93 lines
2.1 KiB
C
93 lines
2.1 KiB
C
/**
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* @file app_tasks.c
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* @brief FreeRTOS tasks: two LED blink tasks + one printf task,
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* inter-task communication via a message queue.
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*/
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#include "app_tasks.h"
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#include "bsp_led.h"
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#include <stdio.h>
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#define LED1_PERIOD_MS 500
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#define LED2_PERIOD_MS 1000
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#define LOG_QUEUE_LENGTH 10
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#define LED_TASK_STACK 128 /* in words */
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#define PRINT_TASK_STACK 256 /* printf needs more stack */
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#define LED_TASK_PRIO 2
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#define PRINT_TASK_PRIO 3
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static QueueHandle_t s_logQueue = NULL;
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/**
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* @brief Toggle LED1(PB0) every 500 ms, post a log message each time.
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*/
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static void LedTask(void* argument)
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{
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LogMsg_t msg = {1, 0};
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(void)argument;
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for (;;)
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{
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bsp_led_toggle(LED1_PORT, LED1_PIN);
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msg.led_id = 1;
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msg.count++;
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xQueueSend(s_logQueue, &msg, 0);
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vTaskDelay(pdMS_TO_TICKS(LED1_PERIOD_MS));
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}
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}
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/**
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* @brief Toggle LED2(PA6) every 1000 ms, post a log message each time.
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*/
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static void LedTask2(void* argument)
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{
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LogMsg_t msg = {2, 0};
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(void)argument;
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for (;;)
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{
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bsp_led_toggle(LED2_PORT, LED2_PIN);
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msg.led_id = 2;
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msg.count++;
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xQueueSend(s_logQueue, &msg, 0);
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vTaskDelay(pdMS_TO_TICKS(LED2_PERIOD_MS));
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}
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}
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/**
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* @brief Block on the log queue and printf every received message.
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*/
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static void PrintTask(void* argument)
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{
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LogMsg_t msg;
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(void)argument;
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for (;;)
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{
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if (xQueueReceive(s_logQueue, &msg, portMAX_DELAY) == pdPASS)
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{
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printf("LED%u toggled, count = %lu\n", (unsigned int)msg.led_id, (unsigned long)msg.count);
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}
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}
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}
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/**
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* @brief Create the log queue and all application tasks.
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*/
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void AppTasks_CreateAll(void)
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{
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s_logQueue = xQueueCreate(LOG_QUEUE_LENGTH, sizeof(LogMsg_t));
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xTaskCreate(LedTask, "LED1", LED_TASK_STACK, NULL, LED_TASK_PRIO, NULL);
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xTaskCreate(LedTask2, "LED2", LED_TASK_STACK, NULL, LED_TASK_PRIO, NULL);
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xTaskCreate(PrintTask, "PRINT", PRINT_TASK_STACK, NULL, PRINT_TASK_PRIO, NULL);
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}
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