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189 lines
6.7 KiB
C
189 lines
6.7 KiB
C
/*
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FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS.org is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS.org; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS.org, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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Please ensure to read the configuration and relevant port sections of the
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online documentation.
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+++ http://www.FreeRTOS.org +++
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Documentation, latest information, license and contact details.
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+++ http://www.SafeRTOS.com +++
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A version that is certified for use in safety critical systems.
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+++ http://www.OpenRTOS.com +++
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Commercial support, development, porting, licensing and training services.
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***************************************************************************
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*/
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/*
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Changes from V3.0.0
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Changes from V3.0.1
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*/
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/*
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* Instead of the normal single demo application, the PIC18F demo is split
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* into several smaller programs of which this is the fifth. This enables the
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* demo's to be executed on the RAM limited PIC-devices.
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*
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* The Demo5 project is configured for a PIC18F4620 device. Main.c starts 13
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* tasks (including the idle task). See the indicated files in the demo/common
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* directory for more information.
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*
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* demo/common/minimal/flop.c: Creates 8 tasks
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* demo/common/minimal/flash.c: Creates 3 tasks
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*
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* Main.c also creates a check task. This periodically checks that all the
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* other tasks are still running and have not experienced any unexpected
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* results. If all the other tasks are executing correctly an LED is flashed
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* once every mainCHECK_PERIOD milliseconds. If any of the tasks have not
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* executed, or report an error, the frequency of the LED flash will increase
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* to mainERROR_FLASH_RATE.
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*
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* On entry to main an 'X' is transmitted. Monitoring the serial port using a
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* dumb terminal allows for verification that the device is not continuously
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* being reset (no more than one 'X' should be transmitted).
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*
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* http://www.FreeRTOS.org contains important information on the use of the
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* wizC PIC18F port.
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*/
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/* Scheduler include files. */
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#include <FreeRTOS.h>
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#include <task.h>
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/* Demo app include files. */
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#include "flop.h"
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#include "flash.h"
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#include "partest.h"
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#include "serial.h"
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/* The period between executions of the check task before and after an error
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has been discovered. If an error has been discovered the check task runs
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more frequently - increasing the LED flash rate. */
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#define mainNO_ERROR_CHECK_PERIOD ( ( portTickType ) 10000 / portTICK_RATE_MS )
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#define mainERROR_CHECK_PERIOD ( ( portTickType ) 1000 / portTICK_RATE_MS )
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#define mainCHECK_TASK_LED ( ( unsigned portCHAR ) 3 )
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/* Priority definitions for some of the tasks. Other tasks just use the idle
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priority. */
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portCHAR ) 2 )
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#define mainLED_FLASH_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portCHAR ) 1 )
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/* Constants required for the communications. Only one character is ever
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transmitted. */
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#define mainCOMMS_QUEUE_LENGTH ( ( unsigned portCHAR ) 5 )
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#define mainNO_BLOCK ( ( portTickType ) 0 )
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#define mainBAUD_RATE ( ( unsigned portLONG ) 57600 )
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/*
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* The task function for the "Check" task.
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*/
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static portTASK_FUNCTION_PROTO( vErrorChecks, pvParameters );
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/*
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* Checks the unique counts of other tasks to ensure they are still operational.
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* Returns pdTRUE if an error is detected, otherwise pdFALSE.
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*/
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static portCHAR prvCheckOtherTasksAreStillRunning( void );
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/*-----------------------------------------------------------*/
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/* Creates the tasks, then starts the scheduler. */
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void main( void )
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{
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/* Initialise the required hardware. */
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vParTestInitialise();
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/* Send a character so we have some visible feedback of a reset. */
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xSerialPortInitMinimal( mainBAUD_RATE, mainCOMMS_QUEUE_LENGTH );
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xSerialPutChar( NULL, 'X', mainNO_BLOCK );
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/* Start a few of the standard demo tasks found in the demo\common directory. */
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vStartMathTasks( tskIDLE_PRIORITY );
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vStartLEDFlashTasks( mainLED_FLASH_PRIORITY );
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/* Start the check task defined in this file. */
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xTaskCreate( vErrorChecks, ( const portCHAR * const ) "Check", portMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Start the scheduler. Will never return here. */
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vTaskStartScheduler();
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while(1) /* This point should never be reached. */
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{
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}
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}
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/*-----------------------------------------------------------*/
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static portTASK_FUNCTION( vErrorChecks, pvParameters )
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{
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portTickType xLastCheckTime;
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portTickType xDelayTime = mainNO_ERROR_CHECK_PERIOD;
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portCHAR cErrorOccurred;
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/* We need to initialise xLastCheckTime prior to the first call to
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vTaskDelayUntil(). */
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xLastCheckTime = xTaskGetTickCount();
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/* Cycle for ever, delaying then checking all the other tasks are still
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operating without error. */
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for( ;; )
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{
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/* Wait until it is time to check the other tasks again. */
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vTaskDelayUntil( &xLastCheckTime, xDelayTime );
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/* Check all the other tasks are running, and running without ever
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having an error. */
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cErrorOccurred = prvCheckOtherTasksAreStillRunning();
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/* If an error was detected increase the frequency of the LED flash. */
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if( cErrorOccurred == pdTRUE )
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{
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xDelayTime = mainERROR_CHECK_PERIOD;
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}
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/* Flash the LED for visual feedback. */
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vParTestToggleLED( mainCHECK_TASK_LED );
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}
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}
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/*-----------------------------------------------------------*/
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static portCHAR prvCheckOtherTasksAreStillRunning( void )
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{
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portCHAR cErrorHasOccurred = ( portCHAR ) pdFALSE;
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if( xAreMathsTaskStillRunning() != pdTRUE )
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{
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cErrorHasOccurred = ( portCHAR ) pdTRUE;
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}
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return cErrorHasOccurred;
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}
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/*-----------------------------------------------------------*/
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