even though this is a co-routine the xResult variable does not need to be
|
||
|
|
static as we do not need it to maintain its state between blocks. */
|
||
|
|
BaseType_t xResult;
|
||
|
|
/* The uxIndex 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[ crfMAX_FLASH_TASKS ] = { 150 / portTICK_PERIOD_MS,
|
||
|
|
200 / portTICK_PERIOD_MS,
|
||
|
|
250 / portTICK_PERIOD_MS,
|
||
|
|
300 / portTICK_PERIOD_MS,
|
||
|
|
350 / portTICK_PERIOD_MS,
|
||
|
|
400 / portTICK_PERIOD_MS,
|
||
|
|
450 / portTICK_PERIOD_MS,
|
||
|
|
500 / portTICK_PERIOD_MS };
|
||
|
|
|
||
|
|
/* Co-routines MUST start with a call to crSTART. */
|
||
|
|
crSTART( xHandle );
|
||
|
|
|
||
|
|
for( ;; )
|
||
|
|
{
|
||
|
|
/* Post our uxIndex value onto the queue. This is used as the LED to
|
||
|
|
flash. */
|
||
|
|
crQUEUE_SEND( xHandle, xFlashQueue, ( void * ) &uxIndex, crfPOSTING_BLOCK_TIME, &xResult );
|
||
|
|
|
||
|
|
if( xResult != pdPASS )
|
||
|
|
{
|
||
|
|
/* For the reasons stated at the top of the file we should always
|
||
|
|
find that we can post to the queue. If we could not then an error
|
||
|
|
has occurred. */
|
||
|
|
xCoRoutineFlashStatus = pdFAIL;
|
||
|
|
}
|
||
|
|
|
||
|
|
crDELAY( xHandle, xFlashRates[ uxIndex ] );
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Co-routines MUST end with a call to crEND. */
|
||
|
|
crEND();
|
||
|
|
}
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
|
||
|
|
static void prvFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
|
||
|
|
{
|
||
|
|
/* Even though this is a co-routine the variable do not need to be
|
||
|
|
static as we do not need it to maintain their state between blocks. */
|
||
|
|
BaseType_t xResult;
|
||
|
|
UBaseType_t uxLEDToFlash;
|
||
|
|
|
||
|
|
/* Co-routines MUST start with a call to crSTART. */
|
||
|
|
crSTART( xHandle );
|
||
|
|
( void ) uxIndex;
|
||
|
|
|
||
|
|
for( ;; )
|
||
|
|
{
|
||
|
|
/* Block to wait for the number of the LED to flash. */
|
||
|
|
crQUEUE_RECEIVE( xHandle, xFlashQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
|
||
|
|
|
||
|
|
if( xResult != pdPASS )
|
||
|
|
{
|
||
|
|
/* We would not expect to wake unless we received something. */
|
||
|
|
xCoRoutineFlashStatus = pdFAIL;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
/* We received the number of an LED to flash - flash it! */
|
||
|
|
vParTestToggleLED( uxLEDToFlash );
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Co-routines MUST end with a call to crEND. */
|
||
|
|
crEND();
|
||
|
|
}
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
|
||
|
|
BaseType_t xAreFlashCoRoutinesStillRunning( void )
|
||
|
|
{
|
||
|
|
/* Return pdPASS or pdFAIL depending on whether an error has been detected
|
||
|
|
or not. */
|
||
|
|
return xCoRoutineFlashStatus;
|
||
|
|
}
|
||
|
|
|