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/*
FreeRTOS V8.1.0 - 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 second. This enables the
* demo's to be executed on the RAM limited PIC-devices.
*
* The Demo2 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/PollQ.c: Creates 2 tasks
* demo/common/minimal/semtest.c: Creates 4 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 <FreeRTOS.h>
#include <task.h>
/* Demo app include files. */
#include "integer.h"
#include "PollQ.h"
#include "semtest.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 ) 3 )
#define mainLED_FLASH_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 2 )
#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 1 )
#define mainSEM_TEST_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 ( ( 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. */
vStartIntegerMathTasks( mainINTEGER_PRIORITY);
vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
vStartSemaphoreTasks( mainSEM_TEST_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 )
{
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( xAreIntegerMathsTaskStillRunning() != pdTRUE )
{
cErrorHasOccurred = ( char ) pdTRUE;
}
if( xArePollingQueuesStillRunning() != pdTRUE )
{
cErrorHasOccurred = ( char ) pdTRUE;
}
if( xAreSemaphoreTasksStillRunning() != pdTRUE )
{
cErrorHasOccurred = ( char ) pdTRUE;
}
return cErrorHasOccurred;
}
/*-----------------------------------------------------------*/
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