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Before changing headers to V6 and changing portLONG, portSHORt and portCHAR to their standard C types.

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This commit is contained in:
Richard Barry 2009-10-05 08:33:08 +00:00
parent 3dfbb349ca
commit 5c64e1fad9
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24
20091005/Demo/PIC18_MPLAB/18f452.lkr Normal file
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// $Id: 18f452.lkr,v 1.4 2003/03/13 05:02:23 sealep Exp $
// File: 18f452.lkr
// Sample linker script for the PIC18F452 processor
LIBPATH .
FILES c018i.o
FILES clib.lib
FILES p18f452.lib
CODEPAGE NAME=vectors START=0x0 END=0x39 PROTECTED
CODEPAGE NAME=page START=0x3A END=0x7FFF
CODEPAGE NAME=idlocs START=0x200000 END=0x200007 PROTECTED
CODEPAGE NAME=config START=0x300000 END=0x30000D PROTECTED
CODEPAGE NAME=devid START=0x3FFFFE END=0x3FFFFF PROTECTED
CODEPAGE NAME=eedata START=0xF00000 END=0xF000FF PROTECTED
ACCESSBANK NAME=accessram START=0x0 END=0x7F
DATABANK NAME=BIG_BLOCK START=0x80 END=0x5FF
ACCESSBANK NAME=accesssfr START=0xF80 END=0xFFF PROTECTED
SECTION NAME=CONFIG ROM=config
STACK SIZE=0x60 RAM=BIG_BLOCK

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20091005/Demo/PIC18_MPLAB/FreeRTOSConfig.h Normal file
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/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
Please ensure to read the configuration and relevant port sections of the
online documentation.
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.
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
#include <p18cxxx.h>
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configCPU_CLOCK_HZ ( ( unsigned portLONG ) 20000000 )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 4 )
#define configMINIMAL_STACK_SIZE ( 105 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) 1024 )
#define configMAX_TASK_NAME_LEN ( 4 )
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 1
#define configIDLE_SHOULD_YIELD 1
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 0
#define INCLUDE_uxTaskPriorityGet 0
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 0
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#endif /* FREERTOS_CONFIG_H */

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20091005/Demo/PIC18_MPLAB/ParTest/ParTest.c Normal file
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/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
Please ensure to read the configuration and relevant port sections of the
online documentation.
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.
*/
/*
Changes from V2.0.0
+ Use scheduler suspends in place of critical sections.
*/
#include "FreeRTOS.h"
#include "task.h"
#include "partest.h"
/*-----------------------------------------------------------
* Simple parallel port IO routines for the FED 40pin demo board.
* The four LED's are connected to D4 to D7.
*-----------------------------------------------------------*/
#define partstBIT_AS_OUTPUT ( ( unsigned portSHORT ) 0 )
#define partstSET_OUTPUT ( ( unsigned portSHORT ) 1 )
#define partstCLEAR_OUTPUT ( ( unsigned portSHORT ) 0 )
#define partstENABLE_GENERAL_IO ( ( unsigned portCHAR ) 7 )
/*-----------------------------------------------------------*/
void vParTestInitialise( void )
{
/* Set the top four bits of port D to output. */
TRISDbits.TRISD7 = partstBIT_AS_OUTPUT;
TRISDbits.TRISD6 = partstBIT_AS_OUTPUT;
TRISDbits.TRISD5 = partstBIT_AS_OUTPUT;
TRISDbits.TRISD4 = partstBIT_AS_OUTPUT;
/* Start with all bits off. */
PORTDbits.RD7 = partstCLEAR_OUTPUT;
PORTDbits.RD6 = partstCLEAR_OUTPUT;
PORTDbits.RD5 = partstCLEAR_OUTPUT;
PORTDbits.RD4 = partstCLEAR_OUTPUT;
/* Enable the driver. */
ADCON1 = partstENABLE_GENERAL_IO;
TRISEbits.TRISE2 = partstBIT_AS_OUTPUT;
PORTEbits.RE2 = partstSET_OUTPUT;
}
/*-----------------------------------------------------------*/
void vParTestSetLED( unsigned portBASE_TYPE uxLED, portBASE_TYPE xValue )
{
/* We are only using the top nibble, so LED 0 corresponds to bit 4. */
vTaskSuspendAll();
{
switch( uxLED )
{
case 3 : PORTDbits.RD7 = ( portSHORT ) xValue;
break;
case 2 : PORTDbits.RD6 = ( portSHORT ) xValue;
break;
case 1 : PORTDbits.RD5 = ( portSHORT ) xValue;
break;
case 0 : PORTDbits.RD4 = ( portSHORT ) xValue;
break;
default : /* There are only 4 LED's. */
break;
}
}
xTaskResumeAll();
}
/*-----------------------------------------------------------*/
void vParTestToggleLED( unsigned portBASE_TYPE uxLED )
{
/* We are only using the top nibble, so LED 0 corresponds to bit 4. */
vTaskSuspendAll();
{
switch( uxLED )
{
case 3 : PORTDbits.RD7 = !( PORTDbits.RD7 );
break;
case 2 : PORTDbits.RD6 = !( PORTDbits.RD6 );
break;
case 1 : PORTDbits.RD5 = !( PORTDbits.RD5 );
break;
case 0 : PORTDbits.RD4 = !( PORTDbits.RD4 );
break;
default : /* There are only 4 LED's. */
break;
}
}
xTaskResumeAll();
}

