/* FreeRTOS V8.0.0:rc1 - 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 1 tab == 4 spaces! *************************************************************************** * * * 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. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and middleware. 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. 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 third. This enables the * demo's to be executed on the RAM limited PIC-devices. * * The Demo3 project is configured for a PIC18F4620 device. Main.c starts 12 * tasks (including the idle task). See the indicated files in the demo/common * directory for more information. * * demo/common/minimal/integer.c: Creates 1 task * demo/common/minimal/BlockQ.c: Creates 6 tasks * demo/common/minimal/flash.c: Creates 3 tasks * * 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 #include /* Demo app include files. */ #include "integer.h" #include "BlockQ.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 ( ( portTickType ) 10000 / portTICK_RATE_MS ) #define mainERROR_CHECK_PERIOD ( ( portTickType ) 1000 / portTICK_RATE_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 ) 3 ) #define mainLED_FLASH_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 2 ) #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 1 ) #define mainINTEGER_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 0 ) /* Constants required for the communications. Only one character is ever transmitted. */ #define mainCOMMS_QUEUE_LENGTH ( ( unsigned char ) 5 ) #define mainNO_BLOCK ( ( portTickType ) 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 the standard demo tasks found in the demo\common directory. */ vStartIntegerMathTasks( mainINTEGER_PRIORITY); vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY ); vStartLEDFlashTasks( mainLED_FLASH_PRIORITY ); /* Start the check task defined in this file. */ xTaskCreate( vErrorChecks, "Check", portMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); /* Start the scheduler. Will never return here. */ vTaskStartScheduler( ); while(1) /* This point should never be reached. */ { } } /*-----------------------------------------------------------*/ static portTASK_FUNCTION( vErrorChecks, pvParameters ) { portTickType xLastCheckTime; portTickType 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( xAreIntegerMathsTaskStillRunning() != pdTRUE ) { cErrorHasOccurred = ( char ) pdTRUE; } if( xAreBlockingQueuesStillRunning() != pdTRUE ) { cErrorHasOccurred = ( char ) pdTRUE; } return cErrorHasOccurred; } /*-----------------------------------------------------------*/