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224 lines
9.1 KiB
C
224 lines
9.1 KiB
C
/*
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FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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***************************************************************************
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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***************************************************************************
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available on the following
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link: http://www.freertos.org/a00114.html
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that is more than just the market leader, it *
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* is the industry's de facto standard. *
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* *
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* Help yourself get started quickly while simultaneously helping *
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* to support the FreeRTOS project by purchasing a FreeRTOS *
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* tutorial book, reference manual, or both: *
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* http://www.FreeRTOS.org/Documentation *
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* *
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***************************************************************************
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http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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the FAQ page "My application does not run, what could be wrong?". Have you
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defined configASSERT()?
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http://www.FreeRTOS.org/support - In return for receiving this top quality
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embedded software for free we request you assist our global community by
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participating in the support forum.
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http://www.FreeRTOS.org/training - Investing in training allows your team to
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be as productive as possible as early as possible. Now you can receive
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FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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Ltd, and the world's leading authority on the world's leading RTOS.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and commercial middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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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 first. This enables the
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* demo's to be executed on the RAM limited 40 pin devices. The 64 and 80 pin
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* devices require a more costly development platform and are not so readily
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* available.
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*
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* The RTOSDemo1 project is configured for a PIC18F452 device. Main1.c starts 5
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* tasks (including the idle task).
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*
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* The first task runs at the idle priority. It repeatedly performs a 32bit
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* calculation and checks it's result against the expected value. This checks
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* that the temporary storage utilised by the compiler to hold intermediate
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* results does not get corrupted when the task gets switched in and out. See
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* demo/common/minimal/integer.c for more information.
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*
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* The second and third tasks pass an incrementing value between each other on
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* a message queue. See demo/common/minimal/PollQ.c for more information.
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*
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* Main1.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 and 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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* PIC18F port.
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*/
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/*
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Changes from V2.0.0
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+ Delay periods are now specified using variables and constants of
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TickType_t rather than unsigned long.
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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 "PollQ.h"
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#include "integer.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 ( ( TickType_t ) 1000 / portTICK_PERIOD_MS )
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#define mainERROR_CHECK_PERIOD ( ( TickType_t ) 100 / portTICK_PERIOD_MS )
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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 mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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/* The LED that is flashed by the check task. */
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#define mainCHECK_TASK_LED ( 0 )
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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 ( 5 )
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#define mainNO_BLOCK ( ( TickType_t ) 0 )
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#define mainBAUD_RATE ( ( unsigned long ) 9600 )
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/*
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* The task function for the "Check" task.
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*/
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static void vErrorChecks( void *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 portBASE_TYPE 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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vPortInitialiseBlocks();
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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 the standard demo tasks found in the demo\common directory. */
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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/* Start the check task defined in this file. */
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xTaskCreate( vErrorChecks, "Check", configMINIMAL_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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}
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/*-----------------------------------------------------------*/
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static void vErrorChecks( void *pvParameters )
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{
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TickType_t xDelayTime = mainNO_ERROR_CHECK_PERIOD;
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portBASE_TYPE xErrorOccurred;
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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. */
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vTaskDelay( 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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xErrorOccurred = prvCheckOtherTasksAreStillRunning();
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/* If an error was detected increase the frequency of the LED flash. */
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if( xErrorOccurred == 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 portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
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{
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portBASE_TYPE xErrorHasOccurred = pdFALSE;
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if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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{
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xErrorHasOccurred = pdTRUE;
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}
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if( xArePollingQueuesStillRunning() != pdTRUE )
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{
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xErrorHasOccurred = pdTRUE;
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}
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return xErrorHasOccurred;
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}
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/*-----------------------------------------------------------*/
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