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20091005/Demo/PIC18_MPLAB/main1.c Normal file
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/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
Please ensure to read the configuration and relevant port sections of the
online documentation.
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 portLONG.
*/
/* 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 portLONG ) 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 portCHAR * 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;
}
/*-----------------------------------------------------------*/

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20091005/Demo/PIC18_MPLAB/main2.c Normal file
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/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
Please ensure to read the configuration and relevant port sections of the
online documentation.
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 second. 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 RTOSDemo2 project is configured for a PIC18F452 device. Main2.c starts
* 5 tasks (including the idle task).
*
* The first, second and third tasks do nothing but flash an LED. This gives
* visual feedback that everything is executing as expected. One task flashes
* an LED every 333ms (i.e. on and off every 333/2 ms), then next every 666ms
* and the last every 999ms.
*
* The last 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.
* should the calculation ever provide an incorrect result the final LED is
* turned on.
*
* 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 portLONG.
*/
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo app include files. */
#include "flash.h"
#include "partest.h"
#include "serial.h"
/* Priority definitions for the LED tasks. Other tasks just use the idle
priority. */
#define mainLED_FLASH_PRIORITY ( tskIDLE_PRIORITY + ( unsigned portBASE_TYPE ) 1 )
/* The LED that is lit when should the calculation fail. */
#define mainCHECK_TASK_LED ( ( unsigned portBASE_TYPE ) 3 )
/* Constants required for the communications. Only one character is ever
transmitted. */
#define mainCOMMS_QUEUE_LENGTH ( ( unsigned portBASE_TYPE ) 5 )
#define mainNO_BLOCK ( ( portTickType ) 0 )
#define mainBAUD_RATE ( ( unsigned portLONG ) 9600 )
/*
* The task that performs the 32 bit calculation at the idle priority.
*/
static void vCalculationTask( void *pvParameters );
/*-----------------------------------------------------------*/
/* 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 LED flash tasks as defined in demo/common/minimal. */
vStartLEDFlashTasks( mainLED_FLASH_PRIORITY );
/* Start the check task defined in this file. */
xTaskCreate( vCalculationTask, ( const portCHAR * const ) "Check", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
/* Start the scheduler. */
vTaskStartScheduler();
}
/*-----------------------------------------------------------*/
static void vCalculationTask( void *pvParameters )
{
volatile unsigned long ulCalculatedValue; /* Volatile to ensure optimisation is minimal. */
/* Continuously perform a calculation. If the calculation result is ever
incorrect turn the LED on. */
for( ;; )
{
/* A good optimising compiler would just remove all this! */
ulCalculatedValue = 1234UL;
ulCalculatedValue *= 99UL;
if( ulCalculatedValue != 122166UL )
{
vParTestSetLED( mainCHECK_TASK_LED, pdTRUE );
}
ulCalculatedValue *= 9876UL;
if( ulCalculatedValue != 1206511416UL )
{
vParTestSetLED( mainCHECK_TASK_LED, pdTRUE );
}
ulCalculatedValue /= 15UL;
if( ulCalculatedValue != 80434094UL )
{
vParTestSetLED( mainCHECK_TASK_LED, pdTRUE );
}
ulCalculatedValue += 918273UL;
if( ulCalculatedValue != 81352367UL )
{
vParTestSetLED( mainCHECK_TASK_LED, pdTRUE );
}
}
}
/*-----------------------------------------------------------*/

