/* FreeRTOS V7.5.2 - Copyright (C) 2013 Real Time Engineers Ltd. VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * * FreeRTOS provides completely free yet professionally developed, * * robust, strictly quality controlled, supported, and cross * * platform software that has become a de facto standard. * * * * Help yourself get started quickly and support the FreeRTOS * * project by purchasing a FreeRTOS tutorial book, reference * * manual, or both from: http://www.FreeRTOS.org/Documentation * * * * Thank you! * * * *************************************************************************** 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. Full license text is available from the following link: http://www.freertos.org/a00114.html 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, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and middleware. 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. 1 tab == 4 spaces! */ /* * 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 long. */ /* 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 long ) 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 char * 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; } /*-----------------------------------------------------------*/