You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
208 lines
8.2 KiB
C
208 lines
8.2 KiB
C
/*
|
|
FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
|
|
|
|
|
***************************************************************************
|
|
* *
|
|
* 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 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 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;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
|