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20091005/Demo/PIC18_MPLAB/main3.c Normal file
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/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
Please ensure to read the configuration and relevant port sections of the
online documentation.
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.
*/
/*
* 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 );
}
}
/*-----------------------------------------------------------*/

3
20091005/Demo/PIC18_MPLAB/makebin1.bat Normal file
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@ -0,0 +1,3 @@
del rtosdemo.hex
copy rtosdemo1.hex rtosdemo.hex
hex2bin rtosdemo.hex

3
20091005/Demo/PIC18_MPLAB/makebin2.bat Normal file
View file

@ -0,0 +1,3 @@
del rtosdemo.hex
copy rtosdemo2.hex rtosdemo.hex
hex2bin rtosdemo.hex

3
20091005/Demo/PIC18_MPLAB/makebin3.bat Normal file
View file

@ -0,0 +1,3 @@
del rtosdemo.hex
copy rtosdemo3.hex rtosdemo.hex
hex2bin rtosdemo.hex

12
20091005/Demo/PIC18_MPLAB/readme.txt Normal file
View file

@ -0,0 +1,12 @@
Unfortunately the project files:
RTOSDemo1.mcp
RTOSDemo2.mcp
and RTOSDemo3.mcp
contain absolute paths. I don't know how to get around this, so if somebody knows, let me know!
Edit the paths in a text editor before use.
See the PIC port section of www.FreeRTOS.org for more information.

BIN
20091005/Demo/PIC18_MPLAB/rtosdemo.mcw Normal file
View file

Binary file not shown.

74
20091005/Demo/PIC18_MPLAB/rtosdemo1.mcp Normal file
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@ -0,0 +1,74 @@
[HEADER]
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dir_tmp=
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dir_inc=.;.\include;..\include;..\..\include;..\..\..\include;..\..\Source\include;..\..\..\Source\include;..\Demo\PIC18_MPLAB;..\..\..\Demo\PIC18_MPLAB;..\..\..\..\Demo\PIC18_MPLAB;C:\Devtools\Microchip\MCC18\h;..\Common\include;..\..\Common\include
dir_lib=C:\Devtools\Microchip\MCC18\lib
dir_lkr=
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filter_inc=*.h;*.inc
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file_004=..\Common\Minimal\PollQ.c
file_005=main1.c
file_006=ParTest\ParTest.c
file_007=serial\serial.c
file_008=..\Common\Minimal\integer.c
file_009=..\..\Source\portable\MemMang\heap_1.c
file_010=..\..\Source\portable\MPLAB\PIC18F\portmacro.h
file_011=..\..\Source\include\task.h
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file_015=..\..\Source\include\queue.h
file_016=..\Common\include\integer.h
file_017=..\Common\include\PollQ.h
file_018=..\Common\include\serial.h
file_019=FreeRTOSConfig.h
file_020=18f452.lkr
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suite_state=
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68
20091005/Demo/PIC18_MPLAB/rtosdemo2.mcp Normal file
View file

@ -0,0 +1,68 @@
[HEADER]
magic_cookie={66E99B07-E706-4689-9E80-9B2582898A13}
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dir_inc=.;.\include;..\include;..\..\include;..\..\..\include;..\..\Source\include;..\..\..\Source\include;..\Demo\PIC18_MPLAB;..\..\..\Demo\PIC18_MPLAB;..\..\..\..\Demo\PIC18_MPLAB;C:\Devtools\Microchip\MCC18\h;..\Common\include;..\..\Common\include
dir_lib=C:\Devtools\Microchip\MCC18\lib
dir_lkr=
[CAT_FILTERS]
filter_src=*.asm;*.c
filter_inc=*.h;*.inc
filter_obj=*.o
filter_lib=*.lib
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[OTHER_FILES]
file_000=no
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file_007=..\Common\Minimal\flash.c
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file_010=..\..\Source\include\task.h
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file_013=..\..\Source\include\projdefs.h
file_014=..\..\Source\include\queue.h
file_015=..\Common\include\serial.h
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suite_guid={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
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TS{C2AF05E7-1416-4625-923D-E114DB6E2B96}=-DMPLAB_PIC18F_PORT -Ls -Opa- -nw 2074 -nw 2066
TS{ADE93A55-C7C7-4D4D-A4BA-59305F7D0391}=
[TOOL_LOC_STAMPS]
tool_loc{96C98149-AA1B-4CF9-B967-FAE79CAB663C}=D:\DevTools\mcc18\bin\mplink.exe
tool_loc{E56A1C86-9D32-4DF6-8C34-FE0388B1B644}=D:\DevTools\mcc18\bin\mcc18.exe

