/* | |
* 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 | |
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* 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 | |
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* | |
* http://www.FreeRTOS.org | |
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* | |
* 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 fourth. This enables the | |
* demo's to be executed on the RAM limited PIC-devices. | |
* | |
* The Demo4 project is configured for a PIC18F4620 device. Main.c starts 11 | |
* 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/dynamic.c: Creates 5 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 "dynamic.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 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 the standard demo tasks found in the demo\common directory. */ | |
vStartIntegerMathTasks( mainINTEGER_PRIORITY); | |
vStartDynamicPriorityTasks(); | |
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( xAreDynamicPriorityTasksStillRunning() != pdTRUE ) | |
{ | |
cErrorHasOccurred = ( char ) pdTRUE; | |
} | |
return cErrorHasOccurred; | |
} | |
/*-----------------------------------------------------------*/ | |