| /* | |
| FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
| All rights reserved | |
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| *************************************************************************** | |
| * * | |
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| *************************************************************************** | |
| 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. | |
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| >>! 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 | |
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| *************************************************************************** | |
| * * | |
| * Having a problem? Start by reading the FAQ "My application does * | |
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| *************************************************************************** | |
| http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
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| mission critical applications that require provable dependability. | |
| 1 tab == 4 spaces! | |
| */ | |
| /* | |
| Changes from V3.0.0 | |
| Changes from V3.0.1 | |
| */ | |
| /* | |
| * Instead of the normal single demo application, the PIC18F demo is split | |
| * into several smaller programs of which this is the seventh. This enables the | |
| * demo's to be executed on the RAM limited PIC-devices. | |
| * | |
| * The Demo7 project is configured for a PIC18F4620 device. Main.c starts 10 | |
| * tasks (including the idle task). See the indicated files in the demo/common | |
| * directory for more information. | |
| * | |
| * demo/common/minimal/flash.c: Creates 3 tasks | |
| * demo/common/minimal/death.c: Creates 1 controltask and | |
| * creates/deletes 4 suicidaltasks | |
| * | |
| * Main.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 an 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 | |
| * wizC PIC18F port. | |
| */ | |
| /* Scheduler include files. */ | |
| #include <FreeRTOS.h> | |
| #include <task.h> | |
| /* Demo app include files. */ | |
| #include "death.h" | |
| #include "flash.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 ) 10000 / portTICK_PERIOD_MS ) | |
| #define mainERROR_CHECK_PERIOD ( ( TickType_t ) 1000 / portTICK_PERIOD_MS ) | |
| #define mainCHECK_TASK_LED ( ( unsigned char ) 3 ) | |
| /* Priority definitions for some of the tasks. Other tasks just use the idle | |
| priority. */ | |
| #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 2 ) | |
| #define mainLED_FLASH_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 2 ) | |
| #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 1 ) | |
| /* Constants required for the communications. Only one character is ever | |
| transmitted. */ | |
| #define mainCOMMS_QUEUE_LENGTH ( ( unsigned char ) 5 ) | |
| #define mainNO_BLOCK ( ( TickType_t ) 0 ) | |
| #define mainBAUD_RATE ( ( unsigned long ) 57600 ) | |
| /* | |
| * The task function for the "Check" task. | |
| */ | |
| static portTASK_FUNCTION_PROTO( vErrorChecks, pvParameters ); | |
| /* | |
| * Checks the unique counts of other tasks to ensure they are still operational. | |
| * Returns pdTRUE if an error is detected, otherwise pdFALSE. | |
| */ | |
| static char prvCheckOtherTasksAreStillRunning( void ); | |
| /*-----------------------------------------------------------*/ | |
| /* Creates the tasks, then starts the scheduler. */ | |
| void main( void ) | |
| { | |
| /* Initialise the required hardware. */ | |
| vParTestInitialise(); | |
| /* Send a character so we have some visible feedback of a reset. */ | |
| xSerialPortInitMinimal( mainBAUD_RATE, mainCOMMS_QUEUE_LENGTH ); | |
| xSerialPutChar( NULL, 'X', mainNO_BLOCK ); | |
| /* Start a few of the standard demo tasks found in the demo\common directory. */ | |
| vStartLEDFlashTasks( mainLED_FLASH_PRIORITY ); | |
| /* Start the check task defined in this file. */ | |
| xTaskCreate( vErrorChecks, "Check", portMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
| /* This task has to be created last as it keeps account of the number of tasks | |
| it expects to see running. */ | |
| vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY ); | |
| /* Start the scheduler. Will never return here. */ | |
| vTaskStartScheduler(); | |
| while(1) /* This point should never be reached. */ | |
| { | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static portTASK_FUNCTION( vErrorChecks, pvParameters ) | |
| { | |
| TickType_t xLastCheckTime; | |
| TickType_t xDelayTime = mainNO_ERROR_CHECK_PERIOD; | |
| char cErrorOccurred; | |
| /* We need to initialise xLastCheckTime prior to the first call to | |
| vTaskDelayUntil(). */ | |
| xLastCheckTime = xTaskGetTickCount(); | |
| /* 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 again. */ | |
| vTaskDelayUntil( &xLastCheckTime, xDelayTime ); | |
| /* Check all the other tasks are running, and running without ever | |
| having an error. */ | |
| cErrorOccurred = prvCheckOtherTasksAreStillRunning(); | |
| /* If an error was detected increase the frequency of the LED flash. */ | |
| if( cErrorOccurred == pdTRUE ) | |
| { | |
| xDelayTime = mainERROR_CHECK_PERIOD; | |
| } | |
| /* Flash the LED for visual feedback. */ | |
| vParTestToggleLED( mainCHECK_TASK_LED ); | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static char prvCheckOtherTasksAreStillRunning( void ) | |
| { | |
| char cErrorHasOccurred = ( char ) pdFALSE; | |
| if( xIsCreateTaskStillRunning() != pdTRUE ) | |
| { | |
| cErrorHasOccurred = ( char ) pdTRUE; | |
| } | |
| return cErrorHasOccurred; | |
| } | |
| /*-----------------------------------------------------------*/ | |