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First version under SVN is V4.0.1
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Richard Barry
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186
Demo/PIC18_MPLAB/main1.c
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Demo/PIC18_MPLAB/main1.c
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/*
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FreeRTOS V4.0.1 - Copyright (C) 2003-2006 Richard Barry.
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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
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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 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; 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, 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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See http://www.FreeRTOS.org for documentation, latest information, license
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and contact details. Please ensure to read the configuration and relevant
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port sections of the online documentation.
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***************************************************************************
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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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portTickType rather than unsigned portLONG.
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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 ( ( portTickType ) 1000 / portTICK_RATE_MS )
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#define mainERROR_CHECK_PERIOD ( ( portTickType ) 100 / portTICK_RATE_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 ( ( portTickType ) 0 )
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#define mainBAUD_RATE ( ( unsigned portLONG ) 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, ( const portCHAR * const ) "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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portTickType 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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