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223 lines
7.3 KiB
C
223 lines
7.3 KiB
C
/*
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FreeRTOS.org V5.1.1 - Copyright (C) 2003-2008 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS.org is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS.org; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS.org, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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***************************************************************************
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* *
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* SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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* and even write all or part of your application on your behalf. *
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* See http://www.OpenRTOS.com for details of the services we provide to *
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* expedite your project. *
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* *
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***************************************************************************
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***************************************************************************
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Please ensure to read the configuration and relevant port sections of the
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online documentation.
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/**
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* This version of flash .c is for use on systems that have limited stack space
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* and no display facilities. The complete version can be found in the
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* Demo/Common/Full directory.
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*
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* Three tasks are created, each of which flash an LED at a different rate. The first
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* LED flashes every 200ms, the second every 400ms, the third every 600ms.
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*
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* The LED flash tasks provide instant visual feedback. They show that the scheduler
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* is still operational.
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*
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*/
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#include <stdlib.h>
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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 ( 7 )
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#define ledFLASH_RATE_BASE ( ( portTickType ) 333 )
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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 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 vCreateFlashTasksAndCoRoutines( void )
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{
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signed short sLEDTask;
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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 char * ) "LEDt", ledSTACK_SIZE, ( void * ) sLEDTask, ( tskIDLE_PRIORITY + 1 ), &( 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( unsigned char ucIndex, short sSuspendTasks )
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{
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short sLEDTask;
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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[ sLEDTask ] != NULL )
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{
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if( sSuspendTasks == pdTRUE )
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{
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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[ 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 void vLEDFlashTask( void * pvParameters )
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{
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portTickType xFlashRate, xLastFlashTime;
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unsigned short usLED;
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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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/* 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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delay is only half the total period. */
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xFlashRate /= ( portTickType ) 2;
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/* We need to initialise xLastFlashTime prior to the first call to
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vTaskDelayUntil(). */
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xLastFlashTime = xTaskGetTickCount();
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for(;;)
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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( 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( usLED );
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}
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}
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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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