203 lines
6.9 KiB
C
203 lines
6.9 KiB
C
/*
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* FreeRTOS Kernel V10.3.0
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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* 1 tab == 4 spaces!
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*/
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/*
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* This demo application file demonstrates the use of queues to pass data
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* between co-routines.
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*
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* N represents the number of 'fixed delay' co-routines that are created and
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* is set during initialisation.
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*
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* N 'fixed delay' co-routines are created that just block for a fixed
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* period then post the number of an LED onto a queue. Each such co-routine
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* uses a different block period. A single 'flash' co-routine is also created
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* that blocks on the same queue, waiting for the number of the next LED it
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* should flash. Upon receiving a number it simply toggle the instructed LED
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* then blocks on the queue once more. In this manner each LED from LED 0 to
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* LED N-1 is caused to flash at a different rate.
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*
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* The 'fixed delay' co-routines are created with co-routine priority 0. The
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* flash co-routine is created with co-routine priority 1. This means that
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* the queue should never contain more than a single item. This is because
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* posting to the queue will unblock the 'flash' co-routine, and as this has
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* a priority greater than the tasks posting to the queue it is guaranteed to
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* have emptied the queue and blocked once again before the queue can contain
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* any more date. An error is indicated if an attempt to post data to the
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* queue fails - indicating that the queue is already full.
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*
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*/
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "croutine.h"
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#include "queue.h"
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/* Demo application includes. */
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#include "partest.h"
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#include "crflash.h"
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/* The queue should only need to be of length 1. See the description at the
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top of the file. */
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#define crfQUEUE_LENGTH 1
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#define crfFIXED_DELAY_PRIORITY 0
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#define crfFLASH_PRIORITY 1
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/* Only one flash co-routine is created so the index is not significant. */
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#define crfFLASH_INDEX 0
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/* Don't allow more than crfMAX_FLASH_TASKS 'fixed delay' co-routines to be
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created. */
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#define crfMAX_FLASH_TASKS 8
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/* We don't want to block when posting to the queue. */
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#define crfPOSTING_BLOCK_TIME 0
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/*
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* The 'fixed delay' co-routine as described at the top of the file.
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*/
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static void prvFixedDelayCoRoutine(CoRoutineHandle_t xHandle,
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UBaseType_t uxIndex);
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/*
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* The 'flash' co-routine as described at the top of the file.
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*/
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static void prvFlashCoRoutine(CoRoutineHandle_t xHandle, UBaseType_t uxIndex);
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/* The queue used to pass data between the 'fixed delay' co-routines and the
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'flash' co-routine. */
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static QueueHandle_t xFlashQueue;
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/* This will be set to pdFALSE if we detect an error. */
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static BaseType_t xCoRoutineFlashStatus = pdPASS;
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/*-----------------------------------------------------------*/
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/*
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* See the header file for details.
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*/
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void vStartFlashCoRoutines(UBaseType_t uxNumberToCreate)
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{
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UBaseType_t uxIndex;
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if (uxNumberToCreate > crfMAX_FLASH_TASKS) {
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uxNumberToCreate = crfMAX_FLASH_TASKS;
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}
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/* Create the queue used to pass data between the co-routines. */
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xFlashQueue = xQueueCreate(crfQUEUE_LENGTH, sizeof(UBaseType_t));
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if (xFlashQueue) {
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/* Create uxNumberToCreate 'fixed delay' co-routines. */
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for (uxIndex = 0; uxIndex < uxNumberToCreate; uxIndex++) {
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xCoRoutineCreate(prvFixedDelayCoRoutine,
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crfFIXED_DELAY_PRIORITY, uxIndex);
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}
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/* Create the 'flash' co-routine. */
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xCoRoutineCreate(prvFlashCoRoutine, crfFLASH_PRIORITY,
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crfFLASH_INDEX);
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}
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}
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/*-----------------------------------------------------------*/
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static void prvFixedDelayCoRoutine(CoRoutineHandle_t xHandle,
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UBaseType_t uxIndex)
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{
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/* Even though this is a co-routine the xResult variable does not need to be
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static as we do not need it to maintain its state between blocks. */
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BaseType_t xResult;
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/* The uxIndex 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 TickType_t xFlashRates[crfMAX_FLASH_TASKS] = {
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150 / portTICK_PERIOD_MS, 200 / portTICK_PERIOD_MS,
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250 / portTICK_PERIOD_MS, 300 / portTICK_PERIOD_MS,
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350 / portTICK_PERIOD_MS, 400 / portTICK_PERIOD_MS,
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450 / portTICK_PERIOD_MS, 500 / portTICK_PERIOD_MS
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};
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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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/* Post our uxIndex value onto the queue. This is used as the LED to
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flash. */
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crQUEUE_SEND(xHandle, xFlashQueue, (void *)&uxIndex,
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crfPOSTING_BLOCK_TIME, &xResult);
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if (xResult != pdPASS) {
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/* For the reasons stated at the top of the file we should always
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find that we can post to the queue. If we could not then an error
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has occurred. */
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xCoRoutineFlashStatus = pdFAIL;
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}
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crDELAY(xHandle, xFlashRates[uxIndex]);
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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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static void prvFlashCoRoutine(CoRoutineHandle_t xHandle, UBaseType_t uxIndex)
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{
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/* Even though this is a co-routine the variable do not need to be
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static as we do not need it to maintain their state between blocks. */
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BaseType_t xResult;
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UBaseType_t uxLEDToFlash;
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/* Co-routines MUST start with a call to crSTART. */
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crSTART(xHandle);
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(void)uxIndex;
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for (;;) {
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/* Block to wait for the number of the LED to flash. */
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crQUEUE_RECEIVE(xHandle, xFlashQueue, &uxLEDToFlash,
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portMAX_DELAY, &xResult);
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if (xResult != pdPASS) {
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/* We would not expect to wake unless we received something. */
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xCoRoutineFlashStatus = pdFAIL;
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} else {
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/* We received the number of an LED to flash - flash it! */
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vParTestToggleLED(uxLEDToFlash);
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}
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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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BaseType_t xAreFlashCoRoutinesStillRunning(void)
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{
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/* Return pdPASS or pdFAIL depending on whether an error has been detected
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or not. */
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return xCoRoutineFlashStatus;
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}
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