70
20091005/Demo/PIC18_MPLAB/rtosdemo3.mcp Normal file
View file

@ -0,0 +1,70 @@
[HEADER]
magic_cookie={66E99B07-E706-4689-9E80-9B2582898A13}
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dir_lib=C:\Devtools\Microchip\MCC18\lib
dir_lkr=
[CAT_FILTERS]
filter_src=*.asm;*.c
filter_inc=*.h;*.inc
filter_obj=*.o
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file_005=main3.c
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file_007=..\Common\Minimal\integer.c
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TS{C2AF05E7-1416-4625-923D-E114DB6E2B96}=-DMPLAB_PIC18F_PORT -Ls -Ou- -Ot- -Ob- -Op- -Or- -Od- -Opa- -nw 2074 -nw 2066
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246
20091005/Demo/PIC18_MPLAB/serial/serial.c Normal file
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@ -0,0 +1,246 @@
/*
FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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 exception 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.
Alternative commercial license and support terms are also available upon
request. See the licensing section of http://www.FreeRTOS.org for full
license details.
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 along
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
***************************************************************************
* *
* Looking for a quick start? Then check out the FreeRTOS eBook! *
* See http://www.FreeRTOS.org/Documentation for details *
* *
***************************************************************************
1 tab == 4 spaces!
Please ensure to read the configuration and relevant port sections of the
online documentation.
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.
*/
/*
Changes from V1.2.5
+ Clear overrun errors in the Rx ISR. Overrun errors prevent any further
characters being received.
Changes from V2.0.0
+ Use portTickType in place of unsigned pdLONG for delay periods.
+ cQueueReieveFromISR() used in place of xQueueReceive() in ISR.
*/
/* BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER. */
/* Scheduler header files. */
#include "FreeRTOS.h"
#include "task.h"
#include "serial.h"
#include "queue.h"
/*
* Prototypes for ISR's. The PIC architecture means that these functions
* have to be called from port.c. The prototypes are not however included
* in the header as the header is common to all ports.
*/
void vSerialTxISR( void );
void vSerialRxISR( void );
/* Hardware pin definitions. */
#define serTX_PIN TRISCbits.TRISC6
#define serRX_PIN TRISCbits.TRISC7
/* Bit/register definitions. */
#define serINPUT ( 1 )
#define serOUTPUT ( 0 )
#define serTX_ENABLE ( ( unsigned portSHORT ) 1 )
#define serRX_ENABLE ( ( unsigned portSHORT ) 1 )
#define serHIGH_SPEED ( ( unsigned portSHORT ) 1 )
#define serCONTINUOUS_RX ( ( unsigned portSHORT ) 1 )
#define serCLEAR_OVERRUN ( ( unsigned portSHORT ) 0 )
#define serINTERRUPT_ENABLED ( ( unsigned portSHORT ) 1 )
#define serINTERRUPT_DISABLED ( ( unsigned portSHORT ) 0 )
/* All ISR's use the PIC18 low priority interrupt. */
#define serLOW_PRIORITY ( 0 )
/*-----------------------------------------------------------*/
/* Queues to interface between comms API and interrupt routines. */
static xQueueHandle xRxedChars;
static xQueueHandle xCharsForTx;
/*-----------------------------------------------------------*/
xComPortHandle xSerialPortInitMinimal( unsigned portLONG ulWantedBaud, unsigned portBASE_TYPE uxQueueLength )
{
unsigned portLONG ulBaud;
/* Calculate the baud rate generator constant.
SPBRG = ( (FOSC / Desired Baud Rate) / 16 ) - 1 */
ulBaud = configCPU_CLOCK_HZ / ulWantedBaud;
ulBaud /= ( unsigned portLONG ) 16;
ulBaud -= ( unsigned portLONG ) 1;
/* Create the queues used by the ISR's to interface to tasks. */
xRxedChars = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( portCHAR ) );
