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20100923-V6.1.0-RC2/Demo/PIC18_MPLAB/main3.c
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20100923-V6.1.0-RC2/Demo/PIC18_MPLAB/main3.c
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/*
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FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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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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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/*
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* THIS DEMO APPLICATION REQUIRES A LOOPBACK CONNECTOR TO BE FITTED TO THE PIC
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* USART PORT - connect pin 2 to pin 3 on J2.
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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 third. 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 RTOSDemo3 project is configured for a PIC18F452 device. Main3.c starts
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* 5 tasks (including the idle task).
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*
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* The first task repeatedly transmits a string of characters on the PIC USART
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* port. The second task receives the characters, checking that the correct
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* sequence is maintained (i.e. what is transmitted is identical to that
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* received). Each transmitted and each received character causes an LED to
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* flash. See demo/common/minimal/comtest. c for more information.
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*
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* The third task continuously performs a 32 bit calculation. This is a good
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* test of the context switch mechanism as the 8 bit architecture requires
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* the use of several file registers to perform the 32 bit operations. See
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* demo/common/minimal/integer. c for more information.
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*
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* The third task is the check task. This periodically checks that the other
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* tasks are still running and have not experienced any errors. If no errors
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* have been reported by either the comms or integer tasks an LED is flashed
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* with a frequency mainNO_ERROR_CHECK_PERIOD. If an error is discovered the
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* frequency is increased to mainERROR_FLASH_RATE.
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*
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* The check task also provides a visual indication of a system reset by
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* flashing the one remaining LED (mainRESET_LED) when it starts. After
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* this initial flash mainRESET_LED should remain off.
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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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portTickType 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 "partest.h"
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#include "serial.h"
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#include "comtest.h"
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#include "integer.h"
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/* Priority definitions for the LED tasks. Other tasks just use the idle
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priority. */
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#define mainCOMM_TEST_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portBASE_TYPE ) 2 )
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#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portBASE_TYPE ) 3 )
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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 ) 1000 / portTICK_RATE_MS )
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#define mainERROR_CHECK_PERIOD ( ( portTickType ) 100 / portTICK_RATE_MS )
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/* The period for which mainRESET_LED remain on every reset. */
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#define mainRESET_LED_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )
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/* The LED that is toggled whenever a character is transmitted.
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mainCOMM_TX_RX_LED + 1 will be toggled every time a character is received. */
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#define mainCOMM_TX_RX_LED ( ( unsigned portBASE_TYPE ) 2 )
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/* The LED that is flashed by the check task at a rate that indicates the
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error status. */
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#define mainCHECK_TASK_LED ( ( unsigned portBASE_TYPE ) 1 )
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/* The LED that is flashed once upon every reset. */
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#define mainRESET_LED ( ( unsigned portBASE_TYPE ) 0 )
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/* Constants required for the communications. */
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#define mainCOMMS_QUEUE_LENGTH ( ( unsigned portBASE_TYPE ) 5 )
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#define mainBAUD_RATE ( ( unsigned long ) 57600 )
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/*-----------------------------------------------------------*/
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/*
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* Task function which periodically checks the other tasks for errors. Flashes
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* an LED at a rate that indicates whether an error has ever been detected.
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*/
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static void vErrorChecks( void *pvParameters );
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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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/* Initialise the block memory allocator. */
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vPortInitialiseBlocks();
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/* Start the standard comtest tasks as defined in demo/common/minimal. */
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vAltStartComTestTasks( mainCOMM_TEST_PRIORITY, mainBAUD_RATE, mainCOMM_TX_RX_LED );
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/* Start the standard 32bit calculation task as defined in
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demo/common/minimal. */
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vStartIntegerMathTasks( tskIDLE_PRIORITY );
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/* Start the check task defined in this file. */
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xTaskCreate( vErrorChecks, ( const char * const ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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/* Start the scheduler. This will never return. */
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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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portTickType xDelayTime = mainNO_ERROR_CHECK_PERIOD;
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volatile unsigned long ulDummy = 3UL;
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/* Toggle the LED so we can see when a reset occurs. */
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vParTestSetLED( mainRESET_LED, pdTRUE );
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vTaskDelay( mainRESET_LED_PERIOD );
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vParTestSetLED( mainRESET_LED, pdFALSE );
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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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/* Perform an integer calculation - just to ensure the registers
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get used. The result is not important. */
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ulDummy *= 3UL;
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/* Check all the other tasks are running, and running without ever
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having an error. The delay period is lowered if an error is reported,
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causing the LED to flash at a higher rate. */
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if( xAreIntegerMathsTaskStillRunning() == pdFALSE )
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{
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xDelayTime = mainERROR_CHECK_PERIOD;
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}
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if( xAreComTestTasksStillRunning() == pdFALSE )
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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. The rate of the flash will
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indicate the health of the system. */
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vParTestToggleLED( mainCHECK_TASK_LED );
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}
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}
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/*-----------------------------------------------------------*/
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