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/*
FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that has become a de facto standard. *
* *
* Help yourself get started quickly and support the FreeRTOS *
* project by purchasing a FreeRTOS tutorial book, reference *
* manual, or both from: http://www.FreeRTOS.org/Documentation *
* *
* Thank you! *
* *
***************************************************************************
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
FreeRTOS 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. Full license text is available from the following
link: http://www.freertos.org/a00114.html
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***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong?" *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
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*/
/*
* Instead of the normal single demo application, the PIC18F demo is split
* into several smaller programs of which this is the first. This enables the
* demo's to be executed on the RAM limited 40 pin devices. The 64 and 80 pin
* devices require a more costly development platform and are not so readily
* available.
*
* The RTOSDemo1 project is configured for a PIC18F452 device. Main1.c starts 5
* tasks (including the idle task).
*
* The first task runs at the idle priority. It repeatedly performs a 32bit
* calculation and checks it's result against the expected value. This checks
* that the temporary storage utilised by the compiler to hold intermediate
* results does not get corrupted when the task gets switched in and out. See
* demo/common/minimal/integer.c for more information.
*
* The second and third tasks pass an incrementing value between each other on
* a message queue. See demo/common/minimal/PollQ.c for more information.
*
* Main1.c also creates a check task. This periodically checks that all the
* other tasks are still running and have not experienced any unexpected
* results. If all the other tasks are executing correctly an LED is flashed
* once every mainCHECK_PERIOD milliseconds. If any of the tasks have not
* executed, or report and error, the frequency of the LED flash will increase
* to mainERROR_FLASH_RATE.
*
* On entry to main an 'X' is transmitted. Monitoring the serial port using a
* dumb terminal allows for verification that the device is not continuously
* being reset (no more than one 'X' should be transmitted).
*
* http://www.FreeRTOS.org contains important information on the use of the
* PIC18F port.
*/
/*
Changes from V2.0.0
+ Delay periods are now specified using variables and constants of
TickType_t rather than unsigned long.
*/
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo app include files. */
#include "PollQ.h"
#include "integer.h"
#include "partest.h"
#include "serial.h"
/* The period between executions of the check task before and after an error
has been discovered. If an error has been discovered the check task runs
more frequently - increasing the LED flash rate. */
#define mainNO_ERROR_CHECK_PERIOD ( ( TickType_t ) 1000 / portTICK_PERIOD_MS )
#define mainERROR_CHECK_PERIOD ( ( TickType_t ) 100 / portTICK_PERIOD_MS )
/* Priority definitions for some of the tasks. Other tasks just use the idle
priority. */
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
/* The LED that is flashed by the check task. */
#define mainCHECK_TASK_LED ( 0 )
/* Constants required for the communications. Only one character is ever
transmitted. */
#define mainCOMMS_QUEUE_LENGTH ( 5 )
#define mainNO_BLOCK ( ( TickType_t ) 0 )
#define mainBAUD_RATE ( ( unsigned long ) 9600 )
/*
* The task function for the "Check" task.
*/
static void vErrorChecks( void *pvParameters );
/*
* Checks the unique counts of other tasks to ensure they are still operational.
* Returns pdTRUE if an error is detected, otherwise pdFALSE.
*/
static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void );
/*-----------------------------------------------------------*/
/* Creates the tasks, then starts the scheduler. */
void main( void )
{
/* Initialise the required hardware. */
vParTestInitialise();
vPortInitialiseBlocks();
/* Send a character so we have some visible feedback of a reset. */
xSerialPortInitMinimal( mainBAUD_RATE, mainCOMMS_QUEUE_LENGTH );
xSerialPutChar( NULL, 'X', mainNO_BLOCK );
/* Start the standard demo tasks found in the demo\common directory. */
vStartIntegerMathTasks( tskIDLE_PRIORITY );
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
/* Start the check task defined in this file. */
xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
/* Start the scheduler. Will never return here. */
vTaskStartScheduler();
}
/*-----------------------------------------------------------*/
static void vErrorChecks( void *pvParameters )
{
TickType_t xDelayTime = mainNO_ERROR_CHECK_PERIOD;
portBASE_TYPE xErrorOccurred;
/* Cycle for ever, delaying then checking all the other tasks are still
operating without error. */
for( ;; )
{
/* Wait until it is time to check the other tasks. */
vTaskDelay( xDelayTime );
/* Check all the other tasks are running, and running without ever
having an error. */
xErrorOccurred = prvCheckOtherTasksAreStillRunning();
/* If an error was detected increase the frequency of the LED flash. */
if( xErrorOccurred == pdTRUE )
{
xDelayTime = mainERROR_CHECK_PERIOD;
}
/* Flash the LED for visual feedback. */
vParTestToggleLED( mainCHECK_TASK_LED );
}
}
/*-----------------------------------------------------------*/
static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
{
portBASE_TYPE xErrorHasOccurred = pdFALSE;
if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
xErrorHasOccurred = pdTRUE;
}
if( xArePollingQueuesStillRunning() != pdTRUE )
{
xErrorHasOccurred = pdTRUE;
}
return xErrorHasOccurred;
}
/*-----------------------------------------------------------*/