xCharsForTx = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( portCHAR ) );
portENTER_CRITICAL();
{
/* Start with config registers cleared, so we can just set the wanted
bits. */
TXSTA = ( unsigned portSHORT ) 0;
RCSTA = ( unsigned portSHORT ) 0;
/* Set the baud rate generator using the above calculated constant. */
SPBRG = ( unsigned portCHAR ) ulBaud;
/* Setup the IO pins to enable the USART IO. */
serTX_PIN = serOUTPUT;
serRX_PIN = serINPUT;
/* Set the serial interrupts to use the same priority as the tick. */
IPR1bits.TXIP = serLOW_PRIORITY;
IPR1bits.RCIP = serLOW_PRIORITY;
/* Setup Tx configuration. */
TXSTAbits.BRGH = serHIGH_SPEED;
TXSTAbits.TXEN = serTX_ENABLE;
/* Setup Rx configuration. */
RCSTAbits.SPEN = serRX_ENABLE;
RCSTAbits.CREN = serCONTINUOUS_RX;
/* Enable the Rx interrupt now, the Tx interrupt will get enabled when
we have data to send. */
PIE1bits.RCIE = serINTERRUPT_ENABLED;
}
portEXIT_CRITICAL();
/* Unlike other ports, this serial code does not allow for more than one
com port. We therefore don't return a pointer to a port structure and
can instead just return NULL. */
return NULL;
}
/*-----------------------------------------------------------*/
xComPortHandle xSerialPortInit( eCOMPort ePort, eBaud eWantedBaud, eParity eWantedParity, eDataBits eWantedDataBits, eStopBits eWantedStopBits, unsigned portBASE_TYPE uxBufferLength )
{
/* This is not implemented in this port.
Use xSerialPortInitMinimal() instead. */
}
/*-----------------------------------------------------------*/
portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, signed portCHAR *pcRxedChar, portTickType xBlockTime )
{
/* Get the next character from the buffer. Return false if no characters
are available, or arrive before xBlockTime expires. */
if( xQueueReceive( xRxedChars, pcRxedChar, xBlockTime ) )
{
return pdTRUE;
}
else
{
return pdFALSE;
}
}
/*-----------------------------------------------------------*/
portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, signed portCHAR cOutChar, portTickType xBlockTime )
{
/* Return false if after the block time there is no room on the Tx queue. */
if( xQueueSend( xCharsForTx, ( const void * ) &cOutChar, xBlockTime ) != pdPASS )
{
return pdFAIL;
}
/* Turn interrupt on - ensure the compiler only generates a single
instruction for this. */
PIE1bits.TXIE = serINTERRUPT_ENABLED;
return pdPASS;
}
/*-----------------------------------------------------------*/
void vSerialClose( xComPortHandle xPort )
{
/* Not implemented for this port.
To implement, turn off the interrupts and delete the memory
allocated to the queues. */
}
/*-----------------------------------------------------------*/
#pragma interruptlow vSerialRxISR save=PRODH, PRODL, TABLAT, section(".tmpdata")
void vSerialRxISR( void )
{
portCHAR cChar;
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
/* Get the character and post it on the queue of Rxed characters.
If the post causes a task to wake force a context switch as the woken task
may have a higher priority than the task we have interrupted. */
cChar = RCREG;
/* Clear any overrun errors. */
if( RCSTAbits.OERR )
{
RCSTAbits.CREN = serCLEAR_OVERRUN;
RCSTAbits.CREN = serCONTINUOUS_RX;
}
xQueueSendFromISR( xRxedChars, ( const void * ) &cChar, &xHigherPriorityTaskWoken );
if( xHigherPriorityTaskWoken )
{
taskYIELD();
}
}
/*-----------------------------------------------------------*/
#pragma interruptlow vSerialTxISR save=PRODH, PRODL, TABLAT, section(".tmpdata")
void vSerialTxISR( void )
{
portCHAR cChar, cTaskWoken = pdFALSE;
if( xQueueReceiveFromISR( xCharsForTx, &cChar, &cTaskWoken ) == pdTRUE )
{
/* Send the next character queued for Tx. */
TXREG = cChar;
}
else
{
/* Queue empty, nothing to send. */
PIE1bits.TXIE = serINTERRUPT_DISABLED;
}
}