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.
195 lines
7.8 KiB
C
195 lines
7.8 KiB
C
/*
|
|
FreeRTOS.org V4.7.0 - Copyright (C) 2003-2007 Richard Barry.
|
|
|
|
This file is part of the FreeRTOS.org distribution.
|
|
|
|
FreeRTOS.org is free software; you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation; either version 2 of the License, or
|
|
(at your option) any later version.
|
|
|
|
FreeRTOS.org 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
|
|
along with FreeRTOS.org; if not, write to the Free Software
|
|
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
|
|
A special exception to the GPL can be applied should you wish to distribute
|
|
a combined work that includes FreeRTOS.org, without being obliged to provide
|
|
the source code for any proprietary components. See the licensing section
|
|
of http://www.FreeRTOS.org for full details of how and when the exception
|
|
can be applied.
|
|
|
|
***************************************************************************
|
|
See http://www.FreeRTOS.org for documentation, latest information, license
|
|
and contact details. Please ensure to read the configuration and relevant
|
|
port sections of the online documentation.
|
|
|
|
Also see http://www.SafeRTOS.com a version that has been certified for use
|
|
in safety critical systems, plus commercial licensing, development and
|
|
support options.
|
|
***************************************************************************
|
|
*/
|
|
|
|
/*
|
|
* THIS DEMO APPLICATION REQUIRES A LOOPBACK CONNECTOR TO BE FITTED TO THE PIC
|
|
* USART PORT - connect pin 2 to pin 3 on J2.
|
|
*
|
|
* Instead of the normal single demo application, the PIC18F demo is split
|
|
* into several smaller programs of which this is the third. 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 RTOSDemo3 project is configured for a PIC18F452 device. Main3.c starts
|
|
* 5 tasks (including the idle task).
|
|
*
|
|
* The first task repeatedly transmits a string of characters on the PIC USART
|
|
* port. The second task receives the characters, checking that the correct
|
|
* sequence is maintained (i.e. what is transmitted is identical to that
|
|
* received). Each transmitted and each received character causes an LED to
|
|
* flash. See demo/common/minimal/comtest. c for more information.
|
|
*
|
|
* The third task continuously performs a 32 bit calculation. This is a good
|
|
* test of the context switch mechanism as the 8 bit architecture requires
|
|
* the use of several file registers to perform the 32 bit operations. See
|
|
* demo/common/minimal/integer. c for more information.
|
|
*
|
|
* The third task is the check task. This periodically checks that the other
|
|
* tasks are still running and have not experienced any errors. If no errors
|
|
* have been reported by either the comms or integer tasks an LED is flashed
|
|
* with a frequency mainNO_ERROR_CHECK_PERIOD. If an error is discovered the
|
|
* frequency is increased to mainERROR_FLASH_RATE.
|
|
*
|
|
* The check task also provides a visual indication of a system reset by
|
|
* flashing the one remaining LED (mainRESET_LED) when it starts. After
|
|
* this initial flash mainRESET_LED should remain off.
|
|
*
|
|
* 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 portLONG.
|
|
*/
|
|
|
|
/* Scheduler include files. */
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
|
|
/* Demo app include files. */
|
|
#include "partest.h"
|
|
#include "serial.h"
|
|
#include "comtest.h"
|
|
#include "integer.h"
|
|
|
|
/* Priority definitions for the LED tasks. Other tasks just use the idle
|
|
priority. */
|
|
#define mainCOMM_TEST_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portBASE_TYPE ) 2 )
|
|
#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portBASE_TYPE ) 3 )
|
|
|
|
/* 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 )
|
|
|
|
/* The period for which mainRESET_LED remain on every reset. */
|
|
#define mainRESET_LED_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
|
|
|
|
/* 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 portBASE_TYPE ) 2 )
|
|
|
|
/* The LED that is flashed by the check task at a rate that indicates the
|
|
error status. */
|
|
#define mainCHECK_TASK_LED ( ( unsigned portBASE_TYPE ) 1 )
|
|
|
|
/* The LED that is flashed once upon every reset. */
|
|
#define mainRESET_LED ( ( unsigned portBASE_TYPE ) 0 )
|
|
|
|
/* Constants required for the communications. */
|
|
#define mainCOMMS_QUEUE_LENGTH ( ( unsigned portBASE_TYPE ) 5 )
|
|
#define mainBAUD_RATE ( ( unsigned portLONG ) 57600 )
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* Task function which periodically checks the other tasks for errors. Flashes
|
|
* an LED at a rate that indicates whether an error has ever been detected.
|
|
*/
|
|
static void vErrorChecks( void *pvParameters );
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Creates the tasks, then starts the scheduler. */
|
|
void main( void )
|
|
{
|
|
/* Initialise the required hardware. */
|
|
vParTestInitialise();
|
|
|
|
/* Initialise the block memory allocator. */
|
|
vPortInitialiseBlocks();
|
|
|
|
/* Start the standard comtest tasks as defined in demo/common/minimal. */
|
|
vAltStartComTestTasks( mainCOMM_TEST_PRIORITY, mainBAUD_RATE, mainCOMM_TX_RX_LED );
|
|
|
|
/* Start the standard 32bit calculation task as defined in
|
|
demo/common/minimal. */
|
|
vStartIntegerMathTasks( tskIDLE_PRIORITY );
|
|
|
|
/* Start the check task defined in this file. */
|
|
xTaskCreate( vErrorChecks, ( const portCHAR * const ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
|
|
|
|
/* Start the scheduler. This will never return. */
|
|
vTaskStartScheduler();
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void vErrorChecks( void *pvParameters )
|
|
{
|
|
portTickType xDelayTime = mainNO_ERROR_CHECK_PERIOD;
|
|
volatile unsigned portLONG ulDummy = 3UL;
|
|
|
|
/* Toggle the LED so we can see when a reset occurs. */
|
|
vParTestSetLED( mainRESET_LED, pdTRUE );
|
|
vTaskDelay( mainRESET_LED_PERIOD );
|
|
vParTestSetLED( mainRESET_LED, pdFALSE );
|
|
|
|
/* 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 );
|
|
|
|
/* Perform an integer calculation - just to ensure the registers
|
|
get used. The result is not important. */
|
|
ulDummy *= 3UL;
|
|
|
|
/* Check all the other tasks are running, and running without ever
|
|
having an error. The delay period is lowered if an error is reported,
|
|
causing the LED to flash at a higher rate. */
|
|
if( xAreIntegerMathsTaskStillRunning() == pdFALSE )
|
|
{
|
|
xDelayTime = mainERROR_CHECK_PERIOD;
|
|
}
|
|
|
|
if( xAreComTestTasksStillRunning() == pdFALSE )
|
|
{
|
|
xDelayTime = mainERROR_CHECK_PERIOD;
|
|
}
|
|
|
|
/* Flash the LED for visual feedback. The rate of the flash will
|
|
indicate the health of the system. */
|
|
vParTestToggleLED( mainCHECK_TASK_LED );
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|