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/*
* FreeRTOS Kernel V10.2.1
* Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 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;
}
/*-----------------------------------------------------------*/
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