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/*
* FreeRTOS Kernel V10.3.0
* Copyright (C) 2020 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!
*/
/*
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;
}
/*-----------------------------------------------------------*/
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