| /* | |
| FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
| All rights reserved | |
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| *************************************************************************** | |
| * * | |
| * 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 * | |
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| * manual, or both from: http://www.FreeRTOS.org/Documentation * | |
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| * Thank you! * | |
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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, | |
| license and Real Time Engineers Ltd. contact details. | |
| http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
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| mission critical applications that require provable dependability. | |
| 1 tab == 4 spaces! | |
| */ | |
| /* | |
| * 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; | |
| } | |
| /*-----------------------------------------------------------*/ | |