/* | |
FreeRTOS.org V5.1.0 - Copyright (C) 2003-2008 Richard Barry. | |
This file is part of the FreeRTOS.org distribution. | |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
GNU General Public License for more details. | |
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A special exception to the GPL can be applied should you wish to distribute | |
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*************************************************************************** | |
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Please ensure to read the configuration and relevant port sections of the | |
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*/ | |
/* | |
* 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 | |
portTickType rather than unsigned portLONG. | |
*/ | |
/* 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 ( ( portTickType ) 1000 / portTICK_RATE_MS ) | |
#define mainERROR_CHECK_PERIOD ( ( portTickType ) 100 / portTICK_RATE_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 ( ( portTickType ) 0 ) | |
#define mainBAUD_RATE ( ( unsigned portLONG ) 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, ( const portCHAR * const ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL ); | |
/* Start the scheduler. Will never return here. */ | |
vTaskStartScheduler(); | |
} | |
/*-----------------------------------------------------------*/ | |
static void vErrorChecks( void *pvParameters ) | |
{ | |
portTickType 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; | |
} | |
/*-----------------------------------------------------------*/ | |