/* | |
FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd. | |
*************************************************************************** | |
* * | |
* If you are: * | |
* * | |
* + New to FreeRTOS, * | |
* + Wanting to learn FreeRTOS or multitasking in general quickly * | |
* + Looking for basic training, * | |
* + Wanting to improve your FreeRTOS skills and productivity * | |
* * | |
* then take a look at the FreeRTOS books - available as PDF or paperback * | |
* * | |
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" * | |
* http://www.FreeRTOS.org/Documentation * | |
* * | |
* A pdf reference manual is also available. Both are usually delivered * | |
* to your inbox within 20 minutes to two hours when purchased between 8am * | |
* and 8pm GMT (although please allow up to 24 hours in case of * | |
* exceptional circumstances). Thank you for your support! * | |
* * | |
*************************************************************************** | |
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 exception 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. See the GNU General Public License for | |
more details. You should have received a copy of the GNU General Public | |
License and the FreeRTOS license exception along with FreeRTOS; if not it | |
can be viewed here: http://www.freertos.org/a00114.html and also obtained | |
by writing to Richard Barry, contact details for whom are available on the | |
FreeRTOS WEB site. | |
1 tab == 4 spaces! | |
http://www.FreeRTOS.org - Documentation, latest information, license and | |
contact details. | |
http://www.SafeRTOS.com - A version that is certified for use in safety | |
critical systems. | |
http://www.OpenRTOS.com - Commercial support, development, porting, | |
licensing and training services. | |
*/ | |
/* | |
* 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 40 pin devices. The 64 and 80 pin | |
* devices require a more costly development platform and are not so readily | |
* available. | |
* | |
* The RTOSDemo2 project is configured for a PIC18F452 device. Main2.c starts | |
* 5 tasks (including the idle task). | |
* | |
* The first, second and third tasks do nothing but flash an LED. This gives | |
* visual feedback that everything is executing as expected. One task flashes | |
* an LED every 333ms (i.e. on and off every 333/2 ms), then next every 666ms | |
* and the last every 999ms. | |
* | |
* The last 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. | |
* should the calculation ever provide an incorrect result the final LED is | |
* turned on. | |
* | |
* 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 | |
portTickType rather than unsigned long. | |
*/ | |
/* Scheduler include files. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Demo app include files. */ | |
#include "flash.h" | |
#include "partest.h" | |
#include "serial.h" | |
/* Priority definitions for the LED tasks. Other tasks just use the idle | |
priority. */ | |
#define mainLED_FLASH_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portBASE_TYPE ) 1 ) | |
/* The LED that is lit when should the calculation fail. */ | |
#define mainCHECK_TASK_LED ( ( unsigned portBASE_TYPE ) 3 ) | |
/* Constants required for the communications. Only one character is ever | |
transmitted. */ | |
#define mainCOMMS_QUEUE_LENGTH ( ( unsigned portBASE_TYPE ) 5 ) | |
#define mainNO_BLOCK ( ( portTickType ) 0 ) | |
#define mainBAUD_RATE ( ( unsigned long ) 9600 ) | |
/* | |
* The task that performs the 32 bit calculation at the idle priority. | |
*/ | |
static void vCalculationTask( void *pvParameters ); | |
/*-----------------------------------------------------------*/ | |
/* 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 LED flash tasks as defined in demo/common/minimal. */ | |
vStartLEDFlashTasks( mainLED_FLASH_PRIORITY ); | |
/* Start the check task defined in this file. */ | |
xTaskCreate( vCalculationTask, ( const char * const ) "Check", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL ); | |
/* Start the scheduler. */ | |
vTaskStartScheduler(); | |
} | |
/*-----------------------------------------------------------*/ | |
static void vCalculationTask( void *pvParameters ) | |
{ | |
volatile unsigned long ulCalculatedValue; /* Volatile to ensure optimisation is minimal. */ | |
/* Continuously perform a calculation. If the calculation result is ever | |
incorrect turn the LED on. */ | |
for( ;; ) | |
{ | |
/* A good optimising compiler would just remove all this! */ | |
ulCalculatedValue = 1234UL; | |
ulCalculatedValue *= 99UL; | |
if( ulCalculatedValue != 122166UL ) | |
{ | |
vParTestSetLED( mainCHECK_TASK_LED, pdTRUE ); | |
} | |
ulCalculatedValue *= 9876UL; | |
if( ulCalculatedValue != 1206511416UL ) | |
{ | |
vParTestSetLED( mainCHECK_TASK_LED, pdTRUE ); | |
} | |
ulCalculatedValue /= 15UL; | |
if( ulCalculatedValue != 80434094UL ) | |
{ | |
vParTestSetLED( mainCHECK_TASK_LED, pdTRUE ); | |
} | |
ulCalculatedValue += 918273UL; | |
if( ulCalculatedValue != 81352367UL ) | |
{ | |
vParTestSetLED( mainCHECK_TASK_LED, pdTRUE ); | |
} | |
} | |
} | |
/*-----------------------------------------------------------*/ | |