/* | |
FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd. | |
FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT | |
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
*************************************************************************** | |
* * | |
* FreeRTOS tutorial books are available in pdf and paperback. * | |
* Complete, revised, and edited pdf reference manuals are also * | |
* available. * | |
* * | |
* Purchasing FreeRTOS documentation will not only help you, by * | |
* ensuring you get running as quickly as possible and with an * | |
* in-depth knowledge of how to use FreeRTOS, it will also help * | |
* the FreeRTOS project to continue with its mission of providing * | |
* professional grade, cross platform, de facto standard solutions * | |
* for microcontrollers - completely free of charge! * | |
* * | |
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< * | |
* * | |
* Thank you for using FreeRTOS, and 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 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. 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 Real Time Engineers Ltd., contact details for whom are available | |
on the FreeRTOS WEB site. | |
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, and our new | |
fully thread aware and reentrant UDP/IP stack. | |
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
Integrity Systems, who sell the code with commercial support, | |
indemnification and middleware, under the OpenRTOS brand. | |
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. | |
*/ | |
/* | |
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 sixth. This enables the | |
* demo's to be executed on the RAM limited PIC-devices. | |
* | |
* The Demo6 project is configured for a PIC18F4620 device. Main.c starts 4 | |
* tasks (including the idle task). See the indicated files in the demo/common | |
* directory for more information. | |
* | |
* demo/common/minimal/comtest.c: Creates 2 tasks | |
* ATTENTION: Comtest needs a loopback-connector on the serial port. | |
* | |
* 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. | |
* | |
* 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 "partest.h" | |
#include "serial.h" | |
#include "comtest.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 ) 10000 / portTICK_RATE_MS ) | |
#define mainERROR_CHECK_PERIOD ( ( portTickType ) 1000 / portTICK_RATE_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 mainCOMM_TEST_PRIORITY ( tskIDLE_PRIORITY + ( unsigned char ) 1 ) | |
/* The LED that is toggled whenever a character is transmitted. | |
mainCOMM_TX_RX_LED + 1 will be toggled every time a character is received. */ | |
#define mainCOMM_TX_RX_LED ( ( unsigned char ) 0 ) | |
/* Constants required for the communications. */ | |
#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(); | |
/* Start a few of the standard demo tasks found in the demo\common directory. */ | |
vAltStartComTestTasks( mainCOMM_TEST_PRIORITY, mainBAUD_RATE, mainCOMM_TX_RX_LED ); | |
/* Start the check task defined in this file. */ | |
xTaskCreate( vErrorChecks, ( const char * const ) "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 ) | |
{ | |
portTickType xLastCheckTime; | |
portTickType 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( xAreComTestTasksStillRunning() != pdTRUE ) | |
{ | |
cErrorHasOccurred = ( char ) pdTRUE; | |
} | |
return cErrorHasOccurred; | |
} | |
/*-----------------------------------------------------------*/ | |