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@ -66,80 +66,92 @@
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "croutine.h"
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/* Demo program include files. */
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#include "partest.h"
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#include "flash.h"
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#define ledSTACK_SIZE configMINIMAL_STACK_SIZE
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#define ledNUMBER_OF_LEDS ( 3 )
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#define ledNUMBER_OF_LEDS ( 7 )
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#define ledFLASH_RATE_BASE ( ( portTickType ) 333 )
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/* Variable used by the created tasks to calculate the LED number to use, and
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the rate at which they should flash the LED. */
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static volatile unsigned portBASE_TYPE uxFlashTaskNumber = 0;
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#define ledMAX_FLASH_CO_ROUTINES 7
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#define ledCO_ROUTINE_PRIORITY 0
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/* The task that is created three times. */
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static portTASK_FUNCTION_PROTO( vLEDFlashTask, pvParameters );
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static void vLEDFlashTask( void *pvParameters );
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static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned short usIndex );
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/* This task is created once, but itself creates 7 co-routines. */
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static void vLEDCoRoutineControlTask( void *pvParameters );
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static xTaskHandle xFlashTaskHandles[ ledNUMBER_OF_LEDS ] = { 0 };
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static xTaskHandle xCoroutineTask;
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/*-----------------------------------------------------------*/
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void vStartLEDFlashTasks( unsigned portBASE_TYPE uxPriority )
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{
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signed portBASE_TYPE xLEDTask;
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signed short sLEDTask;
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/* Create the three tasks. */
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for( xLEDTask = 0; xLEDTask < ledNUMBER_OF_LEDS; ++xLEDTask )
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/* Create the three tasks that flash segments on the first LED. */
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for( sLEDTask = 0; sLEDTask < ledNUMBER_OF_LEDS; ++sLEDTask )
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{
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/* Spawn the task. */
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xTaskCreate( vLEDFlashTask, ( signed portCHAR * ) "LEDx", ledSTACK_SIZE, NULL, uxPriority, &( xFlashTaskHandles[ xLEDTask ] ) );
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xTaskCreate( vLEDFlashTask, ( signed char * ) "LEDt", ledSTACK_SIZE, ( void * ) sLEDTask, uxPriority, &( xFlashTaskHandles[ sLEDTask ] ) );
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}
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/* Create the task in which the co-routines run. */
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xTaskCreate( vLEDCoRoutineControlTask, ( signed char * ) "LEDc", ledSTACK_SIZE, NULL, tskIDLE_PRIORITY, &xCoroutineTask );
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}
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/*-----------------------------------------------------------*/
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void vSuspendFlashTasks( short sSuspendTasks )
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void vSuspendFlashTasks( unsigned char ucIndex, short sSuspendTasks )
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{
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signed portBASE_TYPE xLEDTask;
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short sLEDTask;
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for( xLEDTask = 0; xLEDTask < ledNUMBER_OF_LEDS; ++xLEDTask )
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if( ucIndex == 0 )
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{
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for( sLEDTask = 0; sLEDTask < ledNUMBER_OF_LEDS; ++sLEDTask )
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{
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if( xFlashTaskHandles[ xLEDTask ] != NULL )
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if( xFlashTaskHandles[ sLEDTask ] != NULL )
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{
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if( sSuspendTasks == pdTRUE )
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{
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vTaskSuspend( xFlashTaskHandles[ xLEDTask ] );
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vTaskSuspend( xFlashTaskHandles[ sLEDTask ] );
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}
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else
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{
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vTaskResume( xFlashTaskHandles[ xLEDTask ] );
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vTaskResume( xFlashTaskHandles[ sLEDTask ] );
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}
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}
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}
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}
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else
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{
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if( sSuspendTasks == pdTRUE )
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{
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vTaskSuspend( xCoroutineTask );
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}
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else
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{
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vTaskResume( xCoroutineTask );
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}
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}
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}
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/*-----------------------------------------------------------*/
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static portTASK_FUNCTION( vLEDFlashTask, pvParameters )
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static void vLEDFlashTask( void * pvParameters )
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{
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portTickType xFlashRate, xLastFlashTime;
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unsigned portBASE_TYPE uxLED;
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/* The parameters are not used. */
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( void ) pvParameters;
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unsigned short usLED;
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/* Calculate the LED and flash rate. */
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portENTER_CRITICAL();
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{
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/* See which of the eight LED's we should use. */
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uxLED = uxFlashTaskNumber;
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/* The LED to flash is passed in as the task parameter. */
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usLED = ( unsigned short ) pvParameters;
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/* Update so the next task uses the next LED. */
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uxFlashTaskNumber++;
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}
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portEXIT_CRITICAL();
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xFlashRate = ledFLASH_RATE_BASE + ( ledFLASH_RATE_BASE * ( portTickType ) uxLED );
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/* Calculate the rate at which this task is going to toggle its LED. */
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xFlashRate = ledFLASH_RATE_BASE + ( ledFLASH_RATE_BASE * ( portTickType ) usLED );
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xFlashRate /= portTICK_RATE_MS;
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/* We will turn the LED on and off again in the delay period, so each
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@ -154,11 +166,57 @@ unsigned portBASE_TYPE uxLED;
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{
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/* Delay for half the flash period then turn the LED on. */
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vTaskDelayUntil( &xLastFlashTime, xFlashRate );
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vParTestToggleLED( uxLED );
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vParTestToggleLED( usLED );
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/* Delay for half the flash period then turn the LED off. */
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vTaskDelayUntil( &xLastFlashTime, xFlashRate );
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vParTestToggleLED( uxLED );
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vParTestToggleLED( usLED );
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}
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}
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} /*lint !e715 !e818 !e830 Function definition must be standard for task creation. */
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/*-----------------------------------------------------------*/
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static void vLEDCoRoutineControlTask( void *pvParameters )
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{
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unsigned short usCoroutine;
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( void ) pvParameters;
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for( usCoroutine = 0; usCoroutine < ledMAX_FLASH_CO_ROUTINES; usCoroutine++ )
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{
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xCoRoutineCreate( prvFixedDelayCoRoutine, ledCO_ROUTINE_PRIORITY, usCoroutine );
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}
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for( ;; )
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{
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vCoRoutineSchedule();
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}
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}
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/*-----------------------------------------------------------*/
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static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned short usIndex )
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{
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/* The usIndex parameter of the co-routine function is used as an index into
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the xFlashRates array to obtain the delay period to use. */
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static const portTickType xFlashRates[ ledMAX_FLASH_CO_ROUTINES ] = { 150 / portTICK_RATE_MS,
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300 / portTICK_RATE_MS,
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450 / portTICK_RATE_MS,
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600 / portTICK_RATE_MS,
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750 / portTICK_RATE_MS,
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900 / portTICK_RATE_MS,
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1050 / portTICK_RATE_MS };
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/* Co-routines 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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vParTestToggleLED( usIndex + 8 );
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crDELAY( xHandle, xFlashRates[ usIndex ] );
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}
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/* Co-routines MUST end with a call to crEND. */
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crEND();
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}
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/*-----------------------------------------------------------*/
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Richard Barry
16 years ago