/* FreeRTOS.org V5.1.1 - Copyright (C) 2003-2008 Richard Barry. This file is part of the FreeRTOS.org distribution. FreeRTOS.org is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. FreeRTOS.org 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 along with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA A special exception to the GPL can be applied should you wish to distribute a combined work that includes FreeRTOS.org, without being obliged to provide the source code for any proprietary components. See the licensing section of http://www.FreeRTOS.org for full details of how and when the exception can be applied. *************************************************************************** *************************************************************************** * * * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, * * and even write all or part of your application on your behalf. * * See http://www.OpenRTOS.com for details of the services we provide to * * expedite your project. * * * *************************************************************************** *************************************************************************** Please ensure to read the configuration and relevant port sections of the online documentation. http://www.FreeRTOS.org - Documentation, latest information, license and contact details. http://www.SafeRTOS.com - A version that is certified for use in safety critical systems. http://www.OpenRTOS.com - Commercial support, development, porting, licensing and training services. */ /** * 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 ( ( 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(); } /*-----------------------------------------------------------*/